高速无人遥控潜水器永磁推进器的无位置传感器控制

Sensorless Control of High Speed ROV Permanent Magnetic Propeller

高速电动无人遥控潜水器(ROV)用于浅海严酷水下环境中的观测和作业。ROV上的推进器电机内部充油,需用旋转变压器测量转子磁极位置,旋转变压器反馈的模拟信号容易受电机相线电流干扰。为此,提出了一种使用新型连续饱和函数的滑模观测器,通过使用连续饱和函数和锁相环方法,可以估算磁极位置。所提算法与传统滑模观测器相比,可有效减小电机运行时的抖振。通过仿真与试验,验证了该算法的可行性。

High speed remotely operated vehicle (ROV) was used for observing and working in shallow sea. The propeller motor used in the ROV was often filled with oil to fight against the water pressure. Resolver was employed in the propeller motor as the position sensor, which may be easily affected by the running current. To solve this problem, a sliding mode observer based sensorless control strategy with continuous saturation function was proposed, which was used to estimate the motor position and take the place of the resolver. To improve the estimation accuracy, a phase looked loop (PLL) based position estimation method was introduced. In comparison with th traditional sliding mode observer, this algorithm could reduce the chattering. The proposed strategy was proved by simulations and experiments.