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在回收过程中,UUV对水平面运动的控制精度有很高的要求。以BSA-UUV为平台,构建水平面操纵非线性方程,在此模型的基础上,分析了多阶段回收过程中的主要耦合变量和耦合原因。针对水平面运动中航向控制与横向运动之间的强耦合问题,基于模糊理论和解耦理论设计一种解耦补偿器,由模糊补偿器的输入输出隶属度函数,根据模糊补偿规则,经过模糊推理合成运算和清晰化运算,得出解耦补偿量。仿真结果显示加入模糊解耦控制器以后,有效降低了系统的超调量,提高了控制精度,表明模糊解耦控制方法在UUV回收运动控制中有很高的应用价值。
In the recovery process, UUV has high requirements on the control accuracy of horizontal movement. Based on the BSA-UUV platform, a nonlinear governing equation of horizontal plane is constructed. Based on this model, the main coupling variables and coupling causes in the multi-stage recovery process are analyzed. Aiming at the strong coupling between heading control and lateral motion in horizontal motion, a decoupling compensator is designed based on fuzzy theory and decoupling theory. The membership function of input and output of fuzzy compensator is used. According to fuzzy compensation rules, Synthesis and clarity operations, derived decoupling compensation. The simulation results show that adding the fuzzy decoupling controller reduces the overshoot of the system effectively and improves the control precision. It shows that the fuzzy decoupling control method has a high application value in UUV recovery motion control.