基于专家S面控制的UUV姿态控制系统设计.pdfVIP

第 37 卷第6 期 三峡大学学报(自然科学版) Vol. 37 No.6 2015 年 12 月 J of ChÎna Three Gorges UnÎv. (Natural ScÎences) Dec. 2015 001: 10. 13393/j. cnki. issn. 1672-948X. 2015. 06. 017 基于专家 S 面控制的 uuv 姿态控制系统设计 黄悦华刘瑞勇杨培培李闯向东旭 (三峡大学电气与新能源学院，湖北宜昌 443002) 摘要:近年来，长航程 UUV 的应用越来越多，长航程 UUV 在水下进行长距离航行时，由于不同水 域的海水密度不同，使得 UUV 的受力状况发生变化，从而影响其航行姿态角，使其不能按照预定 的路径完成航行任务，甚至发生危险.本文针对姿态变化问题，将专家控制和 S 面控制相结合，设 计一种专家 S 面控制器，并进行半实物仿真.仿真试验结果表明，该方法可以实现对 UUV 实时准 确的定深定向调节，满足实际使用要求. 关键词:UUV; 整体构架; 专家 S 面控制; 定深定向; 半实物仿真 中固分类号:TP273 文献标识码:A 文章编号: 1672-948X(2015)06-0080-05 Design of UUV Attitude Control System ßased on Expert S Control Huang Yuehua Liu Ruiyong Yang Peipei Li Chuang Xiang Dongxu CCollege of Electrical Engineering Renewable Energy , China Three Gorges Univ. , Yichang 443002 , China) Abstract In recent years , the application of long voyage UUV becomes more and more popular , when the UUV underwater to saillong-distance , due to the different densities of seawater in different waters , the force status of UUV changed , so as to affect the sailing attitude of UUV; so the UUV can not be complete the nav igation task in accordance with a predetermined path , even in danger. In this paper , for the attitude change , we combine the S control and expert control to design a expert s controller and having a semi-physical simula- tion. The simulation results show that this method can meet the actual requirements to adjust the depth-direc- tion of UUV in real-time and accurately. Keywords unmanned underwater vehicleCUUV); overall framework; expert S control; depth-direction; semi-physical simulation 设计的优劣直接影响到整