Speed ​​control method and system for underwater moving body flexibly towed by hydraulic winch

Abstract

The invention discloses a hydraulic-winch-flexible-traction-based velocity control method of an underwater motion body. The velocity control method comprises the following steps that: (1), a set value of a main valve element opening degree is determined; (2), a velocity controller obtains a current valve element opening feedback value and calculates a valve element opening ratio; (3), if the valve element opening ratio is not larger than a threshold value, a valve element opening degree given value is gradually increased to the valve element opening set value by adjusting an overdamping value individually; and if the valve element opening ratio is larger than the threshold value, a valve element opening degree given value is given in real time according to a difference value between a velocity set value and a feedback velocity value as well as the valve element opening degree feedback value; (4), a hydraulic winch draws an underwater motion body to move at a correspond velocity according to the opening degree of the main valve element; and (5), steps from (2) to (4) are executed circularly until the dolly velocity reaches the set value. In addition, a corresponding control system is also disclosed. With the method and the system, the velocity of the underwater motion body is controlled by using a dual-closed-loop control way, thereby guaranteeing stability, precision, and rapidness of the hydraulic traction system control.

Description

technical field [0001] The invention belongs to the field of speed control of underwater moving bodies, and in particular relates to a speed control method and system of underwater moving bodies based on the flexible traction of a hydraulic winch. Background technique [0002] With the exploration of marine resources by human beings, the development of marine power has received more and more attention from all countries. Underwater moving bodies, such as underwater wheeled trolleys, have many advantages such as good maneuverability and strong underwater passability, so they are widely used in many fields such as underwater prospecting, underwater operations and underwater tests. According to the working characteristics of underwater moving bodies, hydraulic winches are often used as driving equipment, which has the advantages of high work efficiency, strong load capacity, and easy to solve sealing problems. [0003] figure 1 It is a schematic diagram of a typical hydraulic...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to propose a hydraulic winch traction underwater moving body for the problems and defects of insufficient rigidity, non-linearity, time-varying parameters and lag in the control method and system of the hydraulic winch flexible pulling underwater moving body. The speed control method and system, which use the valve core opening as an intermediate variable, and control the speed of the underwater moving body through double closed-loop control, so as to ensure the stability, accuracy and rapidity of the control of the hydraulic traction system

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