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针对超空泡航行体受力特征及其航行时具有非线性、时滞与耦合等复杂问题,提出可根据适应度对控制参数进行自适应动态调整的改进遗传算法。通过建立超空泡航行体纵向模型,设计专用自抗扰控制器对其进行控制,并针对控制器参数多、调节困难的问题,改进了自适应遗传算法对其精确优化。最后通过特性仿真,验证了基于改进的自适应算法的自抗扰控制器相比经典自抗扰控制器的优势。仿真结果表明,该自抗扰控制器符合实际需求,具有良好的控制效果。
In view of the mechanical characteristics of supercavitating voyage body and its complex problems such as nonlinearity, time delay and coupling in navigation, an improved genetic algorithm that adaptively adjusts the control parameters adaptively is proposed. A longitudinal model of supercavitating navigation body is established and a dedicated ADRC controller is designed to control it. In order to solve the problem of difficult controller and controller parameters, an improved adaptive genetic algorithm (GA) is proposed to improve its accuracy. Finally, through the simulation of characteristics, the advantages of the ADRC controller based on the improved adaptive algorithm compared with the classical ADRC controller are verified. Simulation results show that the ADRC controller meets the actual needs and has good control effects.