• CN: 11-2187/TH
  • ISSN: 0577-6686

Journal of Mechanical Engineering ›› 2017, Vol. 53 ›› Issue (14): 187-194.doi: 10.3901/JME.2017.14.187

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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

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

CLC Number: