潜水推进器用内置式永磁同步电机全速域无位置控制研究OA

[Objective]To address the stringent requirements of high reliability,strong robustness,and smooth full-speed-range control for underwater thruster drive systems in complex environments,a hybrid high-frequency square-wave injection method/sliding mode observer(HFI/SMO)sensorless control strategy is proposed.[Methods]A dual-mode switching strategy of HFI/SMO was adopted:the HFI was used in the zero/low-speed range,and the SMO based on a phase-locked loop was employed in the medium/high-speed range.Smooth transition was achieved through a weight-switching module.The dynamic and static performance of the proposed algorithm,as well as its engineering practicability,were verified through simulations.[Results]The simulation results demonstrated that the proposed hybrid HFI/SMO control strategy maintained high-precision control across the full speed range.At low speed(200 r/min),the speed fluctuation was maintained within±5 r/min(±2.5%error).At high speed(3 000 r/min),the fluctuation was constrained within±8 r/min(±0.27%error),achieving high-precision speed regulation standards.During acceleration from 0 to 3 000 r/min,the maximum tracking error was suppressed below 40 r/min without overshoot,exhibiting superior dynamic tracking performance.[Conclusion]The proposed hybrid HFI/SMO control strategy meets the precise speed regulation requirements of underwater thrusters,providing a practical solution for high-performance sensorless drives.