Research On Fluid-solid Coupling And Control Optimization Strategy Of Submarine Steering Gear System

With the rapid development of technology and the level of submarine military operations,new challenges are brought and higher requirements are put forward to the submarine steering system.The maneuverability of submarine showed mainly for submarine use manipulator to control its direction of movement,motion and other performance.Maneuverability performance is not only related to submarine navigation safety,but also to the overall the operational level of the army,meanwhile it is also very important to improve the economy and other issues.Hydraulic rudder system is the most widely steering gear used in the submarine steering system,its control performance directly affect the maneuverability,economy and security of the submarine voyage.In the working process of the hydraulic steering gear system,it will inevitably produce line of fluid-solid coupling vibration,which will not only reduce the service life of the pipes and hydraulic components,in severe cases also cause wall rupture,piping support structural damage,support rigidity decline,piping system failure,hydraulic fluid leaks,thereby reducing safety and reliability of the submarine.Therefore,this paper reviewed the submarine hydraulic steering gear system on the basis of research status quo,and we conducted model and simulation,pipeline system of fluid-solid coupling,optimal control,research and design of experiment scheme.Firstly,according to the composition of the submarine hydraulic steering gear system and the knowledge of the hydraulic system modeling,we built a steering mechanism,variable displacement pump control system and the mathematical model of the steering gear control system.Then,we gave the interference characteristics of rudder hydrodynamic.We used engineering systems advanced environment modeling software to build variable hydraulic pump steering systems and submarine simulation model in preparation for the subsequent simulation.We took a small submarine steering gear as the object and research the submarine hydraulic steering gear system and dynamic performance of variable displacement pump control system based on the existing simulation model to analysis the effect of the system dynamic performance under the system parameter variations and external load disturbance from two aspects of frequency domain and time domain.We combined the system performance index and the dynamic response characteristics to design reasonable controller and verify its control effect by simulation.We researched the dynamic characteristics of submarine pipe hydraulic steering gear,and built the submarine steering gear hydraulic system simulation model with pipeline dynamic characteristics.Then,we researched the effect of pipeline hydraulic dynamic characteristics to submarine hydraulic steering gear system performance under different working conditions by using this model simulation.According to the actual layout of the submarine steering hydraulic piping system,we used the finite element software to establish pipeline vibration calculation model and execute finite element simulation to give a simple straight road and steering hydraulic piping systems modal analysis results which help to design submarine distribution of steering gear hydraulic pipeline and put forward damping noise reduction scheme.We determined the technical scheme of the hydraulic servo system control and propose submarine steering gear optimization control strategy based on genetic algorithm according to the technical requirements of submarine servo system,the selection principle and optimization design,the basic theory of hydraulic control system optimization.We compared the system performance of traditional PID controller test the control effect with the optimized controller parameters for system simulation.The results showed that the proposed optimization design can effectively suppress noise and improve the stability of system.Finally,combining with the previous theoretical research content,we used a certain submarine hydraulic steering system simulation equipment and respectively design experimental program in view of hydraulic steering gear system dynamic characteristics and hydraulic pipe coupling vibration.Based on experimental response curve of the system in fast steering,constant speed steering and sine steering three different cases,we got the corresponding conclusions.The faster steering speed,the worse effect steering control system controls,and the amplitude of pipe vibration and pressure fluctuations will also be greater.If optimization control strategy was used in the system,it can not only improve the tracking performance of the system,but also effectively suppress the pipe vibration and pressure fluctuation.The feasibility and superiority of this optimization control strategy which put forward in this paper has been demonstrated by the experiments.