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中文摘要：
在回收过程中，UUV对水平面运动的控制精度有很高的要求。以BSA-UUV为平台，构建水平面操纵非线性方程，在此模型的基础上，分析了多阶段回收过程中的主要耦合变量和耦合原因。针对水平面运动中航向控制与横向运动之间的强耦合问题，基于模糊理论和解耦理论设计一种解耦补偿器，由模糊补偿器的输入输出隶属度函数，根据模糊补偿规则，经过模糊推理合成运算和清晰化运算，得出解耦补偿量。仿真结果显示加入模糊解耦控制器以后，有效降低了系统的超调量，提高了控制精度，表明模糊解耦控制方法在UUV回收运动控制中有很高的应用价值。
英文摘要：
During the recycle progress, the vehicle has a high demand for the control accuracy. Based on BSA-UUV,, this paper established a simplified kinetic model to describe the motion of UUV in the horizontal plane, which is consisted by some nonlinear equations. On the basis of this model, the main coupling variables and coupling reasons were analysed during recycle. Aiming at the strong coupling problem between the heading control and sway movement, a decoupling compensator is designed based on the fuzzy theory and the decoupling theory, according to the rules of fuzzy compensation, by the input and ou~out membership functions of fuzzy compensator, through compose operation and clear operation of fuzzy reasoning, obtained decoupling compensation quantity. Simulation results show that the fuzzy decoupling controller effectively reduces the overshoot of the system, improve the control precision, and show that the fuzzy decoupling control method has a high application value in the recovery mission.
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