A Review of Electric Motor and Control Technology for Rim-Driven Thruster
Yang Zhi1, Yan Xinping1,2, Ouyang Wu1,2, Bai Hongfen1,3
1. Reliability Engineering Institute School of Energy and Power Engineering Wuhan University of Technology Wuhan 430063 China; 2. National Engineering Research Center for Water Transport Safety Wuhan 430063 China; 3. Key Laboratory of Marine Technology and Control Engineering Shanghai Maritime University Shanghai 201306 China
Abstract：The rim-driven thruster (RDT) is an advanced electric direct-drive ship propulsion, which has remarkable advantages such as high power density, high maneuverability, vibration and noise reduction, energy saving and environmental protection, etc. Compared with the motor system used on land, the RDT motor system immersed in water faces some problems, such as large motor air gap, performance restricted by flow field, difficult to install position sensor, and complex relationship between motor control and navigation control, and so on. Based on the working characteristics of RDT, the research status of RDT drive motor type, sensorless control method of drive motor, RDT full rotation control method and multi-RDT cooperative control method were analyzed, and the problems to be solved and future research directions were pointed out.
杨植, 严新平, 欧阳武, 白洪芬. 船舶轮缘推进装置驱动电机及控制方法研究进展[J]. 电工技术学报, 2022, 37(12): 2949-2960.
Yang Zhi, Yan Xinping, Ouyang Wu, Bai Hongfen. A Review of Electric Motor and Control Technology for Rim-Driven Thruster. Transactions of China Electrotechnical Society, 2022, 37(12): 2949-2960.
[1] Yan Xinping, Liang Xingxin, Ouyang Wu, et al.A review of progress and applications of ship shaft-less rim-driven thrusters[J]. Ocean Engineering, 2017, 144: 142-156. [2] 谈微中, 严新平, 刘正林, 等. 无轴轮缘推进系统的研究现状与展望[J]. 武汉理工大学学报(交通科学与工程版), 2015, 39(3): 601-605. Tan Weizhong, Yan Xinping, Liu Zhenglin, et al.Technology development and prospect of shaftless rim-driven propulsion system[J]. Journal of Wuhan University of Technology (Transportation Science & Engineering), 2015, 39(3): 601-605. [3] Kort L.Elektrisch angertriebene schiffsschraube. DE 688114[P]. 1940. [4] Dubas A.Robust automated computational fluid dynamics analysis and design optimisation of rim driven thrusters[D]. UK: University of Southampton, 2014. [5] Cao Qingming, Hong Fangwen, Tang Denghai, et al.Prediction of loading distribution and hydrodynamic measurements for propeller blades in a rim driven thruster[J]. Journal of Hydrodynamics, 2012, 24(1): 50-57. [6] 汪勇, 李庆. 新型集成电机推进器设计研究[J]. 中国舰船研究, 2011, 6(1): 82-85. Wang Yong, Li Qing.Design of a new integrated motor propulsion system[J]. Chinese Journal of Ship Research, 2011, 6(1): 82-85. [7] Shen Yang, Hu Pengfei, Jin Shuanbao, et al.Design of novel shaftless pump-jet propulsor for multi-purpose long-range and high-speed autonomous underwater vehicle[J]. IEEE Transactions on Mag-netics, 2016, 52(7): 1-4. [8] Lan Jiafen, Yan Xinping, Ouyang Wu, et al.Study on hydrodynamic performance of hubless rim-driven propulsors with variable parameters[C]//International Conference on Transportation Information and Safety, Banff, Canada, 2017: 117-122. [9] 严新平, 欧阳武, 刘正林, 等.对转无轴轮缘驱动推进器. CN 105109650 A[P]. 2015. [10] Cheng Bo, Pan Guang, Cao Yali.Analytical design of the integrated motor used in a hubless rim-driven propulsor[J]. IET Electric Power Applications, 2018, 13(9): 1255-1262. [11] 杜广义. 轮缘驱动推进器水动力性能研究[D]. 哈尔滨: 哈尔滨工程大学, 2017. [12] Hsieh M, Chen J, Yeh Y, et al.Integrated design and realization of a hubless rim-driven thruster[C]//The 33rd Annual Conference of the IEEE Industrial Electronics Society, Taiwan, 2007: 3033-3038. [13] 徐松, 黄元峰, 马鹏飞, 等. 轮缘驱动潮流能发电机关键参数设计分析及运行特性研究[J]. 