深海伺服阀控缸系统研究

发布时间：2018-03-07 20:06

本文选题：水下液压系统　切入点：深海阀控缸系统　出处：《东北大学》2011年硕士论文　论文类型：学位论文

【摘要】：海洋蕴藏着数倍于陆地的巨大资源,随着国家对海洋探索及海底资源开发的深入,越来越多的海底装备将会应用其中。由于液压系统独有的优势,使其大量应用于海底装备中,提供动力支持。但目前水下液压系统的应用主要集中在浅海,对于深海领域,尤其在水深2000m以下,还处于试验探索阶段。本课题对深海伺服阀控缸系统特性进行探索研究分析,从而获得深海条件对液压系统工作特性的影响因素及其造成系统特性变化的趋势。首先,本课题对水下液压系统进行了全面的介绍,对其关键技术进行阐述。压力补偿器的运用在一定程度上解决了水下液压系统在深海条件下的压力补偿和容积补偿的问题。但高压补偿会使油液的特性发生变化,因此本课题接着对深海条件下油液特性的变化规律做了进一步的研究。其次,以水下机械手单关节液压缸控制为基础,对阀控缸液压系统重要环节分别进行建模分析,从而得到高阶电液伺服阀数学模型及整个水下伺服阀控缸系统数学模型。然后,利用仿真软件对电液伺服阀建立仿真模型,并以选用伺服阀的高阶数学模型参数为基础进行仿真分析,通过对比不同深度下伺服阀的仿真结果,确定深海条件油液特性变化对伺服阀特性的影响。最后,以某研究所水下机械手单关节液压缸为基础,设计水下阀控缸系统,并计算出深海条件不同深度下系统相关仿真参数的变化。建立深海阀控缸系统仿真模型,对不同深度的动态仿真结果进行对比分析,得出深海条件下阀控缸系统工作特性的变化趋势。
[Abstract]:The ocean contains enormous resources several times as much as land. With the development of ocean exploration and seabed resources, more and more submarine equipment will be applied. Because of the unique advantages of hydraulic system, it will be used in large quantities in submarine equipment. But at present, the application of underwater hydraulic system is mainly concentrated in shallow water, especially in the water depth below 2000m, it is still in the stage of experiment and exploration. This subject explores and analyzes the characteristics of deep-sea servo valve cylinder control system. The influence factors of deep-sea conditions on the working characteristics of hydraulic system and the tendency of system characteristics change are obtained. First of all, the subject of the underwater hydraulic system for a comprehensive introduction, The application of pressure compensator solves the problem of pressure compensation and volume compensation of underwater hydraulic system under deep-sea conditions to some extent, but high-pressure compensation will change the characteristics of oil. Therefore, this paper makes further research on the variation law of oil characteristics under deep-sea conditions. Secondly, based on the single joint hydraulic cylinder control of underwater manipulator, the important links of valve controlled cylinder hydraulic system are modeled and analyzed respectively. Thus, the mathematical model of high order electro-hydraulic servo valve and the mathematical model of the whole underwater servo valve control system are obtained. Then, the simulation model of the electro-hydraulic servo valve is established by using the simulation software, and the simulation analysis is carried out on the basis of selecting the parameters of the high-order mathematical model of the servo valve, and the simulation results of the servo valve at different depths are compared. Finally, based on the single joint hydraulic cylinder of underwater manipulator in a certain institute, an underwater valve control system is designed. The simulation model of deep-sea valve controlled cylinder system is established, and the dynamic simulation results of different depth are compared and analyzed. The changing trend of the working characteristics of the valve controlled cylinder system under the deep sea condition is obtained.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH137

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