Rolling active-disturbance-rejection sliding-mode control method and system for high-speed underwater vehicle

Abstract

The invention provides a rolling active-disturbance-rejection sliding mode control method and system for a high-speed underwater vehicle. The method comprises the steps that S1, a rolling mechanical equation of a rolling channel of the high-speed underwater vehicle is established; s2, establishing a differential tracker, and generating a transition signal; s3, establishing a linear expansion state observer for observing the external disturbance quantity and the internal state quantity of the high-speed underwater vehicle; and S4, establishing a sliding mode controller, generating a feedback control signal, and controlling the rolling of the high-speed underwater vehicle at a target value. According to the invention, the differential tracker is used to generate a transition signal so as to avoid jump of input quantity, the extended state observer is used to estimate external disturbance quantity in real time for feedforward control, and the sliding mode control feedback law is used to improve the anti-interference capability of the aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of roll control of high-speed underwater vehicles, and in particular to a roll self-disturbance rejection sliding mode control method and system for high-speed underwater vehicles. Background Art

[0002] At present, with the growing demand for the development of marine resources, underwater vehicles play a vital role in tasks such as seabed mapping, submarine oil and gas pipeline inspection, underwater fishing and search and rescue. These applications not only expand our cognitive boundaries of the ocean, but also promote the innovation and development of related technologies. However, in order to fully tap the potential of underwater vehicles, achieving high-precision roll control has become a key technical challenge that needs to be solved urgently. High-speed underwater vehicles are prone to roll when disturbed by ocean currents, wind and waves, which will reduce their stability and maneuverability. Effective roll control can improve the stability of the vehicle and enable it to perform tasks more accurately.

[0003] Patent application document CN111900899A discloses an underwater vehicle roll stability control system based on a dual-rotor motor, the system includes a control mechanism, a propulsion mechanism and an actuator; the control mechanism is used to calculate the control torque according to the desired roll angle and the underwater vehicle roll angle collected in real time, and convert the control torque into the desired motor speed and act on the actuator, so that the deviation value between the roll angle of the underwater vehicle and the desired roll angle is within the threshold range; the propulsion mechanism includes two coaxial propellers rotating in opposite directions, and two identical brushless DC motors; the two brushless DC motors are respectively connected to the two propellers to generate the power for the underwater vehicle to sail forward; the actuator is composed of two brushless DC motors of the propulsion mechanism; according to the desired motor speed, the propellers connected to each other are driven to rotate, and the torque difference is generated to act on the underwater vehicle, so that the roll of the underwater vehicle is stable. However, this patent cannot completely solve the existing technical problems, nor can it meet the needs of the present invention. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a method and system for self-disturbance rejection sliding mode control of the roll of a high-speed underwater vehicle.

[0005] The high-speed underwater vehicle rolling anti-disturbance sliding mode control method provided by the present invention comprises:

[0006] Step S1: establishing a rolling dynamics equation for a high-speed underwater vehicle rolling channel;

[0007] Step S2: Establish a differential tracker to generate a transition signal;

[0008] Step S3: Establish a linear extended state observer to observe the external disturbance and internal state of the high-speed underwater vehicle;

[0009] Step S4: Establish a sliding mode controller to generate a feedback control signal to control the roll of the high-speed underwater vehicle to a target value.

[0010] Preferably, the step S1 comprises:

[0011] According to the quantification of momentum and momentum moment, assuming that the center of gravity and the center of buoyancy of the high-speed underwater vehicle are on the same vertical line, the initial roll angle, initial pitch angle, initial heading angle and their angular velocity are all 0, the roll dynamics equation is obtained as follows:

[0012]

[0013] Where m is the mass of the spacecraft, I xx is the dynamic mass of the spacecraft, λ 44 is the additional mass of the aircraft, φ is the roll angle of the aircraft, p is the roll angular velocity of the aircraft, v is the lateral velocity of the aircraft, w is the longitudinal velocity of the aircraft, z g K is the downward displacement of the center of gravity of the spacecraft, dis is the rolling torque of the aircraft, δ e is the differential rudder angle of the aircraft, K pp and is the hydrodynamic coefficient of the vehicle, and are the first-order derivatives of p and φ respectively.

