三速制鱼雷自适应滑模控制研究

针对三速制鱼雷在不同速度下运动特性的变化对控制系统自适应性和鲁棒性的要求，提出一种自适应滑模控制策略。将纵向运动控制分为俯仰角控制和深度控制内外2个回路。深度控制回路采用自适应算法在线估计无法测量的攻角，俯仰角控制回路采用自适应滑模控制。在线估计不确定模型参数，并克服模型中的未建模不确定性，从而保证了三速制鱼雷在速度变化和模型参数不确定条件下的稳定性，消除了由于非零平衡态造成的深度稳态误差。仿真对比研究结果证明了该自适应滑模控制方法的有效性。

Adaptive Sliding-mode Control of Tri-speed Torpedo

The motion characteristics of the tri-speed torpedo may vary in different speeds,and have different requirements for the adaptive ability and robustness of the control system.For this problem an adaptive sliding-mode control method is proposed.The vertical motion control is divided into two loops,the pitch angle control loop and the depth control loop.The depth control loop uses the adaptive algorithm to online estimate the angle of attack which cannot be measured.The pitch angle loop uses the adaptive sliding-mode control method,online estimates the uncertain model parameters and overcomes the unmodeled uncertainties,which ensures the stability of the tri-speed torpedo under the condition of speed change and model parameters uncertainty,and also eliminates the depth steady-state errors caused by the non-zero equilibrium state.The simulation results verify that the effectiveness of this adaptive sliding-mode control method.