潜器全方位推进器主轴转速H^∞鲁棒控制

H^∞ robust control for principal axis speed of variable vector propeller of submersible vehicle

为有效对潜器全方位推进器主轴调速系统进行控制,基于永磁同步电机状态空间模型,针对全方位推进器主轴控制系统的参数摄动和负载转矩波动,设计了状态反馈鲁棒控制器.对潜器推进电机矢量控制的仿真结果表明,该方法能够有效抑制参数摄动和负载转矩波动对系统动态性能的影响,满足潜器推进的性能要求.

A H^∞ state feedback controller applied to permanent magnet synchronous motor （PMSM） vector control was developed to effectively control the principal axis speed control system of variable vector propeller of submersible vehicle. The controller was designed based on the state-space model of PMSM according to the parameter variety and torque disturbance of the principal axis speed control system. Simulation on vector control of propulsion motor of submersible vehicle shows that the proposed method can attenuate the effect of parameter variety and torque disturbance on system dynamic performance, which can meet the requirement of the propulsion motor.