[0014] Preferably, step S2 comprises:

[0015] The desired roll angle φ d Input the differential tracker to get the transition signal, the expression is:

[0016] v1(k)=v1(k-1)+h·v2(k-1)

[0017] v2(k)=v2(k-1)+h·fhan(v1(k-1)-φ d ,v2(k-1),r0,h0)

[0018] Where, k is the sampling factor sequence, with values ​​of 1, 2, 3…, n; h is the time step; v1(k), v2(k) are the transition signals output by the tracking differentiator, variable r0 is the speed factor, and h0 is the filter factor;

[0019] fhan(x1,x2,r,h) is calculated by the following formula:

[0020]

[0021] Among them, d, d0, y, a0, a are all intermediate variables; r is the speed variable, and x1 and x2 are related variables at the current state and the previous state.

[0022] Preferably, step S3 comprises:

[0023] The current roll angle of the spacecraft is used as the input of the linear extended state observer, and the observed values ​​of the roll angle, roll angular velocity and external disturbance of the spacecraft are obtained as follows:

[0024]

[0025] Where z1, z2, z3 are the observed values ​​of the spacecraft roll angle, roll angular velocity and external disturbance, θ is the measured value of the spacecraft roll angle, β 01 ,β 02 ,β 03 is the output error correction gain, δ is the linear interval width of the function fal(i,α,δ) near the origin, i is the input variable, α is the adjustment parameter from 0 to 1; a1=0.5, a2=0.25; δ e is the differential steering angle of the spacecraft; ε1 is the difference between the observed value at the current moment and the previous moment; b0 is the coefficient of the external disturbance; ε2 is the difference between the external disturbance measurement value at the previous moment and the current moment;

[0026] The function fal(i,α,δ) is calculated by the following formula:

[0027] Preferably, the step S4 comprises:

[0028] Define the sliding surface s=ce1+e2, where c is the weight coefficient, e1 is the rolling angle tracking error, e1=v1-z1, e2 is the rolling angular velocity tracking error, e2=v2-z2; v1 and v2 are the tracking differentiator output values;

[0029] According to the exponential reaching law design method, the sliding mode feedback control law is obtained:

[0030]

[0031] Where δ0 is the rudder angle calculated by the sliding mode feedback control law; k parameter is the rate at which the control error converges to 0 exponentially; η is the robust term coefficient, which is used to overcome the observation error;

[0032] The final rudder angle of the differential rudder is calculated by combining the sliding mode feedback control law and the disturbance observation:

[0033] The high-speed underwater vehicle roll anti-disturbance sliding mode control system provided by the present invention comprises:

[0034] Module M1: Establish the rolling dynamics equation of the rolling channel of a high-speed underwater vehicle;

[0035] Module M2: Establish a differential tracker to generate a transition signal;

[0036] Module M3: Establish a linear extended state observer to observe the external disturbance and internal state of the high-speed underwater vehicle;

[0037] Module M4: Establish a sliding mode controller to generate feedback control signals to control the roll of the high-speed underwater vehicle at the target value.

[0038] Preferably, the module M1 comprises:

[0039] According to the quantification of momentum and momentum moment, assuming that the center of gravity and the center of buoyancy of the high-speed underwater vehicle are on the same vertical line, the initial roll angle, initial pitch angle, initial heading angle and their angular velocity are all 0, the roll dynamics equation is obtained as follows:

[0040]

[0041] Where m is the mass of the spacecraft, I xx is the dynamic mass of the spacecraft, λ 44 is the additional mass of the aircraft, φ is the roll angle of the aircraft, p is the roll angular velocity of the aircraft, v is the lateral velocity of the aircraft, w is the longitudinal velocity of the aircraft, z g K is the downward displacement of the center of gravity of the spacecraft, dis is the rolling torque of the aircraft, δ e is the differential rudder angle of the aircraft, K pp and is the hydrodynamic coefficient of the vehicle, and are the first-order derivatives of p and φ respectively.

