UUV推进电机在线参数辨识自适应控制方法研究

Research on online parameter identification and adaptive control of UUV propulsion motor

针对水下无人航行器(UUV)的推进电机矢量控制系统中电流控制器性能因参数变化而下降的问题,提出一种基于智能在线参数辨识的电流环自适应控制方法。以离散型永磁同步推进电机动态模型作为被控对象,采用动态惯性权重粒子群算法对永磁同步推进电机的定子电阻和dq轴电感进行在线辨识,根据电流控制器工程设计方法,将辨识所得的电机参数实时用于计算电流控制器的PI值,实现电流环的自适应控制。最后,通过仿真实验验证所提方法的有效性,结果表明该方法可以有效地克服水下快速洋流对推进电机的负载扰动,进而实现永磁同步推进电机的快速、高精确度电流控制性能。

In vector control system of unmanned underwater vehicle（ UUV） propulsion motor,due to the changes in motor parameters,current controller performance will decline. An adaptive control of permanent magnet synchronous propulsion motor current-loop based on online parameter identification is proposed.The stator resistance and dq axis inductance of the discrete dynamic of permanent magnet synchronous propulsion motor are identified by using the dynamic inertia weight particle swarm optimization,and then by the engineering procedures of the current controller,the identified motor parameters are utilized to dynamically calculate the PI value of current controller to achieve the adaptive control of current loop. Finally,the effectiveness of the proposed scheme is verified by the simulation experiments,and it follows from the results that the proposed scheme can effectively overcome the load disturbance caused by fast ocean currents such that the rapid and high precision current control performance of permanent magnet synchronous propulsion motor is achieved.