基于无位置传感器的潜航器集成电机推进系统

Sensorless Control Based Integrated Motor Propulsion System of Underwater Vehicles

摘要:

潜航器对推进电机的可靠性和体积提出了苛刻的要求，研究采用无位置传感器技术实现驱动器、 电机和螺旋桨一体化的集成电机推进(IMP)系统，能够缩小电推进系统体积、提高系统的可靠性。在垂直推进系统中，潜航器定深工作时对电机系统的动态响应具有较高的要求。为提升永磁同步电机无位置控制下的转速响应，采用双 dq 坐标切换策略将 IF 起动和滑模观测器(SMO)相融合，改善了起动的平滑性并缩短了起动时间，对比实验验证了方案的有效性。

关键词:潜航器;集成电机推进系统;永磁同步电机;无位置传感控制;滑模观测器;起动策略

Abstract:

The reliability and volume of the propulsion motor are required strictly in underwater vehicles. The integrated motor propulsion(IMP)system adopts the sensorless control technology，which can reduce the volume of the electric propulsion system and improve the reliability of the system. In the vertical propulsion system，the dynamic response of the motor system is highly required. In order to improve speed response of the sensorless controlled permanent magnet synchronous motor，the dual dq coordinate switch strategy is adopted to integrate the IF start and the sliding mode observer(SMO). This scheme can improve the starting smoothness and shorten the starting time，which is validated by the comparative experiments.

Key words:underwater vehicle;integrated motor propulsion system;permanent magnet synchronous motor; sensorless control;sliding mode observer;starting strategy