Multi-dimensional Taylor Network Optimal Control And Simulation Of Torpedo Running For Attacking Static Target

Torpedo can be navigated and controlled automatically under the water.In addition to having the characteristics of fast speed,long range and good concealment,torpedo also need to be controlled accurately and stably in modern warfare.Therefore,the design of automatic control system is a significant part in the research of modern torpedo running.In this thesis,a control method of torpedo navigation which used to combat static target based on Multi-dimensional Taylor Network(MTN)optimal control is proposed,and this method not requiring the mechanism model of controlled object.In order to compare the differences between the different control methods,the PID optimal control not requiring the mechanism model of controlled object and sliding mode variable optimal control requiring the accurate mechanism model of controlled object are also used to design the controller of torpedo running under the same optimal method named simplex method.MATLAB is used to simulate and final results of comparison are given,mainly as following:1.The analysis of the force is reviewed during the torpedo movement,the nonlinear and strong coupling model is derived.2.PID,sliding mode variable control based on the exponential reaching law and MTN optimal control are used to design the controller of torpedo running under separated channel.The controlled variable includes the control of pitch angle and the running depth under the longitudinal channel as well as the control of yaw angle and roll angle under the other channel.All parameters of different controller are optimized by using simplex method,and the diagram of relevant effects are given.3.According to the block diagrams of all single channels,the design of full channel oftorpedo running is carried out using PID,SMC and MTN optimal control method.Firstly,the whole channel simulation system of torpedo running with no current interference is designed,and the differences of simulation results of the above three optimal control methods are compared.Then,the constant current and the change current by depth as interference was added to the model of torpedo running.Finally,the differences of simulation effects of all controllers designed by PID,SMC and MTN optimal control are compared under different disturbance conditions.4.The program guidance is used to complete the torpedo to hit the static target under the condition of ocean current and no-ocean current.The missing target and running time of PID,SMC and MTN optimal control are also given.5.After designing the trajectory of the torpedo with the height change,the simulation platform for torpedo running control systems against static targets is designed and developed by using the GUI function provided by MATLAB.6.All the work in this thesis is summarized.The total simulation results concluded that Multi-dimensional Taylor Network optimal control has the best control effect on the control of torpedo navigation.