转叶舵机用复式摆动缸操舵原理

转叶舵机具有结构紧凑、机械效率高、安装简便等优点,在舰船上得到广泛应用.现有转叶舵机为单层液压摆动缸,舵叶转动区间受摆动缸结构限制具有饱和非线性.此外,舵叶受水动力干扰引起的冲舵、滞舵和跑舵现象,严重影响船舶航向控制和舵减摇效果.针对上述问题,以直驱式电液伺服转叶舵机为对象,在建立数学模型,分析水动力对舵角干扰的基础上...

Steering Principle of Compound Swing Cylinder for Rotary Vane Steering Gear

Rotary vane steering gear has the advantages of compact structure, high mechanical efficiency, and easy installation, and is widely used in ships. The existing rotary vane steering gear is a single-layer hydraulic swing cylinder, and the rotation range of the rudder blade is restricted by the structure of the swing cylinder and has saturated nonlinearity. In addition, the phenomena of rudder impingement, lag and running caused by hydrodynamic interference seriously affect the ship''s course control and rudder anti-roll effect. Aiming at the above problems, a new steering principle of compound structure swing cylinder is proposed based on the mathematical model of direct drive electro-hydraulic servo rotary vane actuator and the analysis of the interference of hydrodynamic force on rudder angle. The double-layer structure is adopted for the compound swing cylinder, the inner layer is rudder driving cylinder, the outer layer is torque decoupling cylinder. The inner and outer rotors rotate in the same direction, which can increase the working range of the rudder blade. Meanwhile, the torque decoupling cylinder rotor outputs boost torque acting on the rudder drive cylinder rotor, which can offset the load torque generated by the hydrodynamic force on the drive cylinder rotor. Improve the rotation accuracy of the rudder blade and solve the problem of force-position coupling in the movement of the rudder. The reverse rotation of the inner and outer rotors can make the steering gear brake and change direction in time, and improve the steering performance. The compound swing cylinder is used for the vane steering gear. The steering gear system has a large stability margin, with amplitude margin of 45.3db and phase margin of 99.2deg, which meets the design index of servo system. Simulation analysis shows that, compared with the single-layer swing cylinder plus control strategy, the compound swing cylinder has faster response speed and no overshoot, the speed of reaching steady state increased by about 36%, the steady-state error is maintained within ± 0.05 ° under external load interference. When tracking a slope signal with a slope of 0.01°/s, the steering accuracy can be maintained within the ±0.03° position error band, which has high position control accuracy.