基于浮力补偿的水下无人平台低速状态最优控制研究

摘要

针对无人水下作战平台(UUv)低速状态受扰动后带来的稳定控制困难问题,提出了一套行之有效的最优控制策略.通过建立UUV纵平面运动数学模型,并对模型进行线性化处理,得到了水平舵和浮力补偿双输入系统状态方程,进而设计了一种基于浮力补偿的线性二次型最优控制方案.通过仿真实例,与经典控制方案进行了比较,结果表明,最优控制方案调节时间可以缩短一半,能更快、更有效地实现扰动后的系统状态稳定,从而验证了该方案的可行性和优越性,为无人水下作战平台低速状态载荷投放稳定控制提供了理论参数依据.%An effective optimal control strategy is proposed in order to solve the stable control problem produced by the disturbance on unmanned underwater vehicle (UUV) in low-speed state.The system state equations with double input of the level rudder and buoyancy compensation are obtained by establishing a UUV longitudinal plane movement mathematical model and linearizing the model,and then a linear quadratic optimal control scheme based on buoyancy compensation is designed.The optimal control scheme is compared with the classical control scheme through simulation.The result shows that the optimal control scheme can shortens setting time by half,and more quickly and effectively make the disturbed system stable.