基于扩展状态观测器的海浪滤波算法及仿真

Wave filtering algorithm and simulation based on extended state observer

[目的]研究潜艇操舵控制系统的海浪滤波及控制算法,解决海浪干扰下潜艇水面及近水面航行时存在大量无效操舵的问题。[方法]在海浪干扰主频率辨识方法的基础上,设计潜艇水平面扩展状态观测器(ESO)及二次最优控制器,并搭建仿真平台对控制系统的滤波性能和控制性能进行分析。[结果]仿真结果表明,所用算法可以显著减少潜艇水面和近水面航行时海浪干扰下的操舵频率及幅值,有效保证系统的稳定性。[结论]设计的算法可以大幅度降低潜艇航行中的舵机机械磨损和频繁操舵产生的噪声及航行阻力,提高海浪干扰下潜艇的控制性能和航行效能。

[Objectives]In this paper,the wave filtering and control algorithm of a submarine steering control system is studied to solve the problem of significant quantities of invalid steering when the submarine is navigating at surface or near-surface level under sea wave interference.[Methods]Based on the main frequency identification method of sea wave interference,a submarine horizontal plane extended state observer(ESO)and a quadratic optimal controller are designed.The filtering as well as control performance of the system are simulated and analyzed by constructing a simulation platform.[Results]The results show that this method can significantly reduce the steering frequency and steering amplitude of the submarine under sea wave interference in surface and near-surface navigation,and effectively guarantee the stability of the system.[Conclusions]This algorithm can greatly reduce the mechanical wear of the steering gear as well as noise and resistance caused by frequent steering during navigation,thus improving the control and navigational performance of the submarine under the influence of sea waves.