船桨综合负载下基于USV的一种PMSM推进系统滑模变结构控制

以无人水面艇（USV）的永磁同步推进电机（PMSM）及其螺旋桨负载特性为研究对象，在PMSM推进系统中引入滑模变结构控制以进一步提高USV推进系统的动态性能.MATLAB/Simulink仿真分析验证了设计的滑模变结构控制USV推进系统方案的正确性和有效性.仿真实验结果表明，在船桨综合负载下的PMSM推进系统中，采用滑模变结构控制器不仅克服了传统PI控制器中参数难以整定、动态过程中转速及转矩超调大等缺点，而且增强了USV推进系统在复杂海况下的抗干扰能力，提高了系统的动静态性能.
Taking the permanent magnet synchronous motor (PMSM) of the unmanned surface vehicle (USV) and its characteristics of the propeller load as study object, the sliding mode variable structure control was introduced in PMSM propulsion system to improve the dynamic performance of USV propulsion system. The correctness and effectiveness of the design of sliding mode variable structure control USV propulsion system was verified by MATLAB/Simulink simulation analysis. Simulation results show that in the shippropeller composite load of PMSM propulsion system, the sliding mode variable structure controller can not only overcome the shortcomings of setting PI parameters difficultly, large speed and torque overshoots in the dynamic process, but also enhance antiinterference ability of the USV propulsion system under complex sea conditions and raises the dynamic and static performance of the system.