Method for adjusting speed of high-power biaxial contra-rotating brushless direct-current motor for underwater vehicles

Abstract

The invention relates to a method for adjusting the speed of a high-power biaxial contra-rotating brushless direct-current motor for underwater vehicles. After inner and outer rotors rotate an angle of one power cycle, if the starting time of a motor is within 6s, the PWM duty cycle is raised by 1% for each interruption through system cycle interruption; if the difference between the total speed of the motor and the speed set by a main control center of an underwater vehicle is within 100 r / min, the speed is adjusted, or the PWM duty cycle is raised from 0 to 100% in 6s; when the starting time of the motor is beyond 6s, reference current is generated through speed adjustment, motor current detected by a system is received and adjusted, and the PWM duty cycle is calculated; and after inner and outer rotor position detection and phase commutation control, six driving signals and PWM waves meeting the duty cycle requirement of the process are output to perform PWM modulation. The method of the invention has the advantages of wide speed adjustment range, good speed adjustment performance, fast response, high stability, and the like. Test shows that the method satisfies the actual use requirement of underwater vehicles.

Description

technical field [0001] The invention belongs to the field of control of underwater vehicles and brushless DC motors, and in particular relates to a speed regulation method for high-power dual-axis counter-rotating brushless DC motors for underwater vehicles. Background technique [0002] Autonomous underwater vehicle is an intelligent unmanned platform that can perform various military and civilian tasks in complex ocean environments. The underwater environment is harsh and dangerous, and the depth of human diving is limited. Underwater vehicles can better meet the needs of scientific research, military operations and commercial applications, and fully develop and utilize marine resources. [0003] High-power brushless DC motors have the advantages of high reliability, wide speed regulation range, good speed regulation performance, and high operating efficiency. They are especially suitable for aviation, aerospace, navigation and other fields that have special requirements f...

AI Technical Summary

Problems solved by technology

[0004] Due to the electronic commutation of the brushless DC motor, there are commutation and PWM modulation torque ripples during operation; at the same time, the high-power double-rotation brushless DC motor has a large rated torque and a high rated speed because both the inner and outer rotors are rotating. , the system operation is more complicated, which increases the difficulty of controlling the motor operation and speed regulation; in addition, because the underwater vehicle works in a complex and harsh ocean environment, the stability and speed regulation performance of its propulsion system are required to be higher

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