| 潜艇垂直面滑模控制仿真研究 |
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| 引用本文：陆斌杰，李文魁，周 岗，陈永冰.潜艇垂直面滑模控制仿真研究[J].计算技术与自动化,2017,(4):23-28 |
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| 中文摘要:针对潜艇垂直面运动强非线性、耦合性和参数不确定的特点，分别基于垂直面非线性和线性模型，考虑舵的动态响应，用艏舵控制深度，艉舵控制纵倾角，采用改进型趋近律设计滑模控制器并进行了仿真研究。仿真结果表明，两类滑模控制器均具有良好的控制性能和较强的鲁棒性，且无明显抖振。 |
| 中文关键词:潜艇 滑模控制 鲁棒性 |
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| Research and Simulation of Vertical Plane of Submarine Based on Sliding Control |
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| Abstract:Based on the submarine vertical nonlinear model and linear model and considering the rudder dynamic response ,the improved sliding reaching control law was used to design the bow rudder controller and the stern rudder controller in the presence of model of nonlinearity and parameter uncertainty for submarine vertical motion.The bow and stern rudder controller was used to control the depth and the pitch respectively.The simulations were carried and results show that the two control systems have great performance and strong robustness，and have few chattering problem. |
| keywords:submarine sliding mode control robustness |
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