Anti-Detection Simulation Study in Thruster Motor System of Underwater Robot Based on Anti-Control of Chaos

摘要

Using chaotic anti-control technology to solve the unique noise generated by ocean reconnaissance robot was proposed in this paper in order to improve robot concealment. The mathematical model of ocean reconnaissance robot which thruster device is used as permanent magnet brushless DC motor was transformed in favor of chaotic anti-control study. On this basis, applied time-delay state variable feedback exact linearization method to chaotic thruster device. So the strange attractor of thruster device changed by changing the anti-control controller parameters according to actual situation. Finally, the anti-control controller was designed and verified by computer simulation. The simulation results show that the electromagnetic torque of thruster system can be chaotication under the condition of ocean reconnaissance robot normal running using time delayed state variable feedback exact linearization method. So the electromagnetic torque chaos lead to the shaft vibration changed, and the noise of propeller unique voiceprint characteristic is changed also. As a result, achieve the purpose of confusing the enemy.