基于F-PID的自动控制算法在潜艇应急操纵中的应用
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摘要
针对潜艇在航行中,由于操作错误、机械系统故障等原因出现的危险纵倾、损失浮力和舵故障等紧急情况,为避免人员操作失误危及潜艇安全,在潜艇应急操纵中引入F-PID复合自动控制算法。通过参数模糊自整定的PID控制模拟应急操纵,实现潜艇在不同应急状况下的自动操纵。根据不同应急工况设计潜艇状态参数进行仿真计算,验证自动控制算法的合理性。
In allusion to the emergencies such as dangerous trim,loss of buoyancy and rudder fault caused by operation mistakes,mechanical system failure and other reasons during the submarine voyage,an F-PID based composite automatic control algorithm is introduced in emergency operations of the submarine to avoid submarine safety risks caused by personnel′s operation mistakes. The PID control based on parameters′ fuzzy self-tuning is used to simulate emergency operations,so as to realize submarine′s automatic operations in different emergency situations. The submarine′s state parameters are designed for simulating calculation according to different emergency working conditions. The reasonability of the automatic control algorithm was verified.
In allusion to the emergencies such as dangerous trim,loss of buoyancy and rudder fault caused by operation mistakes,mechanical system failure and other reasons during the submarine voyage,an F-PID based composite automatic control algorithm is introduced in emergency operations of the submarine to avoid submarine safety risks caused by personnel′s operation mistakes. The PID control based on parameters′ fuzzy self-tuning is used to simulate emergency operations,so as to realize submarine′s automatic operations in different emergency situations. The submarine′s state parameters are designed for simulating calculation according to different emergency working conditions. The reasonability of the automatic control algorithm was verified.
引文
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[2]王鹢,王文武,孙枫,等.潜艇应急操纵的建模与仿真[J].计算机仿真,2003,20(6):1-3.WANG Yi,WANG Wenwu,SUN Feng,et al.Modeling and simulation of submarine emergency maneuver[J].Computer simulation,2003,20(6):1-3.
[3]戴余良.潜艇应急上浮操纵运动分析与控制技术研究[D].武汉:武汉理工大学,2007.DAI Yuliang.Research on the dynamic stability and control techniques of a submarine emergency ascent[D].Wuhan:Wuhan University of Technology,2007.
[4]戴余良,刘祖源,俞科云.潜艇应急上浮操纵与控制研究评述[J].舰船科学技术,2007,29(6):23-29.DAI Yuliang,LIU Zuyuan,YU Keyun.Investigation on the automatic control methods for a submarine in emergency ascent under casualty conditions[J].Ship science and technology,2007,29(6):23-29.
[5]郝英泽,胡坤,何斌.潜艇水下破损进水应急操纵模型[J].四川兵工学报,2011,32(4):4-6.HAO Yingze,HU Kun,HE Bin.Model of emergent manipulating for disrepair entering water of submarine under water[J].Journal of Sichuan Ordnance,2011,32(4):4-6.
[6]刘常波,丁风雷,田炳丽.潜艇应急上浮操纵运动仿真预报研究[J].计算机仿真,2013,30(7):29-32.LIU Changbo,DING Fenglei,TIAN Bingli.Research on simulation prediction of submarine emergency floating maneuverability[J].Computer simulation,2013,30(7):29-32.
[7]金涛,刘辉,王京齐,等.舱室进水情况下潜艇的挽回操纵[J].船舶力学,2010,14(z1):34-43.JIN Tao,LIU Hui,WANG Jingqi,et al.Emergency recovery of submarine with flooded compartment[J].Journal of ship mechanics,2010,14(S1):34-43.
[8]施生达.潜艇操纵性[M].北京:国防工业出版社,1995.SHI Shengda.Submarine manoeuvrability[M].Beijing:National Defense Industry Press,1995.
[9]LE M D,NGUYEN T H,NGUYEN T T,et al.A new and effective fuzzy PID autopilot for ships[C]//Proceedings of IEEEInternational Symposium on Computation Intelligence in Robotics and Automation.Kobe:IEEE,2003:1411-1415.
[10]林雄伟,胡大斌,戴余良,等.潜艇操纵控制方法[J].舰船科学技术,2013,35(5):7-10.LIN Xiongwei,HU Dabin,DAI Yuliang,et al.Survey for maneuver control of submarine[J].Ship science and technology,2013,35(5):7-10.
[11]李海生,朱学峰.自抗扰控制器参数整定与优化方法研究[J].控制工程,2004,11(5):419-423.LI Haisheng,ZHU Xuefeng.On parameters tuning and optimization of active disturbance rejection controller[J].Control engineering of China,2004,11(5):419-423.
[12]TSAI S H,LI T H S.Robust H∞fuzzy control of a class of fuzzy bilinear systems with time-delay[J].Chaos,solitons&fractals,2009,39(5):2028-2040.
[13]任洪亮,边信黔.基于模糊规则的多模型控制方法在AUV航向控制中的应用[J].自动化技术与应用,2004,23(6):1-4.REN Hongliang,BIAN Xinqian.Fuzzy rule-based multi-model control strategy and its application in AUV YAM control[J].Techniques of automation and applications,2004,23(6):1-4.
[14]戴余良,林俊兴,苗海,等.潜艇空间机动的多变量滑模模糊控制[J].武汉理工大学学报(交通科学与工程版),2009,33(6):1040-1043.DAI Yuliang,LIN Junxing,MIAO Hai,et al.Design of multivariable sliding mode fuzzy controller for spatial maneuver of submarines[J].Journal of Wuhan University of Technology(Transportation science&engineering),2009,33(6):1040-1043.