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中文摘要：
针对UUV在近水面航行过程中海浪波动对深度计测量造成较大干扰进而影响深度控制效果的问题，设计一种带有海浪干扰滤波器的UUV深度控制方法。分析UUV海试中深度控制性能，选取合适的参数设计海浪干扰滤波器并验证了其滤波效果。考虑到PID控制器参数选择难的问题，采用遗传算法对其控制参数实现在线自整定。最后将实时海浪加入到UUV深度控制系统进行仿真实验，并将仿真结果与海试数据对比，结果表明提出方法的有效性与工程实际意义。
英文摘要：
Wave fluctuations will cause greater interference to the depth gauge of unmanned underwater vehicle （UUV） on the near surface motion, and affect the impact of depth control. A UUV depth control method with wave disturbance filter is designed to solve the problem. The paper analyzes the performance of UUV depth control during sea experimentation, choose suitable parameters to design the filter and proves the effectiveness. Considering the difficulty of choosing parameters of PID controller, the genetic algorithm is used to obtain the best controller parameters. At last, the real time ocean wave is affiliated in the simulation of the UUV depth control system. The results is compared with the trial data on the sea, which shows the effectiveness and praetical significance of the method.
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