[0042] Preferably, the module M2 comprises:

[0043] The desired roll angle φ d Input the differential tracker to get the transition signal, the expression is:

[0044] v1(k)=v1(k-1)+h·v2(k-1)

[0045] v2(k)=v2(k-1)+h·fhan(v1(k-1)-φ d ,v2(k-1),r0,h0)

[0046] Where, k is the sampling factor sequence, with values ​​of 1, 2, 3…, n; h is the time step; v1(k), v2(k) are the transition signals output by the tracking differentiator, variable r0 is the speed factor, and h0 is the filter factor;

[0047] fhan(x1,x2,r,h) is calculated by the following formula:

[0048]

[0049] Among them, d, d0, y, a0, a are all intermediate variables; r is the speed variable, and x1 and x2 are related variables at the current state and the previous state.

[0050] Preferably, the module M3 comprises:

[0051] The current roll angle of the spacecraft is used as the input of the linear extended state observer, and the observed values ​​of the roll angle, roll angular velocity and external disturbance of the spacecraft are obtained as follows:

[0052]

[0053] Where z1, z2, z3 are the observed values ​​of the spacecraft roll angle, roll angular velocity and external disturbance, θ is the measured value of the spacecraft roll angle, β 01 ,β 02 ,β 03 is the output error correction gain, δ is the linear interval width of the function fal(i,α,δ) near the origin, i is the input variable, α is the adjustment parameter from 0 to 1; a1=0.5, a2=0.25; δ e is the differential steering angle of the spacecraft; ε1 is the difference between the observed value at the current moment and the previous moment; b0 is the coefficient of the external disturbance; ε2 is the difference between the external disturbance measurement value at the previous moment and the current moment;

[0054] The function fal(i,α,δ) is calculated by the following formula:

[0055] Preferably, the module M4 comprises:

[0056] Define the sliding surface s=ce1+e2, where c is the weight coefficient, e1 is the rolling angle tracking error, e1=v1-z1, e2 is the rolling angular velocity tracking error, e2=v2-z2; v1 and v2 are the tracking differentiator output values;

[0057] According to the exponential reaching law design method, the sliding mode feedback control law is obtained:

[0058]

[0059] Where δ0 is the rudder angle calculated by the sliding mode feedback control law; k parameter is the rate at which the control error converges to 0 exponentially; η is the robust term coefficient, which is used to overcome the observation error;

[0060] The final rudder angle of the differential rudder is calculated by combining the sliding mode feedback control law and the disturbance observation:

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] The present invention provides a self-anti-disturbance sliding mode control method for the roll of a high-speed underwater vehicle. A differential tracker is used to generate a transition signal to avoid the jump of the input quantity. An extended state observer is used to estimate the external disturbance quantity in real time for feedforward control. A sliding mode control feedback law is used to improve the anti-disturbance capability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0064] Figure 1 This is a flow chart of the self-disturbance rejection sliding mode control method for rolling of a high-speed underwater vehicle of the present invention;

[0065] Figure 2 This is a schematic diagram of the structure of the active disturbance rejection sliding mode controller.

[0066] Figure 3 It is the simulation test result of the algorithm of the present invention;

[0067] Figure 4 The simulation test results of PID algorithm. DETAILED DESCRIPTION

[0068] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0069] Example 1

[0070] like Figure 1 The present invention provides a sliding mode control method for rolling self-disturbance rejection of a high-speed underwater vehicle, comprising:

[0071] Step S1: Establish a dynamic model of the rolling channel of a high-speed underwater vehicle.

