转叶舵机用复式摆动缸操舵原理  

Steering Principle of Compound Swing Cylinder for Rotary Vane Steering Gear

作　　者：李阁强[1] 赵文奎 毛波 董振乐 李东林 LI Geqiang;ZHAO Wenkui;MAO Bo;DONG Zhenle;LI Donglin(School of Mechatronics Eng.,Henan Univ.of Sci.and Technol.,Luoyang 471003,China;Shandong Wantong Hydraulic Co.,Ltd.,Rizhao 262313,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]山东万通液压股份有限公司,山东日照262313

出　　处：《工程科学与技术》2021年第5期175-182,共8页Advanced Engineering Sciences

基　　金：山东省重点研发计划(国际科技合作专项)项目(2019GHZ013)。

摘　　要：转叶舵机具有结构紧凑、机械效率高、安装简便等优点,在舰船上得到广泛应用。现有转叶舵机为单层液压摆动缸,舵叶转动区间受摆动缸结构限制具有饱和非线性。此外,舵叶受水动力干扰引起的冲舵、滞舵和跑舵现象,严重影响船舶航向控制和舵减摇效果。针对上述问题,以直驱式电液伺服转叶舵机为对象,在建立数学模型,分析水动力对舵角干扰的基础上,提出一种复式结构摆动缸操舵新原理。复式摆动缸采用双层结构,内层为舵驱动缸,外层为力矩解耦缸。内外层转子同向转动,可增大舵叶的工作区间,同时,外层力矩解耦缸转子输出助推力矩作用于舵驱动缸转子,可抵消水动力在驱动缸转子上产生的负载力矩,提高舵叶转动精度,解决舵机运动中的力位耦合问题;内外层转子反向转动,可使舵机及时制动、换向,提高舵机操纵性能。复式摆动缸用于转叶舵机,舵机系统具有较大的稳定裕量,幅值裕度为45.3 dB,相角裕度为99.2°,满足伺服系统设计指标。仿真分析表明:在有外负载干扰下,相较于单层摆动缸加控制策略的操舵方式,复式摆动缸操舵响应速度更快,无超调,达到稳态的速度提升约36%,且稳态误差维持在±0.05°范围内。在跟踪斜率为0.01°/s的斜坡信号时,转舵精度可保持在±0.03°位置误差带内,具有较高的位置控制精度。Rotary vane steering gear has the advantages of compact structure,high mechanical efficiency,and easy installation,and is widely used in ships.The existing rotary vane steering gear is a single-layer hydraulic swing cylinder,and the rotation range of the rudder blade is restricted by the structure of the swing cylinder and has saturated nonlinearity.In addition,the phenomena of rudder impingement,lag and running caused by hydrodynamic interference seriously affect the ship’s course control and rudder anti-roll effect.Aiming at the above problems,a new steering principle of compound structure swing cylinder is proposed based on the mathematical model of direct drive electro-hydraulic servo rotary vane actuator and the analysis of the interference of hydrodynamic force on rudder angle.The double-layer structure is adopted for the compound swing cylinder,the inner layer is rudder driving cylinder,the outer layer is torque decoupling cylinder.The inner and outer rotors rotate in the same direction,which can increase the working range of the rudder blade.Meanwhile,the torque decoupling cylinder rotor outputs boost torque acting on the rudder drive cylinder rotor,which can offset the load torque generated by the hydrodynamic force on the drive cylinder rotor.Improve the rotation accuracy of the rudder blade and solve the problem of force-position coupling in the movement of the rudder.The reverse rotation of the inner and outer rotors can make the steering gear brake and change direction in time,and improve the steering performance.The compound swing cylinder is used for the vane steering gear.The steering gear system has a large stability margin,with amplitude margin of 45.3 dB and phase margin of 99.2°,which meets the design index of servo system.Simulation analysis shows that,compared with the single-layer swing cylinder plus control strategy,the compound swing cylinder has faster response speed and no overshoot,the speed of reaching steady state increased by about 36%,the steady-state error is maintained within�

关 键 词：转叶舵机 复式摆动缸 力矩解耦 位置控制 

分 类 号：U664.4[交通运输工程—船舶及航道工程] V216.8[交通运输工程—船舶与海洋工程]