弹道学报2012，Vol.24Issue(2)：20-24,5.
大潜深AUV纵向变结构控制研究
Variable Structure Controller for Longitudinal Control of Deep-submergence AUV
孙昊 1陈赟 1冯源 1方晶 1冯顺山1
作者信息
- 1. 北京理工大学爆炸科学与技术国家重点实验室,北京100081
- 折叠
摘要
Abstract
In the process of deep-submergence AUV changing depth, the error of small- perturbation linearization model is large,and the trajectory parameters change noticeably. Aiming at this problem, a variable structure controller（VSC）for the longitudinal control was proposed. The controller which is easy to realize consists of switching function and control algorithm. The motion of system in state space was analyzed,and the teachability of switching manifold and the stability of control were proved. To reduce the chattering, a modified controller was proposed. Based on Simulink,the AUV 6-DOF motion was simulated. The result shows that the AUV with modified VSC can chang depth fast,and its trajectory is smooth,which brings high performance.关键词
自主水下航行器/纵向运动/变结构控制/切换函数/抖振Key words
AUV/longitudinal motion/VSC/switching function/chattering分类
军事科技引用本文复制引用
孙昊,陈赟,冯源,方晶,冯顺山..大潜深AUV纵向变结构控制研究[J].弹道学报,2012,24(2):20-24,5.
