水下无人系统学报2026，Vol.34Issue(4)：752-758,7.DOI:10.11993/j.issn.2096-3920.2025-0170
基于滑模转速分配器的无人救生艇双推进电机控制方法
Dual-Propulsion Motor Control Method of Unmanned Lifeboat Based on Sliding Mode Speed Distributor
王镇 1汤宇2
作者信息
- 1. 江苏舾普泰克自动化科技有限公司,江苏 镇江,212000
- 2. 江苏科技大学 自动化学院,江苏 镇江,212000
- 折叠
摘要
Abstract
The unmanned lifeboat is prone to yawing due to external water flow interference because of its light weight.To address the issue,this paper designed a cross-coupling speed cooperative control method for dual propulsion motors based on a sliding mode speed distributor.First,a motor control model was built for the turning radius and rotational speed difference of the unmanned lifeboat.Then,a dual-propulsion motor speed cooperative control system was designed based on cross-coupling control.Finally,a speed distributor based on sliding mode control was developed to adjust the given speeds of the two propulsion motors,enabling the hull to resist external water flow interference and achieve smooth navigation.The simulation results prove that the proposed control method can allocate different set speeds for the dual-propulsion motor based on the actual situation,thereby enabling more accurate course control of the unmanned lifeboat.关键词
无人救生艇/双推进电机/滑模转速分配器/交叉耦合速度协同控制Key words
unmanned lifeboat/dual-propulsion motor/sliding mode speed distributor/cross-coupling speed cooperative control分类
军事科技引用本文复制引用
王镇,汤宇..基于滑模转速分配器的无人救生艇双推进电机控制方法[J].水下无人系统学报,2026,34(4):752-758,7.
