零航速减摇鳍永磁同步电机伺服系统广义预测控制

Generalized Predictive Control of PMSM Servo System for Fin Stabilizer at Zero Speed

为提高系统的可靠性,探索了电伺服系统在零航速下减摇鳍上的应用,并根据减摇鳍的负载特性选择了驱动电机的种类。由于零航速减摇鳍的工作环境和负载特性比较复杂,为提高电伺服系统的动态性能和对参数扰动的鲁棒性,建立了永磁同步电机传动系统的受控自回归积分滑动平均(controlled auto regressive integrated moving average,CARIMA)模型,实现了电伺服系统的广义预测控制。由于浪级较高时电机驱动能量不足,所以对伺服系统输入输出的约束条件进行了分析,在此基础上提出了一种考虑约束的改进控制算法。仿真结果表明,广义预测控制器能够改善伺服系统的动态性能,提高零航速减摇鳍的减摇效果。

Application of electro-servo system to fin stabilizer at zero speed is discussed to enhance the reliability of roll reduction system. Driving motor is selected according to load characteristics of fin stabilizer. Due to the complicated working environment and load characteristics of fin stabilizer at zero speed, the controlled auto regressive integrated moving average （CARIMA） model of permanent magnet synchronous motor is established to realize generalized predictive control. By using this control algorithm, the dynamical performance and robustness on parameters of electro-servo system can be enhanced. Since the power of driving motor is usually not high enough when the intensity of ocean wave is very high, the input and output constrains of electro-servo system are analyzed and an improved generalized predictive control algorithm considering these constrains is presented. Simulation results indicate that generalized predictive controller can improve the dynamical performance of servo system and enhance roll reduction ability of fin stabilizer at zero speed.