无海流扰动的鱼雷航行多维泰勒网优化控制与仿真

Multi-dimensional Taylor Network Optimal Control and Simulation of Torpedo Navigation without Ocean Current Interference

鱼雷是一种非线性、强耦合的复杂控制系统。本文首先给出了无干扰下的鱼雷模型,然后介绍了鱼雷的自动控制系统原理,提出并详细地论述了多维泰勒网(MTN)优化控制方法。最后给出了在相同的单纯形优化方法下,对于PID、SMC(需要精确机理模型的滑模变结构控制)和MTN等不同控制器,其鱼雷俯仰角、偏航角以及深度控制的仿真结果。仿真表明,在设计的三种控制器中,多维泰勒网优化控制器具有的控制效果最好。

Torpedo is a non-linear, strong coupled control system. In this paper, firstly, the model of torpedo without interference is given, and then the principle of torpedo automatic control system is introduced. The multi-dimensional Taylor network optimal control method is proposed and described in detail. Finally, under the same simplex optimization method, the torpedo pitch angle, yaw angle and depth control simulation results are given by such different controllers as PID, SMC（sliding mode control needing the precise torpedo mechanism model） and MTN. Results show that the MTN controller has the best control effect of all three.