Underwater vehicle and pulse output control method thereof

The invention relates to an underwater vehicle and a pulse output control method thereof, and belongs to the field of automobile underwater vehicle path tracking stability control. On the basis of a multi-propeller power layout and a classical S-surface control algorithm, in order to solve the problem that the path point tracking precision is reduced due to attitude adjustment inertia deviation in an actual navigation test, hybrid control combining multi-propeller pulse output asymptotic control and S-surface nonlinear control is adopted, and the path point tracking precision is improved according to the motion attitude parameter deviation range. Propeller pulse output control is carried out according to gears, so that the inertial deviation of initial adjustment of the attitude of the aircraft is reduced. 本发明涉及一种水下航行器及其脉冲输出控制方法，属于汽车水下航行器路径跟踪稳定控制领域；基于多推进器动力布局，在经典S面控制算法的基础上，针对实际航行试验中姿态调节惯性偏差导致路径点跟踪精度降低的问题，本发明采用多推进器脉冲输出渐近控制与S面非线性控制相结合的混合控制，根据运动姿态参数偏差范围，分档位进行推进器脉冲输出控制，从而降低航行器姿态初始调节的惯性偏差。