本文關(guān)鍵詞：基于AMESim作業(yè)型ROV液壓推進系統(tǒng)的設(shè)計與仿真　出處：《中國海洋大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 作業(yè)型ROV 液壓系統(tǒng)設(shè)計與建模 PID控制 仿真分析

【摘要】：由于現(xiàn)今人類對陸地資源的過度開采，將難以滿足未來人們對資源的需求，而作為生命搖籃的海洋，卻蘊含豐富的資源。因而，如何開發(fā)海洋資源將成為國民經(jīng)濟可持續(xù)發(fā)展的一大舉措。雖然世界各國現(xiàn)已著眼于開發(fā)海洋資源，，但由于海洋資源主要集中于深水域，作業(yè)環(huán)境十分惡劣，故現(xiàn)今對海洋資源的開發(fā)仍然沒有取得巨大進步。由于作業(yè)型ROV具有環(huán)境適應(yīng)性強、作業(yè)時間長以及便于水面控制等特點受到越來越多的關(guān)注。液壓推進系統(tǒng)作為作業(yè)型ROV的一個關(guān)鍵子系統(tǒng)也是實現(xiàn)水下機器人其他功能的一個前提條件，國外都對此做了眾多的研究，但我國取得的成果依舊很少。 本文以開架式作業(yè)型ROV為研究對象，根據(jù)性能指標設(shè)計液壓推進系統(tǒng)。為了實現(xiàn)ROV6自由度運動，首先在結(jié)構(gòu)上需要對8個推進器要求做了相應(yīng)的空間布置。根據(jù)設(shè)計指標計算ROV在6自由度運動時各自所受阻力。根據(jù)空間推力與力矩的計算式以及計算阻力值，求出ROV完成各自由度運動需要單個推進器需要輸出的推力。 其次，在動力上選擇液壓系統(tǒng)為執(zhí)行元件推進器提供所需的能量。根據(jù)推進器輸出推力值，為液壓推進器選擇了型號。由該型號的輸出推力與壓力、流量曲線圖，可知水下機器人完成各自由度運動液壓推進系統(tǒng)需為推進器提供相應(yīng)壓力和流量的油液。因此，確定了液壓系統(tǒng)額定壓力和最大流量。根據(jù)液壓系統(tǒng)設(shè)計步驟，對液壓站和執(zhí)行元件控制油路做了研究，并繪出液壓原理圖，同時為各液壓元件選出合適型號。根據(jù)AMESim軟件的功能，利用軟件自帶的標準件以及建模元件并參照液壓原理圖，完成了作業(yè)型ROV液壓推進系統(tǒng)的建模。 最后，在控制上選取一種方法使推進器輸出所需推力來驗證系統(tǒng)性能。根據(jù)推進力與轉(zhuǎn)速之間的關(guān)系，得出水下機器人完成6自由度運動各自對應(yīng)推進器需達到不同的目標轉(zhuǎn)速。分別采用閉環(huán)與PID控制方式來控制液壓推進系統(tǒng)進行仿真分析，通過比較仿真結(jié)果，發(fā)現(xiàn)PID控制方法在驗證液壓推進系統(tǒng)設(shè)計合理性方面更具有說服力。同時，在對PID控制液壓推進系統(tǒng)仿真中，利用AMESim與Matlab/Simulink聯(lián)合仿真技術(shù)，發(fā)揮兩個軟件的各自優(yōu)勢，不但建立了液壓模型和控制模型，而且還確定了相關(guān)仿真參數(shù)，這都有助于提高系統(tǒng)仿真效率。因此，采用PID控制液壓推進系統(tǒng)對ROV進行了6自由度運動仿真，根據(jù)仿真結(jié)果，驗證了本文設(shè)計的液壓推進系統(tǒng)在性能上能夠?qū)崿F(xiàn)作業(yè)型ROV的6自由度運動。
[Abstract]:Because of the over-exploitation of land resources, it will be difficult to meet the future demand for resources, while the ocean, as the cradle of life, contains rich resources. How to develop marine resources will become a major measure for the sustainable development of national economy. Although many countries in the world have focused on the exploitation of marine resources, the marine resources are mainly concentrated in deep waters, and the operating environment is very bad. Therefore, no great progress has been made in the exploitation of marine resources, because of the strong environmental adaptability of the operational ROV. More and more attention has been paid to the characteristics of long working time and easy water surface control. As a key subsystem of ROV, hydraulic propulsion system is also a prerequisite for the realization of other functions of underwater vehicle. Foreign countries have done a lot of research on this, but the achievements of our country are still few. In this paper, open-stand ROV is taken as the research object, and hydraulic propulsion system is designed according to the performance index. In order to realize the ROV6 freedom movement, the hydraulic propulsion system is designed. First of all, it is necessary to make the corresponding space arrangement for the eight propellers. According to the design index, the resistance of the ROV in the motion of 6 degrees of freedom is calculated. According to the formula of the space thrust and torque and the calculation of the resistance, the resistance is calculated according to the design index. Force value. The thrust required by a single thruster to complete the motion of each degree of freedom by ROV is obtained. Secondly, the hydraulic system is chosen to provide the required energy for the actuator thruster. According to the thrust value of the thruster, the model is selected for the hydraulic thruster. The flow curve shows that the underwater vehicle to complete the hydraulic propulsion system of various degrees of freedom need to provide the corresponding pressure and flow oil for the propeller. The rated pressure and the maximum flow rate of the hydraulic system are determined. According to the design steps of the hydraulic system, the hydraulic station and the control oil path of the actuator are studied, and the hydraulic principle diagram is drawn. According to the function of AMESim software, the standard parts and modeling components are used and the hydraulic schematic diagram is consulted. The modeling of the operating ROV hydraulic propulsion system is completed. Finally, a control method is selected to make the thruster output the required thrust to verify the performance of the system, according to the relationship between the propulsion force and the rotational speed. It is concluded that the underwater vehicle needs to achieve different target speeds to complete the 6-DOF motion. The closed-loop and PID control methods are used to control the hydraulic propulsion system for simulation analysis. By comparing the simulation results, it is found that the PID control method is more persuasive in verifying the rationality of hydraulic propulsion system design. At the same time, in the simulation of PID control hydraulic propulsion system. Using the technology of AMESim and Matlab/Simulink, not only the hydraulic model and control model are established, but also the advantages of the two software are brought into play. And the related simulation parameters are determined, which are helpful to improve the efficiency of system simulation. Therefore, the PID control hydraulic propulsion system is used to simulate the 6-DOF motion of ROV, and according to the simulation results. It is verified that the hydraulic propulsion system designed in this paper can achieve 6 degrees of freedom movement of the operating ROV in performance.
【學(xué)位授予單位】：中國海洋大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TH137

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