基于紧格式动态线性化的吊舱推进电机滑模矢量控制  

Sliding Mode Vector Control of Pod Propulsion Motor Based on Compact Form Dynamic Linearization

作　　者：闫成阳 姚文龙[1] 池荣虎[1] 邵巍[1] 裴春博 YAN Chengyang;YAO Wenlong;CHI Ronghu;SHAO Wei;PEI Chunbo(School of Automation and Electrical Engineering,Qingdao University of Science and Technology,Qingdao 266100,China)

机构地区：[1]青岛科技大学自动化与电子工程学院,山东青岛266100

出　　处：《控制工程》2024年第9期1544-1551,共8页Control Engineering of China

基　　金：青岛市自主创新重大专项(21-1-2-14-zhz);国家自然科学基金资助项目(61873139);山东省自然科学基金资助项目(ZR2017MEE071)。

摘　　要：针对复杂海况下吊舱推进电机存在的模型建立困难以及负载扰动问题,提出了基于紧格式动态线性化的滑模矢量控制方法。首先,考虑船舶实际工况建立包含船舶运动模型和螺旋桨负载特性的船-桨数学模型,并通过紧格式动态线性化方法,建立带时变参数和负载扰动项的吊舱推进电机数据模型;然后,设计基于最小转速跟踪误差指标的滑模控制器,同时设计神经网络观测器对控制律中的未知负载扰动项进行估计,并将估计值反馈到控制器中进行扰动补偿。仿真结果表明,所设计的控制器减小了推进电机的转速超调、转矩脉动,提高了吊舱推进电机系统的控制性能。A sliding mode vector control of pod propulsion motor based on compact form dynamic linearization is proposed for difficulty of model establishment and load disturbances of pod propulsion motor control system.Firstly,considering the actual working conditions of the ship,a ship-propeller mathematical model including ship motion model and propeller load characteristics are established,the data model of pod propulsion motor with time-varying parameters and load disturbance are established by the compact form dynamic linearization method.Secondly,the sliding mode controller based on the minimum speed tracking error index is designed,and the neural network observer is designed to estimate the unknown load disturbance in the control law,and the estimated value is fed back to the controller for disturbance compensation.The simulation results show that the designed controller reduces the speed overshoot and torque ripple of the propulsion motor,and improves the control performance of the pod propulsion motor system.

关 键 词：推进电机 紧格式动态线性化 滑模控制 神经网络观测器 负载扰动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U665.11[自动化与计算机技术—控制科学与工程]