CN110304227A - A kind of hydraulic artificial muscle two degrees of freedom vector adjusts hydro-jet propulsion system and its vector adjusting method - Google Patents
A kind of hydraulic artificial muscle two degrees of freedom vector adjusts hydro-jet propulsion system and its vector adjusting method Download PDFInfo
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- CN110304227A CN110304227A CN201910640018.0A CN201910640018A CN110304227A CN 110304227 A CN110304227 A CN 110304227A CN 201910640018 A CN201910640018 A CN 201910640018A CN 110304227 A CN110304227 A CN 110304227A
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- artificial muscle
- voltage signal
- hydraulic artificial
- pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
Abstract
The invention discloses a kind of hydraulic artificial muscle two degrees of freedom vectors to adjust hydro-jet propulsion system and its vector adjusting method, including hydro-jet propulsion system, hydraulic system and control system；The hydro-jet propulsion system includes ROV floating body frame, disk, steering system, and the center of the disk is equipped with nozzle, and the nozzle is connected to by pipeline and the hydraulic system with water tank；The steering system includes the hydraulic artificial muscle group that one end is fixedly connected with the disk, and the hydraulic artificial muscle group is connect with the hydraulic system；The hydraulic system can drive the hydraulic artificial muscle movement that the axis of the disk and the axis of the universal joint is made the angle of cut occur, and the nozzle spray amount and the nozzle also can control to open or close；The hydraulic system is connect with the control system signal for controlling liquid flow direction in the hydraulic system.The present invention is using hydraulic artificial muscle as driver, and with underwater good compatibility, power output/self weight is than big.
Description
Technical field
The present invention relates to the propulsion system and its propulsion method of a kind of adjustable water spraying direction, specifically a kind of hydraulic pressure
Artificial-muscle two degrees of freedom vector adjusts hydro-jet propulsion system and its vector adjusting method.
Background technique
When deep-sea carries out operation, diver is limited by diving depth, to complete in big depth underwater operation, generally
Task is completed using remote control underwater robot (ROV).The primary pusher of ROV is propeller, anti-vacuole ability at this stage
Difference, noise is big, and drive system mostly uses servo motor and hydraulic cylinder etc., is unfavorable for realizing lightness and miniaturization.In addition servo
Not only output power is small for motor and hydraulic cylinder, but also works under water for a long time, seals and is difficult to solve a series of problems, such as corrosion
Certainly.This next-generation drive of hydraulic artificial muscle was widely used in underwater kit, the working media of hydraulic artificial muscle in recent years
It is water, pressure control can be carried out using the same power source and simultaneously with hydraulic jet propulsion, mitigate the weight of equipment, without complexity
Gear reduction mechanism, with marine environment good compatibility.
Summary of the invention
According to technical problem set forth above, and provide a kind of hydraulic artificial muscle two degrees of freedom vector adjusting hydraulic jet propulsion
System and its vector adjusting method.The technological means that the present invention uses is as follows:
A kind of hydraulic artificial muscle two degrees of freedom vector adjusting hydro-jet propulsion system, including hydro-jet propulsion system, hydraulic pressure system
System and control system；
The hydro-jet propulsion system includes ROV floating body frame, and the tail end of the ROV floating body frame is fixed with horizontally-supported
Plate, the middle part upper surface of the horizontal supporting plate are fixed with the pedestal being vertically arranged, and the pedestal is close to the ROV floating body frame
The side of tail end is connect by universal joint with disk, and the axis of the disk is overlapped with the axis of the universal joint, the circle
The center of disk is equipped with nozzle connector, and nozzle is fixedly connected by the nozzle connector with the disk, and the nozzle passes through
Pipeline and the hydraulic system are connected to water tank；
The hydro-jet propulsion system further includes steering system, and the steering system includes that one end is fixedly connected with the disk
Hydraulic artificial muscle group, the other end of the hydraulic artificial muscle group passes through the pedestal and connect with water flowing valve block, and described
This end of hydraulic artificial muscle group is connect with the hydraulic system；The water flowing valve block and it is fixed on the ROV floating body frame vertically
Vertical support plate in the middle part of frame is fixedly connected；
The axis and the universal joint that the hydraulic system is used to that the hydraulic artificial muscle movement to be driven to make the disk
Axis there is the angle of cut；The hydraulic system is also used to control the nozzle spray amount and the nozzle opens or closes；
The hydraulic system is connect with the control system signal for controlling liquid flow direction in the hydraulic system.
