【作者】 苏文海；

【导师】 姜继海；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2009， 博士

【摘要】 舵机是舰船最重要的辅机之一,是操纵舰船航向、保障舰船安全和航行性能的关键设备。其中转叶舵机由于具有结构紧凑、安装简便、机械效率高、噪音小等优点,在舰船上得到日益广泛的应用。现有转叶舵机需要泵站系统为其提供动力,因而管路多,体积大,且控制系统复杂,容易发生故障,难以满足现代舰船对舵机越来越高的要求。本文设计的新型转叶舵机原理样机——直驱式电液伺服转叶舵机是融合交流伺服技术控制灵活与液压系统大出力的特点,并结合转叶舵机的技术优势,摒弃了容易发生故障的电液伺服阀和变量泵,通过直接控制定量泵的转动方向、转速和运转时间来调整舵机的运转方向、速度和舵位。直驱式电液伺服转叶舵机具有集成度高、结构紧凑、占地面积小、控制简单灵活等特点,有效地提高了舰船的操纵性。直驱式电液伺服转叶舵机无节流损失和溢流损失,节能高效,是一种极具发展前景的舵机型式。在查阅大量国内外有关文献的基础上,概述了舵机的发展历程,重点介绍了转叶舵机的特点和国内外研究概况;对泵控和阀控两种传统舵机驱动形式的特点和弊端进行了阐述,进而提出直驱式电液伺服转叶舵机的技术方案;综述了国内外对直驱式电液伺服技术的研究现状,指出了直驱式电液伺服转叶舵机的特点和关键技术。采用基于协同进化微粒群算法的约束优化方法对转叶马达的几何参数进行优化设计,减轻转叶马达的质量和体积。分析了现有转叶舵机上广泛使用的铸铁密封技术的特点,应用流固耦合理论对转叶马达的密封结构、表面质量等因素对转叶马达密封性能的影响进行了研究,提出并验证了一种可自动补偿的复合动压金属条密封形式,有效地提高了转叶舵机的密封能力。提出直驱式电液伺服动力源的结构组成及设计方法,分析各组成部分的功能特点,考虑功率匹配和负载匹配的原则下进行动力源元件的选型并对直驱式电液伺服动力源进行集成化设计。从噪声产生的机理上对直驱式电液伺服动力源噪声的根源进行分析,找出直驱式电液伺服动力源噪声的主要成因,进而提出一种基于强制补油阀和密闭压力油罐的无动力补油方案,并通过非线性有限元分析软件进行仿真分析和计算,确定无动力补油方案的关键参数。建立了直驱式电液伺服转叶舵机的数学模型,确定系统的阶数,在此基础上提出一种基于遗传蚁群算法的辨识方法对系统模型参数进行辨识,并用实测的输入输出信号进行了验证,数据拟合率达到75%以上,验证了辨识出的模型参数的合理性。根据直驱式电液伺服转叶舵机的结构特点和技术指标要求设计出QFT-LTOC鲁棒控制器,结合直驱式电液伺服转叶舵机的辨识模型对舵机的控制性能进行了仿真研究,结果表明,QFT-LTOC鲁棒控制器能够补偿动力机构非对称性、系统参数不确定性对系统控制精度的影响并抑制外负载干扰对系统性能的影响,具有较强的鲁棒稳定性。研制出直驱式电液伺服转叶舵机原理样机及其加载装置,对本文相关的研究内容进行试验研究,并对试验结果进行分析。结果表明,直驱式电液伺服转叶舵机完全可以满足舵机规范的要求,同时验证了所设计的直驱式电液伺服转叶舵机设计方案和基于参数辨识数学模型的QFT-LTOC鲁棒控制器的正确性。更多还原

【Abstract】 Steering gear is one of the most important marine auxiliary machineries and it is the key equipment for controlling ship course, ensuring navigation security and maneuverability. The prototype of new highly reliable steering gear is designed by HIT to improve steering gear’s reliability, reduce its moss and occupied and enhance maneuverability of ships. In direct drive volume control (DDVC) electro-hydraulic servo rotary vane steering gear, variable displacement pump and proportional are replaced by converter motor and fixed pump. Changing the rotating direction, rotating speed and runtime of the converter motor can control the moving direction, velocity and position of the rudderpost. The DDVC electro-hydraulic servo steering gear is discarded pumping station and pipelines, it has fewer control components, energy saving, more compact structure, higher reliability and controllability than traditional rotary vane steering gear. it is capable both advantages of AC servo system’s flexibility and of hydraulic great force., so the DDVC electro-hydraulic servo steering gear has a great prospect in steering gear field.After synthesizing numerously relevant literatures and reference material at home and abroad, the steering gear development at home and abroad is summarized and rotary vane steering gear characteristics and research surveys are especially introduced. Compared the advantage and disadvantage of the traditional bump control system and valve control system for steering gear, structure composition of direct drive electro-hydraulic serve rotary vane steering gear is put forward to solve the flaws of traditional steering gear. Current trend of research on direct drive volume control electro-hydraulic servo technology is reviewed and characteristics and key techniques of direct drive volume control electro-hydraulic servo rotary vane steering gear are point out.Constrained optimization method based on co-evolutionary particle swarm optimization algorithm is put forward to optimize geometric parameters of rotary motor, reduce the moss and then to improve maneuverability of warship. Fluid-Structure Interaction vibration analysis of the sealing performance of rotary vane motor by structure of motor, sealing material, sealing structure, sealing medium and oil pressure is made, A complex pressure metal seal with ability of automatic compensation is proposed and verified that it can enhance the sealing ability of rotary vane steering gear.Structure composition and design method of direct drive volume control electro-hydraulic servo power source is given and the functional characteristics are analyzed. Component of power source is selected by conceding power matching and load matching. Integrated design of power source is done. The author analyses the noise source of power source, then points out that the major reason of power source noise is the cavitation noise when bubbles which grew out by insufficient self-suction capacity of fixed displacement pump braked in high pressure area, and then points out the no-power fill oil scheme based on compulsive fill oil valve and closure pressure oil tank. The simulation analysis and calculation of scheme is given by using ADINA and the key parameters of scheme are determined.The mathematical model of direct drive volume control electro-hydraulic servo rotary vane steering gear is established, and the exponent number of model is determined. the identification method based on genetic ant colony algorithm(GAC) is extracted. The identification experiment for direct drive volume control electro-hydraulic servo rotary vane steering gear is done synchronously by using GAC identification method. The model outputs are compared with the real system outputs under the effect of the same input validating data, and the validating results show that the close ratio is over 75%, which proves that the model parameters identified are reasonable.Based on the designing performance index of steering gear and the identified mathematical model of the direct drive volume control electro-hydraulic servo rotary vane steering gear, QFT-LTOC robust controller is designed. The simulation researches are done for the controller designed. Research results show that the controller can compensate perfectly the asymmetrical characteristic of actuating unit, and has the resistibility of load torque disturb and the strong robustness for time-varying parameters and probabilistic characteristics.The principle prototype of direct drive volume control electro-hydraulic servo rotary vane steering gear and its loading device were made. Then the experimental research was done using this experiment system. The experimental results shown that the direct drive volume control electro-hydraulic servo rotary vane steering gear meets standard requirements for hydraulic steering gears well, as the same time, the validity of direct drive volume control electro-hydraulic servo rotary vane steering gear’s Design Scheme is verified and QFT-LTOC robust controller based on Identified mathematical model is quite effective.更多还原