关键词: 自动控制技术, 水下航行体, 变结构控制, 解耦

Abstract:

The navigating pose of underwater vehicle is difficult to be controlled because there exist cou- pling between pitching, yawing, rolling and uncertain disturbance caused by varying ocean current, so traditional control technology cannot obtain controlling objective. For solving the difficulty existed in un- derwater vehicle爷s pose decoupling controlling, the subsystem status equation of pose controller of under- water vehicle adopting variable structure control is constructed through constructing state equation of un- derwater vehicle pose moving subsystems. Theory analysis and simulation show that the designed control- ler makes pose angle track course angle of trajectory steadily and has good robustness for uncertain dis- turbance caused by varying ocean current, and achieves decoupling controlling between underwater vehi- cle pose moving subsystems.

Key words: automatic control technology, underwater vehicle, variable structure control, decoupling