The Pitch And Depth Control Research Of Submarine Based On Pump-controlled Hydraulic Steering Gear

Manipulation is one of the most important overall performance of modern submarines,The operating characteristics is the important basement for effectiveness of submarine performance and combating.Submarine simulation control control system is mainly consisted of the steering,bow cold,balanced,hover and other system.The system can not only meet the performance research of simulated submarine but also enhance the automatic control capability of our submarine.This article is based on the national security conditions construction project which is responsible for the development of submarine semi-physical simulation control system,It carries out the submarine motion control research in different conditions and complex environment to solve the problem of high-performance submarine’s actual control and to apply for the construction of the actual hydraulic steering gear control platform.Submarine control control can be divided into the heading control of horizontal surface and the pitch and depth control of vertical surface.The thesis is based on the six-degree-of-freedom model of submarine space to study the movement of submarine vertical surface.The vertical control of the submarine is a strongly non-linear and coupled multi-input and multi-output system,two pairs of shell rudder and stern lift both affect the depth and pitch,this makes two channels of depth and pitch interfered by each other.In general,decoupling control method is used to convert submarine’s multi-input and multi-output system into a single-input and single-output system: the shell rudder controls the depth and the stern ladder controls the pitch.The systerm designs sliding mode control algorithm respectively to achieve submarine pitch and depth control.At the same time,this thesis is based on the actual hydraulic servo system to obtaine hydraulic Amesim model by parameter analysing and study the characteristics of the hydraulic system with Amesim.For coupling characteristics of pitch and depth control on vertical surface of submarine,The thesis designs a fast terminal sliding mode control algorithm and uses the definition of terminal functions and global terminal functions to propose a terminal function and global terminal function construction criterion and deisgn the terminal sliding surface.At the same time,the paper designes and simulates the model to shows that the terminal slip surface makes the system converge in a finite time and has the advantages of robustness.The control system design not only solves the decoupling problem but also completes the submarine vertical surface stability control by combining with different hydrodynamic interference through simulation and experimental methods.At the same time,for the confidentiality of submarine hydrodynamic coefficient and inaccurate of experimental data,the thesis verifies control effect of the algorithm to the perturbation of the parameters by using theoretical estimation method to attain hydrodynamic coefficient and parameter perturbation.From the results of simulation,we can know that the system has a good control effect on the pitch and depth of the submarine under the perturbation of the parameters.