水下机器人用永磁推进电机系统混沌控制  

Permanent Magnet Propulsion Motor System Control of Chaos for Underwater Robot

作　　者：安跃军[1] 王韶华[1] 孟昭军[1] 孙昌志[1] 王鹏[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110178

出　　处：《电气技术》2009年第3期29-31,共3页Electrical Engineering

基　　金：辽宁省教育厅科技研究项目(2005L299)

摘　　要：本文针对在水下机器人永磁推进电机系统中出现的、直接影响水下机器人稳定性、可靠性和安全性的混沌现象,研究永磁推进电机系统混沌行为控制问题;设计和构造了易于工程实施的混沌控制策略,用于水下机器人永磁推进电机系统混沌控制。仿真实验表明,推进电机系统在自适应控制器的作用下可迅速走出混沌状态,并进入持续稳定状态,控制效果明显;混沌控制效果、由混沌进入稳态的动荡程度和迁宿时间与反馈增益系数和控制信号的施加时刻密切相关。This article in view of chaos phenomenon in permanent magnet propulsion motor system of the underwater robot which influent immediately underwater robot’s stability, the reliability and the secure, study on permanent magnet propulsion motor system chaos control; Designed and constructs the chaos control strategy used in chaos control of underwater robot permanent magnet propulsion motor system. The simulation experiment indicated that propulsion motor system to be possible to go out the chaotic state rapidly under the auto-adapted controller's function, and enters the steady state, the control effect is obvious; the chaos control effect, fluctuation level of entering the stable state by the chaos the and moves time are related to the feedback gain coefficient and the control signal exerts the time.

关 键 词：永磁电机 推进电机系统 混沌控制 自适应控制 水下机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]