远程高空滑翔UUV的最优控制设计与仿真

摘要

针对远程高空滑翔UUV突防段飞行高度稳定控制问题,建立了远程高空滑翔UUV的数学模型,并运用连续系统线性二次型最优控制理论,设计了远程高空滑翔UUV控制系统的线性二次型调节器.最后利用Matlab仿真平台,分别采用线性二次型最优控制理论和传统PID方法对远程高空滑翔UUV的突防段进行仿真,结果表明,采用最优控制的远程高空滑翔UUV控制系统振荡次数明显减少,抗扰动能力强,为以后该理论在高空滑翔UUV上的实际应用,提供了理论依据和参考.%In order to improve the performance of high-altitude long-range glider UUV control system, the sec ond order mathematic model for high-altitude long-range glider UUV is built. Using the theory of LQOC( linear quadratic optimal control), the systematic linear quadratic controller is designed for the stability of this pendulum under the closed loop state. Compared to the traditional PID control method, the final result demonstrates that the optimal control method has the better effects by using the Matlab software.