深海管线埋设ROV液压推进系统性能改善实验研究

摘要

针对深海管线埋设遥控潜水器(remotely operated underwater vehicle,ROV)的比例阀控型液压推进系统的非线性问题,本文提出了改善推进系统控制性能的方法.通过霍尔传感器测量螺旋桨转速,实现螺旋桨转速闭环控制,并分析比例阀非线性特性和螺旋桨转速测量误差对螺旋桨转速闭环控制低速响应时的影响.结果表明:改善比例阀非线性特性和提高螺旋桨转速测量精度,可以改善深海管线埋设ROV比例阀控型液压推进系统的闭环控制性能.%In terms of the nonlinear characteristic of hydraulic propulsion system controlled by proportional valves for deep sea pipeline buried remotely operated underwater vehicle(ROV), the method of improving control perform-ance of propeller was proposed. The effect on control performance at low speed from the nonlinear characteristic of proportional valve and the measuring error of rotate speed was analyzed. The results of experiments indicated that the closed-loop control performance of hydraulic propulsion system used in deep sea pipeline buried ROV can be improved by improving nonlinear characteristic of proportional valve and measuring error of rotate speed.