Abstract With the consistent tendency of electrification and intelligentization of marine systems in recent years, the electric propulsion system has been a prospective candidate for ships due to its potential in energy saving, environmental protection, high efficiency, and high reliability. However, time-varying delays of communication networks would be induced due to increasing information exchange requirement that caused by the increasing number of devices connecting to the communication networks as well as bandwidth limitation of marine network. Meanwhile, the propeller load is difficult to model due to the complexity of ship dynamics, which increases the uncertainty of marine electric propulsion system. Thus, robust control of the marine electric propulsion system is necessary and challenging. This paper presents a mixed H ∞ ∕ L Q R robust controller design for marine electric propulsion system to address robust speed tracking problem under possible network-induced delays. The propeller dynamic model is built via open-water experimental data to reflect propeller load characteristics. Then, a delay-free model is established for the marine electric propulsion system by using system augmentation technique, with the random network-induced delay characterized by polytopic inclusions and Taylor series expansion. A mixed H ∞ ∕ L Q R robust controller design is proposed for the marine electric propulsion system. Finally, based on a detailed controller area network model, the performance and effectiveness of the mixed H ∞ ∕ L Q R robust controller are demonstrated by comparative simulation tests of a marine electric propulsion system with 4.088 MW permanent magnet synchronous motor (PMSM).

中文翻译：

---

基于控制器局域网的船舶电力推进系统鲁棒控制器设计

摘要 随着近年来船舶系统电气化、智能化的持续趋势，电力推进系统以其节能、环保、高效、高可靠性等潜力成为船舶的潜在候选。然而，由于连接到通信网络的设备数量的增加以及海洋网络的带宽限制引起的信息交换需求的增加，将导致通信网络的时变延迟。同时，由于船舶动力学复杂，螺旋桨载荷难以建模，增加了船用电力推进系统的不确定性。因此，对船用电力推进系统的稳健控制是必要且具有挑战性的。本文提出了一种用于船用电力推进系统的混合 H ∞ ∕ LQR 鲁棒控制器设计，以解决在可能的网络引起的延迟下的鲁棒速度跟踪问题。通过开放水域实验数据建立螺旋桨动力学模型，以反映螺旋桨载荷特性。然后，利用系统增强技术建立了船用电力推进系统的无延迟模型，随机网络引起的延迟以多面体包裹体和泰勒级数展开为特征。针对船舶电力推进系统提出了一种混合 H ∞ ∕ LQR 鲁棒控制器设计。最后，基于详细的控制器局域网模型，通过与 4.0 的船舶电力推进系统的对比仿真测试，证明了混合 H ∞ ∕ LQR 鲁棒控制器的性能和有效性。