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Intelligent fuzzy control method for X rudder of submarine under complex conditions

A fuzzy control and submarine technology, applied in attitude control, control/regulation system, non-electric variable control, etc.

Active Publication Date: 2020-01-17
NAVAL UNIV OF ENG PLA
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And under complex conditions

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  • Intelligent fuzzy control method for X rudder of submarine under complex conditions
  • Intelligent fuzzy control method for X rudder of submarine under complex conditions
  • Intelligent fuzzy control method for X rudder of submarine under complex conditions

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Embodiment Construction

[0071] The invention will be described in detail below in conjunction with specific embodiments.

[0072] The motion of the submarine can be regarded as the spatial motion of the rigid body in the fluid, which can be decomposed into translation and rotation along the three directions (x, y, z) of the hull motion coordinate system. The six-degree-of-freedom space motion equation established first is based on the above-mentioned standard equation. Considering the main factors affecting the attitude of the submarine, this method omits the influence of the propeller load. No change, J=J c , or J c / J=η=1. At the same time, the origin O of the moving coordinate system coincides with the center of gravity G of the boat, so the following six-degree-of-freedom space equation of motion (6-DOF) is obtained:

[0073] (1) Axial force equation:

[0074] (2) Lateral force equation:

[0075] (3) Vertical force equation: m(w-uq+vp)=Z (3)

[0076] (4) Rolling moment equation:

[0...

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Abstract

The invention belongs to the technical field of submarine navigation control, and particularly relates to an intelligent fuzzy control method for an X rudder of a submarine under complex conditions. The method comprises the steps of constructing an X rudder submarine motion model, specifically, constructing a moving coordinate system by taking the gravity center G of the submarine as an origin O of the moving coordinate system, and decomposing the spatial motion of the submarine in a fluid into translation and rotation in three directions of the moving coordinate system of a submarine body toobtain a six-degree-of-freedom spatial motion equation; constructing a fuzzy control domain and a membership function; and establishing a fuzzy control rule. The intelligent fuzzy control method for the X rudder of the submarine under the complex conditions has relatively good practicability and innovativeness for the design of a rudder card retrieval control decision and a control method; faultsof a rudder card can be effectively monitored; retrieval control is automatically carried out; the full rudder state of an X stern rudder double-rudder card is retrieved; and the depth and the trim angle are accurately retrieved, and particularly, the method has originality for the retrieval measure of adopting a rotary mode for the double-rudder card.

Description

technical field [0001] The invention belongs to the technical field of submarine navigation control, in particular to an intelligent fuzzy control method for a submarine X rudder under complex conditions. Background technique [0002] The rudder card failure is one of the common failures of the submarine's underwater navigation, and it is also the main factor that endangers the safe navigation of the submarine. Experienced helmsmen have a deep understanding of the steering laws of submarines, but they cannot describe the steering laws of submarines through precise control equations, and often express them through descriptive language. For example, "the depth is close, use a small rudder angle to fine-tune", "the tail tilt is too large, use a submerged rudder", "a small range becomes deeper, use a parallel rudder" and so on. And under complex conditions Contents of the invention [0003] The purpose of the present invention is to provide an intelligent fuzzy control metho...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0875Y02T90/00
Inventor 黄斌吕帮俊彭利坤何曦光陈佳宋飞屈铎陈佳宝
Owner NAVAL UNIV OF ENG PLA
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