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为了提高艏艉双水平舵配置的AUV定深航行过程中艏艉舵的控制策略,提出了采用BP网络算法自主优化艏艉舵进行定深航行。该算法以AUV的深度和俯仰角等变量作为输入,艏艉舵角作为输出,并根据实际情况自动分配艏艉舵角。通过对该AUV控制算法进行数值仿真发现:该算法在定深航行过程中,可自主优化艏艉水平舵的打舵策略,改变俯仰角实现深度控制,定深航行误差不超过0.15 m,控制效果良好。
In order to improve the control strategy of 艏 艉 rudder in the AUV fixed deep sailing with 艏 艉 bi-level rudder, a BP network algorithm was proposed to independently optimize the 艏 艉 rudder for the fixed-deep navigation. The algorithm takes variables such as depth and pitch angle of AUV as input, and the rudder angle as output, and automatically assigns the rudder angle according to the actual situation. Through the numerical simulation of the AUV control algorithm, it is found that the proposed algorithm can independently optimize the rudder steering strategy of the 艏 艉 horizontal rudder, change the pitch angle to achieve the depth control, the fixed and deep navigation error does not exceed 0.15 m, the control effect good.