| 吊舱推进电机的无模型自适应滑模矢量控制 |
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| 引用本文： | 姚文龙,王加利,庞震,池荣虎,邵巍.吊舱推进电机的无模型自适应滑模矢量控制[J].交通运输工程学报,2020,20(3):72-79. |
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| 作者姓名： | 姚文龙 王加利 庞震 池荣虎 邵巍 |
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| 作者单位： | 1.青岛科技大学 自动化与电子工程学院, 山东 青岛 2661002.北京理工大学 宇航学院, 北京 100081 |
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| 基金项目： | 山东省重点扶持区域引进急需紧缺人才项目;国家自然科学基金;山东省自然科学基金 |
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| 摘 要： | 为解决半潜船吊舱推进电机控制系统中负载扰动造成的转速跟踪性能差的问题, 提出一种基于数据驱动的吊舱推进电机转速矢量控制方法; 对包含未知负载扰动的推进电机转速方程进行离散化处理, 给出关于输出转速与输入电流离散后的非线性转速系统; 由于非线性转速系统方程中变量较多且负载扰动模型未知, 设计了基于数据驱动的无模型自适应控制器, 并给出了伪偏导数估计算法; 采用滑模观测器观测螺旋桨负载扰动, 同时给出了滑模控制器; 结合无模型自适应控制和滑模控制给出了负载扰动下的无模型自适应滑模(MFASM)控制方案; 构建了吊舱推进电机无模型自适应滑模矢量控制调速系统, 并在MATLAB/Simulink环境下给出了仿真结果。研究结果表明: 在船舶正常作业恒定转速下, 在0.3~0.5 s时间区域内, 采用MFASM矢量控制方案和PI矢量控制方案的吊舱推进电机的转速误差分别为2、6 r·min-1; 在0.8~1.0 s时间区域内, 采用无模型自适应滑模矢量控制方案和PI矢量控制方案的吊舱推进电机的转速误差分别1、3 r·min-1; 对于船舶操车作业的可变转速情形, 采用MFASM矢量控制方案的推进电机转速和转矩达到稳态的时间比PI矢量控制方案少0.01~0.03 s。可以看出, 采用MFASM矢量控制方案可改善吊舱推进电机转速跟踪性能, 是一种有效的抑制负载扰动的数据驱动控制方法。
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| 关 键 词： | 船舶工程 控制工程 船舶吊舱 推进电机 无模型自适应控制 滑模控制 矢量控制 负载扰动 |
| 收稿时间： | 2020-01-03 |
Model-free adaptive sliding mode vector control for podded propulsion motor |
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| YAO Wen-long,WANG Jia-li,PANG Zhen,CHI Rong-hu,SHAO Wei.Model-free adaptive sliding mode vector control for podded propulsion motor[J].Journal of Traffic and Transportation Engineering,2020,20(3):72-79. |
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| Authors: | YAO Wen-long WANG Jia-li PANG Zhen CHI Rong-hu SHAO Wei |
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| Affiliation: | 1.School of Automation and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266100, Shangdong, China2.School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | To solve the problem of poor speed tracking performance caused by the load disturbance in the podded propulsion motor control system of semi-submersible ship, a speed vector control method for the podded propulsion motor was proposed based on the data-driven. The speed equation of propulsion motor with unknown load disturbance was discretized, and the nonlinear speed system about the output speed and input current after the discretization was given. Since multiple variables were in the nonlinear speed system equation and the load disturbance model was unknown, the model-free adaptive controller based on the data-driven was designed and the pseudo partial derivative estimation algorithm was given. The sliding mode observer was utilized to observe the propeller load disturbance and a sliding mode controller was given. Combining the model-free adaptive control with the sliding mode control, and the model-free adaptive sliding mode(MFASM) control scheme under the load disturbance was presented. The podded propulsion motor MFASM vector control speed governing system was constructed, and the simulation results were given in the MATLAB/Simulink environment. Research result shows that under the constant speed of ship in the normal operation and within the time range of 0.3-0.5 s, the speed errors of podded propulsion motor under the MFASM vector control scheme and the PI vector control scheme are 2 and 6 r·min-1, respectively. Within the time range of 0.8-1.0 s, the speed errors of podded propulsion motor under the MFASM vector control scheme and the PI vector control scheme are 1 and 3 r·min-1, respectively. For the variable speed case of ship operation, the time for the speed and torque of propulsion motor to the steady-state under the MFASM vector control scheme is 0.01-0.03 s less than that under the PI vector control scheme. Therefore, the speed tracking performance of podded propulsion motor can be improved by utilizing the MFASM vector control scheme, and the proposed method is an effective data-driven control method for suppressing the load disturbance. |
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