Constrained generalized predictive control for propulsion motor of autonomous underwater vehicle

In order to suppress the effect of near-surface autonomous underwater vehicles (AUV) propulsion motor torque ripple caused by marine environment change, generalized predictive control (GPC) is used to deal with brushless DC motor speed control in this paper. Due to the complicated working environment and load characteristics of propeller, in practice, the motor can only work in a certain performance range. So the CARIMA model was established, and an improved algorithm considering the input constraints across short control horizon was proposed. Meanwhile error correction part was added. Simulations were made for dynamic propeller load of near-surface-sailing AUV. The simulation results show that the amount of constrained optimized calculation can be effectively reduced by the improved GPC algorithm considering the constraints. The dynamical performance and robustness can also be improved, and the energy consumption can be effectively reduced.