CAJ | 학술논문

针对倾斜转弯无人水下航行器的控制系统是横滚、俯仰、偏航三通道强耦合非线性系统这一特点，首先建立了三通道控制问题加权性能结构模型，并研究了权函数的选取；然后，设计了 H ∞鲁棒控制器，并进行降阶处理；最后，进行了仿真验证。仿真验证表明：该设计方法能有效克服各通道的交叉耦合作用，可以满足倾斜转弯无人水下航行器的控制设计要求。
침대경사전만무인수하항행기적공제계통시횡곤、부앙、편항삼통도강우합비선성계통저일특점，수선건립료삼통도공제문제가권성능결구모형，병연구료권함수적선취；연후，설계료 H ∞로봉공제기，병진행강계처리；최후，진행료방진험증。방진험증표명：해설계방법능유효극복각통도적교차우합작용，가이만족경사전만무인수하항행기적공제설계요구。
Aiming at the bank-to-turn (BTT)unmanned underwater vehicle (UUV)control system characterized by nonlinearity and strong coupling of pitch channel,yaw channel and roll channel,this paper proposes a method for designing a H∞ robust controller.First,a block diagram of weighted performance for three control channels is presented and the weighting function is discussed.Second, the H∞ robust controller is designed and the order is reduced.Lastly,the H∞ robust controller is ve-rified by computer simulation.The result shows that the controller can efficaciously overcome the cross coupling effect produced by different control channels and that the method can meet the design requirements for the BTT UUV control system.