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Control method for changing structure of underwater hiding-machine space based on recursion fuzzy neural network

A fuzzy neural network and variable structure control technology, applied in the control field, can solve the problems of weakened robustness of the joint control system, not considering the motion coupling effect, and not yet being applied.

Inactive Publication Date: 2008-09-03
HARBIN ENG UNIV
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Problems solved by technology

However, this design method also has some shortcomings. The main disadvantage is that the robustness of the final joint control system is weakened because the coupling effect of motion is not considered in the control design.
So far, the adaptive sliding mode variable structure control method based on Recurrent Fuzzy Neural Network (RFNN) has not been applied in the joint control system of underwater vehicle space motion

Method used

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  • Control method for changing structure of underwater hiding-machine space based on recursion fuzzy neural network
  • Control method for changing structure of underwater hiding-machine space based on recursion fuzzy neural network
  • Control method for changing structure of underwater hiding-machine space based on recursion fuzzy neural network

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Embodiment Construction

[0024] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0025] 1) Design of RFNN variable structure controller for rudder heading control

[0026] The horizontal motion of the underwater submersible includes axial motion, lateral motion and rolling motion, and their motion equations are defined as follows:

[0027] Axial equation: u = U 0 ( 1 - e - 0.52 / | ψ · | L )

[0028] (1)

[0029] m = [ v · + ur ] = 1 2 ρ L ...

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Abstract

The invention provides an underwater vehicle space variable structure control method based on a recurrent fuzzy neural network. A RFNN-based rudder control system, a RFNN-based envelope rudder control system and a RFNN-based tail elevating rudder control system are designed, and combined together to form a united control system for underwater vehicle space motion. In this invention, the RFNN-based rudder control system, the RFNN-based envelope rudder control system and the RFNN-based tail elevating rudder control system are designed, and further combined to compose a united control system for underwater vehicle space motion, since the RFNN can make real-time adjustment of a controller gain epsilon, according to uncertain items of the system, the system not only has good dynamic property, but also effectively lowers buffeting and improves the robustness of an underwater vehicle automatic rudder control system.

Description

(1) Technical field [0001] The invention relates to a control method, in particular to a control method for an automatic steering control system of an underwater submersible. (2) Background technology [0002] The automatic steering control technology of underwater vehicles is an important direction for the development of underwater vehicle motion control technology. The traditional automatic steering system of underwater submersibles is usually composed of a horizontal rudder system and a vertical elevator system, which is called a joint control system (or centralized control system). The core of this design idea is to highlight the dynamic characteristics of sub-plane motion, simplify the control design, be easy to implement, and adapt to the flexibility of actual boat operation, so the sub-plane design method is the main method for studying the joint control system of underwater submersibles. Way. But this design method also has some shortcomings. The main disadvantage ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00G05D1/04G05D1/08G05B13/02B63G8/14
Inventor 赵玉新郝燕玲吴鹏
Owner HARBIN ENG UNIV
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