CN105487386A

CN105487386A - UUV adaptive fuzzy sliding-mode control method under strong disturbance of load arranging

Info

Publication number: CN105487386A
Application number: CN201610104497.0A
Authority: CN
Inventors: 张伟; 滕彦斌; 张明臣; 李本银; 唐照东; 严浙平
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2016-02-25
Filing date: 2016-02-25
Publication date: 2016-04-13
Anticipated expiration: 2036-02-25
Also published as: CN105487386B

Abstract

A UUV self-adaptive fuzzy sliding mode control method under strong disturbance of load placement, the invention relates to a UUV self-adaptive fuzzy sliding mode control method under strong disturbance of load placement. The purpose of the present invention is to solve the research problem of UUV control under strong disturbance of load deployment that is not addressed in the current control method of UUV. Specifically, the following steps are carried out: 1: UUV performs load deployment; 2: Obtain the current state μ of UUV, and construct the dynamic model of UUV under load deployment disturbance; 3: Design the sliding mode surface s, and construct the sliding mode controller ; 4: Design fuzzy controller; 5: Use self-adaptive algorithm to optimize △K, get Sixth: Get a new adaptive fuzzy sliding mode controller τ; Seventh: Use τ to control the UUV to change the state of the UUV; Eighth: Re-execute steps 2 to 7 until the UUV reaches the desired state μ _d . The invention is applied in the field of UUV control.

Description

A self-adaptive fuzzy sliding mode control method for UUV under the strong disturbance of load placement

技术领域technical field

本发明涉及在载荷布放强扰下的UUV自适应模糊滑模控制方法。The invention relates to a UUV self-adaptive fuzzy sliding mode control method under the strong disturbance of load placement.

背景技术Background technique

UUV隐蔽性好、突防能力强，如能携带可以完成某些特定任务的载荷(可以完成作战任务的鱼雷、水雷，可以完成侦查任务的小型UUV、摄像机、声纳)并在特定区域完成布放，定能够达到出其不意的目的，并且能够实现其他方式所不能够实现的任务。UUV has good concealment and strong penetration capabilities. For example, it can carry loads that can complete certain tasks (torpedoes and mines that can complete combat tasks, small UUVs that can complete reconnaissance tasks, cameras, sonar) and complete deployment in specific areas. If you let go, you will be able to achieve the purpose of surprise, and you will be able to achieve tasks that cannot be achieved by other methods.

UUV载荷布放强扰动下的控制属于非线性，且十分复杂，而滑模控制很适合该过程的应用，但是单纯的滑模控制抖动比较大效果不太理想，容易对UUV产生物理上的损害。The control under the strong disturbance of UUV load placement is nonlinear and very complicated, and the sliding mode control is very suitable for the application of this process, but the simple sliding mode control has a relatively large jitter effect, which is not ideal, and it is easy to cause physical damage to the UUV. .

发明内容Contents of the invention

本发明是为了解决目前UUV的控制方法中没有针对载荷布放强扰下的UUV控制的研究问题，而提出的一种在载荷布放强扰下的UUV自适应模糊滑模控制方法。The present invention proposes a UUV self-adaptive fuzzy sliding mode control method under load deployment strong disturbance in order to solve the research problem of UUV control under load deployment strong disturbance in the current UUV control method.

一种在载荷布放强扰下的UUV自适应模糊滑模控制方法按以下步骤实现：A UUV self-adaptive fuzzy sliding mode control method under the strong disturbance of load placement is realized in the following steps:

步骤一：UUV进行载荷布放，对UUV产生两种干扰，一种是载荷在栅状管内运动产生的干扰，一种是补水舱进水产生的干扰；Step 1: The UUV carries out the load deployment, which produces two kinds of interference to the UUV, one is the interference caused by the movement of the load in the grid-shaped tube, and the other is the interference caused by the water entering the water supply tank;

步骤二：获取UUV当前状态μ，构建UUV在载荷布放扰动下的动力学模型；Step 2: Obtain the current state μ of the UUV, and construct a dynamic model of the UUV under load deployment disturbance;

步骤三：根据步骤二设计滑模面s，构造滑模控制器；Step 3: Design the sliding mode surface s according to Step 2, and construct the sliding mode controller;

步骤四：根据步骤三构造的滑模控制器设计模糊控制器，模糊控制器的输入是滑模面s，输出是△K，所述△K是滑模控制器的开关控制律系数的增量值；Step 4: Design a fuzzy controller based on the sliding mode controller constructed in step 3. The input of the fuzzy controller is the sliding mode surface s, and the output is △K, and the △K is the increment of the switching control law coefficient of the sliding mode controller value;

步骤五：利用自适应算法优化△K，得到 Step 5: Use the adaptive algorithm to optimize △K, and get

步骤六：将步骤五得到的输出给步骤三构造的滑模控制器，得到新的自适应模糊滑模控制器τ；Step 6: Get the result of Step 5 Output to the sliding mode controller constructed in step 3 to obtain a new adaptive fuzzy sliding mode controller τ;

步骤七：利用步骤六得到的新的自适应模糊滑模控制器τ控制UUV，使UUV状态发生改变；Step 7: Utilize the new self-adaptive fuzzy sliding mode controller τ obtained in step 6 to control the UUV to change the state of the UUV;

步骤八：重新执行步骤二至步骤七，直至UUV达到期望状态μ_d为止。Step 8: Re-execute steps 2 to 7 until the UUV reaches the desired state μ _d .

发明效果：Invention effect:

本发明采用自适应模糊控制来控制切换增益，具有外部干扰响应的快速性，外部干扰以及内部参数的自适应性，并且该控制器能显著减小滑模控制器的抖振，避免了因抖振问题对UUV造成损坏，使得UUV在完成载荷布放后能够迅速的恢复到指定期望状态。The invention adopts self-adaptive fuzzy control to control the switching gain, which has the quickness of external disturbance response, the adaptability of external disturbance and internal parameters, and the controller can significantly reduce the chattering of the sliding mode controller, avoiding the The vibration problem causes damage to the UUV, so that the UUV can quickly return to the specified desired state after completing the load deployment.