中国电机工程学报, 2019, 39(8): 2449-2459. Xu Song, Huang Yuanfeng, Ma Pengfei, et al.Key parameter design and operation characteristic research of rim-driven marine current generators[J]. Pro-ceedings of the CSEE, 2019, 39(8): 2449-2459. [14] 陈珂, 杨显照, 李燚航, 等. 无轴轮缘推进器内置电机防护材料与防护工艺综述[J]. 微特电机, 2016, 44(7): 83-87. Chen Ke, Yang Xianzhao, Li Yihang, et al.An overview on the protective material and its anti-corrosion technique of built-in motors with shaftless rim-driven thrusters[J]. Small & Special Electrical Machines, 2016, 44(7): 83-87. [15] 马伟明, 王东, 程思为, 等. 高性能电机系统的共性基础科学问题与技术发展前沿[J]. 中国电机工程学报, 2016, 36(8): 2025-2034. Ma Weiming, Wang Dong, Cheng Siwei, et al.Common basic scientific problems and development of leading-edge technology of high performance motor system[J]. Proceedings of the CSEE, 2016, 36(8): 2025-2034. [16] 吕英俊, 黄旭, 苏涛, 等. 感应电动机无速度传感器矢量控制系统极低速性能研究[J]. 中国电机工程学报, 2020, 40(4): 1320-1328. Lü Yingjun, Huang Xu, Su Tao, et al.Very low speed performance research of the speed-sensorless vector controlled induction motor drive system[J]. Pro-ceedings of the CSEE, 2020, 40(4): 1320-1328. [17] Brown D W, Repp J R, Taylor O S.Submersible outboard electric motor/propulsor[J]. Naval Engineers Journal, 1989, 101(5): 44-52. [18] Richardson K M, Pollock C, Flower J O.Design of a switched reluctance sector motor for an integrated motor/propeller unit[C]//International Conference on Electrical Machines & Drives, Durham, UK, 1995: 271-275. [19] Sharkh S M, Lai S H, Turnock S R.Structurally integrated brushless pm motor for miniature propeller thrusters[J]. IEE Proceedings-Electric Power Appli-cations, 2004, 151(5): 513-519. [20] Dubas A J, Bressloff N W, Sharkh S M.Numerical modelling of rotor-stator interaction in rim driven thrusters[J]. Ocean Engineering, 2015, 106: 281-288. [21] Hassannia A, Darabi A.Design and performance analysis of superconducting rim-driven synchronous motors for marine propulsion[J]. IEEE Transactions on Applied Superconductivity, 2014, 24(1): 40-46. [22] Krovel O.Design of large permanent magnetized synchronous electric machines[D]. Norway: Norwegian University of Science and Technology, 2011. [23] 白洪芬, 朱景伟, 秦俊峰. 改进滑模观测器在船舶电力推进PMSM无位置控制中的应用[J]. 中国航海, 2015, 38(4): 22-25. Bai Hongfen, Zhu Jingwei, Qin Junfeng.Improved SMO based sensorless PMSM vector control in ship electric propulsion system[J]. Navigation of China, 2015, 38(4): 22-25. [24] 王东, 靳栓宝, 魏应三, 等. 集成电机推进装置应用综述[J]. 中国电机工程学报, 2020, 40(11): 3654-3663. Wang Dong, Jin Shuanbao, Wei Yingsan, et al.Review on the integrated electric propulsion system configuration and its applications[J]. Proceedings of the CSEE, 2020, 40(11): 3654-3663. [25] 陈闯, 王勃, 于泳, 等. 基于改进指数趋近律的感应电机滑模转速观测器研究[J]. 电工技术学报, 2020, 35(增刊1): 155-163. Chen Chuang, Wang Bo, Yu Yong, et al.An improved exponential reaching law based-sliding mode observer for speed-sensorless induction motor drives[J]. Transa-ctions of China Electrotechnical Society, 2020, 35(S1): 155-163. [26] 陶彩霞, 赵凯旋, 牛青. 考虑滑模抖振的永磁同步电机模糊超螺旋滑模观测器[J]. 电力系统保护与控制, 2019, 47(23): 11-18. Tao Caixia, Zhao Kaixuan, Niu Qing, et al.Fuzzy super-spiral sliding mode observer for permanent magnet synchronous motor considering sliding mode buffeting[J]. Power System Protection and Control, 2019, 47(23): 11-18. [27] 刘计龙, 肖飞, 麦志勤, 等. IF控制结合滑模观测器的永磁同步电机无位置传感器复合控制策略[J]. 电工技术学报, 2018, 33(4): 919-929. Liu Jilong, Xiao Fei, Mai Zhiqin, et al.Hybrid position-sensorless control scheme for PMSM based on combination of IF control and sliding mode observer[J]. Transactions of China Electrotechnical Society, 2017, 32(4): 919-929. [28] 梁戈, 黄守道, 李梦迪, 等. 基于高阶快速终端滑模扰动观测器的永磁同步电机机械参数辨识[J]. 