水下多电机协同推进及其动态面反步滑模控制  

Underwater Multi-motor Cooperative Propulsion and Its Dynamic Surface Backstepping Sliding Mode Control

作　　者：杨冠军 王伟然[1] 闫景昊 朱志宇[1] 曾庆军[1] 戴晓强[1] YANG Guan-jun;WANG Wei-ran;YAN Jing-hao;ZHU Zhi-yu;ZENG Qing-jun;DAI Xiao-qiang(School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212100, China)

机构地区：[1]江苏科技大学电子信息学院,镇江212100

出　　处：《科学技术与工程》2022年第10期3982-3990,共9页Science Technology and Engineering

基　　金：国家自然科学基金(51809128);江苏省研究生科研与实践创新计划项目(KYCX21_3466)。

摘　　要：复杂多变暗流湍急的水下环境会造成水下机器人姿态失衡,严重时会破坏船体稳定造成偏航。针对大幅度转弯工况与应对外部随机扰动等问题,提出一种归一化的比例同步系数分配方法,构造虚拟主轴多电机协同控制系统的输入,实时调配各个从动轴推进电机的参考转速;针对该方法中异速差异大、动态响应高的需求,设计有限时间动态面反步滑模控制器,提升系统响应速度;并设计指数衰减转矩观测器,以解决水下机器人不能安装转矩传感器,但虚拟主轴方法对转矩检测精度要求较高的矛盾。仿真与实验结果表明,这种异速协同控制方法在处理瞬时大负载变化与恒定非线性扰动时,可以做到较好的实时性、鲁棒性和精度之间的平衡。The complex underwater environment such as turbulence could cause the posture imbalance of the underwater robot.And it even could damage the stability of the system and cause yaw.Aiming at addressing the issues brought by the large angle of turn and external random disturbance,a normalized proportional synchronization coefficient distribution method was proposed.Firstly,the input of the electronic virtual line-shafting was reconstructed and the reference speed of each driven shaft propulsion motor was calculated in real-time.Secondly,in order to meet the requirements of high dynamics and solve the stability problem of the large speed difference,a finite-time dynamic surface backstepping sliding mode controller was designed.Thirdly,an exponential decay torque observer was designed to obtain the accuracy parameter of torque.The results show that this method could achieve a good balance between real-time,robustness,and accuracy in dealing with the instantaneous large load variation and the constant nonlinear disturbance.

关 键 词：水下机器人 虚拟主轴 多电机异速协同控制 动态面反步滑模控制 指数衰减转矩观测器 

分 类 号：TM341[电气工程—电机] TP273.3[自动化与计算机技术—检测技术与自动化装置]