哈尔滨工程大学学报2026，Vol.47Issue(5)：1091-1099,9.DOI:10.11990/jheu.202601029
深海采矿设备远距离变频驱动控制
Long-distance variable frequency drive control for deep-sea mining equipment
摘要
Abstract
To address the issues of voltage drop,high-order harmonic interference,and insufficient sensorless con-trol accuracy in long-distance variable frequency drive systems for deep-sea mining equipment,this paper proposes a novel long-distance electric drive architecture based on a surface high-voltage cascaded frequency converter com-bined with a filter.Based on transmission line theory and unified motor modeling methods,a unified state-space equation covering the filter,long cable,and submerged permanent magnet synchronous motor(PMSM)is estab-lished.An adaptive full-order state observer is designed,and the stability and convergence of the system are proved using Lyapunov stability theory.The observer enables online estimation of motor terminal states and speed using only measurable surface voltage and current information.A multi-layer cascade control strategy is adopted to achieve high-performance sensorless drive control.Experimental results show that the proposed scheme can sup-press the total harmonic distortion(THD)of the output voltage after filtering to below 3%,achieve a speed estima-tion error of less than 0.1%,and realize a speed recovery time of less than 1 second under load transients,signifi-cantly improving steady-state accuracy and dynamic robustness,thus providing an effective solution for the stable and efficient operation of deep-sea mining equipment.关键词
深海采矿设备/远距离变频驱动/长脐带缆/滤波器/自适应全阶状态观测器/稳定性分析/永磁同步电机/无速度传感器控制Key words
deep-sea mining equipment/long-distance variable frequency drive/umbilical cable/filter/adaptive full-order state observer/stability analysis/PMSM/sensorless control分类
信息技术与安全科学引用本文复制引用
张定华,彭勃,杨鸣远,朱建波..深海采矿设备远距离变频驱动控制[J].哈尔滨工程大学学报,2026,47(5):1091-1099,9.基金项目
国家重点研发计划(2022YFC2806903). （2022YFC2806903）
