Design And Simulation Of Work-class ROV Hydraulic Propulsion System Based On AMESim

Nowadays, because of the over-exploitation of land resources, it will be difficultfor people to meet future demand for resources, but the ocean serves as the cradle oflife, it contains rich resources. Therefore, how to develop Marine resources willbecome a great measure for the sustainable development of national economy.Although the world is now focusing on the exploitation of Marine resources, theMarine resources are mainly concentrated in deep water, the working environment isvery bad, there still exists no significant progress for the exploitation of Marineresources. Because the work-class ROV has strong adaptability to environment, longoperation time and easy to control from the console, it has received more and moreattention. Hydraulic propulsion system serves as a key subsystem for work-class ROV,and it is the premise condition for underwater robot to realize other functions, manyforeign countries have done a lot of research, but the achievements of our country isstill very few.In this paper, based on well-catalogued work-class ROV as the research object,according to the performance indicators to design the hydraulic propulsion system. Inorder to implement the six degrees of freedom movement of ROV, in the first placeeight propeller makes a corresponding layout on the space in structure. On the basis ofthe design indexes to calculate resistance when ROV in six degrees of freedommovement; Based on the propeller thrust and torque calculation formula and thecalculated value of resistance, calculate the ROV to complete each degree of freedommovement need single propeller thrust output.Secondly, the selection of hydraulic system on power provides the energy whichneeded for components of the propeller. The type of the hydraulic propeller is chosenaccording to the propeller thrust output value. By the type of output thrust andpressure, flow chart, Hydraulic propulsion system need to provide correspondingpressure and flow of oil for propeller to complete each degree of freedom movement for underwater robot. Therefore, that can confirm the rated pressure and maximum flowfor the hydraulic system. According to the hydraulic system design steps, the control oilcircuit for executive components and the hydraulic pressure station is studied, anddraw the hydraulic principle diagram, select the appropriate model for varioushydraulic components. Based on the function of the AMESim software, usingmodeling software comes with standard parts and modeling components, reference tohydraulic principle diagrams, the work-class ROV hydraulic propulsion system modelis established.Finally, on the control to select a way to make output propeller thrust whichneeded to verify the performance of the system. According to the relationshipbetween propulsive force and rotate speed, underwater robot want to complete sixdegrees of freedom movement, the propeller needs to achieve different target speedrespectively. Using the closed loop and PID control method to control the hydraulicpropulsion system simulation analysis, by comparing the simulation results, we findthe PID control method in the aspect of verifying the rationality of the hydraulicpropulsion system design more persuasive. At the same time, in the hydraulicpropulsion system simulation of PID control, using AMESim and Matlab/Simulinkco-simulation technology, which can play their respective advantages, not onlyhydraulic model and control model are established, but also the relevant simulationparameters are confirmed, which all can improve the efficiency of system simulation.Therefore, the PID control hydraulic propulsion system was carried out to simulatethe ROV six degrees of freedom movement, according to the results of simulation，the design of the hydraulic propulsion system in performance can achieve9operationmodel of the ROV six degrees of freedom movement.