Further, the hydraulic system includes: motor, and the motor is connect with hydraulic pamp, and the hydraulic pamp enters
Mouth is connect by filter with the water tank, and the outlet of the hydraulic pamp is separately connected the entrance of overflow valve and check valve；It is described
Check valve outlet by fixer resistance connect respectively with proportional throttle valve group open in usual and the hydraulic artificial muscle group；
The outlet of the overflow valve and the proportional throttle valve group open in usual are separately connected the water tank；
The proportional throttle valve group open in usual and the fixer hinder to form Type B half-bridge；
The water tank is connected by the entrance of electro hydraulic on-off valve and electro-hydraulic proportional reducing valve, the electro-hydraulic proportional reducing valve
Outlet is connect with the nozzle.
Further, the hydraulic artificial muscle group includes the first hydraulic pressure people being uniformly arranged around the axis of the disk
Work muscle, the second hydraulic artificial muscle, third hydraulic artificial muscle and the 4th hydraulic artificial muscle, the first hydraulic pressure artificial muscle
Meat, second hydraulic artificial muscle, the third hydraulic artificial muscle and the 4th hydraulic artificial muscle axis with
The axis of the disk is parallel, and the surface of the disk axis, second water is arranged in first hydraulic artificial muscle
The underface of the disk axis is arranged in pressure artificial-muscle, and the disk axis is arranged in the third hydraulic artificial muscle
The directly to the right of the disk axis is arranged in directly to the left, the 4th hydraulic artificial muscle；First hydraulic artificial muscle, institute
The second hydraulic artificial muscle, the third hydraulic artificial muscle and the 4th hydraulic artificial muscle are stated close to the vertical support
One end of plate is fixedly connected with the vertical support plate, first hydraulic artificial muscle, second hydraulic artificial muscle, institute
The other end for stating third hydraulic artificial muscle and the 4th hydraulic artificial muscle is fixedly connected with one end of driving wire respectively, institute
The other end for stating driving wire passes through the pedestal and is fixedly connected with the disk, and the axis of the driving wire and the disk
Axis is parallel.
Further, the proportional throttle valve group open in usual includes connect respectively with first hydraulic artificial muscle
One proportional throttle valve open in usual, second connect with second hydraulic artificial muscle proportional throttle valve open in usual, with described the
The third proportional throttle valve open in usual of three hydraulic artificial muscles connection and connect with the 4th hydraulic artificial muscle the 4th normal
Open type proportional throttle valve.
Further, the proportional throttle valve group open in usual includes respectively with first hydraulic artificial muscle described in
The proportional throttle valve open in usual of the first of water flowing valve block connection is connect with second hydraulic artificial muscle by the water flowing valve block
The second proportional throttle valve open in usual, the third that is connect with the third hydraulic artificial muscle by the water flowing valve block it is open in usual
Proportional throttle valve and the 4th proportional throttle valve open in usual being connect with the 4th hydraulic artificial muscle by the water flowing valve block.
Further, the control system includes:
First displacement sensor, first displacement sensor is for measuring first hydraulic artificial muscle along its axial direction
The displacement in direction；
Second displacement sensor, the second displacement sensor is for measuring the 4th hydraulic artificial muscle along its axis
Displacement on direction；
Control the first PID controller of first hydraulic artificial muscle and second hydraulic artificial muscle；
Control the second PID controller of the third hydraulic artificial muscle and the 4th hydraulic artificial muscle；
First mean voltage signal of first hydraulic artificial muscle and second hydraulic artificial muscle is U1；First
Mean voltage input module inputs U1；
The Second Intermediate Value voltage signal of the third hydraulic artificial muscle and the 4th hydraulic artificial muscle is U2；Second
Mean voltage input module inputs U2；
The displacement signal that first displacement sensor obtains is transmitted to y- ω conversion module, and displacement signal is turned
Turn to measurement trim angle signal；Expected pre- trim angle signal is inputted by the first ω input module, and passes through the first ω
Pre- trim angle signal and measurement trim angle signal are obtained trim angle difference signal, the differential seat angle as difference by comparison module
Value signal, which by ω-y conversion module is converted into displacement signal and is input to the first PID controller, obtains the first displacement voltage signal △
u1；First bias pressure comparison module sums the first displacement voltage signal △ u1 and the first mean voltage signal U1
Obtain first voltage signal u11=U1+ △ u1；Second bias pressure comparison module is by the first mean voltage signal U1 and institute
Stating the first displacement voltage signal △ u1 asks difference to obtain second voltage signal u21=U1- △ u1；First pressure sensor measurement first
Hydraulic artificial muscle hydraulic pressure simultaneously exports first pressure voltage signal u10, the second hydraulic artificial muscle of second pressure sensor measurement
Hydraulic pressure simultaneously exports second pressure voltage signal u20；The first voltage signal u11 and first pressure voltage signal u10 warp
