复杂干扰条件下灵巧航行体深度控制

使用泵喷射推进器推进在近水面运动的细长航行体时,将受到严重波浪力干扰及尾部水动力干扰,这对运动稳定性及深度控制精度具有显著影响.为抑制干扰,在建立深度通道动力学模型的基础上,设计了模糊控制器,应用模糊控制方法对深度控制系统进行校正.以使用泵喷射推进器推进在近水面运动的某细长航行体为控制对象,通过半实物仿真试验,对比了常规双环控制方法及该模糊控制方法,结果表明,模糊控制方法具有更高的控制精度,为使用泵喷射推进器推进的近水面灵巧航行体深度控制提供了一种可行的方法.

Depth Control of Slender Body Running Under Complicated Hydrodynamic Disturbance

Slender body propelled by pump-jet,which runs near free-surface of the water,is subject to complicated disturbance including wave disturbance and propulsion disturbance.The effects of these disturbance on stability and precision of the slender body’s depth control system are remarkable.In order to improve the control quality,a kind of fuzzy controller was designed to adjust the depth control system after dynamic model of the depth channel of slender body was created.Taking one kind of small slender body navigating near free-surface propelled by pump-jet as control object,hardware-in-loop simulation was introduced to compare the control results of the fuzzy depth control method with the classical dual-loop control method.The simulation results show that the fuzzy depth control method has higher control precision,and offers a feasible way to research the depth control of slender body navigating near free-surface propelled by pump-jet.