Paper Info
Title
Adaptive Terminal Sliding Mode Based Sensorless Speed Control For Underwater Thruster
Abstract
In this paper a sensorless speed control method for underwater thruster with brushed DC motor is addressed. Considering the problem that the motor of underwater thruster is not equipped with speed detection sensor, a fast terminal sliding mode observer is proposed to estimate the angular speed of motor. According to the estimated angular speed value, the fast terminal sliding mode controllers of speed loop and current loop based on backstepping method are designed. For that the motor load torque cannot be determined easily, radial basis function (RBF) neural network is used for online adaptive identification in the design of speed loop controller. Finally, the effectiveness of the proposed approach is demonstrated with simulation and experiments.
Year
DOI
Venue
2016
10.2316/Journal.206.2016.3.206-4428
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
Keywords
Field
DocType
Underwater thruster, speed control, fast terminal sliding mode, sensorless, adaptive
Control theory,Control engineering,Engineering,Terminal sliding mode,Underwater,Electronic speed control
Journal
Volume
Issue
ISSN
31
3
0826-8185
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Zhenzhong Chu160.77
Daqi Zhu2255.09
Simon X. Yang3218.39