Near The Water Surface Marine Propulsion System Of Submersible Motor-propeller-Submersible Comprehensive Control

As the global economy booming,it was accompanied by a decrease of land resources,so as to make people pay attention to the rich marine resouces.In recent years,people no longer adhere to the deep ocean work,by the wave force disturbances near surface operations serious also become the fouces of attention,the underwater marine submersible has also become a focus of study.The merits of power device of marine submersible underwater decided sailing stability of submersible,durability.Because the marine submersible has the advantages of small volume,light weight and other characteristics,selection of electric propulsion for propusion mode.Marine submersible powered by the battery,integrates motor,propeller device,become integrated control system of motor-propeller-submersible and increase the propulsion efficiency.Marine submersible sailing near the water surface will be affected by the wave surface,will be affected by the wave force disturbance near the surface,and will affect the working performance of propulsion system.In the anaylysis of the whole motor-propeller-submersible,considering the effects of wave force near the surface of the motor-propeller-submersible,so that the marine submersible to the energy saving way of sailing is the focus of this paper.In order to let the marine submersible be operated in the most energy saving methods in the near surface,its own not enough relying on the excellent performance of propeller and propulsion motor,propeller and motor interaction is the engine propeller matching marine submersible.This paper analyses main research based on the motor-propeller-submersible energy transmission angle,respectively to the hydrostatic and produce wave added resistance under the condition of minimum find operation mode for marine submersible energy loss,control the system of motor-propeller-submersible,so as to achieve the purpose of energy saving.Firstly,this paper selected marine submersible,propulsion motor and propeller dynamics modeling.Based on it,the paper focus on the analysis of the forces in the near surface wave force when the interferce force.According to the motor dynamic model,selected voltage equation,torque equation;To establish the relationship between marine submersible and propeller,and the effect of the propeller interference forcre/torque,draw the propeller torque loss situation.Secondly,from the motor-propeller-submersible perspective of energy transfer to get energy saving operation mode.Through the analysis of the motor-propeller-submersible comprehensive system,the objective function is established with the maximum efficiency as the goal,also determine the marine submersible speed and rotation speed of the motor is variable,using genetic algorithm can get the highest efficiency at the sametime speed and motor speed value;when the ocean submarine sail on the high seas,through to determine the minium speed and increased resistance to wave analysis,determine the propeller speed,so that the issue of minmum power propulsion motor.Based on this,the sea submersible to make saving energy way controling of motor speed and speed is very important.Finally,we design a control system of motor-propeller-submersible.Firstly,it used the speed of propulsion motor double closed loop DC motor speed control system for controlling;secondly,dynamic model is built based on the propeller-submersible system.Considering the effects of wave force/torque near the water surface of the propeller,the compound control of comprehensive control of motor-propeller-submersible,at the same time considering the interference ofmotor-propeller-submersible.And then,using the improved genetic algorithm in the propulsion motor speed regulator and feedforward controller are the best,achieving better the advacing speed and sea submersible motor speed tracking and anti-interference effect.