Research On Vector Control Of Low Power Marine Propulsion Motor

The propulsion motor of the unmanned surface vehicle is the core part of its motion control,and its performance seriously affects the stability and control accuracy of the unmanned surface vehicle during navigation.Permanent magnet synchronous motor is the best choice for unmanned surface vehicle propulsion motor because of its light weight,small size,high power density and high efficiency.Aiming at the problems of large torque ripple and poor noise immunity of permanent magnet synchronous motor vector control,the theory of sliding mode control and auto disturbance rejection control is introduced to design improved current loop sliding mode.controller and improved speed loop auto disturbance rejection controller.This thesis mainly did the following work:Taking the permanent magnet synchronous motor in the unmanned surface vehicle propulsion system as the research object,a mathematical model in a two-phase rotating coordinate system is established,and then on the basis of analyzing the vector control theory,the permanent magnet synchronous motor vector control system is simulated analysis.A sliding mode controller is used to replace the PI controller in the current loop,in view of the chattering phenomenon of traditional sliding mode control,a super-spiral algorithm is introduced to effectively reduce torque ripple and reduce chattering.An auto disturbance rejection controller is used to replace the PI controller in the speed loop,in order to reduce the adjustable parameters in the auto disturbance rejection controller,the nonlinear auto disturbance rejection controller is linearized;in order to improve the load observation capability,linear state observers are connected in parallel.The simulation results show that the improved system has the characteristics of good dynamic performance,small torque ripple and strong anti-interference.Then,the simulation model of the ship-propeller system is built on the basis of the propeller load characteristics,and the "Lanxin" unmanned surface vehicle is used as an example to realize the simulation study of the permanent magnet synchronous motor.The simulation results show that the improved vector control system used in the unmanned surface vehicle propulsion system has good dynamic performance.The simulation results verify the rationality and effectiveness of this scheme.Finally,according to actual needs,design and manufacture a set of permanent magnet synchronous motor drive control device for unmanned surface vehicle,and give a detailed software and hardware design plan.The hardware part mainly includes the power supply circuit,the main circuit module and the control circuit module;the software part mainly includes the main program,speed calculation subroutine,SVPWM subroutine and so on.