The invention discloses a pod propulsion motor sliding mode control method based on tight format dynamic linearization, and is suitable for pod propulsion motor control. The method comprises the following steps: establishing a pod propulsion motor dynamics model; establishing a tight-format dynamic linearization data model of the pod propulsion motor dynamical model based on the pseudo partial derivative; designing a control law and an estimation law of the sliding mode control method; aiming at disturbance terms in the estimation control law, designing an extended state observer to estimate load disturbance and unknown disturbance in the control system; and aiming at the influence of unmodeled dynamics on the performance of the control system, designing a sliding mode control scheme of a series tight-format dynamic linearization model to improve the control performance of the system. The advantages of a tight-format dynamic linearization method and sliding mode control are combined, and the dynamic performance and the steady-state performance of the pod propulsion motor control system are effectively improved.
本发明公开了一种基于紧格式动态线性化的吊舱推进电机滑模控制方法,适用于吊舱推进电机控制。其步骤包括:建立吊舱推进电机动力学模型;基于伪偏导数建立吊舱推进电机动力学模型的紧格式动态线性化数据模型;滑模控制方法控制律和估计律设计;针对估计控制律中的扰动项,设计扩张状态观测器对控制系统中的负载扰动和未知扰动进行估计;针对未建模动态对控制系统性能的影响,设计串联紧格式动态线性化模型的滑模控制方案改善系统控制性能。本发明结合紧格式动态线性化方法和滑模控制的优点,有效提高吊舱推进电机控制系统动态性能及稳态性能。
Pod propulsion motor sliding mode control method based on tight format dynamic linearization
一种基于紧格式动态线性化的吊舱推进电机滑模控制方法
2021-08-24
Patent
Elektronische Ressource
Chinesisch
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