水下推进系统动力学建模及控制

Dynamic Modeling and Control of Underwater Propulsion System

针对直流三相无刷电机驱动的水下推进器,建立了其转动动力学特性,并结合数字计算机控制应用的实际情况,得到推进器动力学特性的离散模型。并在此基础上设计了离散滑模控制器,引入一种新型离散滑模趋近律,实现了闭环控制系统的快速收敛以及控制器输出的抖振消除。通过Lyapunov理论证明了控制器的稳定性。最终设计了推进器转速闭环试验,验证了所设计的控制器的快速性和有效性。

Aiming at the underwater thruster driven by dc three-phase brushless motor,the rotational dynamics characteristics of the thruster are established,and the discrete model of the thruster dynamics characteristics is obtained combining with the actual situation of digital computer control application.On this basis,a discrete sliding mode controller is designed,and a new discrete sliding mode approach law is introduced to realize the fast convergence of the closed-loop control system and the chattering elimination of the controller output.The stability of the controller is proved by Lyapunov theory.Finally,closed-loop test of propeller speed is designed to verify the rapidity and effectiveness of the controller.