专家控制-改进S面算法在近水面航行器运动控制中的应用研究OA北大核心CSTPCD

[Objective]This study aims to improve the response speed and efficiency of rudders,and meet the depth-keeping and attitude control requirements of near-surface vehicles under static water and wave dis-turbances.[Methods]An improved S-plane control algorithm with faster convergence speed is proposed on the basis of the S-plane algorithm.It is then combined with expert intelligent control to establish a hybrid mod-el and controller of a closed-loop expert control-improved S-plane algorithm.The differences between the PID algorithm,S-plane algorithm,improved S-plane algorithm and expert control-improved S-plane algorithm in the navigational depth and attitude control of near-surface navigators are compared and analyzed,and motion prediction under wave disturbance is completed.[Results]The improved S-plane algorithm can improve the convergence speed in still water and reduce the pitch amplitude under wave disturbance,while the expert control-improved S-plane algorithm can improve the rudder control efficiency.In still water,the navigator state can be quickly and stably transitioned,and in waves,the heave and pitch amplitudes of the near-surface navigator are effectively reduced by more than 30%.[Conclusion]The expert control-improved S-surface algorithm pro-posed herein has good applicability for the improvement of near-surface vehicle motion stability.