摘要
文章对潜艇运动模型作了合理简化后，考虑了潜艇横向速度对航向角速度的影响；并通过运动方程估计垂向速度，对MIMO非线性系统直接进行联合操舵控制规律的综合，研究潜艇航深稳定和潜浮运动的控制问题。得出的滑动控制规律物理机理明确，仿真结果表明，控制效果良好。
In this paper,the coupling between the cross velocity and the course angular velocity is considered,and the nonlinear sliding control law used for course control is investigated.The vertical velocity is estimated by solving the motion equation,and the MIMO nonlinear sliding control law of combined steering device is designed.The control of depth stability and diving motion is studied in detail.
出处
《船舶工程》
CSCD
北大核心
1999年第3期12-14,31,共4页
Ship Engineering
