摘要
针对翼帆回转控制实验中出现的起动升速、制动降速过程转速曲线的非线性特征,建立翼帆转速与调速阀电流关系的数学模型及其逆函数模型。基于翼帆回转液压实验台的阀控调速开式液压系统,采用非线性前馈补偿控制和实验研究方法对调速阀电流进行补偿控制。实验结果表明:该补偿方法能够得到线性度较高的升速、降速曲线,同时也能够提高转帆精度,是翼帆回转前馈补偿控制研究的关键步骤,为翼帆回转控制器设计和翼帆的实船应用奠定基础。
To handle nonlinearity of rotation speed curves in the start-up period,during which speed is rising,and the breaking period,during which speed is dropping,in the wing-sail slewing control experiments,a mathematical model and its inverse function model were built to represent the electric current relation between the rotation speed of the wing-sail and speed regulating valve. Using a valve-controlled speed regulating open hydraulic system based on an experimental wing-sail slewing table,a nonlinear feedforward compensation model was adopted for compensative control over speed changes. The experiments reveal that this compensation control can make speed change more linear,in the meanwhile improve slewing accuracy,and it is the key step for wing-sail slewing feedforward compensation control. This research provides the basis for the design of a wing-sail slewing controller and for application onboard.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2015年第10期1346-1350,共5页
Journal of Harbin Engineering University
基金
国家863计划资助项目(2012AA112702)
关键词
翼帆
调速阀
回转速度
非线性补偿
前馈
液压系统
wing-sail
speed regulating valve
slewing speed
nonlinear compensation
feedforward
hydraulic system
