水下航行体的改进S面运动控制器

摘要

In order to investigate the impacts produced by the longitudinal velocity on other freedom mo-tions of underwater vehicles(UVs) and to analyze the specific static force encountered,an improved S-plane controller(ISPC)is presented in this paper based on the kinetic model of UVs. This ISPC is easy to calibrate and simple in structure as typical S-plane controllers are,and is able to deal with the difficulty of motion control at high speeds. The stability of this ISPC is first analyzed with Lyapunov function,and then the ISPC is successfully applied to the motion control of UVs. Comparison with the conventional S-plane controller suggests that the ISPC presented here is more feasible and effective for the motion con-trol in UVs.%为研究水下航行体的纵向速度对其余自由度运动所产生的影响及其自身所承受的静力学作用，在分析水下航行体运动模型的基础上，提出了一种改进S面运动控制器。该控制器不仅保留了常规S面控制器参数易于调整且结构简单的优点，同时还克服了常规S面控制器在水下航行体高速航行时运动控制效果差的缺点。引入李雅普诺夫函数对该控制器的稳定性进行分析，并将该控制器成功应用于水下航行体的运动控制。将改进S面运动控制器与常规S面控制器的试验结果进行对比，结果表明：改进S面运动控制器在水下航行体的运动控制方面具有可行性及有效性。