Adaptive Super-Twisting Sliding Mode Control for Marine Electric Propulsion System Based on Load Observer
摘要
Aiming at the problem that the working environment of ships is complicated and disturbances such as sea wind and waves affect the stable operation of ships, an adaptive super-twisting sliding mode control scheme for marine electric propulsion system based on super-twisting sliding mode load observer is proposed. First, an adaptive super-twisting sliding mode controller is designed to stabilize the system within a finite time, effectively improving the control accuracy and robustness of the system and suppressing the chattering problem of sliding mode control. To observe the load disturbance in a finite time with high accuracy, a super-twisting load torque observer is designed. The observed load disturbance is introduced into the controller to be compensated, which enhances the anti-interference ability of the controller. Finally, the advantage of the scheme is proved by simulation of the ship under constant load torque and simulated actual load torque.