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分析了深度模拟器的总体结构及被控对象的特性,针对新型系统的高指标及对象的复杂非线性和参数不确定性,设计了一种参数自适应调节的非线性 PID 控制器。工程实践结果表明,该控制器具有良好的控制效果,新型深度模拟器完全满足鱼雷控制系统仿真的要求,且具有很好的稳定性。
The overall structure of the depth simulator and the characteristics of the controlled object are analyzed. Aiming at the high index of the new system and the complex nonlinearity and parameter uncertainty of the object, a nonlinear PID controller with adaptive parameter adjustment is designed. The engineering practice shows that the controller has a good control effect. The new depth simulator fully meets the requirements of torpedo control system simulation and has good stability.