The depth and pitch control of submarines based on the pump-hydraulic servo
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摘要:
目的 针对不同工况、复杂环境下的潜艇运动控制进行研究，解决高性能潜艇的实际控制问题并将其运用于搭建实际液压控制平台。 方法 以潜艇垂直面运动为重点，设计垂直面上纵倾和深度模型的解耦控制。基于泵控液压舵机模型和潜艇垂直面运动数学模型，运用快速终端滑模控制算法，通过仿真和试验对系统进行分析。 结果 结合液压系统模型与非线性控制算法的研究论证了该系统在潜艇垂直面运动控制上的鲁棒性与可靠性。与此同时，对液压舵机滞后、振荡性进行的仿真及试验分析，也表明系统可有效降低滑模变结构控制带来的抖振问题。 结论 该系统在模拟研究潜艇的控制特性问题方面具有工程应用价值。 Abstract: This study aims to research submarine motion control features in different conditions and com-plex environments in order to solve the problem of actual submarine control and apply it to building an actu-al hydraulic control platform. The paper focuses on the vertical motion of submarines, designs a fast termi-nal sliding mode control algorithm and analyzes the data using the combined simulation and experiment method to study the robustness and reliability of a submarine's vertical motion control system for hydraulic and control. At the same time, the simulation and experiment results analyze the hysteresis and oscillation of the hydraulic steering gear, and effectively reduce the chattering that may be caused by sliding mode variable structure control. This system can be used in simulations to solve the problems of new submarine control characteristics.-
Key words:
- pump-hydraulic servo /
- submarine vertical /
- pitch control /
- depth control /
- pitch angle /
- sliding mode control
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图 12 正弦输入和参数摄动下深度跟踪曲线
Figure 12. The depth tracking curve for sinusoidal signal input and parameter perturbation
图 13 正弦输入和参数摄动下纵倾角跟踪曲线
Figure 13. Pitch angle tracking curve for sinusoidal signal input and parameter perturbation
图 14 Sigmiod输入和参数摄动下深度跟踪曲线
Figure 14. The depth tracking curve for Sigmiod signal input and parameter perturbation
图 15 Sigmiod输入和参数摄动下纵倾角跟踪曲线
Figure 15. Pitch angle tracking curve for Sigmiod signal input and parameter perturbation
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