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文章首先建立了潜水车辆在垂直面内的潜浮最优控制模型;其次,为了实现其快速潜浮问题,提出了恒流量的乒乓潜浮最优控制方法;再次,针对其中的非线性控制方程最优解难以用理论方法求解的问题,提出了具体的数值夹逼控制算法;最后,对控制效果进行了仿真。仿真结果表明,基于恒流量的乒乓潜浮控制方法与夹逼控制算法很好地解决了潜器在垂直面内的零超调近似最优控制问题。
Firstly, the submarine float optimal control model of submersible vehicle in vertical plane is established. Secondly, in order to realize the rapid subsurface submersion problem, a constant-flow ping-pong submarine float optimal control method is proposed. Thirdly, according to the nonlinear governing equation The optimal solution is difficult to solve with the theoretical method, a numerical control algorithm is proposed. Finally, the control effect is simulated. The simulation results show that the ping-pong submarine floating control method and the pinch-in control algorithm based on the constant flow well solve the zero overshoot approximate optimal control problem of the submarine in the vertical plane.