变论域模糊控制在X舵抗干扰操纵中的应用

Application of variable universe fuzzy control to X-rudder anti-disturbance maneuvering

为了发掘X舵潜艇在持续高强度随机干扰环境下稳定操纵的能力,建立了某型X舵潜艇六自由度运动模型,分析了X舵的操纵规律,在X舵模糊控制主体、智能模糊积分环节及控制权限动态分配三个方面对X舵模糊控制系统进行了设计.仿真计算表明:模糊控制系统在潜艇低频和高频随机干扰力和力矩峰值分别为500 k N和400k N·m的作用下,基本能将深度和姿态稳定在期望值,控制效果明显好于比例积分微分(PID)控制器,但在高频干扰下存在小范围抖振现象.采用变论域思想对模糊控制系统进行改进,对深度、纵倾、横倾和航向的误差变化率采用论域在线调节机制,在同样的干扰环境下能够消除深度和姿态的抖振,实现对潜艇复杂条件下航行的精准稳定控制.

To discover the ability of X-rudder submarine to operate stably in the environment of continuous high-intensity random disturbance,a six-degree of freedom motion model of a X-rudder submarine was established,and the operating law of the X-rudder was analyzed.A fuzzy control system of X rudder was designed in three aspects:main body of X rudder fuzzy control,intelligent fuzzy integral part and dynamic allocation of control authority.Simulation calculation shows that the fuzzy control system can basically stabilize the depth and attitude at the expected value under the influence of the low frequency and high frequency random disturbance force and torque of the submarine with peaks of 500 k N and 400 k.N·m,respectively,and the control effect of the fuzzy control system is significantly better than that of the PID controller.However,there is a small range of buffeting in high frequency interference.The fuzzy control system was improved using variable universe method,and the error rate domain of depth,pitch,roll and yaw was adjusted online.Under the same interference environment,the shaking of depth and attitude could be eliminated.The designed fuzzy control system can achieve accurate and stable control of submarine navigation under complex conditions.