摘要
海水液压是目前最具竞争力的可调压载系统实现方式之一,因其诸多优点,可调压载系统(WHVBS)被公认为是大深度载人潜水器浮力调节的理想方式。为提高现有WHVBS在较高采样频率下的流量控制精度,提出一种基于电磁阀特性补偿(SVC)的广义模型预测控制方法(GPC),并进行仿真验证。结果表明,较GPC所提出的GPCSVC方法能实现较高频率下的小流量精确跟踪,并能避免流量控制元件非线性带来的辨识参数振荡问题。
The water hydraulics is a competitive mechanism to adjust the ballast water and also is the best choice for ultra-deep sea manned submersible. In order to improve the flow-rate control performance in a higher sample frequency of the water hydraulic variable ballast system （WHVBS） , a generalized predictive controller with solenoid valve model-based compensation （GPCSVC） is proposed for simulation. As shown in simulation results, the GPCSVC can achieve a better tracing performance for small flow-rate than GPC in a higher sample frequency. Additionally, the osciUation of identification parameters in GPC, which is caused by the nonlinearity of WHVBS, is restrained by introduction of SVC.
出处
《液压与气动》
北大核心
2017年第7期22-28,共7页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金(51575200)
国家重点研发计划(2016YFC0300600
2016YFC0304800)
关键词
潜器
可调压载系统
浮力调节系统
广义模型预测控制
特性补偿
submersible vehicle, variable ballast system, buoyancy control system, GPC, model-based compensation
