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作业型ROV推进器动力学建模与响应分析
引用本文:李新飞,袁利毫,王宏伟.作业型ROV推进器动力学建模与响应分析[J].北京理工大学学报,2018,38(6):612-618.
作者姓名:李新飞  袁利毫  王宏伟
作者单位:哈尔滨工程大学 船舶工程学院,黑龙江,哈尔滨150001;哈尔滨工程大学 船舶工程学院,黑龙江,哈尔滨150001;哈尔滨工程大学 船舶工程学院,黑龙江,哈尔滨150001
基金项目:国家自然科学基金资助项目(51509046),国家重大科技专项资助项目(2016ZX05057020),面向国家重大需求培育计划资助项目(HEUCFP201603)
摘    要:为研究深海作业型遥控水下机器人(remotely operated vehicle,ROV)液压推进器控制系统的动力学响应特性,建立了一种考虑螺旋桨动态负载影响的伺服阀控制液压推进器动力学系统的数学模型,提出一种伺服阀控制液压推进器的马达流量、压力、扭矩、转速、螺旋桨转矩和推力的求解方法.通过数值仿真,分析了不同控制电压下伺服阀、液压马达和螺旋桨的动态响应过程及特点,建立了推力分配方法中推力简化约束模型,并得到了期望推力和推进器控制电压之间函数关系的数学模型.与推进器水池试验结果相比,本文仿真结果准确可信.这种完整和准确的液压推进器动力学系统的数学模型,对实际水下机器人和动力定位船舶的运动控制方法、推力分配策略及推进器控制的研究,具有一定的指导意义和工程价值. 

关 键 词:作业型ROV  推力分配  液压推进器  伺服阀  螺旋桨  动力学特性
收稿时间:2017/11/21 0:00:00

Modeling and Dynamics Analysis of Work-Class ROV Propeller
LI Xin-fei,YUAN Li-hao and WANG Hong-wei.Modeling and Dynamics Analysis of Work-Class ROV Propeller[J].Journal of Beijing Institute of Technology(Natural Science Edition),2018,38(6):612-618.
Authors:LI Xin-fei  YUAN Li-hao and WANG Hong-wei
Institution:College of Ship Engineering, Harbin Engineering University, Harbin, Heilongjiang 150001, China
Abstract:In order to study dynamic response characteristic of hydraulic propeller control system for a work-class ROV(remotely operated vehicle),a dynamic system model for hydraulic thruster controlled by a servo valve was constructed with respect to propeller dynamic load characteristics. A solution method for motor flow,motor pressure,motor speed,propeller torque and thruster was presented. The dynamic response characteristics of hydraulic propeller control system with different step control voltages were analyzed by numerical simulation,constructing a thrust constraint model in thrust allocation and obtaining the nonlinear function relationship between the control voltage and the expected thrust. Compared with tank test results of hydraulic propeller,the simulation results show the model is accurate and reliable for the analysis of motion control,thrust allocation and hydraulic propeller control of underwater vehicles and dynamic positioning ships.
Keywords:work-class ROV  thrust allocation  hydraulic thruster  servo valve  propeller  dynamic characteristics
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