多机动控位水雷队形控制技术

Formation Control Technology of Multi-maneuverable Mine

摘要:

根据机动控位水雷编队后的队形控制问题，结合水雷隐蔽、高效、可靠通信的应用场景，为尽可能减少水声通信数据交互信息，提出了一种基于领航者位置信息的领航-跟随者控制方法。针对不同跟随态势，设计了基于模糊 PID 的领航者跟随者速度控制器，并进行了仿真实验验证。仿真结果证明了这种机动控位水雷控制方法的快速和稳定。

关键词:机动控位水雷;领航-跟随者方法;模糊 PID

Abstract:

Aiming at the problem of formation control after the formation of maneuvering position mines，and to reduce the data interaction information of underwater acoustic communication as much as possible， a leader-follower control method based on leader position information is proposed combined with the application scenarios of concealed，efficient and reliable communication of mines. According to different following situations， a leader-follower speed controller based on fuzzy PID is designed and verified by simulation experiments. The simulation results show that the method is fast and stable.

Key words:maneuvering position mine;leader-follower method;fuzzy PID