摘要
对作用于潜艇的一阶、二阶波浪力进行了简化,得到修正后的潜艇近水面垂直面运动模型。基于H∞鲁棒控制的S、KS混合灵敏度策略设计了潜艇控制器,并对潜艇近水面运动进行了仿真。结果表明该控制器对消除波浪力影响、保持潜艇定深起到良好作用。
The calculation of the first order and second order wave forces is presented and a modified model of submarine near-surface motion is obtained. A controller is designed with a mixed-sensitivity method besed on H-inflnity robust control theory. The success of canceling the wave disturbance has been evaluated through a serious of simulations.
出处
《海洋工程》
CSCD
北大核心
2006年第4期32-37,48,共7页
The Ocean Engineering
关键词
潜艇
近水面
运动模型
鲁棒控制
submarine
near-surface
motion model
robust control
