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Alternative TitleSemi-active Heave Compensation Based on Servo-valve-controlled Asymmetric Servo-cylinder
全伟才; 刘银水; 张竺英
Source Publication液压与气动
Contribution Rank1
Funding Organization国家科技支撑计划(2014BAB12B00)
Keyword水下机器人 半主动升沉补偿 非对称缸 前馈控制
Other AbstractIn order to improve the operation safety of launch and recapture, the deep sea remotely operated vehicle (ROV) usually has to equip with heave compensation system under rough sea states. The semi-active heave compensation method based on the servo-valve controlled asymmetric servo-cylinder is investigated in this study. Firstly, the semi-active heave compensation system, which is very similar to the actual one, is introduced about the system configuration and working principle. Considered the effect of the elastic load, the transfer function of the electro-hydraulic displacement servo-control system, including the servo amplifier, servo-valve controlled asymmetric servo-cylinder and the spring-load model, is obtained. According to the nonlinear relationship between input voltage and output velocity of asymmetrical cylinder, the piece-wise feedforward controller is designed to improve the performance of dynamic response. Finally, the experimental test of the semi-active heave compensation is proceeded and the results show the effectiveness.
Document Type期刊论文
Corresponding Author全伟才
Recommended Citation
GB/T 7714
全伟才,刘银水,张竺英. 基于阀控非对称伺服缸的半主动升沉补偿研究[J]. 液压与气动,2017(4):37-41.
APA 全伟才,刘银水,&张竺英.(2017).基于阀控非对称伺服缸的半主动升沉补偿研究.液压与气动(4),37-41.
MLA 全伟才,et al."基于阀控非对称伺服缸的半主动升沉补偿研究".液压与气动 .4(2017):37-41.
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