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Volume 28 Issue 5
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2020  >  28(5): 496-504
XU Peng-cheng, ZENG Qing-jun, CHEN Yao-wei, ZHU Zhi-yu, DAI Xiao-qiang, LING Hong-jie. Sliding Mode Control of ROV Propeller Based on Duct Propeller Load[J]. Journal of Unmanned Undersea Systems, 2020, 28(5): 496-504. doi: 10.11993/j.issn.2096-3920.2020.05.004
Citation: XU Peng-cheng, ZENG Qing-jun, CHEN Yao-wei, ZHU Zhi-yu, DAI Xiao-qiang, LING Hong-jie. Sliding Mode Control of ROV Propeller Based on Duct Propeller Load[J]. Journal of Unmanned Undersea Systems, 2020, 28(5): 496-504. doi: 10.11993/j.issn.2096-3920.2020.05.004
shu

Sliding Mode Control of ROV Propeller Based on Duct Propeller Load

doi: 10.11993/j.issn.2096-3920.2020.05.004
  • 1.

    School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China

  • 2.

    Marine Equipment Research Institute, Jiangsu University of Science and Technology, Zhenjiang 212003, China

  • Received Date: 2019-12-12
  • Rev Recd Date: 2020-01-20
  • Publish Date: 2020-10-31
    Abstract
  • To satisfy the requirements of motion control and propulsion system control of a self-developed underwater assisted oil recovery remote operated vehicle(ROV), a new type of ROV propeller permanent magnet synchronous motor (PMSM) sliding mode controller based on the load characteristics of a ducted propeller is proposed herein. The ROV and its propulsion system are expounded, a mathematical model of the ROV propulsion system based on the duct propeller load characteristic is established, and the ROV propulsion motor speed controller based on the global fast terminal sliding mode algorithm is designed. Through simulation analysis, the dynamic response performances of PMSMs of different control algorithms based on the duct propeller load are analyzed. The simulation results show that the proposed new sliding mode controller enable the ROV propulsion system to achieve a faster dynamic response speed and better stability. Furthermore, the global fast terminal sliding mode controller designed in this study is verified in terms of its feasibility and effectiveness when applied to an underwater propulsion control system for underwater-assisted oil recovery.

     

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