Submarine Heading Control Research Based On Valve Control Steering Gear

With the development of science and society,the simple submarine heading control system has no advantage to compete with the developed countries,the simple submarine heading control system has been replaced by the new submarine heading control system with modern control theory and computer-controlled.In this paper,the submarine navigation control system is analyzed and studied,and propose the submarine heading control system based on sliding mode control algorithm.Firstly,the composition and working principle of the submarine heading control system are introduced.Introduced the two coordinate systems commonly used in submarines,introduced the rotation relationship between them.the submarine space motion general equations and the submarine force are studied,conclused the six degrees of freedom motion equation of the submarine.In need of the actual control,by ignoring some high-order hydrodynamic coefficient,simplified the standard motion equation,obtained the submarine horizontal motion model.Secondly,introduced the development and current situation of sliding mode control,introduced the design method of the terminal sliding surface,analyzed the convergence performance of the terminal sliding surface,discussed the formula and the derivation process of the submarine heading sliding mode control algorithm in detail.conclused the submarine sliding mode heading control algorithm.Finally,introduced the function and working principle of the submarine heading control system,introduced the hardware composition and software structure of the submarine heading control system,completed the construction of the submarine heading control system.use the terminal sliding mode algorithem to the submarine heading control system,submarine motion model use the six degrees of freedom motion equation,designed the submarine heading sliding mode control system,and carried out the simulation of the submarine heading sliding mode control system,and carried out the semi-physical simulation debugging of the submarine heading control system,verifies the usability and stability of the submarine heading control system.