直驱式容积控制水下作业工具系统动力源研究

发布时间：2018-10-13 16:44

【摘要】：随着人类社会资源与空间发展的需要，海洋开发与利用活动日益频繁，特别是海底矿物质和石油勘探与开采的规模不断扩大，提出了深度大、范围广、距离长、效率高的水下作业需求。而装置复杂、操作笨重、能源利用效率低的传统阀控式水下作业工具系统动力源（以下简称阀控式水下动力源）严重制约了海洋工程的建设与发展。研究适应海洋作业环境的新型水下动力源仍是世界海洋科技领域亟待解决的重要课题之一。本文在查阅相关文献的基础上，综述了国内外水下作业工具系统动力源研究现状，阐述了传统阀控式电液伺服系统与直驱式容积控制（Direct DriveVolume Control，，英文缩写为DDVC）电液伺服系统（以下简称DDVC电液伺服系统）的工作原理，经过对比分析它们的优缺点，论证了用DDVC电液伺服系统取代水下作业工具系统上的阀控式电液伺服系统的可行性，并偿试设计了一套满足水下作业环境需要的体积小、重量轻、结构简单、操作方便、节能环保、运行高效的直驱式容积控制水下作业工具系统动力源（以下简称直驱式水下动力源）。该动力源由水密伺服电机及与之相匹配的液压泵、无动力补油集成阀块、预压式密闭压力补偿油罐和连轴器等部分组成。为验证其性能，以往复型水下作业工具为背景，在综合同步电机伺服调速系统和泵控缸系统数学模型的基础上，建立了直驱式水下动力源电液伺服系统数学模型；设计了直驱式水下动力源PID控制器，并对直驱式水下动力源电液伺服系统进行了仿真分析。最后，搭建了直驱式水下动力源电液伺服系统性能试验模拟实验平台，包括直驱式水下动力源、模拟水下往复型液压工具的双出杆对称液压缸、位置反馈装置、加压与加载装置和控制装置系统；采用可视化C++Builder程序语言编写了实验控制程序；分别做了系统的开环实验、位置闭环实验，全面测试了直驱式水下动力源电液伺服系统在空载、空载加压、加载、加载加压四种工况下的实际性能指标，并对实验结果进行了详细分析。通过对直驱式水下动力源电液伺服系统实验研究，验证了所建立数学模型的正确性，证明了将DDVC电液伺服系统应用到水下作业工具系统上的可行性，为进一步研究DDVC电液伺服系统、优化直驱式水下动力源设计，提供了一定的参考依据。
[Abstract]:With the development of human social resources and space, the activities of marine exploitation and utilization are becoming more and more frequent, especially the scale of exploration and exploitation of seabed minerals and petroleum is expanding continuously, and it is put forward that the depth, the scope and the distance are large, wide and long. Efficient underwater operation requirements. The power source of traditional valve-controlled underwater operation tool system (hereinafter referred to as "valve-controlled underwater power source"), which is complex in installation, heavy in operation and low in energy utilization efficiency, seriously restricts the construction and development of marine engineering. It is still one of the most important issues in the field of marine science and technology to study new underwater power sources to adapt to the environment of ocean operation. On the basis of consulting relevant documents, this paper summarizes the current situation of research on power source of underwater operation tool system at home and abroad. The working principle of traditional valve-controlled electro-hydraulic servo system and direct-drive volumetric control (Direct DriveVolume Control, (DDVC) electro-hydraulic servo system (hereinafter referred to as DDVC electro-hydraulic servo system) is described. Their advantages and disadvantages are compared and analyzed. The feasibility of using DDVC electro-hydraulic servo system to replace the valve-controlled electro-hydraulic servo system on underwater operation tool system is demonstrated, and a set of small volume, light weight, simple structure and convenient operation is designed to meet the need of underwater working environment. Energy saving, environmental protection, efficient direct drive volume control underwater operation tool system power source (hereinafter referred to as direct-drive underwater power source). The power source consists of a watertight servo motor, a matching hydraulic pump, an integrated valve block with no power to replenish oil, a prepressure sealed pressure compensator oil tank and a coupler. In order to verify its performance, the mathematical model of direct-drive underwater power source electro-hydraulic servo system is established on the basis of synthesizing the mathematical models of synchronous motor servo speed control system and pump control cylinder system. A direct-drive underwater power source PID controller is designed, and the electro-hydraulic servo system of direct-drive underwater power source is simulated and analyzed. Finally, the performance simulation experiment platform of direct-drive underwater power source electro-hydraulic servo system is built, which includes direct-drive underwater power source, double outlet symmetrical hydraulic cylinder of simulating underwater reciprocating hydraulic tool, and position feedback device. The system of pressurization and loading device and control device, the experiment control program is written by using visual C Builder program language, the open loop experiment and the position closed loop experiment of the system are done respectively. The actual performance indexes of direct-drive underwater power source electro-hydraulic servo system under four conditions of no-load, no-load pressurization and loading pressurization are tested, and the experimental results are analyzed in detail. Through the experimental study of direct-drive underwater power source electro-hydraulic servo system, the correctness of the established mathematical model is verified, and the feasibility of applying DDVC electro-hydraulic servo system to underwater operation tool system is proved. It provides a reference for the further study of DDVC electro-hydraulic servo system and the optimization of the design of direct-drive underwater power source.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH137;P742

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