水雷出水模型突变的控制方法

肖敏; 史忠科

doi:10.3724/SP.J.1004.2012.01609

水雷出水模型突变的控制方法

doi: 10.3724/SP.J.1004.2012.01609

肖敏^1,2,,
史忠科²

1.
三峡大学计算机与信息学院宜昌 443002;
2.
西北工业大学自动化学院西安 710072

详细信息

通讯作者:
肖敏

计量
- 文章访问数: 1842
- HTML全文浏览量: 58
- PDF下载量: 907
- 被引次数: 0
出版历程
- 收稿日期: 2011-02-14
- 修回日期: 2011-12-11
- 刊出日期: 2012-10-20

The Control Method for Catastrophe of Out-of-water Model of Underground Mine

XIAO Min^{1,2
,},
SHI Zhong-Ke²

1.
College of Computer and Information Technology, Three Gorges University, Yichang 443002;
2.
College of Automation, Northwestern Polytechnical University, Xi'an 710072

摘要

摘要: 水雷水下发射攻击水上目标时出水瞬间数学模型发生突变, 严重影响水雷出水的稳定性和打击概率, 对这一过程设计了滑模变结构单控制器和组合控制器.利用微分几何的输入输出反馈线性化方法将非线性系统进行了线性化, 并利用变结构控制策略及趋近律算法设计了姿态跟踪闭环控制系统, 计算简便, 易于实现.对两种控制器的优劣性进行了比较, 通过数字仿真表明所设计的控制系统可以适用于水下攻击目标出水突变过程, 并对系统参数摄动具有较强的鲁棒性.
- 出水模型突变 /
- 运动控制 /
- 水下发射 /
- 滑模变结构控制 /
- 跟踪控制
Abstract: The mathematical model of a mine gets catastrophe at the out-of-water moment when it is launched underwater to attack the target on water, which seriously affects the out-of-water stability and hit rate of the mine. For this course, we design a single controller and a combined controller of sliding mode variable structure (SMVS). The input and output feedback linearization method of differential geometry is adopted to linearize the nonlinear system. Moreover, the variable structure control strategy and approaching law are used to design the closed-loop control system for attitude tracking, which is characterized by easy realization and simple calculation. Simulation result shows that the control system designed can be used in the out-of-water catastrophic course of the submerged attack and is robust to perturbation of system parameters.
- Catastrophe of out-of-water model /
- motion control /
- underwater launching /
- sliding mode variable structure (SMVS) /
- tracking control

HTML全文

参考文献(1)

[1]

Chai Tian-You, Zhang Ya-Jun. Nonlinear adaptive switching control method based on unmodeled dynamics compensation. Acta Automatica Sinica, 2011, 37(7): 773-786(柴天佑, 张亚军. 基于未建模动态补偿的非线性自适应切换控制方法. 自动化学报, 2011, 37(7): 773-786)[2] Xiao Qiang, Xie Wei. A GIMC architecture for time-delay systems. Acta Automatica Sinica, 2011, 37(4): 464-470(肖强, 谢巍. 针对时滞系统的一般化内模控制方法. 自动化学报, 2011, 37(4): 464-470)[3] Zhang W A, Yu L. A robust control approach to stabilization of networked control systems with short time-varying delays. Acta Automatica Sinica, 2010, 36(1): 87-91[4] Ivan N K, James S U. Overview of high-speed supercavitating vehicle control. AIAA-2006-6442, 2006[5] Wei Ying-Jie, Wang Jing-Hua, Zhang Jia-Zhong, Cao Wei, Huang Wen-Hu. Nonlinear dynamics and control of underwater supercavitating vehicle. Journal of Vibration and Shock, 2009, 28(6): 179-204(魏英杰, 王京华, 张嘉钟, 曹伟, 黄文虎. 水下超空泡航行体非线性动力学与控制. 振动与冲击, 2009, 28(6): 179-204)[6] Nathan D R, Jeffrey F M. Application of robust state and parameter estimation to a supercavitating torpedo model. AIAA-2006-6444, 2006[7] Tadeusiewicz M, Halgas S. An efficient method for simulation of multiple catastrophic faults. In: Proceedings of the 15th IEEE International Conference on Electronics, Circuits and Systems. St. Julien's: IEEE, 2008. 356-359[8] Xie Z K, Fan W C, Wang Q A. Catastrophe mechanism and classification of discontinuity behavior in thermal science (I) - fold catastrophe. Chinese Science Bulletin, 2000, 45(19): 1813-1817[9] Chiou J C, Wu S D. Constraint violation stabilization using input-output feedback linearization in multibody dynamic analysis. AIAA-1996-35765, 1996[10] Liu Jin-Kun, Sun Fu-Chun. Research and development on theory and algorithms of sliding mode control. Control Theory and Applications, 2007, 24(3): 407-418(刘金琨, 孙富春. 滑模变结构控制理论及其算法研究与进展. 控制理论与应用, 2007, 24(3): 407-418)[11] Wu B J, Li S, Wang X H. Discrete-time adaptive sliding mode control of autonomous underwater vehicle in the dive plane. In: Proceedings of the 2nd International Conference on Intelligent Robotics and Applications. Berlin Heidelberg: Springer-Verlag, 2009. 157-164[12] Zhang Yu-Wen. Torpedo Trajectory and Trajectory Design. Xi'an: Northwestern Polytechnical University Press, 1999. 42-96(张宇文. 鱼雷弹道与弹道设计. 西安: 西北工业大学出版社, 1999. 42-96)[13] Duan Fu-Hai, Zhang Wei-Guo, He Chang-An. A nonlinear PID control method with optimal correction function and its application in torpedo trajectory control system. Control Theory and Applications, 2000, 17(1): 65-68(段富海, 章卫国, 何长安. 一种非线性优化控制方法及其在鱼雷控制中的应用. 控制理论与应用, 2000, 17(1): 65-68)[14] Hu Yue-Ming. Nonlinear Control Systems Theory and Applications. Beijing: National Defense Industry Press, 2005. 154-174(胡跃明. 非线性控制理论与应用. 北京: 国防工业出版社, 2005. 154-174)[15] Laghrouchea S, Plestanb F, Glumineaub A. Higher order sliding mode control based on integral sliding mode. Automatica, 2007, 43(3): 531-537[16] Duan Fu-Hai, He Chang-An, Zhang Wei-Guo, Shen Yi. Application of feedback linearization and continuous sliding mode control to a nonlinear helicopter model. Journal of Northwestern Polytechnical University, 2000, 18(3): 378- 381(段富海, 何长安, 章卫国, 沈毅. 反馈线性化与连续滑模控制方法在直升机中的应用. 西北工业大学学报, 2000, 18(3): 378-381)[17] Elamli H, Olgac N. Robust output tracking control of nonlinear MIMO systems via sliding mode technique. Automatica, 1992, 28(1): 145-151[18] Lin Y Y, Liu S S. Integrated projection guidance and nonlinear control of unmanned air vehicle. AIAA-1998-4536, 1998[19] Lin Y Y, Lin G L. Robust nonlinear attitude control of spacecraft with flexible structures. AIAA-2000-4357, 2000[20] Gao Wei-Bing. Variable Structure Control Theoretical Basis. Beijing: China Science and Technology Press, 1990(高为炳. 变结构控制理论基础. 北京: 中国科学技术出版社, 1990)[21] Burton J A, Zinober A S I. Continuous approximation of variable structure control. International Journal of System Science, 1986, 17(6): 875-885

施引文献

资源附件(0)

访问统计