船舶轴系电液力加载装置的控制策略研究  

Research on Control Strategy of Electro Hydraulic Loading Device of Ship Shafting

作　　者：李东山 吴金波[1] LI Dongshan;WU Jinbo(School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430074

出　　处：《机械与电子》2024年第10期28-34,41,共8页Machinery & Electronics

基　　金：国家自然科学基金资助项目(51979117)。

摘　　要：为了在实验室环境下模拟船舶轴系的推力载荷,以一种基于可变容积的电液力加载装置为研究对象,建立了系统的数学模型,分析指出轴系轴向扰动位移是影响加载力控制精度的关键因素,从而提出了一种基于扰动观测器补偿的复合控制策略。本加载装置由加载液压缸、承压筒和液压阀件等组成,包含了内部油液压力传感器和加载力传感器。首先,为提升系统的稳定性,构建了压力反馈半闭环的控制框架;然后,为了补偿轴系扰动位移对加载力的影响,采用扰动观测器将扰动位移等效在控制输入端,并引入补偿;最后,基于数值仿真和试验结果验证了所提控制策略的有效性。仿真和试验结果均表明,所设计的复合控制策略能有效抑制加载力波动。In order to simulate the load of the ship shafting in the laboratory environment,an electro hydraulic loading device based on controllable varied volume of contained liquid was studied in this paper.The mathematic model of this device was deduced.Based on the analysis of the model,the key factor that affects the accuracy of loading force control was the axial movement of the rotatory shafting.A novel composite control strategy based on a modified disturbance observer and feedforward compensation was proposed.The loading device was composed of loading hydraulic cylinder,enclosed vessel and hydraulic valves.Firstly,a semi closed loop pressure control structure was constructed to improve the stability of the system.Then,to attenuate the load force fluctuation,a disturbance observer was used to estimate an equivalent disturbance from axial movement.The compensation was introduced at the control input by using the equivalent disturbance.Finally,the effectiveness of the proposed control strategy was verified by numerical simulations and field experiments.It is shown that the designed composite control strategy could attenuate the load force fluctuation effectively.

关 键 词：扰动观测器 前馈补偿 力加载装置 电液伺服系统 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]