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...
