Izvorni znanstveni članak
https://doi.org/10.21278/brod77201
Design of an adaptive PI speed controller for FOC-driven underwater thrusters
Kaicheng Shen
; State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; Shanghai Key Laboratory of Polar Life and Environment Sciences; and School of Oceanography, Shanghai Jiao Tong University, Shanghai 200030, China
Caoyang Yu
; State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; Shanghai Key Laboratory of Polar Life and Environment Sciences; and School of Oceanography, Shanghai Jiao Tong University, Shanghai 200030, China
*
Jinrong Zheng
; School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
He Zhang
; China Ship Research and Development Academy, Beijing 100101, China
Xianbo Xiang
; School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Lian Lian
; State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; Shanghai Key Laboratory of Polar Life and Environment Sciences; and School of Oceanography, Shanghai Jiao Tong University, Shanghai 200030, China
* Dopisni autor.
Sažetak
Underwater thrusters are the primary actuators in marine vehicles. The thruster drive and control methods for these thrusters considerably influence their dynamic response, accuracy, and efficiency. This study reviewed the structure of field-oriented control (FOC) and six-step commutation (SSC)–driven thrusters, comparing their advantages and disadvantages in underwater applications. Considering the dynamic performance of open-loop SSC, the precision of closed-loop SSC, and the energy efficiency of FOC, an adaptive proportional–integral (API) speed controller was introduced for FOC-driven underwater thrusters, which demonstrated superior performance in underwater conditions. Simulations were conducted to reveal the performance differences between FOC- and SSC-driven underwater thrusters and the advantages of the designed API controller in FOC-driven systems. FOC with a conventional PI speed controller exhibited a chattering-free steady state and 22.9% higher energy efficiency than the closed-loop SSC, and the API-based FOC showed improved step signal response and a 25.9% increase in amplitude bandwidth compared with conventional PI and integral–separated PI control. Furthermore, the API controller avoided speed chattering at low speed and displayed lower steady-state error than the conventional PI controller. These results support the conclusions of the higher bandwidth and overshoot avoidance of API and the higher energy efficiency of the FOC-driven motor.
Ključne riječi
Underwater thruster; thruster control; field-oriented control; adaptive PI control
Hrčak ID:
343068
URI
Datum izdavanja:
1.4.2026.
Posjeta: 284 *