【作者】 申冬慧；

【导师】 郝燕玲；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2003， 硕士

【摘要】 本课题通过对自动舵发展历史和现状的分析和透视，确定了研究的重点和总体框架。首先通过对潜艇的原始空间六自由度运动模型进行合理的简化和验证，求得了一组适合于设计控制系统的潜艇空间运动设计模型。在此基础上，设计了模糊控制自动舵系统。对于调节控制和跟踪控制，自动舵的控制效果和系统响应进行了仿真研究，其结果表明，在初始均衡好的情形下，模糊控制器控制参数如果调整合适，模糊控制自动舵有较好的控制效果，响应较快，静差比较小。 虽然单一的模糊控制自动舵实现比较简单，但是当外界条件发生变化时，控制效果会变差，这使得我们要采用其他方法来提高模糊控制自动舵的性能。本文引入了遗传算法与模糊控制相结合的控制方法实现了潜艇自动舵系统的设计和实现，采用遗传算法优化控制参数后模糊控制系统与单一的模糊控制系统分别进行仿真，其结果表明，优化后的控制系统对于外界参数的改变能够达到控制的目的，提高控制的精度，基于模糊控制和遗传算法的自动舵显示了更好的鲁棒性和抗干扰能力。 最后本文从理论、仿真两个方面分析和显示了艇体在一阶、二阶波浪力作用下的运动趋势，从而为研究潜艇近水面波浪力干扰下的潜艇自动舵设计奠定了基础。由于在近水面航行时，航向所受到的主要是接近于白噪声的干扰，所以采用了结构和水下相同的航向自动舵，由仿真曲线可看出控制效果比较理想。根据一阶二阶波浪力对深度的影响比较大，重新设计了近水面深度模糊控制器，该控制器对于近水面的深度控制有比较稳定可靠的控制作用。更多还原

【Abstract】 Through analyzing the development and present status of submarine autopilot, the dissertation determines the research emphasis and framework firstly. Then, a design motion model fitted for the control system design was derived by reasonable simplification of standard submarine 6-DOF motion model. Based on the simplified motion model, the fuzzy autopilot control system is designed. Finally, the simulations of regulation control and trace control are carried out respectively. The simulations illustrate that the fuzzy autopilot control system has good control effect and fast response and small static error, if the parameters are adjusted properly.The fuzzy autopilot control system is implemented easily, but the control effect will decrease greatly when the environment conditions are changed. So we have to adopt other methods to improve the performance of the fuzzy autopilot control system. In the dissertation, the genetic algorithm is employed to combine with fuzzy control to design and implement the autopilot control system. The GA is used to optimize the parameters of fuzzy control system. The following simulations show that the fuzzy autopilot control system optimized by GA has higher control accuracy, better robustness and resistant disturbance capability.In the last chapter, the submarine motion tendencies under first order and second order wave force actions are illustrated through theory analysis and simulations, which established the foundation for studying the design of autopilot control system under wave force disturbances. When submarine curves close the water surface, the course is affected by the quasi white noise disturbances. The close water control structure is same with that in deep water. The simulations show that the control effects are close to the ideal situations. Because the first order and second order wave forces affect the deep control greatly, the close water deep controller is redesigned. The new controller has steady and credible control action on the deep control close water.Key Words: Submarine autopilot,fuzzy control,GA,submarine motion model,simulation更多还原