深海潜标多螺旋桨推力姿态控制仿真

海洋潜标上搭载的环境监测设备和仪器对潜标姿态提出了不同的要求，针对潜标在水平流的作用下产生纵倾和横倾时的姿态主动控制问题，化简潜标空间运动的非线性数学模型为2个垂直面运动模型，基于该解耦模型，采用多螺旋桨推力为控制量，提出了一种基于输入输出线性化的状态反馈姿态控制律，并编制Matlab程序进行仿真。结果表明，该控制律能够将处于不同海流流向下的深海潜标的姿态控制到参考姿态。

Attitude control simulation of deep-Sea submerged buoy using four thrusters

The sea facility and instrument ask the deep-sea submerged buoy for the ability of adjust its attitude. The paper deals with the attitude control issue of the deep-sea submerged buoy under the sea current. Firstly, the six degree of freedom motion equation of the submerged buoy is predigested to two vertical section models. Secondly, based on the input-output linearization technique, a state feedback control law is presented for submerged buoy's attitude control system. The controller is implemented by four thrusters. Finally, numerical simulations are presented to validate the proposed controller. It is shown that the proposed controller exhibits relatively high effectiveness.