Pod propulsion motor sliding mode control method based on tight format dynamic linearization
A propulsion motor, linearization technology, applied in the field of sliding mode control scheme of pod propulsion motor, can solve the problems of unmodeled dynamics, the influence of disturbance, inability to establish accurate models, etc. The effect of reducing torque pulse and reducing system chattering
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[0083] As mentioned above, the pod propulsion motor of a semi-submersible ship is easily affected by unknown factors such as waves and sea wind when working at sea. In order to improve the dynamic performance and steady-state performance of the pod propulsion motor, reduce the load disturbance and unknown disturbance on the system Influence, the present invention designs a pod propulsion motor sliding mode control scheme based on compact dynamic linearization. The present invention will be described in more detail below in conjunction with the accompanying drawings.
[0084] see figure 1 As shown, the semi-submersible ship pod propulsion motor control scheme in this embodiment specifically includes the following steps:
[0085] Step S1: Establish the pod propulsion motor dynamics model and discretize it:
[0086] 1) When designing the control strategy for the pod propulsion motor, in order to meet the higher torque performance requirements of the pod propulsion motor, the i ...
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