Study Of Propulsion System For Unmanned Surface Vehicle With Two Propellers Based On Permanent Magnet Synchronous Motor

With the attention of countries to the oceans,it has a great significance for the country's strategic development to use and develop marine resources effectively,do marine research,monitor marine environment,defend national maritime security and so on.As the most typical unmanned intelligent platform system of maritime unmanned systems,USV is increasingly valued by ocean powers.The propulsion system of USV is the core of its motion control,and the navigation stability and control accuracy of USV would be affected by it.At the same time,it is also the basis for the research on dynamic positioning,automatic collision avoidance and track following.It has great practical significance for the study on propulsion system of USV to improve the maneuverability of USV and promote the stability and economy of propulsion system.In this thesis,the propulsion system of twin-propeller USV is taken as the research object.The PMSM is used as the propulsion motor,and the direct torque control strategy is used to study it.Firstly,the development course of USV and the research status of USV propulsion control system are introduced.And then the structure of PMSM and its mathematical model in different coordinate system are introduced briefly.After that the SVM-DTC simulation models is built by analyzing the disadvantages of traditional DTC and the particularity of DTC using on propulsion system.According to the characteristics of propeller,the mathematic model of propeller is established,and then a simulation model of propulsion system for USV with twin-propeller is established.Finally,according to the movement characteristics of twin-propeller USV,a speed coordination control strategy for dual propulsion motor is proposed for this propulsion system.The purpose is to calculate the real-time speed of each side of the propulsion motor by giving the expected movement state of USV,and then control the USV sailing as expected.At last,the simulation results show the effectiveness of this method.At the end of this thesis,the control system of PMSM using on the propulsions system of USV with twin-propeller is achieved by builing hardware experiment platform and the software of control system is designed and debugged.