基于浮力补偿的水下无人平台低速状态最优控制研究

针对无人水下作战平台(UUV)低速状态受扰动后带来的稳定控制困难问题,提出了一 套行之有效的最优控制策略。通过建立UUV 纵平面运动数学模型,并对模型进行线性化处理,得 到了水平舵和浮力补偿双输入系统状态方程,进而设计了一种基于浮力补偿的线性二次型最优控 制方案。通过仿真实例,与经典控制方案进行了比较,结果表明,最优控制方案调节时间可以缩短 一半,能更快、更有效地实现扰动后的系统状态稳定,从而验证了该方案的可行性和优越性,为无人 水下作战平台低速状态载荷投放稳定控制提供了理论参数依据。

Buoyancy Compensation-based Optimal Control of UUV Low-speed State

An effective optimal control strategy is proposed in order to solve the stable control problem produced by the disturbance on unmanned underwater vehicle (UUV) in low-speed state. The system state equations with double input of the level rudder and buoyancy compensation are obtained by establis- hing a UUV longitudinal plane movement mathematical model and linearizing the model, and then a line- ar quadratic optimal control scheme based on buoyancy compensation is designed. The optimal control scheme is compared with the classical control scheme through simulation. The result shows that the opti- mal control scheme can shortens setting time by half, and more quickly and effectively make the disturbed system stable.