Design Of Unmanned Surface Vehicle Drive System And Sensor Fault Tolerance Method Research

Since the 21 st century,the total marine economy has continued to grow rapidly,and the marine equipment manufacturing industry has played a huge role in the development of the marine economy.The Unmanned Surface Vehicle is an intelligent robot capable of autonomous perception,planning and navigation.It is often used to perform tasks such as water quality monitoring and maritime rescue.Therefore,USV must have high efficiency and high reliability.The power system of an USV is the "heart" of the USV.Whether the power system can operate reliably is the key to ensure the safe navigation of the USV and the basis for ensuring the long endurance of the USV.Based on the consideration of efficiency and energy conservation,it is the current research trend to adopt the full-electric drive method to replace the traditional diesel drive method.This thesis designs the drive system for an full-electric USV,conducts in-depth research on the fault-tolerant method of sensors,and completes a lot of experimental work.The brushless DC motor has the advantages of high power density,high efficiency and low cost,and is suitable for being used as the main propulsion motor of the full-electric USV drive system.In this thesis,a brushless DC motor based on Hall position sensor is used to design a second-order Taylor algorithm based on Hall signal to estimate the speed and rotor position of the motor,and use the estimated signal to implement a double closed-loop vector control algorithm.This thesis completes the software and hardware design of the system based on the design requirements of the USV drive system.Since the installation deviation of the Hall sensor will cause the decrease of the motor control performance,this thesis introduces the offline compensation method,and aims at the shortcomings of the offline compensation method,the design proposes a self-enabled online compensation algorithm.In order to solve the problem of phase failure of the Hall position sensor,this thesis proposes a fault detection method based on the Hall position signal,and adopts a ZOA as the fault tolerance method in the case of single-phase fault and two-phase fault.For the three-phase failure problem,a fault-tolerant method based on phase-locked loop sliding mode observer is designed.In this thesis,a large number of physical experiments are carried out on the USV experimental platform.The experimental results show that the double closed-loop vector control performance of the USV drive system is good,the motor runs smoothly,the torque fluctuation is small.By comparing the performance of the motor with or without online compensation algorithm,it is known that the online compensation algorithm can effectively reduce the rotor position estimation error caused by the installation deviation and improve the control performance of the drive system.The experimental results in the case of Hall position sensor phase loss faults indicate that the ZOA and sliding mode observer faulttolerant methods can ensure the normal operation of the motor,but the control performance is slightly reduced.