基于扩展状态观测的潜艇剩余浮力和力矩的快速估计算法研究

Research on Rapid Estimation of Residual Buoyancy Force and Moment of Submarine Based on Extended State Observer

针对潜艇水下航行均衡控制的问题,论文基于扩展状态观测器原理,应用潜艇垂直面运动线性状态方程,建立了航速滤波和剩余加速度扩展状态观测器。以国际通用的一个潜艇模型为案例,开展Matlab/Simulink水下运动控制仿真。仿真结果表明,提出的算法能快速估计潜艇剩余浮力和剩余浮力矩,与传统的线性均衡公式相比,不仅提高了不均衡量的估计精度,而且大幅缩短了估算时间,有助于潜艇均衡控制品质的提升。

Linear equation of vertical motion for a submarine is used to establish the speed filter and residual acceleration-extended state observer.The software Matlab/Simulink is applied to the simulation of underwater motion control for a submarine model.The results indicate that the proposed algorithm can quickly estimate the residual buoyancy force and moment of the submarine.Compared with the traditional algorithm,accuracy is improved,and estimation time is shortened greatly,so that trimming control quality of the submarine is enhanced.