【摘要】 通过模型试验测量大深度载人潜水器低速大漂角运动时所受到的非线性水动力。基于一种新的模糊滑模控制策略,为潜水器设计了鲁棒航向控制器。在不同的漂角子区间内分别设计局部镇定的滑模控制器,然后通过Takagi-Sugeno模糊推理系统将它们光滑连接,得到模糊滑模控制。仿真计算结果充分显示了该控制策略的有效性。更多还原

【Abstract】 The nonlinear hydrodynamic forces on a deep manned submersible at a low forward speed and large drift angles are determined by a model test.Based upon a new fuzzy sliding mode control strategy,a robust heading controller is designed for the submersible to reach a predetermined heading angle.A fuzzy sliding mode control method is developed by combing sliding mode controllers with responsibility for stabilizing the system within different ranges of drift angle smoothly by using Takagi-Sugeno fuzzy inference.Simulation results verify the effectiveness of the proposed control strategy.更多还原