Robust Control Of Induction Motor As DSV Driver Based On Decoupling And Linearization

Under uncertainty disturbance of current and wave on the sea, the robustness and manipulation of motion control of deep submergence vehicle (DSV) are the important performance index that has close relationship with driving motor control method. This dissertation investigates the application of H_∞. control theory to design driving motor control system of the DSV to solve the problems of performance degraden by motor parameters variation and external disturbance.In rotor field orientation vector control, the system performance is degraden by rotor resistance parameter variation. An input-output decoupling model is gained through exerting nonlinear items to compensate the coupling items of the vector control model. And, the system is expressed as state space model with additional parameter perturbation matrix. A scheme based singular value decomposition theorem is designed to decompose the matrix. H_∞, state feedback control theory is used to design robust controller such that it can decrease the influence of rotor resistance parameter variation.In order to investigate the robust control problems of decoupling model based induction driving motor deeply, a nonlinear differential geometry theory is employed to decouple and linearize the induction motor driven by voltage-source inverter and current-source inverter respectively. The complete decoupling and linear speed and flux linkage subsystems are resulted so that it is convenient to use H_∞control theory to design robust controller.It is known that there are two parameters can be selected freely in the structure of Youla parametrization two-degree-of-freedom control. A feedback controller and feedforward controller is studied by using H_∞, and H₂ theory to realize multi-control-object optimization based on the decoupling model for induction motor driven by voltage-source inverter. The performance comparisons of systems are made with different parameters.The property and design of control structure combined the Youla parametrization two freedom controller with general internal model are investigated intensively. The controller for induction motor driven by current-source inverter employed in the DSV is designed by using this method. Simulation results demonstrate effectiveness of the proposed method. It can improve the performance of thrust system in certain degree.