ADAPTIVE TERMINAL SLIDING MODE BASED SENSORLESS SPEED CONTROL FOR UNDERWATER THRUSTER

被引：5
|
作者：
Chu, Zhenzhong [1 ]
Zhu, Daqi [1 ]
Yang, Simon X. [2 ]
机构：
[1] Shanghai Maritime Univ, Lab Underwater Vehicle & Intelligent Syst, Shanghai, Peoples R China
[2] Univ Guelph, Sch Engn, Guelph, ON N1G 2W1, Canada
来源：
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2016年 / 31卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Underwater thruster; speed control; fast terminal sliding mode; sensorless; adaptive; TRACKING CONTROL; OBSERVER; IMPLEMENTATION; DRIVE;
D O I：
10.2316/Journal.206.2016.3.206-4428
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a sensorless speed control method for underwater thruster with brushed DC motor is addressed. Considering the problem that the motor of underwater thruster is not equipped with speed detection sensor, a fast terminal sliding mode observer is proposed to estimate the angular speed of motor. According to the estimated angular speed value, the fast terminal sliding mode controllers of speed loop and current loop based on backstepping method are designed. For that the motor load torque cannot be determined easily, radial basis function (RBF) neural network is used for online adaptive identification in the design of speed loop controller. Finally, the effectiveness of the proposed approach is demonstrated with simulation and experiments.
引用
收藏
页码：187 / 197
页数：11
相关论文
共 50 条
  • [1] Speed sensorless control of a BL-IM based on an adaptive nonsingular terminal sliding mode observer
    Sun, Yunqing
    Yang, Zebin
    Sun, Xiaodong
    Sun, Chao
    INTERNATIONAL JOURNAL OF ELECTRONICS, 2023, 110 (02) : 341 - 359
  • [2] Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents
    Zhang, Mingjun
    Liu, Xing
    Yin, Baoji
    Liu, Weixin
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2015, 352 (11): : 4935 - 4961
  • [3] Fault-tolerant Control Based on Adaptive Sliding Mode for Underwater Vehicle with Thruster Fault
    Wang, Yujia
    Zhang, Mingjun
    Chu, Zhenzhong
    Liu, Xing
    2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2014, : 5323 - 5328
  • [4] Adaptive sliding mode observer for speed-sensorless control of PMSM
    Huang, Lei
    Zhao, Guang-Zhou
    He, Yi-Kang
    Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science), 2007, 41 (07): : 1107 - 1110
  • [5] An adaptive sliding mode observer for induction motor sensorless speed control
    Li, JC
    Xu, LY
    Zhang, Z
    CONFERENCE RECORD OF THE 2004 IEEE INDUSTRY APPLICATIONS CONFERENCE, VOLS 1-4: COVERING THEORY TO PRACTICE, 2004, : 1329 - 1334
  • [6] Adaptive integral terminal sliding mode based trajectory tracking control of underwater glider
    Zhang, Xu
    Zhou, Hexiong
    Fu, Jian
    Wen, Hao
    Yao, Baoheng
    Lian, Lian
    OCEAN ENGINEERING, 2023, 269
  • [7] Fault reconstruction of thruster for autonomous underwater vehicle based on terminal sliding mode observer
    Chu, Zhen-zhong
    Zhang, Ming-jun
    OCEAN ENGINEERING, 2014, 88 : 426 - 434
  • [8] Sensorless PMSM drive with a sliding mode control based adaptive speed and stator resistance estimator
    Han, YS
    Choi, JS
    Kim, YS
    IEEE TRANSACTIONS ON MAGNETICS, 2000, 36 (05) : 3588 - 3591
  • [9] FPGA-based Sensorless PMSM Speed Control Using Adaptive Sliding Mode Observer
    Chen, Feida
    Jiang, Xu
    Ding, Xiaofeng
    Lin, Chuanchuan
    IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2017, : 4150 - 4154
  • [10] Sensorless control of PMSM based on adaptive sliding mode observer
    Guo, Shuai
    He, Jinbao
    INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2009, 7 (04) : 321 - 324
12345