附图说明Description of drawings

图1为补水舱分布在载荷段两侧位置侧视示意图；图中的1是UUV，2是载荷，3是补水舱位置；Figure 1 is a schematic side view of the position where the water supply tank is distributed on both sides of the load section; in the figure, 1 is the UUV, 2 is the load, and 3 is the position of the water supply tank;

图2为基于自适应模糊滑模控制的控制器结构图；Figure 2 is a controller structure diagram based on adaptive fuzzy sliding mode control;

图3为UUV北向误差曲线仿真图；Figure 3 is a simulation diagram of the UUV north direction error curve;

图4为UUV东向误差曲线仿真图；Figure 4 is a simulation diagram of the UUV eastward error curve;

图5为UUV深度误差曲线仿真图；Figure 5 is a simulation diagram of the UUV depth error curve;

图6为UUV横倾误差曲线仿真图；Figure 6 is a simulation diagram of the UUV heel error curve;

图7为UUV纵倾误差曲线仿真图；Fig. 7 is a UUV pitch error curve simulation diagram;

图8为UUV艏摇误差曲线仿真图。Fig. 8 is a simulation diagram of UUV yaw error curve.

具体实施方式detailed description

具体实施方式一：一种在载荷布放强扰下的UUV自适应模糊滑模控制方法包括以下步骤：Embodiment 1: A UUV adaptive fuzzy sliding mode control method under strong disturbance of load placement includes the following steps:

具体实施方式二：本实施方式与具体实施方式一不同的是：所述步骤一中UUV进行载荷布放，对UUV产生两种干扰具体为：Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in the step 1, the UUV carries out load deployment, and two types of interference are generated on the UUV, specifically:

(一)载荷在栅状管内运动产生干扰；(1) The movement of the load in the grid-shaped tube causes interference;

载荷在栅状管中的运动方程为：The motion equation of the load in the grid tube is:

$(({m m}_{T T} + + {λ λ}_{1111})) \frac{{dv dv}_{T T}}{d d t t} = = {F f}_{T T} - - {R R}_{x x} - - {F f}_{m m} - - - - - - ((11))$

其中所述m_T为载荷质量，v_T为载荷在管内的运动速度，λ₁₁为载荷在管内运动方向上的附加质量，F_T为载荷螺旋桨推力，R_x为载荷所受流体阻力，F_m为载荷与发射管之间的机械摩擦阻力；Among them, m _T is the mass of the load, v _T is the moving speed of the load in the tube, λ ₁₁ is the additional mass of the load in the direction of motion in the tube, F _T is the propeller thrust of the load, R _x is the fluid resistance suffered by the load, F _m is the mechanical frictional resistance between the load and the launch tube;

由公式(1)得到运动时间t和载荷行程l的关系式：The relationship between the motion time t and the load stroke l is obtained from the formula (1):

$l l = = \frac{{F f}_{T T} - - {R R}_{x x} - - {F f}_{m m}}{22 (({m m}_{T T} + + {λ λ}_{1111}))} \times \times {t t}^{22} - - - - - - ((22))$

由公式(2)得到载荷负浮力对UUV造成的纵倾力矩：The trim moment caused by the negative buoyancy of the load on the UUV is obtained from formula (2):

τ_x1＝F_z1(l₁+l)(3)τ _x1 ＝F _z1 (l ₁ +l)(3)

其中F_z1为载荷负浮力，l₁为载荷布放前其质心与原点的距离；Where F _z1 is the negative buoyancy of the load, l ₁ is the distance between the center of mass and the origin before the load is deployed;

UUV纵向受到载荷螺旋桨对自身的反作用力为：The reaction force of UUV longitudinally loaded propeller to itself is:

F_x1＝-F_T+R_x+F_m(4)F _x1 ＝-F _T +R _x +F _m (4)

(二)补水舱进水产生的干扰；(2) Interference caused by water entering the replenishment tank;

设在t_n时刻已经进入补水舱中水的质量是m₀，进水速度是v_n，在t_n+1时刻进入补水舱中的水的(微小)质量是dm₀，在进入补水舱之前，原质点系速度应当是外部流场速度v₀，两项合并后，整个质点系的速度是v_n+1，则t_n时刻整个质点系的动能为：Assuming that the mass of water that has entered the replenishment tank at time t _n is m ₀ , the water inflow velocity is v _n , and the (tiny) mass of water entering the replenishment tank at time t _n+1 is dm ₀ , before entering the replenishment tank , the velocity of the original particle system should be the velocity v ₀ of the external flow field. After the two items are combined, the velocity of the entire particle system is v _n+1 , then the kinetic energy of the entire particle system at time t _n is:

${E E.}_{11} = = \frac{11}{22} (({m m}_{00} {v v}_{n no}^{22} + + {v v}_{00}^{22} {dm dm}_{00})) - - - - - - ((55))$

t_n+1时刻整个质点系的动能为：The kinetic energy of the entire particle system at time t _n+1 is:

${E E.}_{22} = = \frac{11}{22} (({m m}_{00} {v v}_{n no + + 11}^{22} + + {v v}_{n no + + 11}^{22} {dm dm}_{00})) - - - - - - ((66))$

在[t_n,t_n+1]内，整个质点系的动能为：In [t _n ,t _n+1 ], the kinetic energy of the entire particle system is:

$d d E E. = = {E E.}_{22} - - {E E.}_{11} = = \frac{11}{22} [[{m m}_{00} (({v v}^{22}_{n no + + 11} - - {v v}^{22}_{n no})) + + (({v v}^{22}_{n no + + 11} - - {v v}^{22}_{00})) {dm dm}_{00}]] \approx \approx d d W W - - - - - - ((77))$

其中dW为合外力对整个质点系所做的(微)功，dW为：Among them, dW is the (micro) work done by the resultant external force on the whole particle system, and dW is:

$d d W W = = S S (({P P}_{22} {dx dx}_{n no} - - {&Integral; &Integral;}_{{dx dx}_{n no}} P P d d x x)) - - - - - - ((88))$

其中所述S为补水舱的等效截面积，P为t_n时刻补水舱内气体压强，P₂为t_n+1时刻补水舱内气体压强，为补水舱内原有气体对整个质点系所做的(微)功，的具体形式为：Wherein said S is the equivalent cross-sectional area of the water supply cabin, P is the gas pressure in the water supply cabin at t _n moment, P ₂ is the gas pressure in the water supply cabin at t _n+1 moment, For the (micro) work done by the original gas in the water tank to the whole particle system, The specific form is:

$- - S S {&Integral; &Integral;}_{{dx dx}_{n no}} P P d d x x = = S S \frac{{P P}_{n no} ((L L - - {x x}_{n no}))}{γ γ - - 11} [[11 - - {((\frac{L L - - {x x}_{n no}}{L L - - {x x}_{n no} - - {dx dx}_{n no}}))}^{γ γ - - 11}]] \approx \approx - - {SP SP}_{n no} {dx dx}_{n no} = = - - {SP SP}_{00} {((\frac{L L}{L L - - {x x}_{n no}}))}^{γ γ} {dx dx}_{n no} - - - - - - ((99))$

其中P₀为进水前补水舱内气体的压强，一般情况下都是标准大气压；P_n为进水后补水舱内气体的压强，x为补水舱中等效水深，x_n为t_n时刻的等效水深，L为在绝热压缩阶段补水舱总长度，γ为气体的绝热指数，γ取值为1.4；Among them, P ₀ is the pressure of the gas in the water supply cabin before water entry, which is generally the standard atmospheric pressure; P _n is the pressure of the gas in the water supply cabin after water entry, x is the equivalent water depth in the water supply cabin, and x _n is the time at t _n Equivalent water depth, L is the total length of the water supply tank in the adiabatic compression stage, γ is the adiabatic index of the gas, and the value of γ is 1.4;

由于补水舱进水速度很快，整个载荷布放过程在2s中就会完成所以补水舱进水工作应该在两秒内完成，由公式(9)得到补水舱进水对UUV垂向产生的干扰力为：Since the filling speed of the replenishing compartment is very fast, the entire load deployment process will be completed within 2 seconds, so the filling of the replenishing compartment should be completed within two seconds. The vertical interference caused by the entering of the replenishing compartment on the UUV can be obtained from the formula (9) The force is:

${F f}_{z z 22} = = {F f}_{f f u u} - - \frac{22 {F f}_{f f u u}}{33} t t,, 00 < < t t < < 1.5 1.5 - - - - - - ((1010))$

补水舱补水过程对UUV造成的纵倾力矩为：The trim moment of the UUV caused by the water replenishment process in the water replenishment tank is:

${τ τ}_{x x 22} = = (({F f}_{f f u u} - - \frac{{F f}_{f f u u}}{22} t t)) \times \times {l l}_{22},, 00 < < t t < < 1.5 1.5 - - - - - - ((1111))$

其中所述F_fu表示补水舱为空时的浮力，l₂为补水舱浮心距原心的距离；Wherein said F _fu represents the buoyancy when the water supply cabin is empty, and _l2 is the distance from the center of buoyancy of the water supply cabin to the original center;

根据公式(3)、(4)、(10)和(11)得到载荷布放期间因载荷布放对UUV产生的扰动：According to the formulas (3), (4), (10) and (11), the disturbance caused by the load deployment to the UUV during the load deployment is obtained:

${τ τ}_{d d m m} = = [\begin{matrix} {F f}_{g g} \\ {τ τ}_{g g} \end{matrix}] - - - - - - ((1212))$

其中in

${F f}_{g g} = = {Λ Λ}^{- - 11} (([\begin{matrix} 00 \\ 00 \\ {F f}_{z z} \end{matrix}] + + [\begin{matrix} {F f}_{x x} \\ 00 \\ 00 \end{matrix}])) - - - - - - ((1313))$

${τ τ}_{g g} = = {Λ Λ}^{- - 11} [\begin{matrix} {τ τ}_{p p} \\ {τ τ}_{q q} \\ {τ τ}_{r r} \end{matrix}] - - - - - - ((1414))$

F_x＝F_x1+△₁(15)F _x ＝ F _x1 + △ ₁ (15)

F_z＝F_z1+F_z2(16)F _z =F _z1 +F _z2 (16)

${τ τ}_{p p} = = {τ τ}_{x x 11} + + {τ τ}_{x x 22} + + {Δ Δ}_{22} = = {F f}_{z z 11} (({l l}_{11} + + l l)) + + (({F f}_{f f u u} - - \frac{22 {F f}_{f f u u}}{33} t t)) \times \times {l l}_{22} + + {Δ Δ}_{22},, 00 < < t t < < 1.5 1.5 - - - - - - ((1717))$

其中Λ是运动坐标系向固定坐标系转换的转换矩阵，△₁表示未知干扰力，△₂表示未知干扰力矩，τ_p,τ_q,τ_r为纵向、横向、垂向的干扰力矩。Among them, Λ is the conversion matrix from the moving coordinate system to the fixed coordinate system, △ ₁ represents the unknown disturbance force, △ ₂ represents the unknown disturbance torque, τ _p , τ _q , τ _r are the longitudinal, lateral and vertical disturbance torques.

具体实施方式三：本实施方式与具体实施方式一或二不同的是：所述步骤二中获取UUV当前状态μ，构建UUV在载荷布放扰动下的动力学模型为：Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the current state μ of the UUV is obtained in the second step, and the dynamic model of the UUV under load deployment disturbance is constructed as follows:

通过UUV自身的一系列传感器获取UUV当前状态为描述UUV在大地坐标系下的位置以及姿态向量，其中ξ,η,ζ为固定坐标系下的纵向、横向、垂向坐标，为纵摇角、横摇角、艏摇角；Obtain the current status of UUV through a series of sensors of UUV itself. Describe the position and attitude vector of UUV in the earth coordinate system, where ξ, η, ζ are the longitudinal, lateral and vertical coordinates in the fixed coordinate system, are the pitch angle, roll angle, and yaw angle;

UUV动力学模型为：The UUV dynamic model is:

$M m \overset{\cdot &Center Dot;}{χ χ} + + C C ((χ χ)) χ χ + + D D. ((χ χ)) χ χ + + L L ((χ χ)) + + G G ((μ μ)) = = τ τ + + {τ τ}_{d d} - - - - - - ((1818))$

其中χ＝[μ,v,w,p,q,r]^T，其中u,v,w分别为运动坐标系下的纵向、横向和垂向速度，p,q,r分别运动坐标系下为横摇角、纵摇角、艏摇角速度，M代表系统惯性矩阵，C(μ)代表系统哥氏力离心力矩阵，D(μ)代表流体阻尼矩阵，L(μ)代表UUV所受的其他水动力、水动力矩，G(μ)代表由重力、浮力造成的恢复力以及恢复力矩，τ代表UUV推进系统提供的推进力以及推进力矩，τ_d代表外部扰动力以及扰动力矩；Among them, χ=[μ, v, w, p, q, r] ^T , where u, v, w are the longitudinal, lateral and vertical velocities in the motion coordinate system respectively, and p, q, r respectively in the motion coordinate system are Roll angle, pitch angle, yaw rate, M represents the system inertia matrix, C (μ) represents the system Coriolis force centrifugal force matrix, D (μ) represents the fluid damping matrix, L (μ) represents the other water Power and hydrodynamic moment, G(μ) represents the restoration force and restoration moment caused by gravity and buoyancy, τ represents the propulsion force and propulsion torque provided by the UUV propulsion system, τ _d represents the external disturbance force and disturbance moment;

