【摘要】：隨著人類社會資源與空間發(fā)展的需要，海洋開發(fā)與利用活動日益頻繁，特別是海底礦物質(zhì)和石油勘探與開采的規(guī)模不斷擴(kuò)大，提出了深度大、范圍廣、距離長、效率高的水下作業(yè)需求。而裝置復(fù)雜、操作笨重、能源利用效率低的傳統(tǒng)閥控式水下作業(yè)工具系統(tǒng)動力源（以下簡稱閥控式水下動力源）嚴(yán)重制約了海洋工程的建設(shè)與發(fā)展。研究適應(yīng)海洋作業(yè)環(huán)境的新型水下動力源仍是世界海洋科技領(lǐng)域亟待解決的重要課題之一。 本文在查閱相關(guān)文獻(xiàn)的基礎(chǔ)上，綜述了國內(nèi)外水下作業(yè)工具系統(tǒng)動力源研究現(xiàn)狀，闡述了傳統(tǒng)閥控式電液伺服系統(tǒng)與直驅(qū)式容積控制（Direct DriveVolume Control，，英文縮寫為DDVC）電液伺服系統(tǒng)（以下簡稱DDVC電液伺服系統(tǒng)）的工作原理，經(jīng)過對比分析它們的優(yōu)缺點(diǎn)，論證了用DDVC電液伺服系統(tǒng)取代水下作業(yè)工具系統(tǒng)上的閥控式電液伺服系統(tǒng)的可行性，并償試設(shè)計(jì)了一套滿足水下作業(yè)環(huán)境需要的體積小、重量輕、結(jié)構(gòu)簡單、操作方便、節(jié)能環(huán)保、運(yùn)行高效的直驅(qū)式容積控制水下作業(yè)工具系統(tǒng)動力源（以下簡稱直驅(qū)式水下動力源）。該動力源由水密伺服電機(jī)及與之相匹配的液壓泵、無動力補(bǔ)油集成閥塊、預(yù)壓式密閉壓力補(bǔ)償油罐和連軸器等部分組成。為驗(yàn)證其性能，以往復(fù)型水下作業(yè)工具為背景，在綜合同步電機(jī)伺服調(diào)速系統(tǒng)和泵控缸系統(tǒng)數(shù)學(xué)模型的基礎(chǔ)上，建立了直驅(qū)式水下動力源電液伺服系統(tǒng)數(shù)學(xué)模型；設(shè)計(jì)了直驅(qū)式水下動力源PID控制器，并對直驅(qū)式水下動力源電液伺服系統(tǒng)進(jìn)行了仿真分析。 最后，搭建了直驅(qū)式水下動力源電液伺服系統(tǒng)性能試驗(yàn)?zāi)M實(shí)驗(yàn)平臺，包括直驅(qū)式水下動力源、模擬水下往復(fù)型液壓工具的雙出桿對稱液壓缸、位置反饋裝置、加壓與加載裝置和控制裝置系統(tǒng)；采用可視化C++Builder程序語言編寫了實(shí)驗(yàn)控制程序；分別做了系統(tǒng)的開環(huán)實(shí)驗(yàn)、位置閉環(huán)實(shí)驗(yàn)，全面測試了直驅(qū)式水下動力源電液伺服系統(tǒng)在空載、空載加壓、加載、加載加壓四種工況下的實(shí)際性能指標(biāo)，并對實(shí)驗(yàn)結(jié)果進(jìn)行了詳細(xì)分析。 通過對直驅(qū)式水下動力源電液伺服系統(tǒng)實(shí)驗(yàn)研究，驗(yàn)證了所建立數(shù)學(xué)模型的正確性，證明了將DDVC電液伺服系統(tǒng)應(yīng)用到水下作業(yè)工具系統(tǒng)上的可行性，為進(jìn)一步研究DDVC電液伺服系統(tǒng)、優(yōu)化直驅(qū)式水下動力源設(shè)計(jì)，提供了一定的參考依據(jù)。
[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.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH137;P742

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