Research on Disturbance Suppression Control Method for Underwater Propulsion Motor Based on Active Disturbance Rejection Control Technique

In this paper, the active disturbance rejection control(ADRC) technique is used to suppress the influence of external factors on the dynamic performance of underwater propulsion motors (UPM). To address the problem of motor speed fluctuations caused by the special operating environment, the author designs a speed loop expansion state observer, which estimates the motor speed through the state and feeds it back to the outer loop controller for compensation, so as to reduce the influence of external disturbance on the speed. In addition, the underwater propulsion motor has a wide current range during operation due to its high power, which is limited by the range of the current sensor and results in nonlinear errors during the current sampling process. To solve the above problems, the author designed a current loop extended state observer in the rotating coordinate system, filtered the nonlinear error, and fed it back to the controller, thus reducing the impact of current acquisition error on the dynamic performance of the motor. Through simulation analysis, it can be seen that this method can accurately compensate for the influence of external disturbance on the speed fluctuation, and the current acquisition noise can be effectively filtered out, which reduces the influence of external factors on the dynamic performance of the underwater propulsion motor on the whole. By comparing with the traditional PID control method, the speed tracking effect of this control method is better, this sinusoidal current is more perfect, and the starting torque is smaller, which proves the effectiveness and practicability of the proposed method for eliminating the external disturbance influence of underwater propulsion motor.