鱼雷技术2011，Vol.19Issue(5)：360-364,5.
远程AUV近水面运动纵向模糊滑模控制
Fuzzy Sliding Mode Control for Near-Surface AUV in Longitudinal Plane
沈建森 1周徐昌 1高璇1
作者信息
- 1. 海军工程大学兵器工程系,湖北武汉,430033
- 折叠
摘要
Abstract
To solve wave turbulence problem when an autonomous underwater vehicle(AUV) is running in near-surface sea, we apply fuzzy sliding mode control to AUV longitudinal motion control. Based on the approximation and simplification of a six-degree-of-freedom model, linear equations of motion in longitudinal plane are established. Wave force and moment on AUV are computed and simulated according to the theory of random long-crested wave and the function of wave spectral density. An AUV longitudinal motion controller is designed based on the sliding mode control method. Depth control performance of sliding mode under first-order wave frequency turbulence is analyzed and evaluated with Matlab, and fuzzy logic is introduced to eliminate the input shake caused by the first-order wave frequency turbulence. The simulation results demonstrate that the proposed controller achieves good control performance, and reduce the high frequency shake of input rudder angle.关键词
自主式水下航行器/模糊滑模控制/近水面/波浪扰动/纵向运动控制Key words
autonomous underwater vehicle(AUV)/ fuzzy sliding mode control/ near-surface/ wave turbulence/ longitudinal motion control分类
军事科技引用本文复制引用
沈建森,周徐昌,高璇..远程AUV近水面运动纵向模糊滑模控制[J].鱼雷技术,2011,19(5):360-364,5.
