海洋深度模拟器的电液控制系统分析-analysis of electro-hydraulic control system for marine depth simulator.docxVIP

华中 科技 大华中 科技 大学 硕士 学位 论文IIIIAbstractOcean depth simulator is an essential part of the hardware-in-the-loop simulation system of underwater vehicle. Cooperated with relevant equipment, ocean depth simulator can simulate different water pressure, providing real underwater conditions of varied water pressure for experimental subjects. Developing ocean depth simulator with high reliability and precision can shorten the development cycle of underwater vehicle and reduce its cost.Firstly, according to relevant technologies of hydraulic transmission, the overall plan which includes hydraulic system and control system of ocean depth simulator is determined in this paper. Based on the calculation results of key parameters, important components of ocean depth simulator are selected and the mechanical construction of the system is designed.Secondly, based on hydraulic servo control theories, the control construction of ocean depth simulator is analyzed and the mathematical description is established in the paper. The system features are studied which include frequency characteristic and stability.Thirdly, various kinds of control algorithms are researched in the paper. Because of the features on fast response and high precision, a classic control method PID is not suitable for ocean depth simulator. However, the ZPETC (zero phase error tracking controller) can reduce the large phase error in high-frequency response of depth simulator, thereby improving dynamic tracking accuracy of the system. Consequently, a PID controller based on GA (genetic algorithm) and a ZPETC controller are designed, which combine the advantages of these two control methods. Based on MATLAB, the simulation on the system is implemented and the results show that the complex control PAGE III PAGE IIIalgorithms presented in the paper improve the control performance of the system effectively.Finally, functional requirements of ocean depth simulator software are analyzed and the structure, organiza