Chaotic Conrol Of Deepwater Robot Thruster Motor Based On The Sliding Mode Variable Structure

As the deepwater robot's dynamic thruster system, the brushless thruster system's performance will influence the whole system reliability, stabilization, safety. The brushless thruster system will appear chaotic phenomena when its system structure and parameter match badly. The phenomena will lead the deepwater robot out of control, even involved by ocean wave. The thesis researches the sliding-mode variable structure using in the suppressing the chaotic phenomena of deepwater robot. And the thesis has got theory and engineering purpose achievement.The brushless thruster system model is introduced. Using the MATLAB, the deepwater robot brushless thruster system chaotic phenomena is emulated and analyzed.The thesis analyzes the theory of fuzzy sliding mode variable structure control. The simulation result proves the chaotic control feasibility and affectivity using the example of Lorenz system. On this base, the fuzzy sliding mode variable structure using in the brushless thruster system is presented, and the controller is designed. The chaotic out migration procedure of thruster motor system is emulated and analyzed when it is in different control parameter and control time.The thesis analyzes the theory of gradation sliding mode variable structure control. The simulation result proves the chaotic control feasibility and affectivity using the example system. On this base, the gradation sliding mode variable structure using in the brushless thruster system is presented, and the controller is designed. The chaotic out migration procedure of thruster motor system is emulated and analyzed when it is indifferent control parameter and control time.The research result proves that, the fuzzy sliding mode variable structure control and gradation sliding mode variable structure using in control of the deepwater robot thruster motor chaotic motion are feasible and effective, i.e. the thruster motor can research the stabilization state from chaotic state and the procedure of control is related to the controller structure, parameter, and control time. And for the example system, the exponent gradation sliding mode variable stature control effect is the better.