【作者】 曹学鹏；

【导师】 邓斌；

【作者基本信息】 西南交通大学 ， 驱动技术与智能系统， 2011， 博士

【摘要】 随着海洋开发活动的日益深入,人类涉海行为已从浅海逐渐走向深海。因深海具有高压、低温、腐蚀等极端环境条件,使得深海作业装备面临极大的挑战。液压源作为相关装备的动力源和“心脏”,对系统整体性能和可靠性有着巨大的影响。目前,与国外先进水平相比,我国深海液压源发展水平较低,多采用定量控制,系统效率低,参数难实现连续远距离控制,产品互换性低,装置环境适应性差,既缺乏深海通用技术,又无专用的标准化和系列化液压源产品。本文以深海电液比例液压源为研究对象,通过总体方案的设计、关键技术的解决、深海控制特性的研究及深海模拟舱下的性能测试,研制出一套适用于深海3000m范围内的比例液压源样机,主要研究内容如下：1.针对深海环境的影响,制定出液压源的总体研究方案和实施流程,并完成了整体布局的设计。通过对系统进行分解,提出了论文的主要研究内容,为研究工作的顺利展开,进行了相关理论知识和实验装置的探讨。2.采用液压部件内浸油箱的方式适应海水环境,使用皮囊式补偿器补偿储油箱内的体积变化,实现箱内外压力自平衡。分析了储油器系统的静、动态补偿特点,重点对结构参数变化时的动态补偿特性进行了研究,提出了储油器系统不失稳的压力动态补偿设计准则,并通过试验验证了该准则的有效性；通过对环境压力下液压泵压力检测特点的分析,提出了基于双压力传感器的压力自适应检测技术,以消除叠加海水压力的不利影响。通过水下压力自适应检测原理、设计方法和实现过程的研究,完成了相应工程样机的开发及实验测试,结果表明样机的环境压力适应性好,可满足液压泵的压力控制要求。通过应用有限元工具优化设计容腔的结构参数,分析电气耐压容腔的抗压性能,开发出满足深海3000m下强度要求的轻质耐压壳体。3.通过分析深海环境下油液介质特性的变化,引入液压油有效体积弹性模量(压缩性)和粘度变化的动态表达式,建立了比例压力阀的传递函数及静态特性方程,对深海环境因素、润滑状态、阀结构参数对其控制特性的影响进行了研究。基于深海工况的变环境特征,考虑油液特性的变化,应用线性变参数原理,建立了比例变量泵系统的线性变参数模型,通过仿真分析得到了液压泵系统在变参数有界闭集内的控制特性及变化趋势。分析结果表明,随着环境压力的增大,工作温度的减小,泵的动态响应性能变慢,而输出稳态值基本不变,与实验结果相吻合,同时说明采用高品质低粘度工作介质、低粘性阻尼系统和变增益调节等方法有利于深海下液压源工作性能的稳定。4.通过对压力平衡储油器、自适应压力检测装置、耐压容腔的耐高压性能测试,验证了相关部件的压力适应性。通过比例压力阀在模拟舱下的试验,分析了其抗压性能、控制特性及动态响应性能。通过电液比例变量泵模拟舱下的耐压耐久性试验、稳态控制特性试验、动态性能测试及频率响应试验,得到了其在不同环境压力下性能特性及变化趋势。对电液比例液压源进行的系统集成和调试,表明整体工作平稳、系统输出的响应快、跟随性好。各部件和系统的实验结果验证了理论分析结论的合理性,研制的比例液压源可较好地适用于深海3000m环境。论文所提出的储油器系统压力动态补偿设计准则、压力自适应检测技术、深海比例变量泵的研究方法及系统集成和实验方案为深海液压源系统的开发奠定了良好的理论和技术基础基础,为深海探测装备液压系统的整体设计提供了一定的应用研究依据。更多还原

【Abstract】 Human developments of ocean activity are more frequently under sea from shallow sea to deep sea.Working devices of deep sea are facing great challenges of high pressure, low temperature and corrosion. Hydraulic power source influences the device system performance and reliability as the heart of power source.The development of deep-sea hydraulic power source is still at initial stage in China. The existent problems are invariable control, low system efficiency, difficulty to control remotely, low interchangeabilities, low adaptability, lacking of general deep-sea technologies, special standards and serial products.The deep-sea electro-hydraulic proportional source is studied, and a sample is made which can be used at 3000 meter deep-sea.lt focuses on the design of the overall program, solutions of key technologies, research on control characteristic and tests in deep-sea simulation hull. The main contents are as follows.1. Against the affects of deep-sea environments, it drafts the overall study program of hydraulic source and implementation plans, and complets the design of the entire layout. By the decomposition of the system, the main contents of the dissertation are proposed. A discussion of correlated theoretical knowledge and experimental equipmen is sure of the study work executed smoothly,2. The hydraulic components are immersed in an oil reservoir in order to adapt the sea-water pressure. The internal and external pressures of the reservoir are balanced by the volume change of a theca pressure compensator connected with the reservoir. The analysis of static and dynamic property of the reservoir system is done. A design guideline is proposed for the oil reservoir system stability to analyze performance of dynamic compensating characteristic with variable structure parameters, and the rule is validated it by experiment tests. Considering detection features of hydraulic pump pressure in sub-sea, a self-adaptive detection technology based on dual pressure sensors is also proposed to elimnate the affect of sea-water pressure. By research on undersea pressure self-adaptive detection, design and application, the engineering prototype is developed, and then related experiment is studied.The results show:the prototype has a good environmental adaptability and satisfies the requirements for pressure control of the hydraulic pump. A light pressure-proof shell is designed, the analysis of the shell for electronic components is carried out by finite element analysis software, and tests displays it can work well in 3000 meter deep-sea,3. By analyzing the properties changing of oil media under deep-sea environment, and leading into dynamic expression equation of the changing of effective bulk modulus (compression) and viscosity of hydraulic oil, a transfer function and the static characteristic equation of proportional valve are established. The influences of environmental factors, lubrication condition and structural parameters to the valve control characteristics are stuted. Based on the varying environment feature of deep-sea work conditions, considered oil property varying, applied the theory of linear varying parameter (LPV), the LPV model of proportional variable pump system is created. By simulation analyses, it obtains the control characteristics and the changing trends of the hydraulic pump system in bounded closed set of varying parameters. The results show that the pump dynamic responses become slower and the steady-state output value keeps invariable, with the environment pressure increasing and work temperature decreasing, which coincide with the experimental results. At the same time, it displays the methods of high quality and low viscosity oil media, low viscous damp system and variable gain adjustment benefit to the working performance to be steady for hydraulic sources in deep sea.4. It verifys the pressure adaptability of components for hydraulic power source, by pressure-proof tests of pressure-balanced oil reservoir, self-adaptive pressure detection equipment and pressure-proof shells, and analyzes pressure-proof property, control characteristic and dynamic responses of the proportional pressure valve by tests in deep-sea simulation hull. The characteristics of the close-loop controlled variable pump are acquired at different pressure, by pressure-proof test, steady-state control test, dynamic property test and frequency response test in the deep-sea simulation hull. The result of system integration and debugging of electro-hydraulic proportional hydraulic power source shows:the entire system works steadily, and the system output responds quickly with good following performance. The experimental results of each parts and systems verify that theoretical analysis conclusions are reasonable and the developed proportional hydraulic power source can be well suitable for deep-sea 3000 meter environment.The thesis lays a great theoretical and technological basis for deep-sea hydraulic power source system, and provides application research foundation for the overall design of hydraulic systems in deep-sea detection equipment.更多还原