水下机器人矢量推进装置液压系统参数优化设计

Optimal design of hydraulic system parameters for vector propeller in underwater robot

矢量推进装置能增加水下机器人在任意工况下的转向力和抗风浪摆荡能力。该装置采用3个并联液压回路驱动完成升降、回转和锁紧动作,为使液压系统能精准控制矢量推进装置,需要对其进行优化设计。液压系统元件参数采用遗传算法进行优化,可以同时进行多参数、多目标优化;液压PID控制参数采用克里金法进行优化,可以快速灵活地得到最优值,最后通过系统整体的软件仿真,验证参数优化结果的正确性。

Vector propeller can increase the steering force and oscillation ability for anti-wind and anti-wave of underwater machinery at any speed. The device uses three parallel hydraulic circuits to drive the lifting, rotating and locking operations. In order to make the hydraulic system control vector propeller precisely, the hydraulic parameters need to be optimized. Genetic algorithm is used to optimize the hydraulic system components′ parameters, which can optimize multi-parameters and multi-objectives at the same time; the parameters of hydraulic PID control is optimized by Kriging method, which can get the optimal value flexibly and quickly. Finally, the correctness of the optimization results is verified by the software simulation of the whole system.