Research On Identification Method Of ROV Propulsion System Based On Variable Hydraulic Servo System

Based on the development of the Dragon No.3 ROV,an in-depth study of mathematical modeling and system identification algorithm for the variable hydraulic propulsion of operation type of ROV is carried out.The Dragon No.3 ROV hydraulic servo drive system is used as a test platform,along with the original identification algorithm to deal with the test data,the exact system mathematical model is obtained and the correctness of the system identification algorithm is verified.The dissertation is divided into six chapters.Each chapter can be summarized as follows:In chapter one,the research background,the development of ROV related research and,especially,the characteristics and classification of ROV hydraulic propulsion system and the research progress of system identification is introduced.In chapter two,the overall scheme and system of dragon ROV No.3 are briefly introduced along with the hydraulic propulsion system components and working principle of Dragon No.3.In chapter three,the mathematical model for the servo valve,hydraulic cylinder and swash plate,variable motor,torque of propeller thrust of variable hydraulic propulsion system of ROV are established.The final model is simplified to get the structure information which can be used for model parameter identificationIn chapter four,the non-parameter identification method is introduced and two new parameter identification methods: genetic algorithm with improved mutation method and differentiator-Hopfield neural network method are brought out.In chapter five,the Dragon No.3 ROV hydraulic propulsion system experiment is introduced.Based on the experimental data,the improved genetic algorithm and differentiator-Hopfield neural network are used to identify the mathematical model of variable hydraulic propulsion system of ROV.In chapter six,the paper is summarized and future research plan is proposed.