【摘要】：三通式比例減壓閥因其較高的性價比和易維護(hù)性而成功應(yīng)用于水下遠(yuǎn)程遙控機(jī)器人的螺旋槳推進(jìn)器控制。然而三通比例減壓閥內(nèi)部壓力反饋結(jié)構(gòu)復(fù)雜,存在死區(qū)和液動力等非線性因素,易受螺旋槳負(fù)載特性影響而引起壓力振蕩。根據(jù)主閥力平衡方程、壓力流量方程和螺旋槳負(fù)載特性建立系統(tǒng)數(shù)學(xué)模型,并在減壓閥的穩(wěn)態(tài)工作點附近進(jìn)行模型線性化,通過開環(huán)伯德圖和閉環(huán)頻響曲線分析特征參數(shù)對閥穩(wěn)定性的影響。理論分析和試驗結(jié)果表明,增加閥口流量壓力系數(shù)和馬達(dá)泄漏系數(shù)可有效提高負(fù)載環(huán)節(jié)阻尼比和穩(wěn)定裕量,系統(tǒng)穩(wěn)定性得到顯著改善。
[Abstract]:Due to its high cost performance and maintainability, the three-way proportional pressure reducing valve has been successfully applied to the propeller control of underwater remote control robot. However, the internal pressure feedback structure of the three-way proportional pressure reducing valve is complex, and there are nonlinear factors such as dead zone and hydraulic force, which are easy to be affected by the propeller load characteristics and cause pressure oscillation. According to the main valve force balance equation, pressure flow equation and propeller load characteristic, the mathematical model of the system is established, and the model is linearized near the steady-state operating point of the pressure reducing valve. The effect of characteristic parameters on valve stability is analyzed by open loop Boulder diagram and closed loop frequency response curve. The theoretical analysis and experimental results show that the damping ratio and stability margin of load link can be improved effectively by increasing the flow pressure coefficient and motor leakage coefficient, and the stability of the system is greatly improved.
【作者單位】： 浙江大學(xué)流體動力與機(jī)電系統(tǒng)國家重點實驗室;杭州宇控機(jī)電工程有限公司;廣州海洋地質(zhì)調(diào)查局;
【基金】：國家高技術(shù)研究發(fā)展計劃資助項目(863計劃,2008AA092301)
【分類號】：TP242;U664.3
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本文編號：2266483