基于模糊PI混合控制的自主水下航行器推进系统

Propulsion System of Autonomous Underwater Vehicle Based on Fuzzy PI Mixed Control

对转永磁无刷直流电机驱动对转螺旋桨主要应用在自主水下航行器推进系统中,通过调节对转电机转速就可以实现自主水下航行器速度的无级调节。在研究对转永磁无刷直流电机数学模型的基础上,提出一种外环转速环采用模糊PI混合控制,内环电流环采用PI控制的双闭环调速方法。仿真结果表明,与外环、内环均采用PI控制的双闭环调速方法相比,该方法在稳定运行突加负载的情况下,具有转速变化小,稳定性好的优点,取得了较好的控制效果。

Counter rotating permanent magnet brushless DC motor（CRPMBLDCM） which drives contra-rotating propeller was applied into the propulsion system of autonomous underwater vehicles（AUV）, and the stepless regulation of AUV＇s speed can be achieved by regulating the speed of CRPMBLDCM. Based on the mathemati- cal model of CRPMBLDCM, a novel bi-closed-loop speed regulating method was proposed in which the outer speed loop employed fuzzy PI mixed control and the inner current loop used PI control. Compared with the one whose outer and inner loops both used PI control, the simulation illustrated that it showed superiority in less speed change and better stability under the circumstance of shock load to stable running and proved that it has superior control performance.