A sliding mode control method for podded propulsion motor based on compact dynamic linearization

Abstract

The invention discloses a sliding mode control method for a pod propulsion motor based on tight-format dynamic linearization, which is suitable for the control of the pod propulsion motor. The steps include: establishing a dynamic model of the pod propulsion motor; establishing a compact dynamic linearization data model of the dynamic model of the pod propulsion motor based on pseudo partial derivatives; designing a sliding mode control method control law and an estimation law; The disturbance term of , designed an extended state observer to estimate the load disturbance and unknown disturbance in the control system; for the influence of the unmodeled dynamics on the performance of the control system, a sliding mode control scheme with a series compact dynamic linearization model was designed to improve the system control performance. The invention combines the advantages of the compact dynamic linearization method and the sliding mode control, and effectively improves the dynamic performance and steady-state performance of the pod propulsion motor control system.

Description

technical field [0001] The invention belongs to the technical field of ship electric thruster control, and uses a data-driven idea to design a sliding mode control scheme of a pod propulsion motor based on a compact dynamic linearization. Background technique [0002] Semi-submersible ship is a ship specializing in the transportation of indivisible super-large integral equipment and extra-heavy cargo. When diving and surfacing operations, it needs to rely on the dynamic positioning system to accurately locate and complete underwater operations. high performance requirements. The podded electric propulsion is the most advanced ship electric propulsion system. The podded propulsion in the system improves the hydrodynamic performance of the ship and optimizes the design of the hull structure and pods. Permanent magnet synchronous motor (PMSM) has the characteristics of small size and high efficiency. It is used as a propulsion motor in a pod electric propulsion system, which n...

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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