直驱式船舶舵机系统的低速特性建模与仿真

Modeling and Simulation of Low Velocity Characteristics of Marine Rudder System Applied to Direct Drive Volume Control

船舶舵机系统是重要的船舶操纵设备,它的性能直接影响船舶的稳定性和安全性。采用直驱式容积控制(DDVC)技术,克服传统液压舵机系统效率低、噪声大的缺点,设计了高性能舵机液压系统。针对在低速情况下,直驱式舵机系统所受的摩擦干扰、容积和机械损失、转矩干扰,建立了直驱式船舶舵机系统模型,并且基于AMESim/Simulink的联合仿真对该系统在理想状态和低速状态下的特性进行分析。结果表明:系统中的摩擦、转矩干扰等非线性因素导致直驱式舵机低速运动时出现了爬行和死区现象,严重影响了系统运动的平稳性,需要通过相应的摩擦补偿控制来消除或减小其对低速性能的影响。

The marine rudder system is one of the important ship manipulative equipments, and the ship＇s stability and safety are influenced by its performance directly. The direct drive volume control （DDVC） technology was used to overcome the disadvantages of the low efficiency and the noise of the traditional hydraulic servo system. Aimed at the performance of the direct drive volume control system in low velocity, which is affected by the friction disturbance, the volume and mechanical loss, and the torque disturbance, a model of DDVC system was established. Also the co-simulation based on AMESim/Simulink of the DDVC system under ideal conditions and low status was established to analyze the low velocity characteristics, which shows the impact of these factors on system performance. It＇s illustrated by simulations that the creeping and dead zone owing to the nonlinear factors affect the motion stability. The low velocity characteristics is improved by the relevant friction compensation control to diminish or eliminate the nonlinear impact.