一种消除垂直面抖振的无人水下航行器控制策略

A Control Strategy for Eliminating Vertical Chattering of Unmanned Underwater Vehicle

针对如何削降或消除无人水下航行器(unmanned underwater vehicle,UUV)控制中常见的抖振现象,提出一种新的姿态控制方案——模糊变结构控制。将通常变结构中的切换项变换为模糊控制输出,建立UUV垂直面运动模型,设计控制器,并进行算例仿真与分析。仿真结果表明:该方案可有效抑制抖振,获得优良的跟踪稳态,并且对UUV模型的不确定性及其参数变化具备较强鲁棒性。

Aiming at how to reduce or even eliminate the chattering phenomenon common in the unmanned underwater vehicle(UUV)control,a new attitude control scheme(fuzzy variable structure control)is proposed.By transforming the switching term of the variable structure into the fuzzy control output,establish UUV vertical motion model,design controller,and carry out example simulation and analysis.The simulation results show that the proposed control scheme can effectively suppress chattering and obtain excellent tracking steady state.Moreover,it has strong robustness to the uncertainty of the UUV model and its parameter changes.