【作者】 张超；

【导师】 王庆丰；

【作者基本信息】 浙江大学 ， 机械电子工程， 2011， 硕士

【摘要】 海洋拖曳绞车作为一种重要的装备机械,在海洋研究及海洋开发等领域得到了广泛应用,液压调速及拖曳张力波动抑制是海洋拖曳绞车的关键技术之一,对其进行研究有助于提高海洋拖曳绞车的控制特性及可靠性,具有重要的学术意义和工程应用价值。通过理论分析和建模仿真,研究了拖曳绞车采用不同液压调速回路下的调速特性；特别就平衡阀对拖曳绞车调速的稳定性及动态调速性能的影响进行了深入的研究；.同时分析并建立了拖曳绞车负载—拖体及拖缆系统的基本特性及数学模型,探讨了拖曳张力波动抑制的工作机理,提出了基于比例溢流阀的拖曳张力波动抑制液压控制系统；并采用校正及主动运动跟踪的控制方案,对拖曳张力波动抑制控制进行了研究,取得了较好的张力波动抑制效果。论文各章内容分述如下：第一章对海洋拖曳绞车做了基本介绍,回顾了国内外海洋拖曳绞车液压调速及拖曳张力波动抑制相关技术的国内外研究现状第二章对泵控闭式及开式调速回路在海洋拖曳绞车调速方面的应用特性进行了研究。泵控开式回路在应用于海洋拖曳绞车的收放时一般需要加入平衡阀以平衡负负载,平衡阀的加入极大的影响了系统的动态特性,论文通过理论分析和建模仿真研究了系统各参数对平衡阀系统动态特性的影响,并提出了平衡阀回路设计的一般准则。第三章通过对海洋拖曳绞车阀控调速回路理论分析和建模仿真,研究了阀控系统在海洋拖曳绞车收放调速过程中的应用特性。第四章分别提出了应用于海洋拖曳绞车的主动式、被动式和综合式拖曳张力波动抑制液压系统,并对各种工作方式张力波动抑制液压系统的工作机理进行了深入剖析和理论研究。第五章针对第五章所提出基于比例溢流阀的综合式拖曳张力波动抑制液压系统,设计了内层校正控制器和外层主动控制器,内层校正控制器可独立工作,其工作时系统可作为被动式张力波动抑制系统稳定工作,当内层校正控制器与外层主动控制器配合工作时系统作为主动式张力波动抑制系统工作,可取得显著的张力波动抑制性能。第六章对论文的工作进行了总结,并展望了今后的研究工作和方向更多还原

【Abstract】 As an important kind of construction machineries, marine towing winches have been widely applied in the marine research and development. Since both hydraulic speed control and tension fluctuation suppression are key techologies for the marine towing winch, the research on them will help to improve the control characteristics and reliability of the marine towing winch.Through theoretical analysis, modeling & simulation, characteristics of different hydraulic speed controlling circuits of towing winches have been studied, special efforts have been focused on the study of dynamic performance of the winches involving counterbalance valves; the basic characteristics and mathematical model of the towed-sytstem have been studied and the principle of tension fluctuation suppression was discussed, a hydraulic control system based on the proportional relief valve has been proposed to suppress the tension fluctuation. Both internel and external controller have been developed for the proposed system and the simulation has proved that both internel and external controller work well.The main contents of each chapter are as follows:In the first chapter,a brief introduction to the marine towing winch has been made, a review of domestic and international reseach progress on speed control and tension fluctuation suppression for the marine towing winch has been introduced.In the second chapter, the basic mathematical models of the pump controlled circuits have been introduced and the characteristics have been analysed. In the pump controlled open circuits, a counterbalance valve has to been involved to balance the negative loads. Counterbalance valves may cause the system unstable, so special efforts have been focused on the dynamic performance analysis of the system involving counterbalance valves.In the third chapter, the basic mathematical models of the valve controlled circuits have been introduced and the characteristics have been analysed.In the fourth chapter, the active and passive prinple of the tension fluctuation suspression has been discussed, and a hydraulic system based on proportional relief valve has been proposed for tension fluctuation.In the fifth chapter, an controller has been proposed for the hydraulic system. The simulation results show that the controller can work well.The last chapter summarizes the paper work, and prospects the direction of future research更多还原