Method and device for power control of an underwater propeller motor

By combining the sliding mode variable structure control algorithm with the environmental pressure and temperature compensation coefficient, the motor current is adaptively allocated, which solves the environmental adaptability and hydrodynamic disturbance resistance problems of the underwater thruster motor, and improves the stability and control accuracy of the motor operation.

CN122371766APending Publication Date: 2026-07-10SHENZHEN TUOHANG INNOVATION TECH CO LTD
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Patent Information

Application Number
CN202610453282.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-08
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

Existing underwater thruster motor control technology suffers from insufficient environmental adaptability, weak resistance to hydrodynamic disturbances, and poor power distribution and drive adaptability, resulting in poor thrust output stability and low control precision.

Method used

By employing a sliding mode variable structure control algorithm combined with environmental pressure and temperature compensation coefficients, the flux linkage command is dynamically corrected, the stator direct-axis and quadrature-axis currents of the motor are adaptively allocated, and a high-frequency shaped voltage pulse sequence is generated to track the thrust demand in real time.

Benefits of technology

It improves the operational stability and control precision of the underwater thruster motor, and enhances the propulsion smoothness and power response capability under complex sea conditions.

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Abstract

The present invention provides a power control method and apparatus for an underwater thruster motor, comprising: acquiring underwater environmental pressure values ​​and underwater thruster motor stator temperature values ​​to generate a comprehensive compensation coefficient; identifying the influence of hydrodynamic disturbances on motor flux linkage based on the rotational speed signal fed back by the underwater thruster motor rotor position sensor, and dynamically correcting flux linkage commands using a sliding mode variable structure control algorithm to suppress flux linkage distortion; adaptively allocating the current components of the motor stator direct axis and quadrature axis according to the thrust requirements of the vehicle, combined with the comprehensive compensation coefficient and the corrected flux linkage commands, and generating a basic drive signal; performing high-frequency shaping on the basic drive signal to output an adapted voltage pulse sequence, and controlling the motor electromagnetic torque to track the target value corresponding to the thrust requirements in real time. This invention improves the operational stability and control accuracy of the underwater thruster motor.
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