基于无源性的鱼雷非线性姿态系统滑模控制

Passivity-Based Sliding Mode Control on Torpedo Nonlinear Attitude System

1.
Department of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China
2.
Department of Aeronautical Armament Fire Control,Naval Aeronautical Engineering Institute Qingdao Branch, Shandong Qingdao 266041, China

摘要: 将鱼雷纵向姿态系统的非线性模型转换为具有能量函数的广义哈密顿正则型(GHCF)，建立了控制律的设计方案。基于系统无源性分析方法设计了变结构滑模控制律，将切换函数作为输出，给出了新的滑模面设计条件，只需考虑在滑模面上的稳定性。该方法完全利用系统的非线性特性，通过无源性理论分析了滑模控制的可达性，而滑模控制能够提高鱼雷姿态系统的控制性能。仿真结果表明，实现了对鱼雷非线性姿态系统的滑模控制，且控制性能良好。
- 鱼雷 /
- 无源性 /
- 滑模控制 /
- 非线性姿态系统
Abstract: A general Hamilton canonical form(GHCF) of torpedo nonlinear attitude system is established, and a control law is designed through combining passivity and sliding mode techniques, choosing the manifold of sliding mode separately. The whole nonlinear characteristics of the system are used in this method. The reachability of sliding mode is analyzed with passivity theory, and the stability of sliding mode enables to enhance the system performance. In simulation, the sliding mode control of torpedo nonlinear attitude system is realized, and the attitude angle is controlled well.
- torpedo /
- passivity /
- sliding mode control /
- nonlinear attitude system

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