Research On The Key Technologies And Control System Of Direct Drive Electro-hydraulic Servo Rotary Vane Steering Gear

Steering gear is one of the most important marine auxiliary machineries and it is the key equipment for controlling ship course, ensuring navigation security and maneuverability. The prototype of new highly reliable steering gear is designed by HIT to improve steering gear's reliability, reduce its moss and occupied and enhance maneuverability of ships. In direct drive volume control (DDVC) electro-hydraulic servo rotary vane steering gear, variable displacement pump and proportional are replaced by converter motor and fixed pump. Changing the rotating direction, rotating speed and runtime of the converter motor can control the moving direction, velocity and position of the rudderpost. The DDVC electro-hydraulic servo steering gear is discarded pumping station and pipelines, it has fewer control components, energy saving, more compact structure, higher reliability and controllability than traditional rotary vane steering gear. it is capable both advantages of AC servo system's flexibility and of hydraulic great force., so the DDVC electro-hydraulic servo steering gear has a great prospect in steering gear field.After synthesizing numerously relevant literatures and reference material at home and abroad, the steering gear development at home and abroad is summarized and rotary vane steering gear characteristics and research surveys are especially introduced. Compared the advantage and disadvantage of the traditional bump control system and valve control system for steering gear, structure composition of direct drive electro-hydraulic serve rotary vane steering gear is put forward to solve the flaws of traditional steering gear. Current trend of research on direct drive volume control electro-hydraulic servo technology is reviewed and characteristics and key techniques of direct drive volume control electro-hydraulic servo rotary vane steering gear are point out.Constrained optimization method based on co-evolutionary particle swarm optimization algorithm is put forward to optimize geometric parameters of rotary motor, reduce the moss and then to improve maneuverability of warship. Fluid-Structure Interaction vibration analysis of the sealing performance of rotary vane motor by structure of motor, sealing material, sealing structure, sealing medium and oil pressure is made, A complex pressure metal seal with ability of automatic compensation is proposed and verified that it can enhance the sealing ability of rotary vane steering gear.Structure composition and design method of direct drive volume control electro-hydraulic servo power source is given and the functional characteristics are analyzed. Component of power source is selected by conceding power matching and load matching. Integrated design of power source is done. The author analyses the noise source of power source, then points out that the major reason of power source noise is the cavitation noise when bubbles which grew out by insufficient self-suction capacity of fixed displacement pump braked in high pressure area, and then points out the no-power fill oil scheme based on compulsive fill oil valve and closure pressure oil tank. The simulation analysis and calculation of scheme is given by using ADINA and the key parameters of scheme are determined.The mathematical model of direct drive volume control electro-hydraulic servo rotary vane steering gear is established, and the exponent number of model is determined. the identification method based on genetic ant colony algorithm(GAC) is extracted. The identification experiment for direct drive volume control electro-hydraulic servo rotary vane steering gear is done synchronously by using GAC identification method. The model outputs are compared with the real system outputs under the effect of the same input validating data, and the validating results show that the close ratio is over 75%, which proves that the model parameters identified are reasonable.Based on the designing performance index of steering gear and the identified mathematical model of the direct drive volume control electro-hydraulic servo rotary vane steering gear, QFT-LTOC robust controller is designed. The simulation researches are done for the controller designed. Research results show that the controller can compensate perfectly the asymmetrical characteristic of actuating unit, and has the resistibility of load torque disturb and the strong robustness for time-varying parameters and probabilistic characteristics.The principle prototype of direct drive volume control electro-hydraulic servo rotary vane steering gear and its loading device were made. Then the experimental research was done using this experiment system. The experimental results shown that the direct drive volume control electro-hydraulic servo rotary vane steering gear meets standard requirements for hydraulic steering gears well, as the same time, the validity of direct drive volume control electro-hydraulic servo rotary vane steering gear's Design Scheme is verified and QFT-LTOC robust controller based on Identified mathematical model is quite effective.