Research On Joint Control System Design For Near-Surface Submarine

At present years,with the increasing martial strategic status of a submarine some major martial countries are more value the research work on submarine. Due to the limited underwater action scope of a submarine,and it must be provided well maneuver performance,not only the depth-keeping and directional steady motion but also quick elusion or entering the battle status,which brings forward a high demand to submarine control. The purpose of this dissertation is to make theoretical research and investigation on designing combined maneuvering control system of submarines. Main works of the dissertation are as follows:Firstly,based on the six-degree of freedom of dynamic model of submarine,the simulation models and design model are derived. With regard to inherent coupling characteristics,highly non-linearity among the every degree of freedom in submarine movements,influence of wave extremely disturbances of near-surface,a controller for submarine motion is designed with variable structure control (VSC),which possesses robustness and decoupling and solution of non-linearity.In order to overcome the chattering phenomenon,a new approach with saturation boundary layer and adaptive variable structure control with twin-neuron(AVSCT) is proposed.The neuron adaptive PSD intelligenc control algorithm is proposed for the first time in double adaptive neuron VSC controller and adopted method which separately adjusting learning rate in study of submarine combined maneuvering control system of near-surface. The water tank controller based on fuzzy logic is firstly proposed to decrease the rudder movement and a method of neural-fuzzy controller is proposed for learning and modifying the fuzzy control table on-line by a neuron.In study of the submarine movement in deep sea a new approach with fuzzy sliding-mode control and double-gene genetic algorithm is proposed for designing combined maneuvering control system of submarines. Simulation results showed that the approach not onlyremains robustness of sliding-mode control,but also avoids thq effect of chattering phenomenon,possess better performance of the system.