The Study On Control For Submarine Space Motion

Submarine is an important military force in modern warfare and it playing an irreplaceable role. Since the appearance of submarine, various countries are committed to the research of submarine in order to enhance its tactical and technical abilities. And good handling technique is the key to achieve the purpose of tactics, it also play an important role in the performance of their tactics of submarine. Submarine space motion is strong coupling, highly non-linear and complex, it makes its maneuver to be a hard problem. In this paper, several control methods are studied to enhance the performances of submarine maneuver, the main work is as follows:Based on the depth analysis of the submarine motion, according to the structural characteristics of the submarine itself and the physics principle and effects of the submarine motion, the submarine space motion equations are reasonably simplified. Thus, we can get the horizontal surface equation of motion and vertical surface equation of motion respectively. And we can continue the study of controller design for submarine maneuver on the actual research need.Near the surface, the submarine motion including the turn maneuver and the floating maneuver. For the characters of submarine motion, a controller is designed based on Backstepping sliding mode. Use the designed controller to control the process of the submarine motion in simulation, and let the control effect contrast to that of ordinary sliding mode controller. The simulation results show that the designed Backstepping sliding mode controller have more advantages than the ordinary one. Unless take the advantage of the strong robustness of sliding mode variable structure control, it also shorten the response time, the change of control torque is relatively stable as well. It has a good speediness. In a word, it can meet the performance requirements of submarine motion.Considering the highly nonlinear and the upper bound of external disturbance is certain, a more robust controller is designed, it is a sliding mode controller. Considering external disturbance uncertainties, an aspects of adaptive estimation is added to estimate the upper bound of the external disturbance. Finally, an fuzzy link is added, we design an adaptive fuzzy sliding mode controller, and it is used to weaken the chattering rapidly. It's simulation results further validate the effectiveness of sliding mode variable structure control algorithm.