因为UUV主要在布放载荷时航行在水下一定深度，受到的海风、海浪影响较小，所以将海风、海浪的影响忽略，定义τ_d＝τ_dc+τ_dm，因此UUV在载荷布放扰动下的动力学模型为：Because the UUV mainly sails at a certain depth underwater when deploying the load, it is less affected by the sea wind and waves, so the influence of the sea wind and waves is ignored, and the definition τ _d = τ _dc + τ _dm , so the UUV is disturbed by the load deployment The following dynamic model is:

${M m}^{* *} ((μ μ)) \overset{\cdot\cdot \cdot\cdot}{μ μ} + + {C C}^{* *} ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) \overset{\cdot &Center Dot;}{μ μ} + + {D D.}^{* *} ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) \overset{\cdot &Center Dot;}{μ μ} + + {L L}^{* *} ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) + + {G G}^{* *} ((μ μ)) = = {J J}^{- - T T} ((μ μ)) ((τ τ + + {τ τ}_{d d c c} + + {τ τ}_{d d m m})) - - - - - - ((1919))$

其中τ_dm为布放载荷引起的扰动，τ_dc为海流引起的环境干扰；变换矩阵 $J (μ) = [\begin{matrix} Λ & 0 \\ 0 & A \end{matrix}],$ A为固定坐标系下的角度向运动坐标系下转换的转换矩阵；where τ _dm is the disturbance caused by the deployed load, and τ _dc is the environmental disturbance caused by the ocean current; transformation matrix $J (μ) = [\begin{matrix} Λ & 0 \\ 0 & A \end{matrix}],$ A is the conversion matrix for converting the angle in the fixed coordinate system to the moving coordinate system;

M^*(μ)＝J^-T(μ)MJ^-1(μ)(20)M ^* (μ)＝J ^-T (μ)MJ ^-1 (μ)(20)

${C C}^{* *} ((μ μ,, \overset{\cdot \cdot}{μ μ})) = = {J J}^{- - T T} ((μ μ)) [[C C (({J J}^{- - 11} ((μ μ)) \overset{\cdot \cdot}{μ μ})) - - {MJ MJ}^{- - 11} ((μ μ)) \overset{\cdot \cdot}{J J} ((μ μ))]] {J J}^{- - 11} ((μ μ)) - - - - - - ((21 twenty one))$

${D D.}^{* *} ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) = = {J J}^{- - T T} ((μ μ)) D D. (({J J}^{- - 11} ((μ μ)) \overset{\cdot &Center Dot;}{μ μ})) {J J}^{- - 11} ((μ μ)) - - - - - - ((22 twenty two))$

${L L}^{* *} ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) = = {J J}^{- - T T} ((μ μ)) L L (({J J}^{- - 11} ((μ μ)) \overset{\cdot &Center Dot;}{μ μ})) - - - - - - ((23 twenty three))$

G^*(μ)＝J^-T(μ)G(μ)(24)。G ^* (μ)=J ^−T (μ)G(μ) (24).

具体实施方式四：本实施方式与具体实施方式一至三之一不同的是：所述步骤三中设计滑模面s，构造滑模控制器的具体过程为：Embodiment 4: The difference between this embodiment and Embodiment 1 to 3 is that the sliding mode surface s is designed in the step 3, and the specific process of constructing the sliding mode controller is as follows:

UUV的状态误差为：The state error of UUV is:

e＝μ_d-μ(25)e=μ _d -μ(25)

其中所述μ_d为UUV的期望状态；Wherein said μ _d is the expected state of UUV;

滑模面为：The sliding surface is:

$s the s = = \overset{\cdot &Center Dot;}{e e} + + H h e e - - - - - - ((2626))$

其中所述矩阵H是正定对角阵；Wherein said matrix H is a positive definite diagonal matrix;

为达到抵消载荷布放产生的扰动的目的，设计滑模控制器为：In order to achieve the purpose of offsetting the disturbance caused by load placement, the sliding mode controller is designed as:

$τ τ = = M m ((- - f f ((μ μ,, \overset{\cdot \cdot}{μ μ})) + + {\overset{\cdot\cdot \cdot\cdot}{μ μ}}_{d d} + + P P \overset{\cdot \cdot}{e e} + + K K ((t t)) s the s i i g g n no ((s the s)))) - - - - - - ((2727))$

其中所述K(t)为对角阵，即：Wherein said K(t) is a diagonal matrix, namely:

K(t)＝diag(k₁,k₂,...,k₆),k_j＝max(a_dj)+λ_j,j＝1,2,…,6(28)K(t)=diag(k ₁ ,k ₂ ,...,k ₆ ),k _j =max(a _dj )+λ _j ,j=1,2,...,6(28)

其中所述a_dj为载荷扰动引起的加速度向量M^*(μ)^-1τ_dm中的第j个元素，参数λ_j>0。引入参数λ_i>0来保证控制器的稳定性。引入切换增益K(t)的目的是为了补偿干扰项τ_dm、τ_dc，以确保滑模存在条件一定能满足。Wherein, a _dj is the jth element in the acceleration vector M ^* (μ) ^-1 τ _dm caused by the load disturbance, and the parameter λ _j >0. The parameter λ _i >0 is introduced to ensure the stability of the controller. The purpose of introducing the switching gain K(t) is to compensate the interference items τ _dm and τ _dc to ensure that the conditions for the existence of the sliding mode must be met.

