基于模糊控制与遗传算法的潜艇自动舵设计与实现

在潜艇六自由度模型的基础上,根据一阶二阶波浪力对于航行在近水面潜艇深度的影响,采用模糊控制技术和遗传算法设计了基于二级模糊控制的遗传算法调整控制参数的潜艇自动舵控制系统.通过在近水面和水下两种状态对控制器性能仿真与结果分析,说明该自动舵具有很好的控制效果,响应较快,静差较小,具有较强抗干扰能力,对于近水面的深度控制有稳定的控制作用.

Design and Realization of Submarine Autopilot Based on Fuzzy Control and Gene Algorithm

Based on a simplified 6 DOF motion model of a submarine,and considering the effect of the first order and second order wave forces on a submarine navigating in a depth near the water surface,an autopilot control system with adjustable control parameters for a submarine is designed by use of fuzzy control and gene algorithm. The system is simulated in the light of two navigating conditions,i.e.in a depth near the surface and under water deeply.Simulation results show that the fuzzy autopilot control system has a good controlling effect,quick response,small static error and strong anti interference capabiliyt.It has a stable controlling effect on a submarine colse to the water surface.