多机动控位水雷队形控制技术

Formation Control Technology of Multi-Maneuverable Mine

摘要:

本文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，并针对不同跟随态势，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:

In this paper, according to the formation control problem of maneuvering position control mines, combined with the application scenario of concealed, efficient and reliable communication of mines, in order to reduce the data interaction information of underwater acoustic communication as much as possible, a pilot follower control method based on pilot position information is proposed. According to different following situations, a pilot 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;The pilot-follower method;The fuzzy PID