具体实施方式五：本实施方式与具体实施方式一至四之一不同的是：所述步骤四中设计模糊控制器的具体过程为：Specific embodiment five: this embodiment is different from one of specific embodiments one to four: the concrete process of designing fuzzy controller in the described step 4 is:

利用自适应控制和模糊控制调整滑模控制器的切换增益的不确定部分△K，以达到降低系统抖振的目的。因为滑模变结构系统中的抖振现象主要是由滑模控制器的不连续切换造成的，所以削弱系统抖振的有效途径就是确保补偿扰动的同时，减小切换项的增益。因为干扰项τ_dm、τ_dc是时变的而且有不确定因素在里面，所以必须使用具有自适应特性的方法来调整切换增益，使系统能稳定的同时能有效减弱抖振。Adaptive control and fuzzy control are used to adjust the uncertain part △K of the switching gain of the sliding mode controller to achieve the purpose of reducing system chattering. Because the chattering phenomenon in the sliding mode variable structure system is mainly caused by the discontinuous switching of the sliding mode controller, the effective way to weaken the chattering of the system is to reduce the gain of the switching term while ensuring compensation for the disturbance. Because the interference terms τ _dm and τ _dc are time-varying and have uncertain factors in them, it is necessary to use an adaptive method to adjust the switching gain, so that the system can be stable and chattering can be effectively reduced.

(1)、模糊控制器的输入是滑模面s，针对变量s_i(i＝1,2)，定义Q个模糊集合A_i ^m(m＝1,2,…,Q)；(1), the input of the fuzzy controller is the sliding surface s, for the variable s _i (i=1,2), define Q fuzzy sets A _i ^m (m=1,2,...,Q);

(2)设计模糊规则IFs_iisA_i ^mTHEN△k_iisB_i ^m，其中，m＝1,2,…,Q，i＝1,2,3,4,5,6，A_i ^m和B_i ^m为单值模糊集；具体如下：(2) Design fuzzy rules IFs _i isA _i ^m THEN△k _i isB _i ^m , where, m=1,2,...,Q, i=1,2,3,4,5,6, A _i ^m and B _i ^m is a single-valued fuzzy set; the details are as follows:

$\begin{matrix} I I F f & {s the s}_{i i} & i i s the s & N N B B & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & N N B B \\ I I F f & {s the s}_{i i} & i i s the s & N N M m & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & N N M m \\ I I F f & {s the s}_{i i} & i i s the s & N N S S & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & N N S S \\ I I F f & {s the s}_{i i} & i i s the s & Z Z E E. & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & Z Z E E. \\ I I F f & {s the s}_{i i} & i i s the s & P P S S & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & P P S S \\ I I F f & {s the s}_{i i} & i i s the s & P P M m & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & P P M m \\ I I F f & {s the s}_{i i} & i i s the s & P P B B & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & P P B B \end{matrix},, j j = = 11,, ... ...,, 66 - - - - - - ((2929))$

式中设置七个模糊集：NB代表负大，NM代表负中，NS代表负小，ZE代表零，PS代表正小，PM代表正中，PB代表正大，△k_j为开关控制律增益的增量；Seven fuzzy sets are set in the formula: NB stands for negative big, NM stands for negative middle, NS stands for negative small, ZE stands for zero, PS stands for positive small, PM stands for positive middle, PB stands for positive big, △k _j is the gain gain of switch control law quantity;

由以上分析可知，当|s_i|值较大时，|△k_i|应取较大值以保证是较大负值。当|s_i|值较小时，|△k_i|应取较小值以保证取到负值；From the above analysis, it can be seen that when the value of |s _i | is large, |△k _i | should take a large value to ensure is a large negative value. When the value of |s _i | is small, |△k _i | should take a small value to ensure Get a negative value;

(3)隶属度函数采用高斯函数：(3) The membership function adopts Gaussian function:

${μ μ}_{A A} (({x x}_{i i})) = = exp exp [[- - {((\frac{{x x}_{i i} - - α α}{σ σ}))}^{22}]] - - - - - - ((3030))$

使用单值模糊器和中心平均解模糊器完成模糊系统的构造工作，模糊系统的输出值为：The construction of the fuzzy system is completed by using the single value fuzzer and the central average defuzzifier, and the output value of the fuzzy system is:

${Δk Δk}_{j j} = = \frac{{Σ Σ}_{m m = = 11}^{Q Q} {θ θ}_{{k k}_{j j}}^{m m} {μ μ}_{{A A}^{m m}} (({s the s}_{i i}))}{{Σ Σ}_{m m = = 11}^{Q Q} {μ μ}_{{A A}^{m m}} (({s the s}_{i i}))} = = {θ θ}_{{k k}_{j j}}^{T T} {ψ ψ}_{{k k}_{j j}} (({s the s}_{i i})) - - - - - - ((3131))$

其中 $θ_{k_{j}} = {[{θ_{k_{j}}}^{1}, {θ_{k_{j}}}^{2}, ..., {θ_{k_{j}}}^{Q}]}^{T}$ 是自由参数向量， $ψ_{k_{j}} (s_{i}) = {[{ψ_{k_{j}}}^{1}, {ψ_{k_{j}}}^{2}, ..., {ψ_{k_{j}}}^{Q}]}^{T}$ 是模糊基函数，代表第i个滑模面在第m条规则中的权重；in $θ_{k_{j}} = {[{θ_{k_{j}}}^{1}, {θ_{k_{j}}}^{2}, ..., {θ_{k_{j}}}^{Q}]}^{T}$ is a free parameter vector, $ψ_{k_{j}} ({the s}_{i}) = {[{ψ_{k_{j}}}^{1}, {ψ_{k_{j}}}^{2}, ..., {ψ_{k_{j}}}^{Q}]}^{T}$ is the fuzzy basis function, Represents the weight of the i-th sliding surface in the m rule;

得到△K＝diag(△k₁,△k₂,…,△k₆)。ΔK=diag(Δk ₁ , Δk ₂ , . . . , Δk ₆ ) is obtained.

