| 大深度载人潜水器低速大漂角模糊滑模航向控制研究 |
| |
| 引用本文： | 马岭,崔维成.大深度载人潜水器低速大漂角模糊滑模航向控制研究[J].海洋工程,2006,24(3):74-78. |
| |
| 作者姓名： | 马岭 崔维成 |
| |
| 作者单位： | 1. 上海交通大学,船舶海洋与建筑工程学院,上海,200030
2. 中国船舶科学研究中心,江苏,无锡,214082 |
| |
| 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。
|
| 关 键 词： | 大深度载人潜水器 大漂角 模糊滑模控制 航向控制 |
| 文章编号： | 1005-9865（2006）03-0074-05 |
| 收稿时间： | 2005-06-14 |
| 修稿时间： | 2005年6月14日 |
Heading control study of a deep manned submersible at a low speed and large drift angles based upon fuzzy sliding mode control |
| |
| MA Ling,CUI Wei-cheng.Heading control study of a deep manned submersible at a low speed and large drift angles based upon fuzzy sliding mode control[J].Ocean Engineering,2006,24(3):74-78. |
| |
| Authors: | MA Ling CUI Wei-cheng |
| |
| Institution: | 1. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200030, China; 2. China Ship Scientific Research Center, Wuxi 214082, China |
| |
| 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. |
| |
| Keywords: | deep manned submersible large drift angle fuzzy sliding mode control heading control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《海洋工程》浏览原始摘要信息 |
| 点击此处可从《海洋工程》下载免费的PDF全文 |
|