[0072] According to the quantification of momentum and momentum moment, assuming that the center of gravity and the center of buoyancy of the high-speed underwater vehicle are on the same vertical line, the initial roll angle, initial pitch angle, initial heading angle and angular velocity are all 0, the roll dynamics equation can be obtained as follows:

[0073]

[0074] Where m is the mass of the spacecraft, I xx is the dynamic mass of the spacecraft, λ 44 is the additional mass of the aircraft, φ is the roll angle of the aircraft, p is the roll angular velocity of the aircraft, v is the lateral velocity of the aircraft, w is the longitudinal velocity of the aircraft, z g K is the downward displacement of the center of gravity of the spacecraft, dis is the rolling torque of the aircraft, δ e is the differential rudder angle of the aircraft, K pp and is the hydrodynamic coefficient of the vehicle.

[0075] Step S2: Establish a differential tracker, and the desired roll angle φ d Input the derivative tracker to get the transition signal:

[0076] v1(k)=v1(k-1)+h·v2(k-1) (2)

[0077] v2(k)=v2(k-1)+h·fhan(v1(k-1)-φ d ,v2(k-1),r0,h0)

[0078] Where k is the sampling factor sequence, with values ​​of 1, 2, 3…, n, v1(k), v2(k) are the transition signals output by the tracking differentiator, variable r0 is the speed factor, h0 is the filter factor, and fhan(x1, x2, r, h) can be calculated by the following formula:

[0079]

[0080] Among them, d, d0, y, a0, a are all intermediate variables; r is the speed, h is the time step, and x1 and x2 are related variables at the current state and the previous state.

[0081] Step S3: Establish a linear extended state observer to observe the external disturbance and internal state of the high-speed underwater vehicle;

[0082] Taking the current roll angle of the spacecraft as the input of the linear extended state observer, the observation values ​​of the spacecraft's roll angle, roll angular velocity and external disturbance can be obtained:

[0083]

[0084] Where z1, z2, z3 are the observed values ​​of the spacecraft roll angle, roll angular velocity and external disturbance, θ is the measured value of the spacecraft roll angle, β 01 ,β 02 ,β 03 is the output error correction gain, δ is the linear interval width of the function fal(i, α, δ) near the origin, α1 = 0.5, α2 = 0.25, and the function fal(i, α, δ) can be calculated by the following formula:

[0085]

[0086] Step S5: Establish a sliding mode controller to generate a control signal.

[0087] Define the sliding surface s=ce1+e2, where c is the weight coefficient, e1 is the rolling angle tracking error, e1=v1-z1, e2 is the rolling angular velocity tracking error, e2=v2-z2;

[0088] According to the exponential reaching law design method, the sliding mode feedback control law is obtained:

[0089]

[0090] Where δ0 is the rudder angle calculated by the sliding mode feedback control law, k is the rate at which the control error converges to 0 exponentially, and η is the robust term coefficient used to overcome the observation error.

[0091] The final rudder angle of the differential rudder is calculated by combining the synovial feedback control law and the disturbance observation:

[0092]

[0093] The performance of the above algorithm is illustrated by the following test examples. A digital simulation experiment of the roll attitude of an underwater vehicle is carried out using the anti-disturbance sliding mode control algorithm. The attitude control principle diagram is shown in the figure below. Figure 2 As shown, φ d is the desired heading angle, and φ is the actual output heading angle. The desired roll angle of the high-speed underwater vehicle is 0 rad, and the initial roll angle is 5 degrees. During the underwater navigation, the system will be disturbed by external disturbances. During the navigation of the high-speed underwater vehicle, a white noise signal with a frequency of 0.01 Hz is added as a noise signal to test the anti-disturbance of the controller. The simulation results of the roll attitude control are shown in Figure 3 As shown. For comparison, the traditional PID control algorithm was added to conduct digital simulation experiments, and the results are shown in Figure 4 By comparison, it can be seen that the method proposed in the present invention can quickly and robustly complete the control of the roll angle.

[0094] Example 2

[0095] The present invention also provides a high-speed underwater vehicle roll anti-disturbance rejection sliding mode control system, which can be implemented by executing the process steps of the high-speed underwater vehicle roll anti-disturbance rejection sliding mode control method, that is, those skilled in the art can understand the high-speed underwater vehicle roll anti-disturbance rejection sliding mode control method as a preferred implementation of the high-speed underwater vehicle roll anti-disturbance rejection sliding mode control system.

