摘要
为了提高横摇控制性能,依据潜艇舵减横摇的原理和变结构控制理论,在潜艇非线性模型基础上提出了航向控制器和横摇控制器的设计方法.该方法以航向角和横摇角各自的偏差及其导数建立变结构控制切换面,选取相应的指数趋近律,分别计算了航向和横摇的变结构控制律,最后利用加权方法得到了总的方向舵控制规律.针对变结构控制的抖振现象,利用自适应双神经元对趋近率进行在线修正.仿真研究表明,改进变结构控制提高了近水面航行潜艇水平面操纵控制的性能.
A new method for design of yaw and roll motion controller is proposed in order to improve the performance of roll control. Variable structure control is applied, which is based on the nonlinear model of submarine motion and the principle of rudder roll damping, Sliding surface of variable structure controllers is founded with corresponding error and error derivative of heading angle and roll angle. Exponential approach law is used to derive the control algorithm for yaw and roll accordingly. Then the total control law for rudder steering is obtained with weighting method. Two adaptive neurons are used for online adjusting of approaching speed, so chattering of variable structure control is restrained. Simulation results show better horizontal maneuvering performance of submarine navigation near free-surface by using the modified variable structure control.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2010年第9期1462-1466,共5页
Journal of Harbin Institute of Technology
基金
国家自然科学资助基金项目(50879012)
关键词
潜艇
水面
航向
横摇
结构
神经元
抖振
submarine
surface
course
roll
structure
neuron
chattering
