Resumen
With the increasing use of electric propulsion ships, the emergence of the shaftless rim-driven thruster (RDT) as a revolutionary integrated motor thruster is gradually becoming an important development direction for green ships. The shaftless structure of RDTs leads to their dependence on position sensorless control techniques. In this study, a novel control algorithm using a composite sliding mode observer (SMO) with a modified feed-forward phase-locked loop (PLL) is presented for achieving high accuracy position and speed control of shaftless RDT motors. The deviation between the observed and actual currents is exploited to develop a current SMO to extract back electromotive force (back-EMF) errors. On this basis, a back-EMF observer is established to achieve accurate estimation of the back-EMF. The basic structure of the PLL was modified and incorporates a speed feedforward mechanism, which enhances the performance of rotor position estimation and facilitates bidirectional rotation. The stability of the algorithm has been verified in Matlab/Simulink for a range of steady-state, dynamic, and ship propeller loading conditions. Remarkably, the control algorithm boasts an impressive adjustment time of approximately 0.006 s and its position estimation error may be as low as 0.03 rad. Simulation results highlight the performance of the algorithm to achieve bidirectional rotation, while exhibiting fast convergence, minimal vibration, exceptional control accuracy, and robustness.