[0096] The high-speed underwater vehicle roll self-disturbance rejection sliding mode control system provided by the present invention includes: module M1: establishing the roll dynamics equation of the roll channel of the high-speed underwater vehicle; module M2: establishing a differential tracker to generate a transition signal; module M3: establishing a linear extended state observer to observe the external disturbance and internal state of the high-speed underwater vehicle; module M4: establishing a sliding mode controller to generate a feedback control signal to control the roll of the high-speed underwater vehicle to a target value.

[0097] The module M1 includes: according to the quantification of momentum and momentum moment, assuming that the center of gravity and the center of buoyancy of the high-speed underwater vehicle are on the same vertical line, and the initial roll angle, initial pitch angle, initial heading angle and angular velocity are all 0, the roll dynamics equation is obtained as follows: Where m is the mass of the spacecraft, I xx is the dynamic mass of the spacecraft, λ 44 is the additional mass of the aircraft, φ is the roll angle of the aircraft, p is the roll angular velocity of the aircraft, v is the lateral velocity of the aircraft, w is the longitudinal velocity of the aircraft, z g K is the downward displacement of the center of gravity of the spacecraft, dis is the rolling torque of the aircraft, δ e is the differential rudder angle of the aircraft, K p|p| and is the hydrodynamic coefficient of the vehicle, and are the first-order derivatives of p and φ respectively.

[0098] The module M2 includes: setting the desired rolling angle φ d Input the differential tracker to get the transition signal, the expression is: Where k is the sampling factor sequence, which takes values ​​of 1, 2, 3…, n; h is the time step; v1(k), v2(k) are the transition signals output by the tracking differentiator, the variable r0 is the speed factor, and h0 is the filter factor; fhan(x1, x2, r, h) is calculated by the following formula:

[0099]

[0100] Among them, d, d0, y, a0, a are all intermediate variables; r is the speed variable, and x1 and x2 are related variables at the current state and the previous state.

[0101] The module M3 includes: taking the current roll angle of the aircraft as the input of the linear extended state observer, and obtaining the observation values ​​of the roll angle, roll angular velocity and external disturbance of the aircraft as follows:

[0102]

[0103] Where z1, z2, z3 are the observed values ​​of the spacecraft roll angle, roll angular velocity and external disturbance, θ is the measured value of the spacecraft roll angle, β 01 ,β 02 ,β 03 is the output error correction gain, δ is the linear interval width of the function fal(i,α,δ) near the origin, i is the input variable, α is the adjustment parameter from 0 to 1; a1=0.5, a2=0.25; δ e is the differential steering angle of the spacecraft; ε1 is the difference between the observed value at the current moment and the previous moment; b0 is the coefficient of the external disturbance; ε2 is the difference between the external disturbance measurement value at the previous moment and the current moment;

[0104] The function fal(i,α,δ) is calculated by the following formula:

[0105] The module M4 includes: defining a sliding surface s=ce1+e2, wherein c is a weight coefficient, e1 is a rolling angle tracking error, e1=v1-z1, e2 is a rolling angular velocity tracking error, e2=v2-z2; v1 and v2 are tracking differentiator output values;

[0106] According to the exponential reaching law design method, the sliding mode feedback control law is obtained: Where δ0 is the rudder angle calculated by the sliding mode feedback control law; k parameter controls the rate at which the error converges to 0 exponentially; η is the robust term coefficient, which is used to overcome the observation error; the final rudder angle of the differential rudder is calculated by combining the sliding mode feedback control law and the disturbance observation:

[0107] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0108] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A rolling anti-disturbance sliding mode control method for a high-speed underwater vehicle, characterized in that: include: Step S1: establishing a rolling dynamics equation for a high-speed underwater vehicle rolling channel; Step S2: Establish a differential tracker to generate a transition signal; Step S3: Establish a linear extended state observer to observe the external disturbance and internal state of the high-speed underwater vehicle; Step S4: Establish a sliding mode controller to generate a feedback control signal to control the roll of the high-speed underwater vehicle to a target value.

