【摘要】 本文针对目前潜艇的方向舵控制普遍只考虑航向的调节 ,而对横摇不加以主动控制这一现状 ,基于变结构控制理论对潜艇的非线性模型设计了一种具有横摇补偿的航向控制器 ,并通过系统的仿真曲线对它们进行了分析和评价更多还原

【Abstract】 At present, only heading is controlled in submarine autopilot control. However, roll occurs when a submarine changes its heading and cannot be controlled by autopilots. A new submarine autopilot with roll compensation is proposed in this paper. The variable structure control strategy using non linear motion model is applied in the design of the autopilots. The si mulation result shows the performance of the new autopilot is better than the traditional one.更多还原