DOI:10.74953486.2023.03.013JOURNALOFNAVALUNIVERSITYOFENGINEERINGJun.20232023年6月大No.3Vol.35第35卷第3期海报程军学学X舵AUV双模糊控制器的设计与试验彭利坤,孙楠,黄斌,吕帮俊(海军工程大学动力工程学院,武汉430033)摘要:针对X舵AUV水下运动时,深度和航向耦合控制的问题,开展了AUV空间运动控制研究与自航模试验。首先,搭建了X舵AUV的运动模型,分析了首、尾舵升速率操纵响应规律;然后,结合X舵对姿态角的控制权重,设计了“主体模糊控制器十模糊积分控制器”的双模糊控制系统,该控制系统分为“深度-首舵”和“姿态角-尾舵”两部分;最后,通过对AUV变深定向和定深旋回的运动仿真,证明了该控制系统可以很好地将深度和航向稳定在期望值。同样条件下的自航模试验结果表明:X舵AUV变深定向的深度偏差保持在5%以内,航向偏差稳定在3°以下;定深旋回的深度偏差在8.6%左右,旋回时航向变化稳定。关键词:X舵AUV;空间运动;模糊控制;自航模试验中图分类号:U674文献标志码:A文章编号:1009—3486(2023)03—0090—07Designandtestofdual-fuzzycontrollerforX-rudderAUVPENGLikun,SUNNan,HUANGBin,LYUBangjun(CollegeofPowerEngineering,NavalUniv.ofEngineering,Wuhan430033,China)Abstract:FortheproblemofcoupleddepthandheadingcontrolofX-rudderAUVunderwatermo-tion,theresearchandfreerunningmodeltestofAUVspacemotioncontrolwerecarriedout.ThemotionmodelofX-rudderAUVwasbuilt,theresponselawofthebowandtailrudderliftratema-neuverswasanalyzed,andthedual-fuzzycontrolsystemof"mainfuzzycontroller+fuzzyintegralcontroller"wasdesignedbycombiningthecontrolweightsofX-rudderonattitudeangle.Thecontrolsystemwasdividedintotwoparts,namely,"depth-bowrudder"and"attitudeangle-tailrudder",anditwasprovedthatthecontrolsystemcouldstabilizethedepthandheadingatthedesiredvaluebysi-mulatingthemotionofAUVwithvariabledepthorientationandfixeddepthrotation.TheresultsofthefreerunningmodeltestunderthesameconditionsshowthatthedepthdeviationoftheX-rudderAUViswithin5%andtheheadingdeviationisbelow3°,undervariabledepthorientation,thedepthdeviationisabout8.6%andtheheadingdeviationisstableunderfixeddepthrotation.Keywords:X-rudderAUV;spatialmotion;fuzzycontrol;freerunningmodeltestAUV具...