Control Method of Deep-Sea Vector Propulsion Motors Based on Position-Sensorless and Variable Carrier Frequency

HUANG Xiaoyan; LIU Yabing; GU Yujie; ZHANG Qiang; WANG Yuankui

doi:10.11993/j.issn.2096-3920.2023-0129

Volume 32 Issue 4

Aug 2024

Turn off MathJax

Article Contents

Article Navigation > Journal of Unmanned Undersea Systems > 2024 > 32(4): 757-764

HUANG Xiaoyan, LIU Yabing, GU Yujie, ZHANG Qiang, WANG Yuankui. Control Method of Deep-Sea Vector Propulsion Motors Based on Position-Sensorless and Variable Carrier Frequency[J]. Journal of Unmanned Undersea Systems, 2024, 32(4): 757-764. doi: 10.11993/j.issn.2096-3920.2023-0129

Citation:

HUANG Xiaoyan, LIU Yabing, GU Yujie, ZHANG Qiang, WANG Yuankui. Control Method of Deep-Sea Vector Propulsion Motors Based on Position-Sensorless and Variable Carrier Frequency[J]. Journal of Unmanned Undersea Systems, 2024, 32(4): 757-764. doi: 10.11993/j.issn.2096-3920.2023-0129

Citation:

HUANG Xiaoyan, LIU Yabing, GU Yujie, ZHANG Qiang, WANG Yuankui. Control Method of Deep-Sea Vector Propulsion Motors Based on Position-Sensorless and Variable Carrier Frequency[J]. Journal of Unmanned Undersea Systems, 2024, 32(4): 757-764. doi: 10.11993/j.issn.2096-3920.2023-0129

PDF( 2987 KB)

Control Method of Deep-Sea Vector Propulsion Motors Based on Position-Sensorless and Variable Carrier Frequency

doi: 10.11993/j.issn.2096-3920.2023-0129

Kunming Branch of the 705 Research Institute, China State Shipbuilding Corporation Limited, Kunming 650101, China

Received Date: 2023-10-18
Accepted Date: 2024-01-04
Rev Recd Date: 2023-12-06

Available Online: 2024-03-14

Abstract

Abstract

In order to improve the stability and stealth of vector propulsion motors in deep-sea exploration, a control method of deep-sea vector propulsion motors based on the position-sensorless and variable carrier frequency was derived from surface-mounted permanent magnet synchronous motors by using periodic spread spectrum modulation technology and position-sensorless control technology of improved sliding mode observer. Through simulations of motors’ variable carrier frequency, motor start-up speed variation, and sudden load change, the control effects of the proposed method were analyzed. The simulation results show that the rotation speed estimation of the studied control method is accurate, and the method has good dynamic tracking performance for rotation speed. The estimation error rate at the rated rotation speed is only 0.32%, and the estimation error rate at 0.5 times the rated rotation speed is only 0.09%. In addition, the proposed control method has an obvious high frequency harmonic spread spectrum suppression effect and good dynamic anti-interference performance. Combined with the simplification effect of reducing the motor structure brought by the position sensor, the control method proposed in this paper can effectively lower the failure rate of the deep-sea vector propulsion motor during operation, reduce the high-order fixed frequency harmonics that are easy to be detected, improve the reliability and stealth of the deep-sea vector propulsion motor, and provide efficient and reliable power guarantee for deep-sea unmanned undersea vehicles.
- vector propulsion motor,
- sliding mode observer,
- position-sensorless,
- variable carrier frequency,
- deep sea

FullText(HTML)

References(12)

References

[1]	史小锋, 党建军, 梁跃, 等. 水下攻防武器能源动力技术发展现状及趋势[J]. 水下无人系统学报, 2021, 29(6): 634-647. doi: 10.11993/j.issn.2096-3920.2021.06.001 SHI X F, DANG J J, LIANG Y, et al. Development status and trend of energy and power technology for underwater attack and defensive weapon[J]. Journal of Undersea Unmanned Systems, 2021, 29(6): 634-647. doi: 10.11993/j.issn.2096-3920.2021.06.001
[2]	许峻峰, 徐英雷, 冯江华, 等. 永磁同步电机直接转矩控制中定子磁链的分析[J]. 电气传动, 2005, 35(1): 10-12, 18. XU J F, XU Y L, FENG J H, et al. Analysis of the stator flux linkage in permanent magnet synchronous motor direct torque control[J]. Electric Drive, 2005, 35(1): 10-12, 18.
[3]	KIVANC O C, OZTURK S B. Sensorless PMSM drive based on stator feedforward voltage estimation improved with MRAS multi-parameter estimation[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(3): 1326-1337. doi: 10.1109/TMECH.2018.2817246
[4]	尹忠刚, 张瑞峰, 钟彦儒, 等. 基于抗差扩展卡尔曼滤波器的永磁同步电机转速估计策略[J]. 控制理论与应用, 2012, 29(7): 921-927. YIN Z G, ZHANG R F, ZHONG Y R, et al. Speed estimation for permanent magnet synchronous motor based on robust extended Kalman filter[J]. Control Theory & Applications, 2012, 29(7): 921-927.
[5]	刘金琨, 孙富春. 滑模变结构控制理论及其算法研究与进展[J]. 控制理论与应用, 2007, 24(3): 407-418. LIU J K, SUN F C. Research and development on theory and algorithms of sliding mode control[J]. Control Theory & Applications, 2007, 24(3): 407-418.
[6]	赵峰, 罗雯, 高锋阳, 等. 基于模糊滑模控制器和两级滤波观测器的永磁同步电机无位置传感器混合控制[J]. 控制理论与应用, 2020, 37(8): 1865-1872. doi: 10.7641/CTA.2020.90781 ZHAO F, LUO W, GAO F Y, et al. Sensorless hybrid control for permanent magnet synchronous motor using fuzzy sliding mode controller and two-stage filter observer[J]. Control Theory & Applications, 2020, 37(8): 1865-1872. doi: 10.7641/CTA.2020.90781
[7]	HAN T G, YANG X, FANG Q B, et al. Observer-based sensorless control of permanent magnet synchronous motor for electrical vehicle[C]//2016 4th International conference on applied robotics for the power industry. Jinan, China: CARPI, 2016.
[8]	郑雪梅, 李秋明, 史宏宇, 等. 用于永磁同步电机的一种非奇异高阶终端滑模观测器[J]. 控制理论与应用, 2011, 28(10): 1467-1472. ZHENG X M, LI Q M, SHI H Y, et al. Higher-order nonsingular terminal-sliding-mode observer for permanent-magnet synchronous motor[J]. Control Theory & Applications, 2011, 28(10): 1467-1472.
[9]	LIANG W, WANG J, LUK C K, et al. Analytical modeling of current harmonic components in PMSM drive with Voltage-Source inverter by SVPWM technique[J]. IEEE Transactions on Energy Conversion, 2014, 29(3): 673-680. doi: 10.1109/TEC.2014.2317072
[10]	GAMOUDI R, CHARIAG D E, SBITA L. A review of spread-spectrum-based PWM techniques—a novel fast digital implementation[J]. IEEE Transactions on Power Electronics, 2018, 33(12): 10292-10307. doi: 10.1109/TPEL.2018.2808038
[11]	XU Y X, YUAN Q B, ZOU J B, et al. Periodic carrier frequency modulation in reducing low frequency electromagnetic interference of permanent magnet synchronous motor drive system[J]. IEEE Transactions on Magnetics, 2015, 51(11): 1-4.
[12]	黄惠东. 三电平逆变器PWM谐波高效抑制策略研究[D]. 哈尔滨: 哈尔滨工业大学, 2021.