The first pressure comparison module obtains the first conveying voltage signal u12=u11-u10 after making difference, and the first pressure compares
The first conveying voltage signal u12 is input to the described first proportional throttle valve open in usual by module；The second voltage signal
The u21 and second pressure voltage signal u20 obtains the second conveying voltage signal after the second pressure comparison module makees difference
U22=u21-u20, and the second conveying voltage signal u22 is input to described second often by the second pressure comparison module
Open type proportional throttle valve；
The displacement signal of the second displacement sensor is transmitted to x- ω conversion module, converts displacement signal to and measures back
Gyration signal；Expected pre- angle of revolution signal is inputted by the 2nd ω loader, and passes through the 2nd ω comparison module for institute
It states pre- angle of revolution signal and the measurement angle of revolution signal and obtains angle of revolution difference signal as difference, the angle of revolution is poor
Value signal, which by ω-x converter module is converted into displacement signal and is input to the second PID controller, obtains second displacement voltage signal
△u2；Third bias pressure comparison module asks the second displacement voltage signal △ u2 and the Second Intermediate Value voltage signal U2
With obtain tertiary voltage signal u31=U2+ △ u2；4th bias pressure comparison module is electric by the Second Intermediate Value；Third pressure
Sensor measurement third hydraulic artificial muscle hydraulic pressure simultaneously exports third pressure voltage signal u30, the 4th pressure sensor measurement the
Four hydraulic artificial muscle hydraulic pressure simultaneously export the 4th pressure voltage signal u40；The 4th voltage signal u41 and the 4th pressure
Voltage signal u40 obtains the 4th conveying voltage signal u42=u41-u40, and institute after the 4th pressure comparison module makees difference
It states the 4th pressure comparison module and the 4th conveying voltage signal u42 is input to the 4th proportional throttle valve open in usual；Institute
It states tertiary voltage signal u31 and the third pressure voltage signal u30 and obtains the after the third pressure comparison module makees difference
Three conveying voltage signal u32=u31-u30, and the third pressure comparison module is defeated by third conveying voltage signal u32
Enter to third proportional throttle valve open in usual；
The control system further includes controlling the switch module and control the electricity that the electro hydraulic on-off valve opens or closes
The control module of liquid proportional pressure-reducing valve unlatching size.
Further, the control system further includes the first connecting plate and the second connecting plate, and first connecting plate is fixed
At the top of the side of tail end of the pedestal far from the ROV floating body frame；Second connecting plate is fixed on the pedestal
The right side of the side of tail end far from the ROV floating body frame；The connection of first hydraulic artificial muscle and the driving wire
Place is fixed with first connecting rod, and the 4th hydraulic artificial muscle and the junction of the driving wire are fixed with second connecting rod,
First connecting plate is fixedly connected with the fixing end of the first displacement sensor, the survey of first displacement sensor
Amount end is fixedly connected with the first connecting rod；
Second connecting plate is fixedly connected with the fixing end of second displacement sensor, the survey of first displacement sensor
Amount end is fixedly connected with the second connecting rod.
First hydraulic artificial muscle of the present invention, second hydraulic artificial muscle, the third hydraulic pressure people
Work muscle and the 4th hydraulic artificial muscle (can award for a kind of hydraulic artificial muscle of patent disclosed in the Maritime Affairs University Of Dalian
Power notification number is CN103395072B).
A kind of vector adjusting method of hydraulic artificial muscle two degrees of freedom vector adjusting hydro-jet propulsion system, including walk as follows
It is rapid:
S1, in advance to first hydraulic artificial muscle, second hydraulic artificial muscle, the third hydraulic pressure artificial muscle
Water-filling makes its contraction inside meat and the 4th hydraulic artificial muscle, and each driving wire is tight；
S2, pre- trim angle and pre- angle of revolution are inputted by the first ω loader and the 2nd ω loader,
U1 and U2 is inputted by the first mean voltage input module and the Second Intermediate Value voltage input module respectively；
S3, first hydraulic artificial muscle, second hydraulic artificial muscle, the third hydraulic artificial muscle and institute
The 4th hydraulic artificial muscle is stated to carry out water-filling under the control of the control system or discharge water, first hydraulic artificial muscle and
The trim of the nozzle, the third hydraulic artificial muscle and the 4th hydraulic pressure are completed in the second hydraulic artificial muscle cooperation
The revolution of the nozzle is completed in artificial-muscle cooperation；
S4, the switch module control the open and close of the electro hydraulic on-off valve；The control module controls electro-hydraulic ratio
Example pressure reducing valve opens size.
The invention has the following advantages that
1, the present invention is using hydraulic artificial muscle as driver, and with underwater good compatibility, power output/self weight is than big, knot
Structure is compact.
2, the assembly of structure is simple, convenient for disassembly and assembly.
