数字海洋与水下攻防2024，Vol.7Issue(2)：177-185,9.DOI:10.19838/j.issn.2096-5753.2024.02.006
UUV定深控制模型参数优化设计方法
Research on Parameter Optimization Method for UUV Depth Setting Control Model
摘要
Abstract
Proper parameters of a control model can ensure that the controlled object realizes its control purpose in a fast response time and with a small overshoot.The optimal design of parameters for UUV depth setting control model is of great significance to improve UUV performance.Firstly,UUV space kinematics equation is established,and a UUV virtual prototype and its depth setting control model are constructed based on Modelica modeling language.Then,to minimize the response time and overshoot,the multi-objective optimization process for parameters of UUV depth setting control model is established by using non-dominated sorting differential evolution algorithm,and the design workflow of parameters optimization is constructed based on OPTIMUS platform.The experimental results of an UUV show that optimal PID control model parameters can be obtained quickly with the proposed method,and the optimized control characteristics of UUV depth setting motion are significantly improved.关键词
水下航行器定深/Modelica/参数优化/OPTIMUSKey words
UUV depth setting/Modelica/parameter optimization/OPTIMUS分类
军事科技引用本文复制引用
谢虎,吴维,董元发,孙善春,於楷..UUV定深控制模型参数优化设计方法[J].数字海洋与水下攻防,2024,7(2):177-185,9.基金项目
国防科工局基础科研项目"虚实结合的***多学科敏捷设计技术"(JCKY2021206B005). （JCKY2021206B005）
