水下載具模糊導引控制系統設計

Fuzzy Guidance Control System Design for Un-der-Water Vehicle

劉宜豐(Yi-Feng Liu)

指導教授 ： 林志民

元智大學/電機通訊學院/電機工程學系/碩士(2007年)

https://doi.org/10.6838/YZU.2007.00178

摘要

本論文使用比例常數導引律與模糊控制導引應用於水下載具導引。當魚雷在追擊目標時，傳統的比例常數導引在整個追擊過程中都是固定不變，以導引系統的觀點而言，固定的導引常數比較不適用於多變的追擊閃避運動。然而模糊控制的特性具有適應性推論能力，在不同的條件狀況下，能推論出不同的導引控制輸出量，使得在追擊過程中會有更適度的表現。
首先，我們使用比例控制導引魚雷追擊目標，依照模擬的場景分析較佳的導引常數做為系統控制的參考資料。
其次，在應用模糊控制的特性於水下系統導引控制上，取代傳統的比例常數導引方式。
最後，介紹模糊滑動模式理論特性，引用模糊滑動模式控制的技術在導引系統上。

關鍵字

模糊

並列摘要

In this thesis, two kinds of guidance laws are introduced for under-water vehicles: the conventional proportional navigation (PN) and fuzzy logic control (FLC). When a torpedo pursues a target, the navigation constant of conventional proportional navigation guidance law is invariant in the process of pursuit. From the viewpoint of guidance system, invariant navigation constant isn’t suitable for various pursuit-evasion motions. The fuzzy logic controller has the character to change navigation constant. Under different conditions of inputs, fuzzy control has different navigation constant. It is better than invariant navigation constant.

Firstly, we use the proportional navigation guidance law to control a torpedo. We simulate some conditions for a torpedo pursuing a target. From the simulations, we can obtain the best navigation constant. Next, we apply fuzzy control to the guidance system of the torpedo. Form the simulations, it can be seen that fuzzy logic controllers can replace the proportional navigation guidance controllers to achieve better guidance performance. At last, we introduce the fuzzy sliding mode control and apply the fuzzy sliding mode con-trol to the torpedo guidance system.

並列關鍵字

Fuzzy

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