Abstract

Aiming at the problem of poor speed tracking performance in the podded propulsion motor speed control system due to load disturbances, a model-free adaptive iterative learning control (MFAILC) scheme is put forward. Firstly, the mathematical model of a six-phase permanent magnet synchronous motor is built and the expression of propeller load is given. Then the speed equation of the motor is discretized to obtain the dynamic linearization model. Based on the model, a model-free adaptive controller is designed and a pseudo partial derivative (PPD) estimation algorithm is given. Finally, the improved speed controller based on MF AILC is implemented and simulated. According to the simulation results, the proposed algorithm has faster convergence speed, less overshooting, and greater robustness compared with traditional PI control method.

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