Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller

A coordinated movement and all-round technology, applied in the direction of control, transportation and packaging, and ships using feedback, to achieve the effects of reducing motion deviation, improving servo accuracy, and strong robustness

Inactive Publication Date: 2012-02-01
HARBIN ENG UNIV
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  • Claims
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No literature reports identical or similar to the subject of the present invention were found

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  • Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller
  • Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller
  • Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller

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Embodiment Construction

[0017] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0018] combine figure 1 , the working process of the present invention is: when the system is started, first initialize the hydraulic system, and after the initialization of the hydraulic system is completed, the controller will clear the data of the grating ruler and the system will start to work normally; According to the motion requirements, the displacement and inclination angle of the swash plate are calculated, and converted into the displacement length required by each hydraulic cylinder, and the hydraulic cylinder with the smallest moving amount is used as the reference, and it is used as the master hydraulic cylinder, and the others are slave cylinders; Rigidly connected hydraulic cylinders are constrained by satisfying the plane, so the deviation feedback compensation factor is introduced to eliminate the data inconsistency problem during deviation feedb...

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Abstract

The invention provides a control method of coordinated movement of multiple cylinders of a submersible omnibearing propeller. The method comprises the following steps: after a hydraulic system is initialized, a controller sets the grating ruler data to zero; a submersible omnibearing propeller controller calculates the displacement and inclination angle of a swash plate and converts the displacement into the displacement length required by each hydraulic cylinder, the hydraulic cylinder with the minimum movement amount is used as the master reference cylinder, and other cylinders are used as slave cylinders; a deviation signal, which is detected by a grating ruler, is processed by a deviation feedback compensation factor and used as the input signal of a hydraulic cylinder coordination compensating network, and the controller is used for adjusting the compensation and scale factors in real time to obtain the compensation command signal of the other hydraulic cylinder; and the command signal is input to a hydraulic servo system to form closed-loop feedback control. The invention provides a universal new way for realizing the coordinated movement of the multiple hydraulic cylinders,can improve the hydrodynamic performance of propeller systems and the maneuverability of the submersible omnibearing propeller, and has stronger robustness.

Description

technical field [0001] The invention relates to a method for controlling a thruster of an ocean submersible, in particular to a control method for operating and controlling an omnidirectional thruster of a submersible. Background technique [0002] In marine development and marine engineering, because the submersible has to perform various complex missions, it should have good maneuverability. It tends to be larger, the total weight increases, the overall scale becomes larger, and there are more restrictions on use. [0003] Submersible omni-directional propeller, also known as variable vector propeller, is a special propeller in which the blade pitch angle changes periodically during the rotation of the blade, so that it can not only generate thrust in the axial direction parallel to the propeller shaft , can also generate thrust in the transverse and vertical directions perpendicular to the propeller shaft. The omnidirectional thruster mainly changes the pitch through th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12B63C11/00
Inventor 刘胜王宇超李冰李高云常绪成
Owner HARBIN ENG UNIV
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