水下航行器有限时间滑模控制

褚悦; 石泽林; 王孟军; 刘平安

doi:10.11993/j.issn.2096-3920.2022-0060

水下航行器有限时间滑模控制

doi: 10.11993/j.issn.2096-3920.2022-0060

褚悦¹,
石泽林¹,
王孟军^{1, 2},
刘平安¹

1.
哈尔滨工程大学航天与建筑工程学院, 黑龙江哈尔滨, 150001
2.
河北省双介质动力技术重点实验室, 河北邯郸, 056017

详细信息

作者简介:
褚悦：褚　悦(1998-), 女, 硕士, 主要研究方向为水下航行器动力学建模与控制

中图分类号: TJ630.1; U661.334
计量
- 文章访问数: 58
- HTML全文浏览量: 8
- PDF下载量: 27
- 被引次数: 0
出版历程
- 收稿日期: 2022-11-05
- 修回日期: 2023-01-29
- 网络出版日期: 2023-11-17

Finite-Time Sliding Mode Control for Undersea Vehicles

1.
College of Aerospace and Civil Engineering, Harbin Engineeing University, Harbin 150001, China
2.
Hebei Key Laboratory of Dual Medium Power Technology, Handan 056017, China

摘要

摘要: 针对水下航行器系统不确定性和非线性, 为解决不完全包裹水下航行器的纵向控制问题, 提出一种基于径向基函数神经网络的有限时间滑模控制系统。其中, 水下航行器状态空间方程中的未知项由神经网络的估计值补偿, 神经网络的权重由相应的自适应律更新。通过李雅普诺夫稳定性理论证明了该系统的稳定性, 其中跟踪误差可以在有限时间内收敛到接近零的小邻域。仿真结果表明, 文中的控制系统可使水下航行器在有限时间内较好地跟踪期望轨迹。
- 水下航行器 /
- 有限时间控制 /
- 滑模控制 /
- 径向基函数
Abstract: A finite-time sliding mode control system based on a radial basis function (RBF) neural network was proposed to solve the longitudinal control problem of incomplete submerged vehicles because of the uncertainty and nonlinearity of undersea vehicle systems. The unknown term in the state space equation of undersea vehicles was compensated for by the estimated value of the neural network, and the weight of the neural network was updated by the corresponding adaptive law. The stability of the system was proved by Lyapunov stability theory, where the tracking error could converge to a small neighborhood near zero within a finite time. The simulation results show that the control system proposed in this paper can make the undersea vehicle track the desired trajectory within a finite time.
- undersea vehicle /
- finite-time control /
- sliding mode control /
- radial basis function

HTML全文

图 1 超空泡航行器受力及坐标系示意图

Figure 1. Forces acting on a supercavitating vehicle and coordinate system

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图 2 空化器受力和偏转角示意图

Figure 2. Forces acting on a cavitator and angle of deflection

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图 3 水下航行器控制系统框图

Figure 3. Block diagram of undersea vehicle control system

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图 4 水下航行器深度跟踪曲线

Figure 4. Depth tracking curve of undersea vehicle

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图 5 深度跟踪误差随时间变化曲线

Figure 5. Curve of depth tracking error with time

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图 6 水下航行器俯仰角跟踪曲线

Figure 6. Pitch angle tracking curve of undersea vehicle

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图 7 俯仰角跟踪误差随时间变化曲线

Figure 7. Curve of pitch angle tracking error with time

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图 8 角速度随时间变化曲线

Figure 8. Curve of angular velocity with time

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图 9 垂向速度随时间变化曲线

Figure 9. Curve of vertical velocity with time

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图 10 空化器偏转角随时间变化曲线

Figure 10. Curve of cavitator deflection angle with time

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图 11 尾翼偏转角随时间变化曲线

Figure 11. Curve of tail deflection angle with time

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图 12 滑模面随时间变化曲线

Figure 12. Curve of sliding surface with time

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图 13 未知项估计误差随时间变化曲线

Figure 13. Curve of the estimation error of unknown term with time

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表 1 水下航行器动力学参数

Table 1. Dynamic parameters of undersea vehicle

参数值

质量/kg 30.200
航行器总长/m 1.446
空化器直径/m 0.026
转动惯量/(kg·m²) 3.234
航行器直径/m 0.118
巡航速度/(m/s) 70.000

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参考文献(12)

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