摘要
为高效开采运输海底矿产,深海行走机构多采用液压系统驱动执行机构,系统性能对整个机构性能影响较大。根据海底车液压行走机构的总体设计模型和液压驱动系统原理,建立了行走驱动液压系统的数学模型。根据系统设计参数,建立各个环节的数学模型,基于MATLAB/Simulink建立深海行走机构各单元及整机的分析模型。通过调速系统对直流电机的负载进行调节,对电枢电流与输出转速之间的关系进行分析;并对液压驱动系统的静动态特性及机构越障性能进行分析。分析结果可知:通过速度调节,控制液压主回路中的流量满足各个驱动马达的需要,实现驱动马达输出转速,使各个轮边马达按照设定的速度运行;通过增加积分环节,可使行走机构在给定的转矩运行,能够完全消除静态误差;机构越障时,轮系的变化趋势基本相同,可以很好地满足海底行走越障的需要。
For the efficient exploitation and transportation of seabed mineral resources, hydraul ic system in deep sea stepping- mechanismis used for driving executing mechanism, which performance has a great influence on the performance of the whole organiza-tion. According to the deep sea stepping of hydraulic walking mechanism of the whole design model and the hydraulic driving system theory, the driving hydraulic system of mathematical model was built. According to the design parameters of the system, the mathemat-ical models of each links were established and analysis models of each unit of the deep sea stepping mechanism and the whole model were established based on MATLAB / Simulink. The load regulation was adjusted the load through the speed control system of DC mo-tor, and the relationship between the armature current and the output rotational speed was analyzed. The static dynamic characteristics and mechanism obstacle navigation performance of hydraulic system were analyzed. The analysis results show that： by adjusting the speed , main circuit of the hydraulic flow control to meet the needs of each drive motor, to achieve output speed of the motor driving, so that each side wheel motorruns according to the set speed. Through increased integral, the stepping mechanism can be operated in the given torque, and can completely eliminate the static error. Inobstacle navigation of the mechanism, the change tendency of the needs of wheel sets is basically the same, which can be very good to meet the needs forseabed walking and climbing obstacle needs.
出处
《机床与液压》
北大核心
2017年第9期153-158,共6页
Machine Tool & Hydraulics
基金
福建省自然科学基金项目(2012J05132)
关键词
深海海底车
行走机构
液压系统
直流电机
模型
Deep sea seabed stepping
Stepping mechanism
Hydraulic system
DC Motor
Model
