水下多电机协同推进及其动态面反步滑模控制

复杂多变暗流湍急的水下环境会造成水下机器人姿态失衡,严重时会破坏船体稳定造成偏航.针对大幅度转弯工况与应对外部随机扰动等问题,提出一种归一化的比例同步系数分配方法,构造虚拟主轴多电机协同控制系统的输入,实时调配各个从动轴推进电机的参考转速;针对该方法中异速差异大、动态响应高的需求,设计有限时间动态面反步滑模控制器,提升...

Underwater Multi-motor Cooperative Propulsion and Its Dynamic Surface Backstepping Sliding Mode Control

The complex underwater environment such as turbulence could cause the posture imbalance of the underwater robot. And it even could damage the stability of the system and cause yaw. Aiming at addressing the issues brought by the large angle of turn and external random disturbance, a normalized proportional synchronization coefficient distribution method was proposed. Firstly, the input of the electronic virtual line-shafting was reconstructed and the reference speed of each driven shaft propulsion motor was calculated in real-time. Secondly, in order to meet the requirements of high dynamics and solve the stability problem of the large speed difference, a finite-time dynamic surface backstepping sliding mode controller was designed. Thirdly, an exponential decay torque observer was designed to obtain the accuracy parameter of torque. Finally, the results show that this method could achieve a good balance between real-time, robustness, and accuracy in dealing with the instantaneous large load variation and the constant nonlinear disturbance.