2. The rolling anti-disturbance sliding mode control method for a high-speed underwater vehicle according to claim 1, characterized in that: The step S1 comprises: According to the quantification of momentum and momentum moment, assuming that the center of gravity and the center of buoyancy of the high-speed underwater vehicle are on the same vertical line, the initial roll angle, initial pitch angle, initial heading angle and their angular velocity are all 0, the roll dynamics equation is obtained as follows: Where m is the mass of the spacecraft, I xx is the dynamic mass of the spacecraft, λ 44 is the additional mass of the aircraft, φ is the roll angle of the aircraft, p is the roll angular velocity of the aircraft, v is the lateral velocity of the aircraft, w is the longitudinal velocity of the aircraft, z g K is the downward displacement of the center of gravity of the spacecraft, dis is the rolling torque of the aircraft, δ e is the differential rudder angle of the aircraft, K pp and is the hydrodynamic coefficient of the vehicle, and are the first-order derivatives of p and φ respectively.

3. The rolling anti-disturbance sliding mode control method for a high-speed underwater vehicle according to claim 2, characterized in that: The step S2 comprises: The desired roll angle φ d Input the differential tracker to get the transition signal, the expression is: v1(k)=v1(k-1)+h·v2(k-1) <h2 style=";text-align:left;direction:ltr">v2(k)=v2(k-1)+h·fhan(v1(k-1)-φ<h2 style=";text-align:left;direction:ltr"> d <h2 style=";text-align:left;direction:ltr"> ,v2(k-1),r0,h0) Where, k is the sampling factor sequence, with values ​​of 1, 2, 3…, n; h is the time step; v1(k), v2(k) are the transition signals output by the tracking differentiator, variable r0 is the speed factor, and h0 is the filter factor; fhan(x1,x2,r,h) is calculated by the following formula: Among them, d, d0, y, a0, a are all intermediate variables; r is the speed variable, and x1 and x2 are related variables at the current state and the previous state.

4. The rolling anti-disturbance rejection sliding mode control method for a high-speed underwater vehicle according to claim 3, characterized in that: The step S3 comprises: The current roll angle of the spacecraft is used as the input of the linear extended state observer, and the observed values ​​of the roll angle, roll angular velocity and external disturbance of the spacecraft are obtained as follows: Where z1, z2, z3 are the observed values ​​of the spacecraft roll angle, roll angular velocity and external disturbance, θ is the measured value of the spacecraft roll angle, β 01 ,β 02 ,β 03 is the output error correction gain, δ is the linear interval width of the function fal(i,α,δ) near the origin, i is the input variable, α is the adjustment parameter from 0 to 1; a1=0.5, a2=0.25; δ e is the differential steering angle of the spacecraft; ε1 is the difference between the observation value at the current moment and the previous moment; b0 is the coefficient of the external disturbance; ε2 is the difference between the external disturbance measurement value at the previous moment and the current moment; The function fal(i,α,δ) is calculated by the following formula:

5. The rolling anti-disturbance sliding mode control method for a high-speed underwater vehicle according to claim 4, characterized in that: The step S4 comprises: Define the sliding surface s=ce1+e2, where c is the weight coefficient, e1 is the rolling angle tracking error, e1=v1-z1, e2 is the rolling angular velocity tracking error, e2=v2-z2; v1 and v2 are the tracking differentiator output values; According to the exponential reaching law design method, the sliding mode feedback control law is obtained: Where δ0 is the rudder angle calculated by the sliding mode feedback control law; k parameter is the rate at which the control error converges to 0 exponentially; η is the robust term coefficient, which is used to overcome the observation error; The final rudder angle of the differential rudder is calculated by combining the sliding mode feedback control law and the disturbance observation:

6. A high-speed underwater vehicle roll anti-disturbance sliding mode control system, characterized in that: include: Module M1: Establish the rolling dynamics equation of the rolling channel of a high-speed underwater vehicle; Module M2: Establish a differential tracker to generate a transition signal; Module M3: Establish a linear extended state observer to observe the external disturbance and internal state of the high-speed underwater vehicle; Module M4: Establish a sliding mode controller to generate feedback control signals to control the roll of the high-speed underwater vehicle at the target value.

