水下航行器热动力推进系统的非线性变结构控制仿真研究

在对水下航行器热动力推进系统非线性模型进行合理简化的基础上，首次采用趋近律法设计了水下航行器变速变深运动的动力推进系统变结构控制器，并进行了数字仿真，仿真结果表明，所设计的控制器控制精度高，抑制抖振效果显著，且该方法物理概念清晰，算法简单，易于实现，对水下航行器热动力推进系统控制的工况应用有实用价值。

Research of Configuration-variable Controller and Its Simulation for Propulsion System of Thermal Power Underwater Vehicle

A nonlinear model is reasonably simplified, and a configuration variable control concept by means of approaching laws is applied to the design of controller of propulsion system of thermal power underwater vehicle for controlling its speed variable and depth variable movements. Numerical simulation of the controller is carried out. Its results show that the controller has high precision and can depress chattering greatly, and show that the physical concept of this algorithm is clear and easy to implement, and most importantly, it is practicable in engineering application to control of propulsion system of underwater vehicle.