结合两种简单实用的鲁棒控制方法,对鱼雷实施深度控制。首先,在分析模型零动态稳定性的基础上,利用高增益自适应控制对俯仰角指令进行快速跟踪,并且得到姿态控制的近似线性参考模型。为了克服参考模型的不确定性,再使用滑模变结构方法对鱼雷进行定深控制。通过分析滑模控制的稳定性条件,得到了最终的深度控制策略,且仿真结果验证了结论的正确性。

Two facile robust techniques were presented for depth control of torpedo. Firstly, the high-gain adaptive approach was used based on stability analysis of the zero dynamic of the torpedo model to track the command of pitch angle that can be approximately performed by a linear reference model. To overcome uncertainties of the reference model, the sliding mode method was used to implement the depth control of torpedo. At last, a simulation was carried out to validate correctness of the conclusion.