基于磁链观测器的ROV无传感器推进控制研究  

Research on Sensorless Control of ROV Based on Flux Observer

作　　者：徐大勇 魏海峰[2] 王浩陈 XU Dayong;WEI Haifeng;WANG Haochen(The First Military Representative of Naval Equipment Department in Nanjing,Nanjing 210006;Institute of Automation,Jiangsu University of Science and Technology,Zhenjiang 212100)

机构地区：[1]海军装备部驻南京地区第一军事代表室,210006 [2]江苏科技大学自动化学院,镇江212100

出　　处：《舰船电子工程》2023年第5期222-226,共5页Ship Electronic Engineering

摘　　要：由于工况恶劣、位置传感器安装有限,水下机器人ROV集成推进系统多采用基于永磁同步电机的无传感器控制。为提高低速稳定性和动态响应速度,提出一种改进磁链观测器。仅依靠测量定子绕组电流和电压,改进观测器在有限时间内将观测误差收敛到零。并采用迭代方法以获得转子速度和负载扭矩估计。仿真实验表明,改进方法比传统方法有着更好的低速控制能力和抗干扰能力。Due to poor working conditions and limited installation of position sensors,the integrated propulsion system of remotely operated vehicle(ROV)mostly adopts sensorless control based on permanent magnet synchronous motor.In order to improve the low-speed stability and dynamic response speed,an improved flux observer is proposed.Only by measuring the stator winding current and voltage,the improved observer converges the observation error to zero in limited time.And an iterative method is used to obtain rotor speed and load torque estimates.The simulation results show that the improved method has better low-speed control ability and anti-interference ability than the traditional method.

关 键 词：水下机器人 永磁同步电机 无传感器控制 磁链观测器 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]