大攻角时的潜艇操纵控制技术

在潜艇六自由度空间运动方程基础上,将潜艇的功能子系统分解为航向控制、横倾控制和潜浮控制3个子系统.针对3个功能子系统分别提出了潜艇大攻角非安全运动状态下的非线性鲁棒滑动控制算法,使得潜艇可以在较短的时间内由大攻角非安全运动状态转变为无攻角安全运动状态.在整个自动控制过程中,非线性鲁棒滑模控制器给出的指令舵角合理、无抖动.仿真算例验证了所提出算法的有效性.

Mobile control of submarines with large angle attack

Based on the standard six-degree of freedom space motion equation,the submarine system was decomposed to heading control,rolling control and diving control three function sub-systems.Non-linear robust slide-model control methods were proposed for each three function sub-system of the submarine under large angle of attack,which could translate the large angle of attack state to safety state in a short time.During the whole control process,the command helm angles and rudder angles given by the non-linear robust slide-model controllers were appropriate without jitter.The simulation results verifid the efficiency and feasibility of the proposed method.