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水下航行器的横滚会使其纵向运动与侧向运动发生交连耦合,给其运动带来一系列不良后果。针对水下航行器航行环境复杂、模型参数摄动大、执行机构的饱和非线性等特点,采用滑模控制设计水下航行体横滚姿态控制器,以达到抑制和消除横滚的目的。仿真结果表明,滑模控制器操舵平滑,控制速度快,鲁棒性和环境适应能力更好。完全能胜任水下航行器横滚姿态控制的要求。
The roll-on of an underwater vehicle causes its longitudinal and lateral couplings to become coupled, giving it a series of undesirable consequences. In view of the complex navigation environment of underwater vehicle, the large perturbation of model parameters and the saturation of actuator, the sliding mode control is used to design the roll attitude controller of underwater vehicle to achieve the purpose of restraining and eliminating roll. The simulation results show that the sliding mode controller has the advantages of smooth steering, fast control, better robustness and environment adaptability. Fully capable of underwater vehicle roll attitude control requirements.