The present invention can be widely popularized in fields such as ROV based on the above reasons.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of hydraulic artificial muscle two degrees of freedom vector adjusting hydraulic jet propulsion in Example 1 and Example 2 of the present invention
The structural schematic diagram of system.
Fig. 2 is propulsion system left view in Example 1 and Example 2 of the present invention.
Fig. 3 is that hydraulic system with control system connects control figure in Example 1 and Example 2 of the present invention.
In figure: 1, ROV floating body frame；2, horizontal supporting plate；3, pedestal；4, universal joint；5, disk；6, nozzle connector；
7, nozzle；8, water tank；9, vertical support plate；10, the first hydraulic artificial muscle；11, the second hydraulic artificial muscle；12, third water
Press artificial-muscle；13, the 4th hydraulic artificial muscle；14, driving wire；15, motor；16, hydraulic pamp；17, filter；18, overflow
Valve；19, check valve；20, fixer hinders；21, electro hydraulic on-off valve；22, electro-hydraulic proportional reducing valve；23, the first normally opened ratio throttling
Valve；24, the second normally opened proportional throttle valve；25, the normally opened proportional throttle valve of third；26, the 4th normally opened proportional throttle valve；27, water flowing
Valve block；28, the first displacement sensor；29, second displacement sensor；30, the first PID controller；31, the second PID controller；
32, the first mean voltage input module；33 Second Intermediate Value voltage input modules；34, y- ω conversion module；35, the first ω is inputted
Module；36, the first ω comparison module；37, ω-y conversion module；38, first pressure sensor；39, second pressure sensor；
40, first pressure comparison module；41 second pressure comparison modules；42, x- ω conversion module；43, the 2nd ω loader；44,
Two ω comparison modules；45, ω-x converter module；46, third pressure sensor；47, the 4th pressure sensor；48, the 4th pressure
Power comparison module；49, third pressure comparison module；50, switch module；51, control module；52, the first connecting plate；53, second
Connecting plate；54, first connecting rod；55 second connecting rods；56, the first bias pressure comparison module；57, the second bias pressure compares
Module；58, third bias pressure comparison module；59, the 4th bias pressure comparison module.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figure 1-Figure 3, a kind of hydraulic artificial muscle two degrees of freedom vector adjusts hydro-jet propulsion system, including water spray pushes away
Into system, hydraulic system and control system；
The hydro-jet propulsion system includes ROV floating body frame 1, and the tail end of the ROV floating body frame 1 is fixed with horizontally-supported
Plate 2, the middle part upper surface of the horizontal supporting plate 2 are fixed with the pedestal 3 being vertically arranged, and the pedestal 3 is close to the ROV floating body
The side of 1 tail end of frame is connect by universal joint 4 with disk 5, and the axis weight of the axis of the disk 5 and the universal joint 4
It closes, the center of the disk 5 is equipped with nozzle connector 6, and nozzle 7, which is fixed by the nozzle connector 6 with the disk 5, to be connected
It connects, the nozzle 7 is connected to by pipeline and the hydraulic system with water tank 8；
The hydro-jet propulsion system further includes steering system, and the steering system includes one end and the fixed company of the disk 5
The hydraulic artificial muscle group connect, the other end of the hydraulic artificial muscle group pass through the pedestal 3 and connect with water flowing valve block 56, and
This end of the hydraulic artificial muscle group is connect with the hydraulic system；The water flowing valve block 56 be fixed on the ROV vertically
The vertical support plate 9 at 1 middle part of floating body frame is fixedly connected；
The hydraulic artificial muscle group includes the first hydraulic artificial muscle being uniformly arranged around the axis of the disk 5
10, the second hydraulic artificial muscle 11, third hydraulic artificial muscle 12 and the 4th hydraulic artificial muscle 13, first hydraulic pressure are artificial
Muscle 10, second hydraulic artificial muscle 11, the third hydraulic artificial muscle 12 and the 4th hydraulic artificial muscle 13
Axis it is parallel with the axis of the disk 5, first hydraulic artificial muscle 10 be arranged in 5 axis of disk just on
The underface of 5 axis of disk is arranged in side, second hydraulic artificial muscle 11, and the third hydraulic artificial muscle 12 is set
The directly to the left in 5 axis of disk is set, the directly to the right of 5 axis of disk is arranged in the 4th hydraulic artificial muscle 13；
First hydraulic artificial muscle 10, second hydraulic artificial muscle 11, the third hydraulic artificial muscle 12 and described
Four hydraulic artificial muscles 13 are fixedly connected close to one end of the vertical support plate 9 with the vertical support plate 9, first water
Press artificial-muscle 10, second hydraulic artificial muscle 11, the third hydraulic artificial muscle 12 and the 4th hydraulic pressure artificial
The other end of muscle 13 is fixedly connected with one end of driving wire 14 respectively, and the other end of the driving wire 14 passes through the pedestal 3
It is fixedly connected with the disk 5, and the axis of the driving wire 14 is parallel with the axis of the disk 5.
