Research On Structure Design And Control Method Of Compound Rotor Steering Gear

The steering gear is the key equipment to control the course of the ship and ensure the safety of navigation.The rotary vane steering gear has the advantages of easy installation,compact structure and high mechanical efficiency,and is widely used in ships.With the progress and development of science and technology,ships are gradually large-scale,intelligent and long-distance,and the existing steering gear technology has gradually failed to meet the application requirements of contemporary ships.Aiming at the problem of strong bit coupling between the rudder blade and the hydrodynamic force during the steering process of the ship,this paper proposes a compound structure rotary vane steering gear to improve the maneuverability of the ship,especially the warship,and the steering control principle is proposed from the structure,and the coupling torque of the hydrodynamic to the rudder blade is suppressed from the root.In order to design the compound structure steering gear that meets the structural stiffness and strength,the optimal structural design parameters were obtained by improving the genetic algorithm and considering the constraint conflicts among multiobjective problems based on the principle of coevolution.The fluid-structure coupling theory was used to verify the rationality of the structural parameters by ANSYS analysis.Combined with the advantages of direct electro-hydraulic servo drive technology and the equipment of the rotor gear,and considering the hydrodynamic load on the rudder blade and the friction load of the rudder itself,the mathematical model was established.Combined with the Simulink simulation,the strong potential coupling relationship between the rudder Angle and hydrodynamic load and friction load was investigated.According to the structure principle of compound rotor gear,the decoupling model of compound rotor gear is built by AMEsim,which verifies the feasibility of compound structure to suppress hydrodynamic load,and provides a theoretical basis for subsequent controller design.According to the structure concept and control requirements of compound rotor steering gear,the force ring and position ring are controlled separately,and a compound controller is designed,in which the decoupling cylinder is controlled by force feedforward and the driving cylinder is controlled by integral separated PID position control.The simulation results show that the decoupling cylinder can effectively relieve the load torque of the driving cylinder,and the driving cylinder can control the rudder Angle quickly and accurately under the condition of lifting the load,and the controller has strong robust stability.Finally,the design experiment is verified.Firstly,it is verified that the existence of load torque seriously affects the output of rudder Angle.Secondly by decoupling cylinder inhibition of load torque test and tracking accuracy of the test drive cylinder test proved that the structure of double rotary vane steering gear have the ability to inhibit the hydrodynamic load,and the inhibition rate can reach 90%,after the inhibition of hydrodynamic load,The tracking accuracy error of the driving cylinder is only 0.12°,which meets the military standards.Will double entry structure decoupling and change numerous for brief thought applied to the control of rotary vane steering gear,avoid using too dependent on accurate mathematical model of complex control strategy,by putting a big load suppressed after into small load compensation,simplifies the design of the controller,and the servo system has great significance to improve the robustness.