Model-free adaptive sliding mode vector control for podded propulsion motor

YAO Wen-long; WANG Jia-li; PANG Zhen; CHI Rong-hu; SHAO Wei

doi:10.19818/j.cnki.1671-1637.2020.03.006

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YAO Wen-long, WANG Jia-li, PANG Zhen, CHI Rong-hu, SHAO Wei. Model-free adaptive sliding mode vector control for podded propulsion motor[J]. Journal of Traffic and Transportation Engineering, 2020, 20(3): 72-79. doi: 10.19818/j.cnki.1671-1637.2020.03.006

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YAO Wen-long, WANG Jia-li, PANG Zhen, CHI Rong-hu, SHAO Wei. Model-free adaptive sliding mode vector control for podded propulsion motor[J]. Journal of Traffic and Transportation Engineering, 2020, 20(3): 72-79. doi: 10.19818/j.cnki.1671-1637.2020.03.006

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Model-free adaptive sliding mode vector control for podded propulsion motor

doi: 10.19818/j.cnki.1671-1637.2020.03.006

1.
School of Automation and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266100, Shangdong, China
2.
School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

Funds:

National Natural Science Foundation of China 61873139

Natural Science Foundation of Shandong Province ZR2017MEE071

Shortage Talents Program in Key Supporting Regions of Shandong Province Major Office of Shandong Development and Reform Commission[2019]391

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Author Bio:
YAO Wen-long(1981-), male, associate professor, PhD, yaowenlong@qust.edu.cn
Received Date: 2020-01-03
Publish Date: 2020-06-25

Abstract

Abstract

To solve the problem of poor speed tracking performance caused by the load disturbance in the podded propulsion motor control system of semi-submersible ship, a speed vector control method for the podded propulsion motor was proposed based on the data-driven. The speed equation of propulsion motor with unknown load disturbance was discretized, and the nonlinear speed system about the output speed and input current after the discretization was given. Since multiple variables were in the nonlinear speed system equation and the load disturbance model was unknown, the model-free adaptive controller based on the data-driven was designed and the pseudo partial derivative estimation algorithm was given. The sliding mode observer was utilized to observe the propeller load disturbance and a sliding mode controller was given. Combining the model-free adaptive control with the sliding mode control, and the model-free adaptive sliding mode(MFASM) control scheme under the load disturbance was presented. The podded propulsion motor MFASM vector control speed governing system was constructed, and the simulation results were given in the MATLAB/Simulink environment. Research result shows that under the constant speed of ship in the normal operation and within the time range of 0.3-0.5 s, the speed errors of podded propulsion motor under the MFASM vector control scheme and the PI vector control scheme are 2 and 6 r·min^-1, respectively. Within the time range of 0.8-1.0 s, the speed errors of podded propulsion motor under the MFASM vector control scheme and the PI vector control scheme are 1 and 3 r·min^-1, respectively. For the variable speed case of ship operation, the time for the speed and torque of propulsion motor to the steady-state under the MFASM vector control scheme is 0.01-0.03 s less than that under the PI vector control scheme. Therefore, the speed tracking performance of podded propulsion motor can be improved by utilizing the MFASM vector control scheme, and the proposed method is an effective data-driven control method for suppressing the load disturbance.
- ship engineering,
- control engineering,
- ship podded,
- propulsion motor,
- model-free adaptive control,
- sliding mode control,
- vector control,
- load disturbance

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References

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Model-free adaptive sliding mode vector control for podded propulsion motor

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