Fuzzy electromechanical control systems small marine unmanned vessels

Abstract

It is shown that electromechanical systems of various types are most often used in small unmanned sea vessels. These systems provide control of the ship's rudder, its propulsion devices, and are used for auxiliary mechanisms. From the analysis of the sources, it was established that electromechanical systems are effective in the stabilization systems of ships, for example, in autopilot systems. In the technical implementation of autopilots and electric motors, different types of controllers will be used. Until now, there are no proven solutions for control algorithms. The main principles of creating effective mathematical models of electromechanical systems built on the basis of electric motors are shown. This construction is carried out by simplifying the mathematical description of engines and using them in the modeling of structural diagrams. The possibilities of using and selecting asynchronous three-phase electric motors intended for use in various mechanisms and electric drive systems of marine vessels are given. In particular, in the electric motors of small unmanned watercraft. It is proposed to adjust the speed for such motors using a controlled power converter at a constant frequency of the power source. The algorithm for building a model of an electromechanical system that regulates the speed of an asynchronous motor is given. The model takes into account non-linear dependencies of the engine (Clos-formula), «fan» load and non-linear elements of the «restriction» type of the regulation system. It is proposed to use a simplified fuzzy controller in such a system, which is characterized by a symmetrical construction of fuzzification procedures. The results of modeling the electric propulsion system of a small unmanned vessel using a fuzzy controller are given. The proposed solution makes it possible to effectively carry out further synthesis of autopilot and thruster control controllers, and allows to predetermine energy losses of regulation processes.