动力定位船矢量推进器回转动力学响应分析

为研究全回转矢量推进器回转动力学系统的响应特性，对瓦锡兰某型矢量推进器的液压回转系统的组成进行深入分析，研究了泵控液压马达驱动齿轮减速机构带动推进器进行回转的工作原理，建立了矢量推进器回转动力学系统的数学模型，提出了一种全回转矢量推进器实现目标方位角快速跟踪的改进控制方法，构建了一种矢量推进器回转动力学异步控制频率仿真系统，分析了不同目标方位角时推进器的方位角、角速度、液压系统的动态响应特性，建立了矢量推进器回转响应的物理约束条件.仿真结果表明，建立的动力学模型可模拟真实矢量推进器的回转运动响应过程，同时可实现矢量推进器回转方位角的快速、准确控制，对全回转矢量推进器和动力定位船舶推力分配方法的研究具有较重要的指导意义和工程价值. 

Dynamic Response Characteristics of Hydraulic Rotary System for Azimuth Thruster of Dynamic Positioning Ship

In order to study dynamic response characteristics of hydraulic rotary system for azimuth vector thrusters,the composition and working principle of an azimuth thruster were analyzed,studying the pumping-controlled hydraulic motor drive gear reduction mechanism. A mathematical model was established for the rotary dynamics system of vector thrusters. An improved control method was proposed for the vector thrusters to achieve a desired azimuth angle tracking. An asynchronous control frequency simulation system was established for the vector thrusters to analyze the azimuth angle,angular velocity and the dynamic response characteristics of hydraulic rotary system under different azimuth angle. Based on the simulation analysis,the physical constraints of the rotary response were established for the vector thrusters. Simulation results show that,the proposed dynamic model can realistically simulate the dynamic characteristics of azimuth dynamics,and can achieve fast and accurate control of the azimuth angle. Compared with the actual propeller response parameters,the efficiency of the rotary control of an azimuth thruster is improved,and the research on thrust allocation method of dynamic positioning ships and the control of azimuth thrusters has important theoretical significance and engineering value.