Parametric correction in the control system of the electric propulsion of autonomous underwater vehicles affected by random inputs

Abstract

The paper deals with the problem of controlling a DC propulsion motor of an autonomous underwater vehicle using a bidirectional non-isolated DC-DC converter. An automatic speed control system with a parametric controller was developed in the Matlab / Simulink package. To reduce energy conversion stages, dc-dc converters are often used to control dc motors AUV. The result of the work is an adaptive control system for the speed of the AUV propeller, which would provide high accuracy for a wide range of speeds and at the same time limit the maximum current and voltage at the armature. The indicators of the quality of performance in various modes of operation were determined, maps of the controller settings were compiled, and parametric correction was introduced. The operation of the system is analyzed and drawbacks are eliminated, such as voltage surges when switching from one speed to another, a decrease in overshoot and settling time. The performance of the system is analyzed under the conditions of random inputs from the propeller. The description of the laboratory stand for the study of the control system is given. A description of the laboratory study of the operation of the "DC converter - engine" system under conditions of random fluctuations in the moments on the motor shaft is given. It is shown that the proposed system has shown itself well under laboratory conditions and the experimental results are consistent with modeling in Matlab / Simulink.