X舵潜艇掉深挽回决策与控制方法

X-rudder submarine falling deep recovery strategy and control method

[目的]为了研究潜艇水下掉深时的挽回策略和控制方法,建立某X舵潜艇六自由度运动模型。[方法]首先,分析X舵的控制规律和潜艇的排水能力,采用多目标模糊控制方法,设计掉深挽回控制系统;其次,对潜艇在大深度航行时遭遇的不同程度掉深险情进行挽回操作仿真,并在控制器和挽回策略这2个方面对挽回控制进行改进;最后,对不同航速条件下的挽回能力进行比较。[结果]结果显示,在控制器方面,引入智能模糊积分环节可提高挽回效率;在挽回策略方面,采用纵倾辅助及提高航速的挽回策略可增强挽回能力。[结论]研究表明,X舵模糊控制系统配合提高航速及纵倾辅助的策略具有较好的掉深挽回效果。

[Objectives]In order to determine the control method and recovery strategy for submarines falling deep underwater,a six-degrees-of-freedom motion model was established for an X-rudder submarine.[Methods]First,the control rules of the X-rudder and the drainage capacity of the submarine were analyzed,and a recovery control system was designed using the fuzzy method.Second,recovery control in different degrees of depth scenarios was simulated in the course of large depth navigation,and the recovery control system was improved in both controller and control strategy.Finally,the recovery ability under different speed conditions was compared.[Results]The results show that,on the controller side,the intelligent fuzzy integral link was introduced,improving the recovery efficiency and depth control effect.On the recovery strategy side,the original control strategy was optimized using pitch assisted and acceleration,improving the deep recovery ability.[Conclusions]The results of this study show that the X-rudder fuzzy control system combined with the pitch assisted and acceleration recovery control strategy has a good recovery effect for dangerous situations at depth.