The hydraulic system includes: motor 15, and the motor 15 is connect with hydraulic pamp 16, the entrance of the hydraulic pamp 16
It is connect by filter 17 with the water tank 8, the outlet of the hydraulic pamp 16 is separately connected entering for overflow valve 18 and check valve 19
Mouthful；The outlet of the check valve 19 by fixer resistance 20 respectively with proportional throttle valve group open in usual and the hydraulic pressure artificial muscle
The connection of meat group；
The outlet of the overflow valve 18 and the proportional throttle valve group open in usual are separately connected the water tank 8；
The proportional throttle valve group open in usual and fixer resistance 20 form Type B half-bridge；
The water tank 8 is connect by electro hydraulic on-off valve 21 with the entrance of electro-hydraulic proportional reducing valve 22, and the electric-hydraulic proportion subtracts
The outlet of pressure valve 22 is connect with the nozzle 7.
The proportional throttle valve group open in usual includes passing through the water-through valve with first hydraulic artificial muscle 10 respectively
The first proportional throttle valve 23 open in usual and second hydraulic artificial muscle 11 that block 27 connects are connected by the water flowing valve block 27
Second connect proportional throttle valve 24 open in usual, connect with the third hydraulic artificial muscle 12 by the water flowing valve block 27
Three proportional throttle valves 25 open in usual and with the 4th hydraulic artificial muscle 13 by the water flowing valve block 27 connect the 4th often
Open type proportional throttle valve 26.
The control system includes:
First displacement sensor 28, first displacement sensor 28 is for measuring 10 edge of the first hydraulic artificial muscle
The displacement of its axial direction；
Second displacement sensor 29, the second displacement sensor 29 is for measuring 13 edge of the 4th hydraulic artificial muscle
Displacement on its axis direction；
Control the first PID controller 30 of first hydraulic artificial muscle 10 and second hydraulic artificial muscle 11；
Control the second PID controller 31 of the third hydraulic artificial muscle 12 and the 4th hydraulic artificial muscle 13；
First mean voltage signal of first hydraulic artificial muscle 10 and second hydraulic artificial muscle 11 is U1；
First mean voltage input module 32 inputs U1；
The Second Intermediate Value voltage signal of the third hydraulic artificial muscle 12 and the 4th hydraulic artificial muscle 13 is U2；
Second Intermediate Value voltage input module 33 inputs U2；
First displacement sensor 28 measures obtained displacement signal and is transmitted to y- ω conversion module 34, and displacement is believed
Number it is converted into measurement trim angle signal；Expected pre- trim angle signal is inputted by the first ω input module 35, and is passed through
Pre- trim angle signal and measurement trim angle signal are obtained trim angle difference signal as difference by the first ω comparison module 36, institute
It states angle difference signal and is converted into displacement signal by ω-y conversion module 37 and is input to the first PID controller 30 and obtain first
Move voltage signal △ u1；First bias pressure comparison module 56 is by the first displacement voltage signal △ u1 and first intermediate value
Voltage signal U1 sums to obtain first voltage signal u11=U1+ △ u1；Second bias pressure comparison module 57 will be in described first
Threshold voltage signal U1 and the first displacement voltage signal △ u1 ask difference to obtain second voltage signal u21=U1- △ u1；First pressure
Force snesor 38 measures 10 hydraulic pressure of the first hydraulic artificial muscle and exports first pressure voltage signal u10, second pressure sensor
39 measurement 11 hydraulic pressure of the second hydraulic artificial muscle simultaneously export second pressure voltage signal u20；The first voltage signal u11 and institute
It states first pressure voltage signal u10 and obtains the first conveying voltage signal u12=after the first pressure comparison module 40 makees difference
U11-u10, and to be input to described first open in usual by the first conveying voltage signal u12 for the first pressure comparison module 40
Proportional throttle valve 23；The second voltage signal u21 and second pressure voltage signal u20 compares mould through the second pressure
Block 41 is made to obtain the second conveying voltage signal u22=u21-u20 after difference, and the second pressure comparison module 41 is by described second
