【目的】针对水下复杂环境对潜水推进器驱动系统高可靠性、强鲁棒性与全速域平稳控制的严苛要求,提出一种高频方波注入法/滑模观测器(HFI/SMO)混合无位置传感器控制策略。【方法】采用HFI/SMO双模式切换策略:零低速域用HFI,中高速域用基于锁相环的SMO,通过权重切换模块实现平滑过渡。仿真验证了所提算法的动静态性能与工程实用性。【结果】仿真数据表明,本文所提HFI/SMO混合控制策略在全速域内均保持了高精度控制。低速:200 r/min稳态运行时,转速波动范围小于±5 r/min,误差±2.5%。高速:3 000 r/min稳态运行时,转速波动范围小于±8 r/min,误差±0.27%,达到高精度调速水平。在0→3 000 r/min的加速过程中,最大跟踪误差未超过40 r/min,且无超调,表现出优异的动态跟踪性能。【结论】本文所提HFI/SMO混合控制策略满足了潜水推进器精准调速的需求,为高性能潜水推进器无位置传感器驱动提供了切实可行的解决方案。

[Objective] To address the stringent requirements of high reliability, strong robustness, and smooth full-speed-range control for underwater thruster drive systems in complex environments, a hybrid high-frequency square-wave injection method/sliding mode observer (HFI/SMO) sensorless control strategy is proposed. [Methods] A dual-mode switching strategy of HFI/SMO was adopted: the HFI was used in the zero/low-speed range, and the SMO based on a phase-locked loop was employed in the medium/high-speed range. Smooth transition was achieved through a weight-switching module. The dynamic and static performance of the proposed algorithm, as well as its engineering practicability, were verified through simulations. [Results] The simulation results demonstrated that the proposed hybrid HFI/SMO control strategy maintained high-precision control across the full speed range. At low speed (200 r/min), the speed fluctuation was maintained within ±5 r/min (±2.5% error). At high speed (3 000 r/min), the fluctuation was constrained within ±8 r/min (±0.27% error), achieving high-precision speed regulation standards. During acceleration from 0 to 3 000 r/min, the maximum tracking error was suppressed below 40 r/min without overshoot, exhibiting superior dynamic tracking performance. [Conclusion] The proposed hybrid HFI/SMO control strategy meets the precise speed regulation requirements of underwater thrusters, providing a practical solution for high-performance sensorless drives.