reinforcement learning, adaptive control, PMSM, swarm intelligence, Materials of engineering and construction. Mechanics of materials, TA401-492, Production of electric energy or power. Powerplants. Central stations, TK1001-1841

The X-ray defect detection system for weld seams in deep-sea manned spherical shells is nonlinear and complex, posing challenges such as motor parameter variations, external disturbances, coupling effects, and high-precision dual-motor coordination requirements. To address these challenges, this study proposes a deep reinforcement learning-based control scheme, leveraging DRL’s capabilities to optimize system performance. Specifically, the TD3 algorithm, featuring a dual-critic structure, is employed to enhance control precision within predefined state and action spaces. A composite reward mechanism is introduced to mitigate potential motor instability, while CP-MPA is utilized to optimize the performance of the proposed m-TD3 composite controller. Additionally, a synchronous collaborative motion compensator is developed to improve coordination accuracy between the dual motors. For practical implementation and validation, a PMSM simulation model is constructed in MATLAB/Simulink, serving as an interactive training platform for the DRL agent and facilitating efficient, robust training. The simulation results validate the effectiveness and superiority of the proposed optimization strategy, demonstrating its applicability and potential for precise and robust control in complex nonlinear defect detection systems.