| Ship steering gear test-bed is a test device for testing the performance of steering gear.Its function is to simulate the torque of the rudder blade of the steering gear when it is moved to different angles and apply it to the rudder blade in real time to detect the technical performance of the steering gear.The test-bed can convert the full physical test of the steering gear under actual conditions into a semi-physical simulation under laboratory conditions,which can shorten the research and development cycle,reduce the costs,improve the reliability and stability.With the continuous development of the boats and ships,the demand for high performance ship steering test-bed is becoming more and more urgent.However,the loading system is a typical passive electro-hydraulic torque control system,it will produce a huge surplus torque under the position interference of the steering gear,which will seriously affect the load performance and tracking accuracy.How to maximize the elimination of surplus torque,improve the load test-bed loading control performance,has been the focus of domestic and foreign scholars and difficult research.(1)On the basis of consulting a large amount of literature,this paper summarizes the research status of electro-hydraulic servo loading system at home and abroad,analyzes the advantages and disadvantages of eliminating different moments of surplus torque,and determines the research direction of this paper.(2)The structural principle of the ship's steering gear test-bed is pointed out,and its working process is analyzed according to the hydraulic system schematic diagram.The mathematic model of the electro-hydraulic servo loading system and the electro-hydraulic proportional position system is established,and the mathematical model of the whole hydraulic system is established after solving the coupling relationship between the two.Select and calculate the relevant parameters.And the theoretical analysis of the frequency response characteristics of the loading and position system without disturbing and disturbing is carried out,which provides the theoretical basis for the loading performance control method of the steering test-bed.(3)Then starting from the working principle of the valve-controlled hydraulic power element,the mechanism and essential characteristics of surplus torque are revealed in this paper,and the influencing factors and elimination methods of surplus torque are analyzed.Based on the elimination of surplus torque by structural invariance compensation method,an improved feedforward compensation method is proposed to improve the loading accuracy and the dynamic loading performance of the test-bed.(4)Then,on the basis of PID control and fuzzy control,fuzzy PID control is put forward to give full play to the advantages of both of them,so as to maximize the static loading performance.(5)The Matlab/simulink is used to simulate and analyse the time-domain response characteristics of the loading and location system,the surplus torque of the loading system,the structural invariance compensation and the feedforward compensation to eliminate the surplus torque effect,and the whole hydraulic system performance curve.The simulation results show that the use of feedforward compensation to eliminate redundant torque and fuzzy PID control to ensure static tracking performance is feasible and feasible,the performance curve of the improved test-bed can meet the requirements.The content of this paper provides a theoretical basis for the design and development of ship steering gear test-bed.At the same time,the methods and conclusions drawn in this paper are equally applicable to other passive loading systems. |
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