Model-free Adaptive Sliding Mode Vector Control for Dynamic Positioning Podded Propulsion Motor Based on Anti-load Disturbance

Abstract

This paper is concerned with a model-free adaptive sliding mode (MS) vector controller design for unstable dynamic speed performance caused by load disturbance in dynamic positioning (DP) podded permanent magnet synchronous propulsion motor (PMSPM) control system. PMSPM dynamic speed equation and speed discrete system are first established. Then, the sliding mode controller is designed, and the model-free adaptive controller is introduced for the discrete time system considering load disturbance, the ESO algorithm is introduced to estimate the disturbance unknowns and give the pseudo partial derivative estimation algorithm. Finally, a MS vector control scheme for PMSPM is proposed by combining vector control and verified by MATLAB/Simulink. The dynamic speed performance of PMSPM verifies the effectiveness of the controller design.