Multi-Motor Coordinated Propulsion Based on Improved Virtual Spindle Control

The multi-motor propulsion system of autonomous underwater vehicle (AUV) is characterized by easy operation, good start-up and acceleration performance, and stable power supply. Aiming at the problem that the multi-motor propulsion system is susceptible to rotational speed desynchronization caused by external environmental perturbations and changes in its own parameters during the undersea exploration mission under complex current waters. design of a super-helical backstepping integral sliding film control strategy based on virtual spindle control. Firstly, according to the structure of multi-motor control system, the virtual spindle control idea is combined with weighted average deviation coupling compensation to compensate the multi-motor speed. Finally, the simulation results show that the synchronization performance, stability and dynamic response performance of the improved multi-motor coordinated propulsion control scheme are significantly improved.