电工技术学报, 2020, 35(增刊2): 395-403. Liang Ge, Huang Shoudao, Li Mengdi, et al.A high-order fast terminal sliding-mode disturbance observer based on mechanical parameter identi-fication for PMSM[J]. Transactions of China Elec-trotechnical Society, 2020, 35(S2): 395-403. [29] Yin Zhonggang, Gao Fengtao, Zhang Yanqing, et al.A review of nonlinear Kalman filter appling to sensorless control for AC motor drives[J]. CES Transactions on Electrical Machines and Systems, 2019, 3(4): 351-362. [30] 吴春, 陈科, 南余荣, 等. 考虑交叉饱和效应的变角度方波电压注入永磁同步电机无位置传感器控制[J]. 电工技术学报, 2020, 35(22): 4678-4687. Wu Chun, Chen Ke, Nan Yurong, et al.Variable angle square-wave voltage injection for sensorless control of PMSM considering cross-saturation effect[J]. Transactions of China Electrotechnical Society, 2020, 35(22): 4678-4687. [31] Kim S I, Im J H, Song E Y, et al.A new rotor position estimation method of IPMSM using all-pass filter on high-frequency rotating voltage signal injection[J]. IEEE Transactions on Industrial Electronics, 2016, 63(10): 6499-6509. [32] 杜博超, 崔淑梅, 宋立伟, 等. 一种基于变频电流信号的IPMSM无位置传感器高频注入电流噪声抑制方法[J]. 电工技术学报, 2020, 35(18): 3830-3837. Du Bochao, Cui Shumei, Song Liwei, et al.A variable frequency current injection sensorless control strategy of IPMSM for audible noise reduction[J]. Transa-ctions of China Electrotechnical Society, 2020, 35(18): 3830-3837. [33] 王爽, 曹栋逸, 杨影, 等. 正负高频脉冲电压注入的永磁同步电机无位置传感器控制[J]. 电工技术学报, 2020, 35(增刊1): 164-171. Wang Shuang, Cao Dongyi, Yang Ying, et al.Sensor-less control of PMSM with positive and negative high frequency pulse voltage signal injection[J]. Transa-ctions of China Electrotechnical Society, 2020, 35(S1): 164-171. [34] 刘计龙, 肖飞, 沈洋, 等. 永磁同步电机无位置传感器控制技术研究综述[J]. 电工技术学报, 2017, 32(16): 76-88. Liu Jilong, Xiao Fei, Shen Yang, et al.Position-sensorless control technology of permanent-magnet synchronous motor-a review[J]. Transactions of China Electrotechnical Society, 2017, 32(16): 76-88. [35] 王子辉. 永磁同步电机全速度范围无位置传感器控制策略研究[D]. 杭州: 浙江大学, 2012. [36] Shin N, Yuya I, Ichiro M.Sensorless initial rotor position estimation of surface permanent-magnet synchronous motor[J]. IEEE Transactions on Industry Applications, 2000, 36(6): 1598-1603. [37] Gong L M, Zhu Z Q.Robust initial rotor position estimation of permanent-magnet brushless AC machines with carrier-signal-injection-based sensorless control[J]. IEEE Transactions on Industry Applications, 2013, 49(6): 2602-2609. [38] 刘颖, 周波, 李帅, 等. 转子磁钢表贴式永磁同步电机转子初始位置检测[J]. 中国电机工程学报, 2011, 31(18): 48-54. Liu Ying, Zhou Bo, Li Shuai, et al.Initial rotor position detection of surface mounted permanent magnet synchronous motor[J]. Proceedings of the CSEE, 2011, 31(18): 48-54. [39] Andreescu G D, Pitic C I, Blaabjerg F, et al.Com-bined flux observer with signal injection enhancement for wide speed range sensorless direct torque control of ipmsm drives[J]. IEEE Transactions on Energy Conversion, 2008, 23(2): 393-402. [40] Batzel T D, Thivierge D P, Lee K Y.Application of sensorless electric drive to unmanned undersea vehicle propulsion[J]. IFAC Proceedings Volumes, 2002, 35(1): 307-312. [41] 叶雨涵. 无毂环驱式推进器之整合设计与实现[D]. 台湾: 台湾成功大学, 2008. [42] 戴晶. 船舶全回转推进装置智能控制技术研究[D]. 北京: 中国舰船研究院, 2012. [43] 梁海志, 欧进萍. 半潜式平台动力定位系统控制力动态约束分配法[J]. 海洋工程, 2012, 30(1): 33-39. Liang Haizhi, Ou Jinping.Dynamic positioning system thrust allocation algorithm with dynamical thrust constrains of semisubmersible platform[J]. The Ocean Engineering, 2012, 30(1): 33-39. [44] 马闯, 巫庆辉, 侯元祥, 等. 多电机协同控制策略比较研究[J]. 渤海大学学报(自然科学版), 2019, 40(2): 186-192. Ma Chuang, Wu Qinghui, Hou Yuanxiang, et al.Comparative study of multi motor cooperative control strategy[J]. Journal of Bohai University (Natural Science Edition), 2019, 40(2): 186-192. [45] 郑荣才, 宋健力, 黎琼, 等. 船舶动力定位系统[J]. 中国惯性技术学报, 2013, 21(4): 495-499. Zheng Rongcai, Song Jianli, Li Qiong, et al.Dynamic positioning system of ship[J]. Journal of Chinese Inertial Technology, 2013, 21(4): 495-499.
2022, Vol. 37 
