• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (14): 187-194.doi: 10.3901/JME.2017.14.187

• 交叉与前沿 • 上一篇    下一篇

比例减压阀控桨系统的模型线性化及稳定性分析

周锋1,2, 顾临怡1, 陈宗恒3   

  1. 1. 浙江大学流体动力与机电系统国家重点实验室 杭州 310027;
    2. 杭州宇控机电工程有限公司 杭州 310011;
    3. 广州海洋地质调查局 广州 510760
  • 收稿日期:2016-08-28 修回日期:2016-12-06 出版日期:2017-07-20 发布日期:2017-07-20
  • 通讯作者: 顾临怡(通信作者),男,1973年出生,博士,教授。主要研究方向为液压系统控制、水下机器人和作业工具。E-mail:lygu@zju.edu.cn
  • 作者简介:周锋,男,1987年出生,博士,工程师。主要研究方向为水下机器人和液压系统控制。E-mail:madzf@163.com
  • 基金资助:
    国家高技术研究发展计划资助项目(863计划,2008AA092301)。

Model Linearization and Stability Analysis of Thruster System Controlled by Proportional Pressure Reducing Valves

ZHOU Feng1,2, GU Linyi1, CHEN Zongheng3   

  1. 1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027;
    2. Hangzhou Universal Control Mechatronical Engineering Co., Ltd., Hangzhou 310011;
    3. Guangzhou Marine Geological Survey, Guangzhou 510760
  • Received:2016-08-28 Revised:2016-12-06 Online:2017-07-20 Published:2017-07-20

摘要: 三通式比例减压阀因其较高的性价比和易维护性而成功应用于水下远程遥控机器人的螺旋桨推进器控制。然而三通比例减压阀内部压力反馈结构复杂,存在死区和液动力等非线性因素,易受螺旋桨负载特性影响而引起压力振荡。根据主阀力平衡方程、压力流量方程和螺旋桨负载特性建立系统数学模型,并在减压阀的稳态工作点附近进行模型线性化,通过开环伯德图和闭环频响曲线分析特征参数对阀稳定性的影响。理论分析和试验结果表明,增加阀口流量压力系数和马达泄漏系数可有效提高负载环节阻尼比和稳定裕量,系统稳定性得到显著改善。

关键词: 比例减压阀, 稳定性, 稳定裕量, 线性化, 阻尼比

Abstract: The 3-way proportional pressure reducing valves are successfully applied to the thruster control of remotely operated vehicle because of their high cost performance and easy maintenance. However the pressure feedback structure of a proportional pressure reducing valve has nonlinear factors such as dead zone and flow force, and it will cause pressure vibration by thruster load characteristics. In order to improve the stability of the pressure reducing valve control system, it is necessary to analyze the working principle of the pressure feedback system and study the influence of the hydraulic characteristic parameters on the stability. The valve model is set up according to the force balance equation of main valve spool, the load characteristics of the propeller and the flow equation. The mode is linearized near the valve operation point and the system parameters which may influence the valve stability are analyzed by open-loop bode diagram and closed-loop frequency response curve. Both the theoretical analysis and the experiment results indicate that the increase of valve flow-pressure coefficient and motor leakage coefficient will increase the damping ratio of the load sector and stability margin which will improve the system stability effectively.

Key words: damping ratio, linearization, proportional pressure reducing valves, stability, stability margin

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