基于NESO的潜艇航向滑模控制器设计

Design of submarine heading sliding mode controller based on NESO

[目的]潜艇在复杂海况下进行水面航行时,为实现低噪操舵控制,[方法]采用潜艇水平面线性运动模型,并利用基于双幂次趋近律的滑模控制对参数变化和外部干扰不敏感、响应速度快、容易实现等优点,设计航向控制器。针对海浪干扰问题,利用非线性扩张状态观测器(NESO)设计海浪滤波器,用以补偿系统外部干扰。[结果]理论推导结果证明了航向滑模控制器的稳定性,并通过Matlab仿真结果验证了其良好的滤波效果。[结结论]研究结果表明,该航向滑模控制器在不同航速、不同海况、不同浪向下均可实现低噪、快速、高精度的航向控制性能。

[Objectives]To realize submarine steering control with low noise when a submarine sails on a surface in a complex sea state,[Methods]a heading controller is designed based on linear motion model on horizontal plane.A sliding mode control based on double power reaching law is adopted,which has the advantages of insensitivity to parameter changes and external disturbances,fast response,and easy implementation.To solve the wave disturbance problem,a wave filter is designed using a Nonlinear Extended State Observer(NESO)to compensate the external disturbance.[Results]The stability of the heading sliding mode controller is proved by theoretical derivation.The Matlab simulation results verify its good filtering effect.[Conclusions]The results show that performance of low noise,fast and high precision are achieved with the heading sliding mode controller at different speeds,different sea conditions and different wave angles.