Sliding Mode Variable Structure Chaos Control for Propulsion Motor of Deep Sea Robot

Abstract

As the deepwater robot’s dynamic thruster system, the brushless thruster system’s performance will influence the whole system reliability, stabilization, safety. The brushless thruster system will appear chaotic phenomena when its system structure and parameter match badly. The phenomena will lead the deepwater robot out of control, even involved by ocean wave. Aiming the chaos phenomenon of propulsion motor of deepwater robot, this paper proposes the application of sliding mode variable structure control theory to chaos control. The sliding mode variable structure chaotic control of brushless propulsion motor for deep-sea robot is designed, and the controller is designed. The feasibility and effectiveness of the chaotic control are simulated, analyzed and verified. The research result proves that, the gradation sliding mode variable structure using in control of the deepwater robot thruster motor chaotic motion are feasible and effective, i.e. the thruster motor can research the stabilization state from chaotic state and the procedure of control is related to the controller structure, parameter, and control time. And for the example system, the exponent gradation sliding mode variable stature control effect is the better.