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Volume 29 Issue 5
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2021  >  29(5): 575-579
ZHENG Wei, Lü Rui, TIAN Xin. Modeling and Simulation of Roll Control for a Wide-Speed-Scope Torpedo Based on ADRC[J]. Journal of Unmanned Undersea Systems, 2021, 29(5): 575-579. doi: 10.11993/j.issn.2096-3920.2021.05.009
Citation: ZHENG Wei, Lü Rui, TIAN Xin. Modeling and Simulation of Roll Control for a Wide-Speed-Scope Torpedo Based on ADRC[J]. Journal of Unmanned Undersea Systems, 2021, 29(5): 575-579. doi: 10.11993/j.issn.2096-3920.2021.05.009
shu

Modeling and Simulation of Roll Control for a Wide-Speed-Scope Torpedo Based on ADRC

doi: 10.11993/j.issn.2096-3920.2021.05.009
  • 1.

    College of General Education, Xian Mingde Institute of Technology, Xi’an 710124, China

  • 2.

    The 705 Research Institute, China State Shipbuilding Corporation Limited, Xi’an 710077, China

  • 3.

    Information Engineering Department, Xian University, Xi’an 710065, China

  • Received Date: 2020-04-09
  • Rev Recd Date: 2020-06-09
  • Publish Date: 2021-10-31
    Abstract
  • To overcome the difficulties of a large range of variations in the velocity of a wide-speed torpedo on precise control, a linear active disturbance rejection control(ADRC) method is designed. First, the mathematical model of rolling control is derived for a wide-speed torpedo for a convenient design. Next, the proposed ADRC is used for the rolling control of the torpedo to estimate and compensate for the total disturbances in real time. Simulation results show that the designed controller can adapt to a wide speed range of 28~70 kn. Furthermore, it can accurately estimate and compensate for the total disturbances and account for the uncertainty of the torpedo parameters. Thus, the proposed controller fulfills the requirements of a controller of the roll channel for a wide-speed-scope torpedo and its performance is superior to that of a proportional-integral-differential control

     

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