摘要
水雷水下发射攻击水上目标时出水瞬间数学模型发生突变,严重影响水雷出水的稳定性和打击概率,对这一过程设计了滑模变结构单控制器和组合控制器.利用微分几何的输入输出反馈线性化方法将非线性系统进行了线性化,并利用变结构控制策略及趋近律算法设计了姿态跟踪闭环控制系统,计算简便,易于实现.对两种控制器的优劣性进行了比较,通过数字仿真表明所设计的控制系统可以适用于水下攻击目标出水突变过程,并对系统参数摄动具有较强的鲁棒性.
The mathematical model of a mine gets catastrophe at the out-of-water moment when it is launched under- water to attack the target on water, which seriously affects the out-of-water stability and hit rate of the mine. For this course, we design a single controller and a combined controller of sliding mode variable structure （SMVS）. The input and output feedback linearization method of differential geometry is adopted to linearize the nonlinear system. Moreover, the variable structure control strategy and approaching law are used to design the closed-loop control system for attitude tracking, which is characterized by easy realization and simple calculation. Simulation result shows that the control system designed can be used in the out-of-water catastrophic course of the submerged attack and is robust to perturbation of system parameters.
出处
《自动化学报》
EI
CSCD
北大核心
2012年第10期1609-1617,共9页
Acta Automatica Sinica
基金
国家自然科学基金(60134010)资助~~
关键词
出水模型突变
运动控制
水下发射
滑模变结构控制
跟踪控制
Catastrophe of out-of-water model, motion control, underwater launching, sliding mode variable structure （SMVS）, tracking control
