| With the rapid development of power electronic technology,new control technology and modern electrical equipment,the exploration scope and operation mode of the human being on the ocean have been continuously deepened and diversified.Whether it is for underwater exploration work or the need for military combat,have highlighted the importance of the role of the aircraft.In order to ensure the rapid stability of the navigation,the vehicle must have a breakthrough in mechanical reliability,stability and anti-jamming capability.This makes the application of electric propulsion technology in the field of navigation continue to develop,but also determine the future development direction of electric power.Due to the low speed and high torque and high efficiency,the permanent magnet synchronous motor is an ideal device for all kinds of ship electric propulsion.However,due to the complexity of the underwater vehicle operating environment and the diversification of interference,and with the resulting nonlinear,strong coupling and unpredictable oscillations,etc..How to improve the stability and efficiency of underwater vehicle propulsion is particularly important.In this paper,the development of underwater vehicle and electric propulsion is introduced,and the mathematical model of permanent magnet synchronous motor is analyzed.The sliding mode variable structure theory is analyzed in detail,and several improved methods are proposed.Because of its high robustness and easy to implement,it is widely used in motor control.On the basis of this,the model of electric propulsion for permanent magnet synchronous motor of underwater vehicle is realized,and the three typical characteristics of starting,stopping and backing are realized.With the vehicle to its own characteristics and shortage of ordinary permanent magnet synchronous motor,this paper proposed a new type of double rotor thrust permanent magnet motor,a motor can realize the transfer of dual mechanical port output,not only small volume and light weight,lower cost,and no brush,high safety.For the same thrust requirement,the propeller can reduce the load of the single impeller and reduce the cavitation noise,thus improving the efficiency of the propeller.The study shows that the energy saving effect of the propeller propulsion system can reach 10%~20%.Motor vector control can solve the problem of dual rotor speed regulation,fast response,only when the double rotor with unbalanced load will appear disturbance.The last in-depth analysis and research of the propulsion motor of dual rotor permanent magnet,an integral sliding mode controller design,the use of integral type sliding surfacesliding mode controller is designed to enhance the system stability compared with the conventional sliding mode controller.That sliding mode control method has wide applicability,not sensitive to interference,simple control algorithm and good response to many advantages and robustness,can promote the motor sensorless control of AUV,greatly improve the working environment of fitness and high stability of the system.It provides a powerful guarantee for the efficient and reliable operation of the new propulsion motor control system. |
