Model Predictive Control of Permanent Magnet Synchronous Propulsion Motor Applied in USV with Composite Ship-Propeller Load

Abstract

The precise control of propulsion motor for an unmanned surface vehicle (USV) is essential when carrying out important tasks. This paper makes researches on the permanent magnet synchronous motor (PMSM) of an USV and characteristics of its composite ship-propeller load, and then proposes introducing model predictive control (MPC) to improve the dynamic performance of USV propulsion system further. The correctness and effectiveness of the design of the model predictive control USV propulsion system is verified through the Matlab/Simulink simulation analysis. In the case of ship-propeller composite load, simulation experiment results show that the PMSM propulsion system adopting MPC strategy can not only overcome the shortcomings of setting PI parameters difficultly, large speed and torque overshoots in dynamic processes, but also enhance both the anti-interference ability of USV propulsion system under complex sea conditions and the dynamic and static performance of the system.