水下航行体X 型正交舵控制参数设计研究

  目的  为解决X舵潜艇在不同可用舵面条件下的操舵控制问题，开展X舵潜艇的操舵控制分配器设计。  方法  操舵控制系统采用“主控制器—控制分配器”级联控制结构，主控制器采用已有的成熟算法，将舵角控制分配问题转换为受舵角限幅、舵速限幅约束的加权最小二乘法（WLS）问题进行求解，设计受限控制分配算法，并分别在四舵、三舵、双舵条件下进行定深旋回、潜浮运动仿真，以验证控制分配算法的正确性。  结果  仿真结果表明，在给定的舵机配置条件下，随着操舵面的减少，潜浮性能并无差异，转向性能略有降低，横倾振荡及舵角抖动趋于严重。  结论  所提控制分配算法施舵合理，适用于各种舵机配置情况。

Design research of manipulative parameter of the X ruder for underwater vehicle

  Objectives  To solve the steering control problem of X-rudder submarines under different available rudder surfaces conditions, the rudder control distributor of an X-rudder submarine is designed.  Methods   A cascade control structure including a main controller and control allocator is adopted in the design of the steering control system. The main controller adopts an existing mature algorithm, and a constrained control allocation algorithm is designed by converting the rudder angle control allocation problem with the rudder angle and rudder speed limit to solve the weighted least square (WLS) problem. The control allocation algorithm is verified through a simulation of turning at certain depths and diving in three operation cases (i.e. quadruple rudder, triple rudder and double rudder).  Results  Under the given rudder conditions, with the decrease in the steering surface, the difference in the submarine's diving performance is not significant, turning performance is reduced slightly and heeling and rudder angle oscillation tends to be serious.  Conclusions  The simulation results show that the control allocation algorithm is reasonable and suitable for different rudder configurations.