Horizontal Motion Control for Variable Vector Propeller of Submarine Based on Pitch Angle Varying

摘要

In order to decrease both the weight and the size of submarine, the variable vector propeller (i.e., VVP) has been applied on it. In this paper we will study the horizontal motion control for submarine with variable vector propeller. Firstly, we will build the reasonable simplification of the horizontal motion equations about submarine with variable vector propeller according to the need of control system. Secondly, we will build the rules of pitch matching for the variable vector propeller, so we can get the pitch state of VVP, and we will give the thrust of VVP in this pitch state. Thirdly, considering the characteristic of nonlinearity, time-variation, coupling, stochastic disturb of wave and ocean current, and dubious parameters in horizontal motion control system of submarine with variable vector propeller, the backstepping sliding mode controller based on model reference adaptive is designed for it. The adaptive rules are introduced in the backstepping sliding mode control during the design of controller. By applying the backstepping sliding mode controller based on adaptive rules for horizontal motion of submarine with VVP, we can overcome the influence caused by some factors such as uncertainty and complexity of control system, and hold the performance of control. The formulation consults proved that backstepping sliding mode controller based on model reference adaptive can have better adaptive ability for uncertainty and complexity than the fuzzy sliding controller.