摘要随着科学技术的飞速发展，水下无人航行器技术得到了空前发展，其应用越来越引起人们的广泛重视，不仅运用于勘测战场、实施攻击等军事领域，更是在水下勘察，资源勘察等民用领域得到广泛应用，在未来水下应用领域，水下无人航行器就是当之无愧的主角。83563

现代水下无人航行器要求具有较高的自主性，能够实现自主航行、远距离控制、精密操作，具有较强的隐蔽和跟踪能力。除此之外，其能够代替人类实施高强度、高危险环境下的作业，因此具有深远的研究意义与工业应用价值。永磁同步电机结构紧凑、易于控制，具有极高的能量比和优良的动静态性能。因此永磁同步电机是水下无人航行器主推进器的优先选择之一。

为了提高永磁同步电机控制系统的控制性能，使其响应速度变得更加迅速同时使动稳态性能的控制更加精确，本文采用基于转子磁场定向的矢量控制永磁同步电机，并在此基础上融入基于id=0的矢量控制，并建立MATLAB仿真。

本仿真系统采用双闭环PI控制，id=0控制策略，PI控制，转速外环，d轴电流q轴电流内环，空间电压矢量调制方法。仿真结果表明该方法使得永磁同步电机具有较高的动静态性能，转速变化时转矩脉动较小，转矩变化时几乎没有转速脉动。能够达到水下无人航行器主推进器的相关要求。

毕业论文关键词：水下无人航行器、永磁同步电机、PI控制、id=0控制

Abstract    With the rapid development of science and technology, unmanned underwater vehicle technology has been an unprecedented development, its application increasingly attracted widespread attention, not only applied to survey the battlefield, attack military and other fields, but also in underwater survey, resource exploration and other civilian areas has been widely used in the future of underwater applications, underwater unmanned vehicles is well-deserved lead。

    Modern underwater unmanned vehicles requires a high autonomy, enabling autonomous navigation, remote control, precision operation, with a strong covert and tracking capabilities。 In addition, it can replace the human embodiment of high-intensity operations, high-risk environments, it has far-reaching significance and value of industrial applications。 Compact permanent magnet synchronous motor structure, easy to control, with high energy ratio and excellent dynamic and static performance。 Therefore, permanent magnet synchronous motor is one of the priority selection Underwater Unmanned Vehicle main propeller。

In order to improve the control performance of permanent magnet synchronous motor control system, so that the response speed becomes faster while the steady-state performance motion control is more precise, this paper based on vector control of PMSM rotor field orientation, and on this basis, based on vector control into the id = 0, and the establishment of MATLAB simulation。

The simulation system uses double-loop PI control, control strategy, PI control, speed outer ring, d-axis current q-axis current inner space vector modulation。 The simulation results show that this method makes the permanent magnet synchronous motor with high dynamic and static performance, speed changes when the torque ripple is small, almost no change in the speed torque ripple。 Able to meet the relevant requirements of Unmanned Underwater Vehicle main propeller。

Keywords: underwater unmanned vehicles, permanent magnet synchronous motor, PI control, id=0control。

目 录

第一章  绪论 1

1。1 水下无人航行器的发展 1

1。2 永磁同步电机的发展 1

1。3 永磁同步电机的结构和分类