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- Title
水下多电机协同推进及其动态面反步滑模控制.
- Authors
杨冠军; 王伟然; 闫景昊; 朱志宇; 曾庆军; 戴晓强
- Abstract
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. 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.
- Publication
Science Technology & Engineering, 2022, Vol 22, Issue 10, p3982
- ISSN
1671-1815
- Publication type
Article