ADAPTIVE TERMINAL SLIDING MODE BASED SENSORLESS SPEED CONTROL FOR UNDERWATER THRUSTER

作者：Chu, Zhenzhong^*; Zhu, Daqi^*; Yang, Simon X.^*

来源：International Journal of Robotics and Automation, 2016, 31(3): 187-197.

DOI：10.2316/Journal.206.2016.3.206-4428

• Underwater thruster
• speed control
• fast terminal sliding mode
• sensorless
• adaptive

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 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.

• 出版日期2016
• 单位上海海事大学