模糊变结构控制策略在UUV航向运动中的应用与分析

Application and analysis of the fuzzy variable structure control strategy in UUV heading motions

无人水下航行器(UUV)在实现预期运动时,被控对象会受到不同性质的扰动,为满足当前UUV水下空间运动的精准控制,要求航行控制系统在完成航向跟踪基本性能的前提下兼备一定的抗扰性能。以变结构控制策略设计为基础,针对非线性控制中的抖振现象,提出一种模糊化控制策略的设计以提高跟踪效果,通过Lyapunov函数设计UUV侧向运动变结构控制器及其模糊化控制器来实现UUV快速精准的航向控制,利用Simulink仿真验证航向跟踪控制性能,并计算分析对比变结构控制策略和其模糊化控制策略下UUV在航向运动中的抗扰性,仿真结果表明了模糊化变结构控制策略在UUV航向控制中具备良好的稳定性与抗扰性等特点,同时能很好地抑制抖振。

When an unmanned underwater vehicle(UUV)is realizing an expected motion,the controlled object will be disturbed by different properties.In order to meet the accurate control of the current UUV underwater space motion,the navigation control system is required to have certain disturbance rejection performance on the premise of completing the basic performance of heading tracking.Based on the design of a variable structure control strategy,aiming at chattering in the nonlinear control,this paper proposes a fuzzified control strategy to improve the tracking effect.The UUV lateral motion variable structure controller and its fuzzification controller are designed through Lyapunov function to achieve fast and accurate UUV heading control.The course tracking control performance is verified by using simulink simulation,and the disturbance resistance of UUV in course motion is calculated and compared under the variable structure control strategy and under its fuzzified control strategy.The simulation result shows that the fuzzified variable structure control strategy in the UUV heading control has characteristics such as good stability and disturbance resistance,and can well restrain chattering at the same time.