远程AUV近水面运动纵向模糊滑模控制

沈建森; 周徐昌; 高 璇

doi:10.11993/j.issn.1673-1948.2011.05.008

远程AUV近水面运动纵向模糊滑模控制

doi: 10.11993/j.issn.1673-1948.2011.05.008

海军工程大学兵器工程系, 湖北武汉, 430033

详细信息

作者简介:
沈建森(1981-), 男, 在读博士, 助理工程师, 研究方向为水下航行器制导与控制技术.

中图分类号: TJ630.33; TP13
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- 文章访问数: 1468
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- 被引次数: 0
出版历程
- 收稿日期: 2011-06-09
- 修回日期: 2011-06-19
- 刊出日期: 2011-10-31

Fuzzy Sliding Mode Control for Near-Surface AUV in Longitudinal Plane

Department of Weapon Engineering, Naval University of Engineering, Wuhan 430033, China

摘要

摘要: 针对自主水下航行器(AUV)近水面航行过程中波浪扰动的问题, 研究了模糊滑模控制在AUV近水面纵向运动控制中的应用。在AUV六自由度非线性模型的基础上进行合理的近似和简化, 建立了线性化纵向运动方程。根据随机长峰波理论和波浪谱密度函数对AUV受到的波浪力和力矩进行了数值计算和仿真。基于滑模控制方法设计了AUV纵向运动控制器, 对1阶波浪力扰动下的深度控制性能进行了分析, 并通过在滑模控制器的基础上引入模糊逻辑解决1阶波频扰动引起的控制输入高频抖动问题。近水面深度控制计算机仿真结果表明, 所设计的模糊滑模控制器在保持良好的控制性能的基础上能够达到减弱舵角高频抖动的目的。
- 自主式水下航行器 /
- 模糊滑模控制 /
- 近水面 /
- 波浪扰动 /
- 纵向运动控制
Abstract: To solve wave turbulence problem when an autonomous underwater vehicle(AUV) is running in near-surface sea, we apply fuzzy sliding mode control to AUV longitudinal motion control. Based on the approximation and simplification of a six-degree-of-freedom model, linear equations of motion in longitudinal plane are established. Wave force and moment on AUV are computed and simulated according to the theory of random long-crested wave and the function of wave spectral density. An AUV longitudinal motion controller is designed based on the sliding mode control method. Depth control performance of sliding mode under first-order wave frequency turbulence is analyzed and evaluated with Matlab, and fuzzy logic is introduced to eliminate the input shake caused by the first-order wave frequency turbulence. The simulation results demonstrate that the proposed controller achieves good control performance, and reduce the high frequency shake of input rudder angle.
- autonomous underwater vehicle(AUV) /
- fuzzy sliding mode control /
- near-surface /
- wave turbulence /
- longitudinal motion control

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参考文献(10)

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