船用蝶阀液动执行器的设计及控制研究

发布时间：2018-10-18 17:26

【摘要】：船用蝶阀液动执行器作为阀门驱动器中众多类型的一种,是驱动蝶阀的主要部件,其结构特性、响应速度及控制鲁棒性直接影响蝶阀的使用性能。因此,船用蝶阀液动执行器的设计及控制研究,对于保证船舶安全性及可靠性具有重要意义。本文以船用蝶阀液动执行器为研究对象,将直驱式容积控制、联合仿真及模糊控制策略相结合,实现对船用蝶阀液动执行器的结构优化设计及控制响应特性研究,深入探讨了执行器的关键元件参数和智能控制策略对液压缸位移响应时间的影响,具体研究工作如下:首先,针对船用蝶阀液动执行器的特殊工况,设计了执行器的液压回路系统及机械结构,确定了控制方式;并对其中的关键部件,如液压缸、伺服电机与液压泵进行了选型及设计,对集成液压阀块与液压管路进行了相应的研究;开发了船用蝶阀液动执行器的虚拟样机,并试制了物理样机。其次,在AMESim中建立了船用蝶阀液动执行器的仿真模型,对系统中元件参数的设置及控制策略进行了探讨,得出了影响液压缸位移响应时间的关键要素;由仿真结果表明:伺服电机转速、油液弹性模量、液压管路及液压泵转动惯量对执行器的位移响应特性都有一定的影响,根据该结果对执行器的参数进行了相应的调整优化,并通过实验证实了优化方法的可行性与合理性。最后,在AMESimMATLAB/Simlink的联合仿真平台下,搭建了船用蝶阀液动执行器的控制系统,分别采用无PID控制、常规PID控制及模糊控制三种控制方法,在输入多种不同的控制信号下,通过联合仿真比较这三种控制方法的优缺点。仿真结果表明:模糊控制与另两种控制方法相比较,对液动执行器的液压缸响应更加迅速,并能及时修正在控制过程中产生的误差量,所以模糊控制方法具有更好的鲁棒性。本文研究的液动执行器的控制系统采用了模糊控制方法,实现了对系统的智能控制。
[Abstract]:As one of many types of valve actuators, marine butterfly valve hydraulic actuator is the main component of butterfly valve drive. Its structure characteristics, response speed and control robustness directly affect the performance of butterfly valve. Therefore, the research on the design and control of the hydraulic actuator of the butterfly valve is of great significance to ensure the safety and reliability of the ship. This paper takes the marine butterfly valve hydraulic actuator as the research object, combines the direct drive volume control, the joint simulation and the fuzzy control strategy, realizes the structure optimization design and the control response characteristic research of the marine butterfly valve hydraulic actuator. The effects of key component parameters and intelligent control strategy of actuator on displacement response time of hydraulic cylinder are discussed in depth. The specific research work is as follows: firstly, in view of the special working conditions of the hydraulic actuator of marine butterfly valve, The hydraulic loop system and mechanical structure of actuator are designed, and the control mode is determined, and the key components, such as hydraulic cylinder, servo motor and hydraulic pump, are selected and designed. The integrated hydraulic valve block and hydraulic pipeline are studied, the virtual prototype of the hydraulic actuator of the butterfly valve is developed, and the physical prototype is trial-produced. Secondly, the simulation model of marine butterfly valve hydraulic actuator is established in AMESim, the setting of component parameters and control strategy in the system are discussed, and the key factors affecting the displacement response time of hydraulic cylinder are obtained. The simulation results show that the rotational speed of servo motor, the modulus of elasticity of oil, the moment of inertia of hydraulic pipe and hydraulic pump have certain influence on the displacement response characteristics of actuator. According to the result, the parameters of actuator are adjusted and optimized accordingly. The feasibility and rationality of the optimization method are verified by experiments. Finally, the control system of the marine butterfly valve hydraulic actuator is built on the platform of AMESimMATLAB/Simlink, which adopts three control methods: no PID control, conventional PID control and fuzzy control, under the input of many different control signals. The advantages and disadvantages of these three control methods are compared by joint simulation. The simulation results show that compared with the other two control methods, the fuzzy control can respond more quickly to the hydraulic cylinder of the hydraulic actuator, and can correct the error in the control process in time, so the fuzzy control method has better robustness. The control system of hydraulic actuator studied in this paper adopts fuzzy control method to realize the intelligent control of the system.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U664.84

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