7. The high-speed underwater vehicle roll anti-disturbance sliding mode control system according to claim 6, characterized in that: The module M1 comprises: According to the quantification of momentum and momentum moment, assuming that the center of gravity and the center of buoyancy of the high-speed underwater vehicle are on the same vertical line, the initial roll angle, initial pitch angle, initial heading angle and their angular velocity are all 0, the roll dynamics equation is obtained as follows: Where m is the mass of the spacecraft, I xx is the dynamic mass of the spacecraft, λ 44 is the additional mass of the aircraft, φ is the roll angle of the aircraft, p is the roll angular velocity of the aircraft, v is the lateral velocity of the aircraft, w is the longitudinal velocity of the aircraft, z g K is the downward displacement of the center of gravity of the spacecraft, dis is the rolling torque of the aircraft, δ e is the differential rudder angle of the aircraft, K pp and is the hydrodynamic coefficient of the vehicle, and are the first-order derivatives of p and φ respectively.

8. The high-speed underwater vehicle roll anti-disturbance sliding mode control system according to claim 7, characterized in that: The module M2 comprises: The desired roll angle φ d Input the differential tracker to get the transition signal, the expression is: v1(k)=v1(k-1)+h·v2(k-1) <h2 style=";text-align:left;direction:ltr">v2(k)=v2(k-1)+h·fhan(v1(k-1)-φ<h2 style=";text-align:left;direction:ltr"> d <h2 style=";text-align:left;direction:ltr"> ,v2(k-1),r0,h0) Where k is the sampling factor sequence, which takes values ​​of 1, 2, 3…, n; h is the time step; v1(k), v2(k) are the transition signals output by the tracking differentiator, the variable r0 is the speed factor, and h0 is the filter factor; fhan(x1,x2,r,h) is calculated by the following formula: Among them, d, d0, y, a0, a are all intermediate variables; r is the speed variable, and x1 and x2 are related variables at the current state and the previous state.

9. The high-speed underwater vehicle roll anti-disturbance sliding mode control system according to claim 8, characterized in that: The module M3 comprises: The current roll angle of the spacecraft is used as the input of the linear extended state observer, and the observed values ​​of the spacecraft's roll angle, roll angular velocity and external disturbance are obtained as follows: Where z1, z2, z3 are the observed values ​​of the spacecraft roll angle, roll angular velocity and external disturbance, θ is the measured value of the spacecraft roll angle, β 01 ,β 02 ,β 03 is the output error correction gain, δ is the linear interval width of the function fal(i,α,δ) near the origin, i is the input variable, α is the adjustment parameter from 0 to 1; a1=0.5, a2=0.25; δ e is the differential steering angle of the spacecraft; ε1 is the difference between the observation value at the current moment and the previous moment; b0 is the coefficient of the external disturbance; ε2 is the difference between the external disturbance measurement value at the previous moment and the current moment; The function fal(i,α,δ) is calculated by the following formula:

10. The high-speed underwater vehicle roll anti-disturbance sliding mode control system according to claim 9, characterized in that: The module M4 comprises: Define the sliding surface s=ce1+e2, where c is the weight coefficient, e1 is the rolling angle tracking error, e1=v1-z1, e2 is the rolling angular velocity tracking error, e2=v2-z2; v1 and v2 are the tracking differentiator output values; According to the exponential reaching law design method, the sliding mode feedback control law is obtained: Where δ0 is the rudder angle calculated by the sliding mode feedback control law; k parameter is the rate at which the control error converges to 0 exponentially; η is the robust term coefficient, which is used to overcome the observation error; The final rudder angle of the differential rudder is calculated by combining the sliding mode feedback control law and the disturbance observation:

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