| Submarine is a kind of important facilities in ocean exploitation and research. With the development of submarine it requires lighter, smaller fittings, and meanwhile must satisfy the maneuverability demand. The Variable Propeller is a kind of specific propeller that is capable of continuously generating any degree of thrust in any three dimensional direction by varying blades' pitches cyclically in the process of rotation. By using Variable Vector Propeller, it is able to reduce propellers and consequently to contribute to the compactness and the light weight of ROV, etc. Variable Vector Propeller can be broadly applied in Submarine.Compared with traditional propeller, Variable Vector Propeller has more complicated operational principle. The model and controller design of Variable Vector Propeller is very different from that of traditional propeller. This paper is aiming at principal axis control system on Variable Vector Propeller of Submarine. It analyses element and performance of Variable Vector Propeller. This paper is estimated to the load of propeller and turn moment of motor. To meet the demand of control system, the vector control technique is chosen as the control strategy of permanent magnet synchronous system. The torque control of motor is actually current control of d and q axe. It suggests that the rotor field-orientation vector control of id=0 can be chosen, in view of the surface mounted PMSM used in the item. The electric current loop and speed loop of the system were designed with the help of engineering design method of automation system regulator. Aim at the nonlinearity and slow time varying and changing disturber and such characteristic, we choose the Fuzzy Adaptive PI Controller in this paper. And we study the simulation of fuzzy adaptive PI control system, the result prove that the fuzzy adaptive PI controller can achieve batter control effect than regulatory PI controller, and can advance the system power of anti-jamming and speediness of system response.
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