电力推进船舶电机无模型滑模控制策略研究  

Research on Model-Free Sliding Mode Control Strategy of Electric Propulsion Ship Motor

作　　者：白洪芬 余波 顾伟[1] BAI Hongfen;YU Bo;GU Wei(Key Laboratory of Marine Technology and Control Engineering,Shanghai Maritime University,Shanghai 201306,China;School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]上海海事大学航运技术与控制工程交通行业重点实验室,上海201306 [2]武汉理工大学交通与物流工程学院,武汉430063

出　　处：《船舶工程》2022年第10期92-99,共8页Ship Engineering

基　　金：第67批博士后面上项目(2020M672431);船舶动力工程技术交通运输行业重点实验室开放基金项目(KLMPET2020-05);湖北省博士后研究创新岗位基金。

摘　　要：针对船舶电力推进永磁同步电机易受到各种负载变化、外部环境变化及自身参数变化的扰动影响,设计了一种基于无模型控制理论的改进滑模控制器。在分析三相永磁同步推进电机数学模型的基础上,引入能够动态适应系统状态和滑模面变化的新型趋近律,实现控制系统快速响应和低抖振,利用扩展状态观测器对航行中系统自身参数变化和未建模扰动进行观测补偿,可以有效减少滑模控制器的切换增益,进一步抑制抖振,同时提高抗干扰能力。最后,利用MATLAB/Simulink在船舶螺旋桨负载和外界扰动下分别进行了恒速和变速仿真实验.仿真结果说明:该控制器在船舶负载和外界扰动下电机可稳定运行,验证了该控制器在船舶负载下的有效性和稳定性。Aiming at the susceptibility of the permanent magnet synchronous motors(PMSM)in the electric propulsion ship to various changes of load, external environment and their own parameters, an improved variable structure sliding mode controller based on model-free control theory is designed. Based on the analysis of the mathematical model of the three-phase propulsion PMSM, a new approaching law that can dynamically adapt to the system state and sliding mode surface changes is introduced to achieve rapid response and low chattering of the control system. And then an extended state observer is used to carry out observe compensation with the system parameter changes and unmodeled disturbances during navigation. As a result, the switching gain of sliding model controller is effectively reduced, the chattering should be further stopped, and the anti-disturbance performance is improved. Finally, MATLAB/Simulink is used to simulate the constant and variable speed conditions under propeller load and external disturbance, respectively. The simulation results show the controller is stable under ship load and other external disturbances. The effectiveness and stability of the controller under ship load are demonstrated.

关 键 词：船舶电力推进 永磁同步电机 滑模控制 扩展状态观测器 无模型控制 

分 类 号：U661.313[交通运输工程—船舶及航道工程]