Pod propulsion motor sliding mode control method based on tight format dynamic linearization

Abstract

The invention discloses a pod propulsion motor sliding mode control method based on tight format dynamic linearization, and is suitable for pod propulsion motor control. The method comprises the following steps: establishing a pod propulsion motor dynamics model; establishing a tight-format dynamic linearization data model of the pod propulsion motor dynamical model based on the pseudo partial derivative; designing a control law and an estimation law of the sliding mode control method; aiming at disturbance terms in the estimation control law, designing an extended state observer to estimate load disturbance and unknown disturbance in the control system; and aiming at the influence of unmodeled dynamics on the performance of the control system, designing a sliding mode control scheme of a series tight-format dynamic linearization model to improve the control performance of the system. The advantages of a tight-format dynamic linearization method and sliding mode control are combined, and the dynamic performance and the steady-state performance of the pod propulsion motor control system are effectively improved.

Description

technical field [0001] The invention belongs to the technical field of ship electric propulsion control, and uses the thought of data drive to design a pod propulsion motor sliding mode control scheme based on compact format dynamic linearization. Background technique [0002] A semi-submersible ship is a ship specialized in the transportation of inseparable super-large overall equipment and extra-heavy items. It needs to rely on the dynamic positioning system to accurately position and complete underwater operations when performing dive and float operations. high performance requirements. Pod electric propulsion is the most advanced ship electric propulsion system. The pod propeller in the system improves the hydrodynamic performance of the ship and optimizes the design of the hull structure and pod. The permanent magnet synchronous motor (PMSM) has the characteristics of small size and high efficiency. It is used as a propulsion motor in a pod-type electric propulsion sys...

AI Technical Summary

Problems solved by technology

The controllers of the above control systems are mostly designed based on mathematical models. Under the premise of known accurate mathematical models, designing appropriate controller parameters can improve the control performance of permanent magnet synchronous motors to a certain extent, but PMSM is a multivariable, Strong coupling, nonlinear complex objects, and the working environment of the pod propulsion motor of the semi-submersible ship is harsh, especially vulnerable to the influence of propeller load disturbance

When the system is affected by factors such as internal parameter changes or external disturbances, the conventional model-based control strategy has the problem of unmodeled dynamics and the inability to establish an accurate model, so it cannot meet the requirements of high-performance control of pod propulsion motors

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