Integrated underwater thruster driving system and control method

A technology of a drive system and a control method, which is applied in torque ripple control, propulsion engine, electronic commutation motor control, etc., can solve the problem of system buffeting, power series saturation function algorithm, long calculation time, and unfavorable engineering hardware implementation. And other issues

Inactive Publication Date: 2018-12-07
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

However, due to its discrete switching characteristics, it is easy to cause system chattering
The patent document with the application number "201610631269.9" discloses "a speed sensorless control method based on a sliding mode observer", but the state of the observer used presents an inherent chattering phenomenon near the sliding mode surface, which makes the estimation result Oscillating above and below the actual value, with a direct impact on the estimation accuracy
The patent document with the application number "201710118553.0" discloses "a sensorless sliding mode control system and method for permanent magnet synchronous motors", but the calculation time of the power series saturation function algorithm adopted is long, which is not conducive to the realization of engineering hardware

Method used

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  • Integrated underwater thruster driving system and control method
  • Integrated underwater thruster driving system and control method
  • Integrated underwater thruster driving system and control method

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Embodiment Construction

[0096] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0097] Such as figure 1 As shown, in the integrated underwater thruster drive system, the mechanical structure includes the propeller 1, the magnetic coupling linkage device 2, the planetary gearbox 3, the brushless DC motor 4, the rotor of the brushless DC motor 4 and the input of the planetary gearbox 3 The shafts are connected, and the planetary gearbox 3 reduces the output speed of the brushless DC motor 4 in proportion to 3.65:1, and the output torque increases in proportion to 1:3.65. The input shaft of the magnetic coupling linkage device 2 and the planetary gearbox 3 The output shafts are connected, and the planetary reduction box 3 drives the magnetic coupling linkage device 2 to rotate. The output shaft of the magnetic coupling linkage device 2 is connected to the propeller 1, and the magnetic coupling linkage device 2 drives the prop...

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Abstract

The invention discloses an integrated underwater thruster driving system and a control method, which realizes the integrated underwater thruster sensorless control. A linear back EMF sliding mode observer based on fuzzy switching gain adjustment is provided, The observer adopts a smooth hyperbolic tangent function and fuzzy rules to realize change of a gain value and reduce the chattering of the system, so that the control system can obtain smooth back EMF estimates without adding a low pass filter and a phase compensation module, thus avoiding the phase lag of the back EMF estimates. The lineback EMF estimates are corresponded to three virtual Hall signals and six discrete commutation signals are obtained directly without the need of fixed phase shift circuit and calculation of phase shift angle. the invention realizes the integrated underwater thruster sensorless control by estimating the line back EMF of the brushless DC motor loaded in the underwater thruster,.

Description

technical field [0001] The invention relates to an integrated underwater propeller, in particular to an integrated underwater propeller driving system and a control method, and belongs to the technical field of underwater propeller drive control. Background technique [0002] Due to its high efficiency, high reliability, high automation and low maintenance, the electric propulsion system is becoming a new direction for the power development of underwater vehicles in the new century. With the development of electric propulsion devices, a new type of propulsion device came into being, that is, the integrated underwater propeller, which integrates the motor, reduction box and propeller, thereby reducing the size of the equipment and reducing the Running noise, work efficiency and reliability are all improved. It can be used as a propulsion device for torpedoes and underwater robots. It can also be used as a submarine emergency propulsion device. [0003] In recent years, bru...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H21/17B63H21/21H02P6/182H02P6/08H02P6/10H02P6/34
CPCB63H21/17B63H21/21B63H2021/216H02P6/08H02P6/10H02P6/182H02P6/34
Inventor 曾庆军朱春磊朱志宇戴晓强赵强徐鹏程
Owner JIANGSU UNIV OF SCI & TECH
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