具体实施方式六：本实施方式与具体实施方式一至五之一不同的是：所述步骤五中利用自适应算法优化△K，得到的具体过程为：Specific embodiment six: the difference between this embodiment and one of the specific embodiments one to five is: in the step five, an adaptive algorithm is used to optimize △K to obtain The specific process is:

是开关控制律最优增益k_jd的估计值，是k_jd的误差，估计增益的增量表示为： is the estimated value of the optimal gain k _jd of the switching control law, is the error of k _jd , The increment of the estimated gain is expressed as:

式中，是自由参数向量的估计值，是可调单值控制参数，的自适应律设定为：In the formula, is the estimate of the free parameter vector, is an adjustable single-valued control parameter, The adaptive law of is set as:

其中所述为自适应系统的学习率；which stated is the learning rate of the adaptive system;

具体实施方式七：本实施方式与具体实施方式一至六之一不同的是：所述步骤六中利得到新的自适应模糊滑模控制器τ的过程为：Specific embodiment seven: the difference between this embodiment and one of the specific embodiments one to six is: the process of obtaining a new adaptive fuzzy sliding mode controller τ in the step six is:

得到的输出给滑模控制器，得到新的自适应模糊滑模控制器：owned Output to the sliding mode controller to get a new adaptive fuzzy sliding mode controller:

其中 in

实施例一：Embodiment one:

取UUV纵向为北向，横向为东向，UUV长度5.5m，宽度2m，高度1m，载荷质量为m_T＝150kg，载荷长度为2m，海水密度为1040kg/m³，载荷浮力为1324N，载荷出管时的速度为3.1m/s，出管时间为1.49s，载荷与自航发射管之间的机械摩擦阻力F_m＝44N，载荷的流体运动阻力R_x＝338N，进行仿真后，得到的状态误差e＝μ_d-μ的曲线如图3—图8所示，由图3-图8的UUV状态误差曲线可以看出，各个参数的误差都逐渐减小趋近于0，即UUV的实际状态很快趋近于UUV的期望状态，因此本发明的控制器具有很好的控制效果。Take UUV vertical as north direction, horizontal direction as east direction, UUV length 5.5m, width 2m, height 1m, load mass m _T = 150kg, load length 2m, seawater density 1040kg/m ³ , load buoyancy 1324N, load out The speed of the tube is 3.1m/s, the time of exiting the tube is 1.49s, the mechanical friction resistance between the load and the self-propelled launch tube is F _m =44N, and the fluid motion resistance of the load is R _x =338N. After the simulation, the obtained The curve of state error e=μ _d -μ is shown in Figure 3-Figure 8. It can be seen from the UUV state error curve in Figure 3-Figure 8 that the error of each parameter gradually decreases and approaches 0, that is, the UUV The actual state quickly approaches the expected state of the UUV, so the controller of the present invention has a good control effect.

Claims

1. A UUV self-adaptive fuzzy sliding mode control method under load placement strong disturbance, it is characterized in that, described a kind of control method of UUV under load placement strong disturbance comprises the following steps:

Step 1: The UUV carries out the load deployment, which produces two kinds of interference to the UUV, one is the interference caused by the movement of the load in the grid-shaped tube, and the other is the interference caused by the water entering the water supply tank;

Step 2: Obtain the current state μ of the UUV, and construct a dynamic model of the UUV under load deployment disturbance;

Step 3: Design the sliding mode surface s according to Step 2, and construct the sliding mode controller;

Step 4: Design a fuzzy controller based on the sliding mode controller constructed in step 3. The input of the fuzzy controller is the sliding mode surface s, and the output is △K, and the △K is the increment of the switching control law coefficient of the sliding mode controller value;

Step 5: Use the adaptive algorithm to optimize △K, and get

Step 6: Get the result of Step 5 Output to the sliding mode controller constructed in step 3 to obtain a new adaptive fuzzy sliding mode controller τ;

Step 7: Utilize the new self-adaptive fuzzy sliding mode controller τ obtained in step 6 to control the UUV to change the state of the UUV;

Step 8: Re-execute steps 2 to 7 until the UUV reaches the desired state μ _d .

2. A kind of UUV self-adaptive fuzzy sliding mode control method under load placement strong disturbance according to claim 1, it is characterized in that UUV carries out load placement in the said step 1, and two kinds of disturbances are specifically produced to UUV :

(1) The movement of the load in the grid-shaped tube causes interference;

The motion equation of the load in the grid tube is:

(({m m}_{T T} + + {λ λ}_{1111})) \frac{{dv dv}_{T T}}{d d t t} = = {F f}_{T T} - - {R R}_{x x} - - {F f}_{m m} - - - - - - ((11))

Among them, m _T is the mass of the load, v _T is the moving speed of the load in the tube, λ ₁₁ is the additional mass of the load in the direction of motion in the tube, F _T is the propeller thrust of the load, R _x is the fluid resistance suffered by the load, F _m is the mechanical frictional resistance between the load and the launch tube;

The relationship between the motion time t and the load stroke l is obtained from the formula (1):

l l = = \frac{{F f}_{T T} - - {R R}_{x x} - - {F f}_{m m}}{22 (({m m}_{T T} + + {λ λ}_{1111}))} \times \times {t t}^{22} - - - - - - ((22))

The trim moment caused by the negative buoyancy of the load on the UUV is obtained from formula (2):

τ _x1 ＝F _z1 (l ₁ +l)(3)

Where F _z1 is the negative buoyancy of the load, l ₁ is the distance between the center of mass and the origin before the load is deployed;

The reaction force of UUV longitudinally loaded propeller to itself is:

F _x1 ＝-F _T +R _x +F _m (4)

(2) Interference caused by water entering the replenishment tank;

Assume that the mass of water that has entered the replenishment chamber at time t _n is m ₀ , the water inflow velocity is v _n , and the mass of water entering the replenishment chamber at time t _n+1 is dm ₀ , before entering the replenishment chamber, the original mass point The velocity of the system is the velocity v ₀ of the external flow field. After the two items are combined, the velocity of the entire particle system is v _n+1 , then the kinetic energy of the entire particle system at time t _n is:

{E E.}_{11} = = \frac{11}{22} (({m m}_{00} {v v}_{n no}^{22} + + {v v}_{00}^{22} {dm dm}_{00})) - - - - - - ((55))

The kinetic energy of the entire particle system at time t _n+1 is:

{E E.}_{22} = = \frac{11}{22} (({m m}_{00} {v v}_{n no + + 11}^{22} + + {v v}_{n no + + 11}^{22} {dm dm}_{00})) - - - - - - ((66))

In [t _n ,t _n+1 ], the kinetic energy of the entire particle system is:

d d E E. = = {E E.}_{22} - - {E E.}_{11} = = \frac{11}{22} [[{m m}_{00} (({v v}^{22}_{n no + + 11} - - {v v}^{22}_{n no})) + + (({v v}^{22}_{n no + + 11} - - {v v}^{22}_{00})) {dm dm}_{00}]] \approx \approx d d W W - - - - - - ((77))

Among them, dW is the work done by the resultant external force on the whole particle system, and dW is:

d d W W = = S S (({P P}_{22} {dx dx}_{n no} - - {&Integral; &Integral;}_{{dx dx}_{n no}} P P d d x x)) - - - - - - ((88))