Conveying voltage signal u22 is input to the described second proportional throttle valve 24 open in usual；
The displacement signal of the second displacement sensor 29 is transmitted to x- ω conversion module 42, converts survey for displacement signal
Measure angle of revolution signal；Expected pre- angle of revolution signal is inputted by the 2nd ω loader 43, and mould is compared by the 2nd ω
The pre- angle of revolution signal and the measurement angle of revolution signal are obtained angle of revolution difference signal as difference by block 44, and described time
Gyration difference signal is converted into displacement signal and is input to the second PID controller 31 by ω-x converter module 45 obtains second
Displacement voltage signal △ u2；Third bias pressure comparison module 58 will be in the second displacement voltage signal △ u2 and described second
Threshold voltage signal U2 sums to obtain tertiary voltage signal u31=U2+ △ u2；4th bias pressure comparison module 59 is by described second
Mean voltage signal U2 and the second displacement voltage signal △ u2 ask difference to obtain the 4th voltage signal u21=U1- △ u1；Third
Pressure sensor 46 measures 12 hydraulic pressure of third hydraulic artificial muscle and exports third pressure voltage signal u30, the 4th pressure sensing
Device 47 measures 13 hydraulic pressure of the 4th hydraulic artificial muscle and exports the 4th pressure voltage signal u40；The 4th voltage signal u41 and
The 4th pressure voltage signal u40 obtains the 4th conveying voltage signal u42 after the 4th pressure comparison module 48 makees difference
=u41-u40, and to be input to the described 4th normally opened by the 4th conveying voltage signal u42 for the 4th pressure comparison module 48
Formula proportional throttle valve 26；The tertiary voltage signal u31 and the third pressure voltage signal u30 compare through the third pressure
Module 49 is made to obtain third conveying voltage signal u32=u31-u30 after difference, and the third pressure comparison module 49 is by described the
Three conveying voltage signal u32 are input to third proportional throttle valve 25 open in usual；
The control system further includes controlling the switch module 50 and control institute that the electro hydraulic on-off valve 21 opens or closes
State the control module 51 that electro-hydraulic proportional reducing valve 22 opens size.
The control system further includes the first connecting plate 52 and the second connecting plate 53, and first connecting plate 52 is fixed on institute
State the top of the side of tail end of the pedestal 3 far from the ROV floating body frame 1；Second connecting plate 53 is fixed on the pedestal 3
The right side of the side of tail end far from the ROV floating body frame 1；First hydraulic artificial muscle 10 and the driving wire 14
Junction is fixed with first connecting rod 54, and the junction of the 4th hydraulic artificial muscle 13 and the driving wire 14 is fixed with the
Two connecting rods 55,
First connecting plate 52 is fixedly connected with the fixing end of the first displacement sensor 28, first displacement sensor
28 measurement end is fixedly connected with the first connecting rod 54；
Second connecting plate 53 is fixedly connected with the fixing end of second displacement sensor 29, first displacement sensor
29 measurement end is fixedly connected with the second connecting rod 55.
First hydraulic artificial muscle 10 of the present invention, second hydraulic artificial muscle 11, the third water
Pressing artificial-muscle 12 and the 4th hydraulic artificial muscle 13 can be a kind of hydraulic pressure people of patent disclosed in the Maritime Affairs University Of Dalian
Work muscle (Authorization Notice No. CN103395072B).
Two hydraulic artificial muscle (the first water being oppositely arranged in the hydraulic artificial muscle group are controlled by control system
Press artificial-muscle 10 and the second hydraulic artificial muscle 11 opposite, third hydraulic artificial muscle 12 and 13 phase of the 4th hydraulic artificial muscle
It is right) in one stretch out one and shrink that (for example the first hydraulic artificial muscle 10 is stretched out, then corresponding second hydraulic pressure is artificial
Muscle 11 is shunk) and reach the disk 5 and rotate, and then the rotation of the nozzle 7 is had adjusted, to make ROV floating body frame
The direction of motion of frame 1 changes.
