基于变论域模糊控制的X舵潜艇空间机动与试验验证

Space maneuvering and experimental verification of X-rudder submarine based on variable universe fuzzy control

为了发掘X舵潜艇的操纵优势和空间机动能力,建立某型X舵潜艇空间运动模型,构建具备全局指数稳定性的X舵模糊控制系统,重点在X舵模糊控制规则、模糊论域动态调节、模糊积分控制与智能判据等方面进行优化设计.通过潜浮运动仿真比较了变论域模糊控制(VUFC)、常规模糊控制(FC)和比例积分微分控制(PID)的效果,结果表明:VUFC控制变深机动过程用时较其他两种控制方法缩短了一半,且无超调,能更好发挥X舵的变深机动能力;从空间运动控制效果来看,VUFC控制通过论域在线调节来满足潜艇变深和定深的不同控制需求,能充分发挥X舵灵活的操纵特性,适应潜艇的运动特点.采用X舵自航模对VUFC控制系统进行了试验验证,证明了该控制系统有效且不依赖模型参数.

To explore the maneuverability and space maneuvering capability of X-rudder submarine,the space motion model of Xrudder submarine was established,and the X-rudder fuzzy control system with global exponential stability was constructed.The optimization design of X-rudder fuzzy control rules,fuzzy universe dynamic adjustment,fuzzy integral control and intelligent criterion were emphasized.Simulation results of variable universe fuzzy control(VUFC),conventional fuzzy control(FC)and proportional integral differential control(PID)show that the submarine depth changing maneuverability time of VUFC is half shorter than that of the other two control methods,and there is no overshoot.From the view of space maneuvering control effect,VUFC control can satisfy the different control requirements of submarine's depth changing and depth keeping by online adjusting the domain,and can bring the flexible control characteristic of X-rudder into full play and adapt to the motion characteristics of submarine.The VUFC control system was tested by using the X-rudder self-propelled model,proving the effectiveness of the control system without depending on model parameters.