水下涡轮机系统转速闭环控制研究
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摘要
应用于高速水下航行器的开式涡轮机系统具有耗气量低、焓降大和结构简单等特点,但该系统对工况敏感。采用调节燃料泵泵角的闭环控制策略,建立开式涡轮机动力系统及其泵角执行机构的数学模型,设计合理的控制算法并研制转速闭环控制器,首次实现了水下涡轮机的无级变速控制。半物理仿真试验结果表明,所设计的控制器可保证系统转速在变工况下跟随指令转速,转速调节的过渡时间不大于7 s,最大转速偏差不大于20 r/min,燃烧室压强超调不大于5%,保证了系统的安全性,可以有效地支持航行器新型制导规律的实现。
The open circle turbine propulsion system applied to high-speed autonomous underwater vehicle(AUV) has the outstanding characteristics of low gas consumption, large enthalpy drop and simple structure. But this system is sensitive to varying conditions. In this study, the closed-loop control strategy was adopted by adjusting the fuel pump angle to establish mathematical models of the open circle turbine propulsion system and the pump angle actuator. A reasonable control algorithm was designed. Based on the models and the algorithm, a closed-loop rotary velocity controller was developed. Thus, the stepless speed control of underwater turbine was achieved. Hardware-in-the-loop simulation result shows that the proposed controller can keep the system′s rotary velocity following the command velocity in varying conditions(variable depth or velocity). The transition time of the rotary velocity regulation is less than 7 s, and the maximum deviation of rotary velocity is less than 20 r/min. The combustion chamber pressure overshoot is less than 5%,which ensures the security of the system. The controller may effectively support the implementation of new guidance law of an AUV.
The open circle turbine propulsion system applied to high-speed autonomous underwater vehicle(AUV) has the outstanding characteristics of low gas consumption, large enthalpy drop and simple structure. But this system is sensitive to varying conditions. In this study, the closed-loop control strategy was adopted by adjusting the fuel pump angle to establish mathematical models of the open circle turbine propulsion system and the pump angle actuator. A reasonable control algorithm was designed. Based on the models and the algorithm, a closed-loop rotary velocity controller was developed. Thus, the stepless speed control of underwater turbine was achieved. Hardware-in-the-loop simulation result shows that the proposed controller can keep the system′s rotary velocity following the command velocity in varying conditions(variable depth or velocity). The transition time of the rotary velocity regulation is less than 7 s, and the maximum deviation of rotary velocity is less than 20 r/min. The combustion chamber pressure overshoot is less than 5%,which ensures the security of the system. The controller may effectively support the implementation of new guidance law of an AUV.
引文
[1]查志武,史小锋,钱志博.鱼雷热动力技术[M].北京:国防工业出版社,2006.
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[2]赵寅生.鱼雷涡轮机原理[M].西安:西北工业大学出版社,1995.
[3]石秀华,王晓娟.水中兵器概论(鱼雷分册)[M].西安:西北工业大学出版社,2005.
[4]罗凯,党建军,王育才.水下热动力推进系统自动控制[M].西安:西北工业大学出版社,2005.
[5]李代金,张宇文,罗凯,等.水下热动力推进系统的无级变速控制研究[J].西北工业大学学报,2009,27(2):195-198.Li Dai-jin,Zhang Yu-wen,Luo Kai,et al.Nonlinear Variable-Structure Control for Stepless Speed Changing of Underwater Heat-Engine Propulsion System[J].Journal of Northwestern Polytechnical University,2009,27(2):195-198.
[6]罗凯,党建军,王育才.水下涡轮发动机动力推进系统数学模型系统[J].交通运输工程学报,2006,6(2):35-38.Luo Kai,Dang Jian-jun,Wang Yu-cai.Mathematics Model of Underwater Turbine Engine System[J].Journal of Traffic and Transportation Engineering,2006,6(2):35-38.
[7]Hung J Y,Gao W B,Hung J C.Variable Structure Control:A Survey[J].IEEE Trans on Industrial Electronics,1993,40(1):2-22.
[8]Bakker R,Annaswamy A M.Low-order Multivariable Adaptive Control with Application to Flexible Structures[J].Automatic,1993,32(3):409-418.