摘要
为满足水下自治式航行器(AUV)运动模拟需求,设计1套远距离液压驱动控制的6自由度运动平台系统。在Simulink与AMESim环境中分别建立运动平台的数学模型和液压驱动控制系统仿真模型,开展了液压系统优选设计与控制方法研究。针对系统管路距离长、通径小的特点及设备体积小的需求,采用液压缸差动连接及在平台底座设置蓄能器的方式,降低系统流量需求并抑制管道中的液压冲击,有效缩小泵站设计尺寸。针对电液比例换向阀存在的阀芯死区/零偏、液压缸非对称性及时变负载等问题,采用一种变参数自适应补偿控制方法,实现6套液压控制回路的高精度协调运动。联合仿真及试验验证表明:液压控制系统的设计满足实际应用需要。
A remote hydraulic control system using a 6-DOF motion platform is designed to meet autonomous underwater vehicle(AUV)motion simulation requirements.The mathematical model of the motion platform and the simulation model of the hydraulic drive control system are established in Simulink and AMESim environments respectively,and the hydraulic system selection design and control methods are studied.For the long distance and small diameter of the pipelines and the need for small equipment size,the use of differential cylinders and the installation of accumulator at the base of the platform reduces the flow requirements of the system and suppresses hydraulic shocks in the pipeline,which effectively reduces the design size of the pumping station.To address the problems of spool deadband/zero deviation in electro-hydraulic proportional directional valves,asymmetries of hydraulic cylinders and time-varying loads,the control method of variable parameter adaptive compensation is used to achieve high precision coordinated motion of six hydraulic control circuits.Joint simulation and experimental verification show that the design of the hydraulic control system meets the needs of practical applications.
作者
宋师伟
关夏威
何景异
李维嘉
陈晨
SONG Shiwei;GUAN Xiawei;HE Jingyi;LI Weijia;CHEN Chen(School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;Wuhan Second Ship Design and Research Institute,Wuhan 430205,China)
出处
《机电设备》
2023年第2期38-44,共7页
Mechanical and Electrical Equipment
关键词
6自由度运动平台
液压控制系统
远距离管道
液压冲击
变参数自适应补偿
6-DOF motion platform
hydraulic control system
long range pipeline
hydraulic shock
variable parameter adaptive compensation
