基于导管螺旋桨负载的ROV推进器滑模控制  

Sliding Mode Control of ROV Propeller Based on Duct Propeller Load

作　　者：徐鹏程 曾庆军[1] 陈尧伟 朱志宇[1] 戴晓强[1] 凌宏杰 XU Peng-cheng;ZENG Qing-jun;CHEN Yao-wei;ZHU Zhi-yu;DAI Xiao-qiang;LING Hong-jie(School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212003,China;Marine Equipment Research Institute,Jiangsu University of Science and Technology,Zhenjiang 212003,China)

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003 [2]江苏科技大学海洋装备研究院,江苏镇江212003

出　　处：《水下无人系统学报》2020年第5期496-504,共9页Journal of Unmanned Undersea Systems

基　　金：国防基础科研计划项目(JCKY2017414C002);江苏省产业前瞻与共性关键技术项目(BE2017121,BE2018103).

摘　　要：针对自主研发的水下辅助采油遥控机器人(ROV)的运动控制与其推进系统控制的需求,文中提出了一种新型的基于导管螺旋桨负载特性的ROV推进器永磁同步电机(PMSM)滑模控制器。阐述了ROV及其推进器的系统组成,建立了基于导管螺旋桨负载特性的ROV推进器系统数学模型,设计了基于全局快速终端滑模算法的ROV推进电机转速控制器,通过仿真分析,比较了不同控制算法下基于导管螺旋桨负载的PMSM动态响应性能。仿真结果表明,文中提出的新型滑模控制器能够使ROV推进器系统具有更快的动态响应速度和更好的稳定性,同时验证了文中设计的滑模控制器在水下推进器控制系统应用的可行性和有效性,为水下辅助采油ROV的运动控制和动力分配策略的研究提供参考。To satisfy the requirements of motion control and propulsion system control of a self-developed underwater assisted oil recovery remote operated vehicle(ROV),a new type of ROV propeller permanent magnet synchronous motor(PMSM)sliding mode controller based on the load characteristics of a ducted propeller is proposed herein.The ROV and its propulsion system are expounded,a mathematical model of the ROV propulsion system based on the duct propeller load characteristic is established,and the ROV propulsion motor speed controller based on the global fast terminal sliding mode algorithm is designed.Through simulation analysis,the dynamic response performances of PMSMs of different control algorithms based on the duct propeller load are analyzed.The simulation results show that the proposed new sliding mode controller enable the ROV propulsion system to achieve a faster dynamic response speed and better stability.Furthermore,the global fast terminal sliding mode controller designed in this study is verified in terms of its feasibility and effectiveness when applied to an underwater propulsion control system for underwater-assisted oil recovery.

关 键 词：水下遥控机器人 推进器 永磁同步电机 导管螺旋桨负载 全局快速终端滑膜 

分 类 号：TM351[电气工程—电机] TE953[石油与天然气工程—石油机械设备]