Dual Propulsion Motor Control of Unmanned Lifeboat Based on Sliding Mode Allocation Controller

WANG Zhen; TANG Yu

doi:10.11993/j.issn.2096-3920.2025-0170

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WANG Zhen, TANG Yu. Dual Propulsion Motor Control of Unmanned Lifeboat Based on Sliding Mode Allocation Controller[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0170

Citation:

WANG Zhen, TANG Yu. Dual Propulsion Motor Control of Unmanned Lifeboat Based on Sliding Mode Allocation Controller[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0170

WANG Zhen, TANG Yu. Dual Propulsion Motor Control of Unmanned Lifeboat Based on Sliding Mode Allocation Controller[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0170

Citation:

WANG Zhen, TANG Yu. Dual Propulsion Motor Control of Unmanned Lifeboat Based on Sliding Mode Allocation Controller[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0170

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Dual Propulsion Motor Control of Unmanned Lifeboat Based on Sliding Mode Allocation Controller

doi: 10.11993/j.issn.2096-3920.2025-0170

WANG Zhen^1
,,
TANG Yu²

1.
Jiangsu Ship Tek Automation Technology Co. Ltd, Zhenjiang 212000, China
2.
College of Automation, Jiangsu University Of Science And Technology, Zhenjiang 212000, China

Received Date: 2025-12-21
Accepted Date: 2026-02-10
Rev Recd Date: 2026-02-01

Available Online: 2026-07-17

Abstract

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.

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References(11)

References

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