The invention relates to a hydraulic ship steering engine control method for realizing damping by adopting a four-layer lead compensation correction network, which comprises the following steps of: measuring an input turning angle instruction and an output turning angle of a steering engine through a sensor, and measuring the piston displacement of a valve-controlled cylinder to form closed-loop feedback; meanwhile, two advanced hybrid compensation correction networks with similar structures are constructed and connected in series, so that double damping signals of steering engine rotation angle errors are obtained respectively; a valve control cylinder piston displacement signal is input into a third advanced mixed compensation correction network to obtain an output signal, the output signal is combined with the rotation angle error integral signal and the valve control cylinder piston displacement signal to form a sliding mode, and then a damping signal of a sliding mode signal is obtained through a fourth advanced mixed compensation correction network to improve the flutter problem of dynamic operation of the steering engine. And the fluctuation interference of the load is estimated through a self-adaptive method, a comprehensive control signal of the hydraulic steering engine is finally obtained, and the dynamic smooth high-quality control of the ship hydraulic steering engine is realized.
本发明是关一个采用四层超前补偿校正网络实现阻尼的液压式船舶舵机控制方法,其通过传感器测量舵机输入转角指令与输出舵机转角,以及测量阀控缸活塞位移形成闭环反馈;同时通过构造两个结构类似的超前混合补偿校正网络串联,分别获取了舵机转角误差的双重阻尼信号,将阀控缸活塞位移信号输入第三个超前混合补偿校正网络得到输出信号并组合转角误差积分信号以及阀控缸活塞位移信号组成滑模,然后通过第四个超前混合补偿校正网络得到滑模信号的阻尼信号来改善舵机动态运行的颤振问题,并通过自适应方法对负载的大小波动干扰进行估计,最终得到液压舵机的综合控制信号,实现船舶液压舵机的动态平滑高品质控制。
Hydraulic ship steering engine control method for achieving damping through four layers of networks
一种采用四层网络实现阻尼的液压式船舶舵机控制方法
2023-07-07
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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