Wherein said S is the equivalent cross-sectional area of the water supply cabin, P is the gas pressure in the water supply cabin at t _n moment, P ₂ is the gas pressure in the water supply cabin at t _n+1 moment, For the work done by the original gas in the water tank on the whole particle system, The specific form is:

- - S S {&Integral; &Integral;}_{{dx dx}_{n no}} P P d d x x = = S S \frac{{P P}_{n no} ((L L - - {x x}_{n no}))}{γ γ - - 11} [[11 - - {((\frac{L L - - {x x}_{n no}}{L L - - {x x}_{n no} - - {dx dx}_{n no}}))}^{γ γ - - 11}]] \approx \approx - - {SP SP}_{n no} {dx dx}_{n no} = = - - {SP SP}_{00} {((\frac{L L}{L L - - {x x}_{n no}}))}^{γ γ} {dx dx}_{n no} - - - - - - ((99))

Among them, P ₀ is the pressure of the gas in the water supply cabin before water entry, P _n is the pressure of the gas in the water supply cabin after water entry, x is the equivalent water depth in the water supply cabin, x _n is the equivalent water depth at time t _n , and L is the adiabatic The total length of the water supply tank in the compression stage, γ is the adiabatic index of the gas;

According to the formula (10), the vertical interference force of the water in the replenishment tank on the UUV is obtained as:

\begin{matrix} {F f}_{z z 22} = = {F f}_{f f u u} - - \frac{22 {F f}_{f f u u}}{33} t t & 00 < < t t < < 1.5 1.5 \end{matrix} - - - - - - ((1010))

The trim moment of the UUV caused by the replenishment process of the replenishment tank is:

\begin{matrix} {τ τ}_{x x 22} = = (({F f}_{f f u u} - - \frac{{F f}_{f f u u}}{22} t t)) \times \times {l l}_{22} & 00 < < t t < < 1.5 1.5 \end{matrix} - - - - - - ((1111))

Wherein said F _fu represents the buoyancy when the water supply cabin is empty, and _l2 is the distance from the center of buoyancy of the water supply cabin to the original center;

According to the formulas (3), (4), (10) and (11), the disturbance caused by the load deployment to the UUV during the load deployment is obtained:

{τ τ}_{d d m m} = = [\begin{matrix} {F f}_{g g} \\ {τ τ}_{g g} \end{matrix}] - - - - - - ((1212))

in

{F f}_{g g} = = {Λ Λ}^{- - 11} (([\begin{matrix} 00 \\ 00 \\ {F f}_{z z} \end{matrix}] + + [\begin{matrix} {F f}_{x x} \\ 00 \\ 00 \end{matrix}])) - - - - - - ((1313))

{τ τ}_{g g} = = {Λ Λ}^{- - 11} [\begin{matrix} {τ τ}_{p p} \\ {τ τ}_{q q} \\ {τ τ}_{r r} \end{matrix}] - - - - - - ((1414))

F _x ＝ F _x1 + △ ₁ (15)

F _z =F _z1 +F _z2 (16)

\begin{matrix} {τ τ}_{p p} = = {τ τ}_{x x 11} + + {τ τ}_{x x 22} + + {Δ Δ}_{22} = = {F f}_{z z 11} (({l l}_{11} + + l l)) + + (({F f}_{f f u u} - - \frac{22 {F f}_{f f u u}}{33} t t)) \times \times {l l}_{22} + + {Δ Δ}_{22} & 00 < < t t < < 1.5 1.5 \end{matrix} - - - - - - ((1717))

Among them, Λ is the conversion matrix from the moving coordinate system to the fixed coordinate system, △ ₁ represents the unknown disturbance force, △ ₂ represents the unknown disturbance torque, τ _p , τ _q , τ _r are the longitudinal, lateral and vertical disturbance torques.

3. A UUV self-adaptive fuzzy sliding mode control method under load placement disturbance according to claim 2, characterized in that the UUV current state μ is obtained in the step 2, and the UUV is constructed under load placement disturbance The dynamic model of is:

Get the current status of UUV as Where ξ, η, ζ are the longitudinal, transverse and vertical coordinates in the fixed coordinate system, are the pitch angle, roll angle, and yaw angle;

The UUV dynamic model is:

M m \overset{\cdot &Center Dot;}{χ χ} + + C C ((χ χ)) χ χ + + D D. ((χ χ)) χ χ + + L L ((χ χ)) + + G G ((μ μ)) = = τ τ + + {τ τ}_{d d} - - - - - - ((1818))

Among them, χ=[μ, v, w, p, q, r] ^T , where u, v, w are the longitudinal, lateral and vertical velocities in the motion coordinate system respectively, and p, q, r respectively in the motion coordinate system are Roll angle, pitch angle, yaw rate, M represents the system inertia matrix, C (μ) represents the system Coriolis force centrifugal force matrix, D (μ) represents the fluid damping matrix, L (μ) represents the other water Power and hydrodynamic moment, G(μ) represents the restoration force and restoration moment caused by gravity and buoyancy, τ represents the propulsion force and propulsion torque provided by the UUV propulsion system, τ _d represents the external disturbance force and disturbance moment;

Define τ _d =τ _dc +τ _dm , so the dynamic model of UUV under load deployment disturbance is:

{M m}^{* *} ((μ μ)) \overset{\cdot\cdot \cdot\cdot}{μ μ} + + {C C}^{* *} ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) \overset{\cdot \cdot}{μ μ} + + {D D.}^{* *} ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) \overset{\cdot \cdot}{μ μ} + + {L L}^{* *} ((μ μ,, \overset{\cdot \cdot}{μ μ})) + + {G G}^{* *} ((μ μ)) = = {J J}^{- - T T} ((μ μ)) ((τ τ + + {τ τ}_{d d c c} + + {τ τ}_{d d m m})) - - - - - - ((1919))

where τ _dm is the disturbance caused by the deployed load, and τ _dc is the environmental disturbance caused by the ocean current; transformation matrix

J (μ) = [\begin{matrix} Λ & 0 \\ 0 & A \end{matrix}],

A is the conversion matrix for converting the angle in the fixed coordinate system to the moving coordinate system;

M ^* (μ)＝J ^-T (μ)MJ ^-1 (μ)(20)