Embodiment 2
As shown in Figure 1-3, a kind of hydraulic artificial muscle two degrees of freedom vector adjusts the vector adjusting side of hydro-jet propulsion system
Method includes the following steps:
S1, in advance to first hydraulic artificial muscle 10, second hydraulic artificial muscle 11, the third hydraulic pressure people
Work muscle 12 and 13 inside water-filling of the 4th hydraulic artificial muscle make its contraction, and each driving wire 14 is tight；
S2, pre- trim angle and pre- angle of revolution are inputted by the first ω loader 35 and the 2nd ω loader 43
Degree inputs U1 and U2 by the first mean voltage input module 32 and the Second Intermediate Value voltage input module 33 respectively；
S3, first hydraulic artificial muscle 10, second hydraulic artificial muscle 11, the third hydraulic artificial muscle
12 and the 4th hydraulic artificial muscle 14 carry out water-filling under the control of the control system or discharge water, the first hydraulic pressure people
The trim of the nozzle 7, the third hydraulic artificial muscle are completed in work muscle 10 and second hydraulic artificial muscle 11 cooperation
12 and the 4th hydraulic artificial muscle 13 cooperation complete the revolution of the nozzle 7；
S4, the switch module 50 control the open and close of the electro hydraulic on-off valve 21；The control module 51 controls
Electro-hydraulic proportional reducing valve 22 opens size.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (7)
1. a kind of hydraulic artificial muscle two degrees of freedom vector adjusts hydro-jet propulsion system, which is characterized in that including hydraulic jet propulsion system
System, hydraulic system and control system；
The hydro-jet propulsion system includes ROV floating body frame, and the tail end of the ROV floating body frame is fixed with horizontal supporting plate, institute
The middle part upper surface for stating horizontal supporting plate is fixed with the pedestal being vertically arranged, and the pedestal is close to the ROV floating body frame tail end
Side connect with disk by universal joint, and the axis of the disk is overlapped with the axis of the universal joint, the disk
Center is equipped with nozzle connector, and nozzle is fixedly connected by the nozzle connector with the disk, and the nozzle passes through pipeline
It is connected to the hydraulic system with water tank；
The hydro-jet propulsion system further includes steering system, and the steering system includes the water that one end is fixedly connected with the disk
Artificial-muscle group is pressed, the other end of the hydraulic artificial muscle group passes through the pedestal and connect with water flowing valve block, and the hydraulic pressure
This end of artificial-muscle group is connect with the hydraulic system；It the water flowing valve block and is fixed in the ROV floating body frame vertically
The vertical support plate in portion is fixedly connected；
The hydraulic system is used to that the hydraulic artificial muscle movement to be driven to make the axis of the disk and the axis of the universal joint
There is the angle of cut in line；The hydraulic system is also used to control the nozzle spray amount and the nozzle opens or closes；
The hydraulic system is connect with the control system signal for controlling liquid flow direction in the hydraulic system.
2. a kind of hydraulic artificial muscle two degrees of freedom vector according to claim 1 adjusts hydro-jet propulsion system, feature
It is:
The hydraulic system includes: motor, and the motor is connect with hydraulic pamp, the entrance of the hydraulic pamp by filter with
The water tank connection, the outlet of the hydraulic pamp is separately connected the entrance of overflow valve and check valve；The outlet of the check valve
It is connect respectively with proportional throttle valve group open in usual and the hydraulic artificial muscle group by fixer resistance；
The outlet of the overflow valve and the proportional throttle valve group open in usual are separately connected the water tank；
The proportional throttle valve group open in usual and the fixer hinder to form Type B half-bridge；
The water tank is connected by the entrance of electro hydraulic on-off valve and electro-hydraulic proportional reducing valve, the outlet of the electro-hydraulic proportional reducing valve
It is connect with the nozzle.
3. a kind of hydraulic artificial muscle two degrees of freedom vector according to claim 2 adjusts hydro-jet propulsion system, feature
Be: the hydraulic artificial muscle group includes the first hydraulic artificial muscle being uniformly arranged around the axis of the disk, second
Hydraulic artificial muscle, third hydraulic artificial muscle and the 4th hydraulic artificial muscle, first hydraulic artificial muscle, described second
Axis of the axis of hydraulic artificial muscle, the third hydraulic artificial muscle and the 4th hydraulic artificial muscle with the disk
Line is parallel, and the surface of the disk axis is arranged in first hydraulic artificial muscle, and second hydraulic artificial muscle is set
It sets in the underface of the disk axis, the directly to the left of the disk axis is arranged in the third hydraulic artificial muscle, described
The directly to the right of the disk axis is arranged in 4th hydraulic artificial muscle；First hydraulic artificial muscle, second hydraulic pressure
Artificial-muscle, the third hydraulic artificial muscle and the 4th hydraulic artificial muscle close to the vertical support plate one end with
The vertical support plate is fixedly connected, first hydraulic artificial muscle, second hydraulic artificial muscle, the third hydraulic pressure
Artificial-muscle and the other end of the 4th hydraulic artificial muscle are fixedly connected with one end of driving wire respectively, the driving wire
The other end passes through the pedestal and is fixedly connected with the disk, and the axis of the driving wire is parallel with the axis of the disk.
4. a kind of hydraulic artificial muscle two degrees of freedom vector according to claim 3 adjusts hydro-jet propulsion system, feature
It is:
The proportional throttle valve group open in usual includes being connect respectively with first hydraulic artificial muscle by the water flowing valve block
The first proportional throttle valve open in usual, connect by the water flowing valve block with second hydraulic artificial muscle it is second open in usual
Proportional throttle valve, the third proportional throttle valve open in usual being connect with the third hydraulic artificial muscle by the water flowing valve block and
The 4th proportional throttle valve open in usual being connect with the 4th hydraulic artificial muscle by the water flowing valve block.
