Multi-motor underwater coordinated control system based on virtual spindle

In order to solve the problem of low control accuracy and slow dynamic response caused by the unbalanced motor load under complex disturbance when the underwater vehicle driven by dual motors is moving underwater, the underwater dual motor control strategy of virtual spindle control is given. First, establish the relationship between the underwater dynamic model and the motion model and the torque variable generated in the motor control process. Then combined fuzzy control and fractional PID algorithm to construct a FFO(fuzzy fractional-order) PID controller, and establish a FFO PID dual-motor synchronization control scheme based on virtual spindle synchronization control strategy to improve the motor coordinated control ability in response to changing loads. Finally, the underwater dynamic balance control is completed, and the underwater coordinated control of dual motors is realized. The simulation results show that, compared with the traditional integer-order PID, this control strategy can improve the system control performance and is more robust.