{C C}^{* *} ((μ μ,, \overset{\cdot \cdot}{μ μ})) = = {J J}^{- - T T} ((μ μ)) [[C C (({J J}^{- - 11} ((μ μ)) \overset{\cdot &Center Dot;}{μ μ})) - - {MJ MJ}^{- - 11} ((μ μ)) \overset{\cdot \cdot}{J J} ((μ μ))]] {J J}^{- - 11} ((μ μ)) - - - - - - ((21 twenty one))

{D D.}^{* *} ((μ μ,, \overset{\cdot \cdot}{μ μ})) = = {J J}^{- - T T} ((μ μ)) D D. (({J J}^{- - 11} ((μ μ)) \overset{\cdot &Center Dot;}{μ μ})) {J J}^{- - 11} ((μ μ)) - - - - - - ((22 twenty two))

{L L}^{* *} ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) = = {J J}^{- - T T} ((μ μ)) L L (({J J}^{- - 11} ((μ μ)) \overset{\cdot &Center Dot;}{μ μ})) - - - - - - ((23 twenty three))

G ^* (μ)=J ^−T (μ)G(μ) (24).

4. A kind of UUV self-adaptive fuzzy sliding mode control method under load distribution strong disturbance according to claim 3, it is characterized in that in described step 3, design sliding mode surface s, the specific process of constructing sliding mode controller for:

The state error of UUV is:

e=μ _d -μ(25)

Wherein said μ _d is the expected state of UUV;

The sliding surface is:

s the s = = \overset{\cdot \cdot}{e e} + + H h e e - - - - - - ((2626))

Wherein said matrix H is a positive definite diagonal matrix;

The sliding mode controller is designed as:

τ τ = = M m ((- - f f ((μ μ,, \overset{\cdot &Center Dot;}{μ μ})) + + {\overset{\cdot\cdot \cdot\cdot}{μ μ}}_{d d} + + P P \overset{\cdot &Center Dot;}{e e} + + K K ((t t)) s the s i i g g n no ((s the s)))) - - - - - - ((2727))

Wherein said K(t) is a diagonal matrix, namely:

K(t)=diag(k ₁ ,k ₂ ,...,k ₆ ),k _j =max(a _dj )+λ _j ,j=1,2,...,6(28)

Wherein, a _dj is the jth element in the acceleration vector M ^* (μ) ^-1 τ _dm caused by the load disturbance, and the parameter λ _j >0.

5. A kind of UUV self-adaptive fuzzy sliding mode control method under load placement strong disturbance according to claim 4, it is characterized in that the specific process of designing fuzzy controller in the described step 4 is:

(1), the input of the fuzzy controller is the sliding surface s, for the variable s _i (i=1,2), define Q fuzzy sets A _i ^m (m=1,2,...,Q);

(2) Design fuzzy rules IFs _i isA _i ^m THEN△k _i isB _i ^m , where, m=1,2,...,Q, i=1,2,3,4,5,6, A _i ^m and B _i ^m is a single-valued fuzzy set; the details are as follows:

\begin{matrix} \begin{matrix} I I F f & {s the s}_{i i} & i i s the s & N N B B & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & N N B B \\ I I F f & {s the s}_{i i} & i i s the s & N N M m & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & N N M m \\ I I F f & {s the s}_{i i} & i i s the s & N N S S & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & N N S S \\ I I F f & {s the s}_{i i} & i i s the s & Z Z E E. & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & Z Z E E. \\ I I F f & {s the s}_{i i} & i i s the s & P P S S & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & P P S S \\ I I F f & {s the s}_{i i} & i i s the s & P P M m & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & P P M m \\ I I F f & {s the s}_{i i} & i i s the s & P P B B & T T H h E E. N N & {Δk Δk}_{j j} & i i s the s & P P B B \end{matrix} & j j = = 11,, ... ...,, 66 \end{matrix} - - - - - - ((2929))

Seven fuzzy sets are set in the formula: NB stands for negative big, NM stands for negative middle, NS stands for negative small, ZE stands for zero, PS stands for positive small, PM stands for positive middle, PB stands for positive big, △k _j is the gain gain of switch control law quantity;

(3) The membership function adopts Gaussian function:

{μ μ}_{A A} (({x x}_{i i})) = = exp exp [[- - {((\frac{{x x}_{i i} - - α α}{σ σ}))}^{22}]] - - - - - - ((3030))

The construction of the fuzzy system is completed by using the single value fuzzer and the central average defuzzifier, and the output value of the fuzzy system is:

{Δk Δk}_{j j} = = \frac{{Σ Σ}_{m m = = 11}^{Q Q} {θ θ}_{{k k}_{j j}}^{m m} {μ μ}_{{A A}^{m m}} (({s the s}_{i i}))}{{Σ Σ}_{m m = = 11}^{Q Q} {μ μ}_{{A A}^{m m}} (({s the s}_{i i}))} = = {θ θ}_{{k k}_{j j}}^{T T} {ψ ψ}_{{k k}_{j j}} (({s the s}_{i i})) - - - - - - ((3131))

in

θ_{k_{j}} = {[{θ_{k_{j}}}^{1}, {θ_{k_{j}}}^{2}, ..., {θ_{k_{j}}}^{Q}]}^{T}

is a free parameter vector,

ψ_{k_{j}} ({the s}_{i}) = {[{ψ_{k_{j}}}^{1}, {ψ_{k_{j}}}^{2}, ..., {ψ_{k_{j}}}^{Q}]}^{T}

is the fuzzy basis function, Represents the weight of the i-th sliding surface in the m rule;

ΔK=diag(Δk ₁ , Δk ₂ , . . . , Δk ₆ ) is obtained.

6. A UUV self-adaptive fuzzy sliding mode control method under load placement strong disturbance according to claim 5, characterized in that in step 5, an adaptive algorithm is used to optimize △K to obtain The specific process is:

is the estimated value of the optimal gain k _jd of the switching control law, is the error of k _jd , The increment of the estimated gain is expressed as:

In the formula, is the estimate of the free parameter vector, is an adjustable single-valued control parameter, The adaptive law of is set as:

which stated is the learning rate of the adaptive system;

7. A kind of UUV self-adaptive fuzzy sliding mode control method under load placement strong disturbance according to claim 6, it is characterized in that the process of obtaining a new self-adaptive fuzzy sliding mode controller τ in the step 6 for:

owned Output to the sliding mode controller to get a new adaptive fuzzy sliding mode controller:

in