摘要海洋孕育了生命，拥有丰富的资源。随着人口的增多和资源的消耗，陆地资源已经急剧减少，而海洋不仅面积大，还有丰富的资源可以开发。人类社会如果想要持续发展，只能充分利用海洋的资源。水下机器人是一种探索海洋的工具，集合了机械学科与信息学科两种前端的技术。如果想要最大程度利用自然资源和发展国民经济，水下机器人的研究成为必不可少的部分。当前水下机器人的种类多种多样，水下机器人电机推进控制系统作为水下机器人运动中最为基础和关键的一坏，研究其控制算法具有极其关键的意义。83505

永磁同步电机具有功耗低，效率高，工作稳定且方便控制的优点，在电力推动领域得到了广泛的应用。针对于永磁同步电机在推进动力系统的应用问题，本文基于矢量控制研究控制算法，以提高其性能。同时本文对基于滑模观测器的矢量控制做了研究，解决了由于安装位置传感器带来的可靠性降低等问题。建模与仿真是研究分析机电系统性能的有效方法和手段，Matlab/Simulink仿真工具提供了丰富的资源库，本文基于Simulink仿真技术，通过搭建模型，构建了永磁同步电机通用模块并进行封装，最后完成了基于滑模观测器的永磁同步电机矢量模型建立，同时得到了相应的代码。

毕业论文关键词：水下机器人；永磁同步电机；矢量控制；算法控制；Matlab/Simulink

Abstract   The sea breeds life, and has a wealth of resources。 With the increase in population and the consumption of resources,land resources have been reduced dramatically, while the ocean is not only a large area,but also a wealth of resources can be developed。 Human society,if you want to continue to develop,can only make full use of the resources of the ocean。 Underwater robot is a tool to explore the ocean,a collection of mechanical and information disciplines,two kinds of technology。 If you want to maximize the use of natural resources and the development of the national economy,the study of underwater robots has become an essential part of。 At present,the variety of the underwater robot is various,and the control system of the underwater robot is the most basic and the key point in the motion of the underwater robot。

      Permanent magnet synchronous motor has the advantages of low power consumption，high efficiency,stable and easy to control。 It has been widely used in the field of electric power drive。 Aiming at the application of Yu Yongci synchronous motor in the propulsion system,this paper based on the vector control research control algorithm to improve its performance。 At the same time，the vector control based on sliding mode observer is studied,and the reliability of the sensor is reduced due to the installation position。 Modeling and simulation research and analysis effective ways and means of performance of an electromechanical system,Matlab / Simulink simulation tool provides rich resources,the based on Simulink simulation technology,through building the model constructed permanent magnetic synchronous motor general module and encapsulation,finally completed based on the sliding mode observer of the permanent magnet synchronous motor vector model,and gets the corresponding code。

Keywords:underwater robot;permanent magnet synchronous motor;vector control; algorithm control;Matlab/Simulink

                               目  录

第一章 绪论 1

    1。1 课题研究背景 1

    1。2 智能水下机器人的研究现状和发展趋势