Design of Control Law for Torpedo Rolling under Large Maneuvering Motion

Severe dynamic coupling is inevitable in rolling channel of torpedo during large maneuvering motion. In order to reduce the influence of coupling on rolling channel, this paper proposes a solution by combining model-reference adaptive control and variable structure control. The variable structure control law is used to handle the coupling which is regarded as interference, and the model-reference adaptive control law is used to improve dynamic performance of the system. Simulation results show that the control law can solve the coupling in rolling channel effectively under large maneuvering motion to avoid the deficient control accuracy of the traditional control methods.