| 基于滑模观测器位置检测的水下推进器直接转矩控制研究 |
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| 引用本文： | 朱春磊,曾庆军,周海霞,戴晓强,朱志宇.基于滑模观测器位置检测的水下推进器直接转矩控制研究[J].航空动力学报,2019,46(7):7-13, 19. |
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| 作者姓名： | 朱春磊 曾庆军 周海霞 戴晓强 朱志宇 |
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| 作者单位： | 江苏科技大学 电子信息学院,江苏 镇江212003,江苏科技大学 电子信息学院,江苏 镇江212003,江苏科技大学 电子信息学院,江苏 镇江212003,江苏科技大学 电子信息学院,江苏 镇江212003,江苏科技大学 电子信息学院,江苏 镇江212003 |
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| 基金项目： | 国家基础科研计划项目(JCKY2017414C002);国家自然科学基金项目(11574120);江苏省自然科学基金项目(BK20160564);江苏省研究生科研与实践创新计划项目(KYCK18_2320) |
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| 摘 要： | 水下推进器是水下航行器的重要组成部分,为提高其转矩响应性能,提出了一种基于滑模观测器位置检测的水下推进器直接转矩控制方法。该方法将一种双曲正切函数引入线反电动势(EMF)滑模观测器,并将该滑模观测器应用于水下推进器直接转矩控制系统中,使得驱动控制系统通过水下推进器线反电动势观测值进行扇区判别与转矩估计,从而获得6个离散的换相信号,实现无位置检测的水下推进器直接转矩控制。仿真试验表明:所提控制方法能够很好地观测线反电动势,提高转矩动态响应,减小系统抖振幅度。
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| 关 键 词： | 无刷直流电机 水下推进器 滑模观测器 直接转矩控制 |
| 收稿时间： | 2019/2/21 0:00:00 |
Direct Torque Control of Underwater Propeller Based onSliding Mode Observer Position Detection |
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| ZHU Chunlei,ZENG Qingjun,ZHOU Haixi,DAI Xiaoqiang and ZHU Zhiyu.Direct Torque Control of Underwater Propeller Based onSliding Mode Observer Position Detection[J].Journal of Aerospace Power,2019,46(7):7-13, 19. |
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| Authors: | ZHU Chunlei ZENG Qingjun ZHOU Haixi DAI Xiaoqiang and ZHU Zhiyu |
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| Institution: | School of Electronic Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China,School of Electronic Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China,School of Electronic Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China,School of Electronic Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China and School of Electronic Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China |
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| Abstract: | Underwater propeller was an important part of underwater robot. In order to improve its torque response performance, a method of direct torque control of underwater propeller based on sliding mode observer position detection was proposed. The method introduced a hyperbolic tangent function into the line back electromotive force (EMF) sliding mode observer, and this observer was used in underwater propeller direct torque control systems. Therefore, the drive control system performed sector discrimination and torque estimation through the underwater thruster line back EMF observation. Then 6 discrete commutation signals were detained. Finally, the underwater thruster direct torque control without position detection was realized. The simulation implementation showed that the proposed control method could observe the line back EMF value well and improve the torque dynamic response. The system jitter amplitude was small. |
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| Keywords: | brushless DC motor underwater propeller sliding mode observer (SMO) direct torque control (DTC) |
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