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A semi-submersible ship dynamic positioning system propulsion motor control method and system

A technology of dynamic positioning system and propulsion motor, which can be used in motor generator control, electronic commutation motor control, control system, etc., and can solve problems such as poor robustness

Active Publication Date: 2019-12-20
QINGDAO UNIV OF SCI & TECH
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Problems solved by technology

[0005] The invention provides a method for controlling the propulsion motor of the dynamic positioning system of a semi-submersible ship, which solves the problem of poor robustness in the prior art

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  • A semi-submersible ship dynamic positioning system propulsion motor control method and system
  • A semi-submersible ship dynamic positioning system propulsion motor control method and system
  • A semi-submersible ship dynamic positioning system propulsion motor control method and system

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Embodiment Construction

[0075] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following will further describe the present invention in detail with reference to the accompanying drawings and embodiments.

[0076] The invention considers unmodeled dynamics and unknown external wind, waves and currents and other interference factors, uses big data information in wide-area sea conditions, adopts a permanent magnet synchronous motor pod propeller propulsion method, and combines a semi-submersible ship dynamic positioning system motion model Considering the nonlinear dynamic characteristics of complex actuators, a model-free adaptive sliding mode vector control method and system for the propulsion motor of the semi-submersible dynamic positioning system is proposed. In the semi-submersible dynamic positioning system, a permanent magnet synchronous motor is used as the propulsion motor. In the following, the control method and system of the propulsion ...

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Abstract

The invention discloses a control method and system for a propulsion motor of a semi-submerged ship dynamic positioning system. The method comprises the following steps: acquiring a three-phase current on a stator winding of the motor, and converting into a current in a rotating coordinate system; establishing a kinetic equation of the propulsion motor of the semi-submerged ship dynamic positioning system; performing dynamic linearization, and obtaining a data model; calculating a pseudo-partial derivative estimation law of an external speed ring; designing a model-free adaptive sliding mode controller of the external speed ring; designing a PI controller for an internal electric current loop; and performing park inverse transformation on output of the PI controller for the internal electric current loop, obtaining a voltage value in a two-phase static coordinate system, obtaining a control signal for an inverter by virtue of a space vector pulse width modulation algorithm, outputtinga corresponding three-phase voltage signal by the inverter, applying to the stator winding of the propulsion motor, and performing speed adjustment on the propulsion motor. The method and system whichare disclosed by the invention have stronger anti-interference performance and robustness, improve rotational speed and torque control precision of the propulsion motor and meet the requirement of the semi-submerged ship dynamic positioning system on a steady state error.

Description

Technical field [0001] The invention belongs to the technical field of motor control of a dynamic positioning system, and specifically relates to a method and system for controlling a propulsion motor of a semi-submersible ship dynamic positioning system based on model-free adaptive sliding mode vector control. Background technique [0002] In recent years, with the rapid development of marine resources, the dynamic positioning system, which is a key technology in offshore oil development and offshore operation systems, has become a research hotspot at home and abroad. The dynamic positioning system refers to the semi-submersible ship or platform operating at sea according to the sea conditions and the reference information of the given position, without the help of the mooring system, but relying on the marine structure's own propulsion system to resist wind, wave and ocean current interference, so that the semi-submersible ship or platform Exactly in the desired position. Rese...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/00H02P21/18H02P21/20
CPCH02P21/0007H02P21/18H02P21/20
Inventor 姚文龙王加利池荣虎邵巍
Owner QINGDAO UNIV OF SCI & TECH
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