Dual Propulsion Motor Control of Unmanned Lifeboat Based on Sliding Mode Allocation Controller
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摘要: 针对无人救生艇重量轻, 易受外部水流干扰导致偏航的缺点, 文中设计了一种基于滑模转速分配器的双推进电机交叉耦合速度协同控制方法。首先建立无人救生艇转弯半径与转速差之间的电机控制模型, 然后基于交叉耦合控制设计了双推进电机速度协同控制系统, 最后设计基于滑模控制理论的转速分配器, 其可以修正双推进电机的给定转速, 从而使得艇身抵御外部水流干扰实现平稳行驶。仿真与实验结果证明了文中所设计的这种控制方法能够根据实际情况为双推进电机分配不同的给定转速, 从而更好得控制无人救生艇的航向。
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关键词:
- 无人救生艇 /
- 双推进电机 /
- 滑模转速分配器 /
- 交叉耦合速度协同控制
Abstract: The unmanned lifeboat is prone to yawing due to external water flow interference because of its light weight. In order to address the issue, this paper designs a cross-coupled speed cooperative control method for dual propulsion motors based on a sliding mode speed distributor. Firstly, it establishes a motor control model for the turning radius and rotational speed difference of the unmanned lifeboat. Secondly, it designs a dual-propulsion motor speed cooperative control system based on the cross-coupling control. Finally, it designs a speed distributor based on the sliding mode control, which can adjust the given speeds of the two propulsion motors to resist the external water flow interference so as to achieve the smooth navigation. The simulation results prove that the proposed control method can allocate the different set speeds for the dual-propulsion motor based on the actual situation. And this control method can control the course of the unmanned lifeboat more accurately. -
图 1 无人救生艇水平面定常回转运动受力示意图
Figure 1. force diagram of unmanned lifeboat in steady rotary motion in horizontal plane
图 2 基于滑模转速分配器的无人救生艇双推进电机交叉耦合控制示意图
Figure 2. Schematic diagram of cross coupling control for double propulsion motors of unmanned lifeboat based on synovial speed distributor
图 3 基于改进反馈函数的交叉耦合结构
Figure 3. Cross coupled structure based on improved feedback function
图 4 空载启动无外部扰动情况下的双推进电机转速曲线图
Figure 4. Speed curve of double propulsion motor without external disturbance during no-load startingross coupled structure based on improved feedback function
图 5 左转时突然增大转弯半径的双推进电机转速曲线图
Figure 5. Speed curve of double propulsion motor with sudden increase of turning radius when turning left
图 6 左转时突然改变为右转的双推进电机转速曲线图
Figure 6. Speed curve of double propulsion motor suddenly changing from left to right
图 7 USV在扬州航线段规划路径与实际航迹对比图
Figure 7. Comparison diagram of planned route and actual route of USV in Yangzhou navigation line
表 1 驱动电机主要参数
Table 1. Main parameters of drive motor
参数项 数值/规格 参数项 数值/规格 电压 24 V(DC) 额定扭矩 4.6 N·m 额定功率 750 W 减速比 3∶1 最大转速 3000 rad/min控制信号 模拟量电压 
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表 2 新型无人救生艇主要参数
Table 2. Main parameters of new unmanned lifeboat
主尺度 符号 数值 单位 艇长 L 1.50 m 艇宽 B 0.46 m 型深 D 0.19 m 设计吃水 T 0.13 m 设计排水量 Δ 50 kg 纵骨间距 S1 0.066 m 肋骨间距 S2 0.113 m 设计航速 v 5 kn
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