Research On Submarine Adaptive Inversion Sliding Mode Depth Control Technology Based On Kalman Filter And NDO

The ocean is the second largest strategic space for mankind to enter after land.It plays a pivotal role in the country’s military,defense,international trade,politics,and diplomacy,especially after the 21 st century.The submarine,as an important platform for marine weapons and equipment,plays an extremely important role in combating aircraft carriers and conducting ocean raid strikes.Manipulation and control technology is a core technology that determines the combat capability of a submarine.However,since the submarine itself is a non-linear system with large inertia and strong coupling,and the mathematical model is inaccurate,it is also affected by uncertain external factors such as ocean currents and waves.The existence of these factors makes the research of submarine control technology very challenging.This paper mainly studies and analyzes the problem of vertical surface motion control of submarines with external interference and system parameter perturbation,using sliding mode variable structure control,inversion control,robust control and adaptive control methods,and combining with the technologies of Kalman filter and nonlinear interference observer.The specific research contents of this article are as follows:First,the research background and significance of this subject are introduced,and then the submarine control technology,sliding mode control technology,observer and Kalman filtering technology are reviewed.Then,according to the coordinate transformation and the rigid body momentum theorem,the six-degree-of-freedom kinematics and dynamics equations of the submarine were established respectively.Then,the constraint conditions were introduced to simplify the submarine’s spatial motion model to obtain its kinematics and dynamics equations in the vertical plane.Second,the basic implementation principles of sliding mode control technology are introduced,and the causes,harms and weakening methods of the phenomenon of "chattering" are analyzed in detail.Subsequently,a power sliding mode controller is designed for the control of the submarine vertical motion,Considering that the switching of the sign function itself has a great influence on the chattering of the control system,the original controller is improved by using the saturation function and the first-order continuous hyperbolic tangent function respectively,and the control effect is optimized.In order to achieve effective control and global adjustment capability of the submarine system,a sliding mode variable structure control method and an inversion control method are combined to design an inversion sliding mode control algorithm,and then on this basis,combining the ideas of robust control and adaptive control to design the controller.Finally,the control effects of the three control algorithms are compared and analyzed through simulation experiments.The results show that the three algorithms can control the submarine to quickly approach the desired depth and trim values.Specifically,The adaptive inversion sliding mode algorithm has faster approach speed and more stable attitude control effect,and it is also superior to the inversion sliding mode and the robust inversion sliding mode algorithm in steering rules.Third,an adaptive Kalman filter based on exponential weighting method is designed to solve the problem of unstable data collection caused by the interference of the external environment when the submarine is actually working;then in order to further solve the problem of external environment interference and internal perturbation,a nonlinear disturbance observer is designed;afterwards,an adaptive inversion sliding mode control algorithm is redesigned based on the designed filter and observer.Finally,based on the Matlab simulation platform,the feasibility and effectiveness of the adaptive Kalman filter and the nonlinear disturbance observer are verified respectively.Fourth,the composition structure of an intelligent submarine control system is introduced,and in detail,the composition structure,functional design and other contents are analyzed for the motion control unit.After that,the difference between UUV Simulator and Matlab simulation platform was compared,and the maneuverability simulation tests were carried out based on the two platforms.The results showed that the maneuverability of the submarine under the two simulation platforms was not much different.Finally,based on the UUV Simulator simulation platform,testing three control algorithms under different operating conditions,and compared with the experimental results under the Matlab simulation platform.The results show that the control effect of three controllers in UUV Simulator are basically the same as the control effect under the Matlab simulation platform,both of which can achieve robust control of the submarine depth,which proves the effectiveness of the control algorithm proposed in this paper and has certain engineering application value.