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摘要: 考虑具有不确定动态和航行中负载变化与海况干扰的船舶吊舱SSP推进电机控制问题, 提出了一种无模型自适应矢量控制方法, 推导了SSP推进电机的动态线性方程, 设计了基于速度跟踪误差无模型自适应矢量控制器和进行了收敛性证明, 在线调整伪偏导数, 保证了推进电机控制系统跟踪误差一致有界, 并对比了无模型自适应矢量控制器与自整定PI矢量控制器的控制性能。计算结果表明: 基于复合无模型自适应矢量控制的SSP推进系统在恶劣海况下转速平均振荡小于6 r·min-1, 转矩平均振荡小于8.20×104 N·m, 机动航行时对应的值分别小于7 r·min-1与1.08×105 N·m, 而采用自整定PI矢量控制时, 在恶劣海况下转速平均振荡达到13 r·min-1, 转矩平均振荡达到2.13×105 N·m, 机动航行时对应的值分别达到12 r·min-1与2.81×105 N·m, 因此, 复合无模型自适应矢量控制下的转速与转矩抖动和稳态运行静差较小, 具有良好的动态响应。
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关键词:
- 轮机工程 /
- 船舶吊舱 /
- SSP推进电机 /
- 无模型自适应矢量控制 /
- 自整定PI矢量控制
Abstract: Considering the control problems of propulsion motor of ship SSP (siemens schottel propulsor) system under uncertain dynamic state, load change and sea condition disturbance, a model-free adaptive vector control method was proposed.The dynamic linearization equations of propulsion motor were derived.A model-free adaptive vector controller was designed based on the speed tracking error and its convergence was proved.The pseudo-partial-derivative was online adjusted to ensure the tracking error of propulsion motor control system uniformly bounded.The control performances of model-free adaptive vector controller and self-adjusting PI vectorcontroller were compared.Computed result shows that based on model-free adaptive vector control, the speed average oscillations are within 6 r·min-1 and 7 r·min-1 in rough sea and maneuverable navigation, respectively, and the torque average oscillations are 8.20×104 N·m and 1.08×105 N·m, respectively.But based on self-adjusting PI vector control, the average speed oscillations reach 13 r·min-1 and 12 r·min-1, respectively, and the torque average oscillations are 2.13×105 N·m and 2.81×105 N·m, respectively.Obviously, the model-free adaptive vector control system has lower speed and torque fluctuations and smaller static error of steady state operation, so its dynamic responses are better. -
图 5 机动航行时SSP推进电机转速曲线
Figure 5. Speed curves of SSP propulsion motor in maneuverable navigation
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