Research On The Control And Experiment Of The Hydraulic Driving Unit For Ship Platform

Ship under the influence of waves, the wind and other marine environmental disturbance occurs periodic motion at sea operations. Wave movement has a serious impact on a radar signal capture, helicopter landing, lifting, surgical implement, shipboard weapons firing. With the development of maritime transport and defense industry, the demand for the high load capacity ship stable platform is becoming more and more urgent. Compared with the servo motor drive, the hydraulic servo drive has advantages of small size, fast response, high precision, bearing large and so on. More and more research groups choose the hydraulic servo drive as the drive unit of ship stable platforms. However, the hydraulic servo drive has many characteristics of nonlinearity, parameter uncertainty. Because the hydraulic servo system is difficult to control, the paper developed the research on the hydraulic drive unit for the ship stable platform.First, the paper built the mathematical model of the hydraulic drive unit. Based on the model, the paper analyzed the dynamic performance of the valve-controlled asymmetrical cylinder system in the frequency domain. Then, the non-deterministic parameters were obtained by the parameter identification method. Finally, the accurate mathematical model of a single-channel hydraulic drive unit was built.On the basis of the analysis of the inner mold control algorithms and speed feedback control theory, the hydraulic drive unit closed-loop control model was built by use of MATLAB / Simulink simulation software. Then the paper conducted the simulation analysis of the PID control algorithms, internal model control algorithm and internal model control algorithm within the complex velocity feedforward structure.According to the requirements, the paper finished the design of the ship stable platform hydraulic servo system and set up the experimental platform based on the c RIO-9068 controller in the laboratory. Then this paper conducted experiments by use of PID control algorithms, internal model control algorithm and internal model control algorithm within the complex velocity feedforward structure.