【摘要】 为了解决无级变速鱼雷由于速度的大范围变化给其精确控制带来的困难,该文将具有理想鲁棒性的滑模控制与自适应控制结合起来,设计出自适应滑模控制器,从而实现了无级变速鱼雷纵向、侧向和轴向的精确控制。仿真结果表明,该控制器可适应鱼雷20~55 kn速度的大范围变化,并对参数不确定性和未建模动态具有较强的鲁棒性。更多还原

【Abstract】 In order to overcome the problem that the traditional controller of torpedo is not suitable for wide speed scope of stepless speed torpedo,an adaptive sliding-mode controller is developed for stepless speed torpedo to realize longitudinal,lateral and axial accurate control.In this controller,an online parameter estimating algorithm is added to classical sliding-mode controller to achieve both robustness and adaptability.The simulation results show that the adaptive sliding-model controller adapts to the wide speed scope of 20~55 knots,and is robust to both parameter uncertainty and unmodeled dynamics.更多还原