Underwater Vehicle Parameter Identification And Control Methods

With the development of advanced high-tech navy weapon, especially the development of submarine, the submarine launched missile becomes more and more important in naval battles. This type of missile can greatly improve the submarine's abilities of subsistence and fighting. At the same time, the missile can make a submarine have abilities of remote anti-submarine, anti-ship and ground object strategic strike. The submarine launched missile must be transported by an underwater carrier. While to the shoot percentage of missile and subsistence of submarine, trajectory of the carrier is one of the most important factors. So the research of carrier control can improve the controllability of trajectory and the divinablity of attitude angle when the missile jumps out of the water. Now this research has great academic significance and foreground of engineering application.The research object of this paper is a non-powered carrier which shape is just like a torpedo. Traditional control of the underwater carrier is open-loop control, so the underwater trajectory is fixed. This method of control can't meet the requirements of the underwater environment. So the main works of this paper are the design a complex closed-loop control system. The main works of this paper are following:(1) With the data from the operation experimentation, analyzing the hydrokinetics of the underwater carrier, then the model of the carrier can be built based on the model of a torpedo.(2) Predigesting the model of the carrier, then the portrait model can be got. Then some portrait movement parameters that what can't be measured can be identificated. Then a better model can be got, and it will be helpful in the research of control.(3) Building a simulation model in the Simulink, and then the result of the open-loop control can be got. And because of the similitude between the carrier and torpedo, the classic control equation of torpedo can be used in the closed-loop control of the carrier. After we improve the equation, we get the result of closed -loop control. Compared the two result of control, we can easily find the advantage of the closed-loop control.(4) Design the each PID controller of the pitch angle, drift angle and depth of the carrier and use the Genetic Algorithms to optimize the parameters of the...