5. a kind of hydraulic artificial muscle two degrees of freedom vector according to claim 4 adjusts hydro-jet propulsion system, feature
Be: the control system includes:
First displacement sensor, first displacement sensor is for measuring first hydraulic artificial muscle along its axial direction
Displacement；
Second displacement sensor, the second displacement sensor is for measuring the 4th hydraulic artificial muscle along its axis direction
On displacement；
Control the first PID controller of first hydraulic artificial muscle and second hydraulic artificial muscle；
Control the second PID controller of the third hydraulic artificial muscle and the 4th hydraulic artificial muscle；
First mean voltage signal of first hydraulic artificial muscle and second hydraulic artificial muscle is U1；First intermediate value
Voltage input module inputs U1；
The Second Intermediate Value voltage signal of the third hydraulic artificial muscle and the 4th hydraulic artificial muscle is U2；Second Intermediate Value
Voltage input module inputs U2；
The displacement signal that first displacement sensor obtains is transmitted to y- ω conversion module, converts displacement signal to
Measure trim angle signal；Expected pre- trim angle signal is inputted by the first ω input module, and is compared by the first ω
Pre- trim angle signal and measurement trim angle signal are obtained trim angle difference signal, the angle difference letter as difference by module
Number displacement signal is converted by ω-y conversion module and is input to the first PID controller and obtains the first displacement voltage signal △ u1；
First bias pressure comparison module sums the first displacement voltage signal △ u1 and the first mean voltage signal U1
To first voltage signal u11=U1+ △ u1；Second bias pressure comparison module by the first mean voltage signal U1 with it is described
First displacement voltage signal △ u1 asks difference to obtain second voltage signal u21=U1- △ u1；First pressure sensor measures the first water
Pressure artificial-muscle hydraulic pressure simultaneously exports first pressure voltage signal u10, second pressure sensor measurement the second hydraulic artificial muscle water
It presses and exports second pressure voltage signal u20；The first voltage signal u11 and the first pressure voltage signal u10 are through institute
It states after first pressure comparison module makees difference and obtains the first conveying voltage signal u12=u11-u10, and the first pressure compares mould
The first conveying voltage signal u12 is input to the described first proportional throttle valve open in usual by block；The second voltage signal u21
The second conveying voltage signal u22 is obtained after the second pressure comparison module makees difference with the second pressure voltage signal u20
=u21-u20, and to be input to described second open in usual by the second conveying voltage signal u22 for the second pressure comparison module
Proportional throttle valve；
The displacement signal of the second displacement sensor is transmitted to x- ω conversion module, converts measurement angle of revolution for displacement signal
Spend signal；Expected pre- angle of revolution signal is inputted by the 2nd ω loader, and will be described pre- by the 2nd ω comparison module
Angle of revolution signal obtains angle of revolution difference signal, the angle of revolution difference letter as difference with the measurement angle of revolution signal
Number displacement signal is converted by ω-x converter module and is input to the second PID controller and obtains second displacement voltage signal △
u2；Third bias pressure comparison module sums the second displacement voltage signal △ u2 and Second Intermediate Value voltage signal U2
Obtain tertiary voltage signal u31=U2+ △ u2；4th bias pressure comparison module is by the Second Intermediate Value voltage signal U2 and institute
Stating second displacement voltage signal △ u2 asks difference to obtain the 4th voltage signal u21=U1- △ u1；Third pressure sensor measures third
Hydraulic artificial muscle hydraulic pressure simultaneously exports third pressure voltage signal u30, and the 4th pressure sensor measures the 4th hydraulic artificial muscle
Hydraulic pressure simultaneously exports the 4th pressure voltage signal u40；The 4th voltage signal u41 and the 4th pressure voltage signal u40 warp
The 4th pressure comparison module obtains the 4th conveying voltage signal u42=u41-u40 after making difference, and the 4th pressure compares
The 4th conveying voltage signal u42 is input to the 4th proportional throttle valve open in usual by module；The tertiary voltage signal
The u31 and third pressure voltage signal u30 obtains third conveying voltage signal after the third pressure comparison module makees difference
U32=u31-u30, and to be input to the third normal by third conveying voltage signal u32 for the third pressure comparison module
Open type proportional throttle valve；
The control system further includes controlling the switch module and control the electro-hydraulic ratio that the electro hydraulic on-off valve opens or closes
Example pressure reducing valve opens the control module of size.
6. a kind of hydraulic artificial muscle two degrees of freedom vector according to claim 5 adjusts hydro-jet propulsion system, feature
Be: the control system further includes the first connecting plate and the second connecting plate, and it is remote that first connecting plate is fixed on the pedestal
The top of the side of tail end from the ROV floating body frame；It is floating far from the ROV that second connecting plate is fixed on the pedestal
The right side of the side of the tail end of body frame；The junction of first hydraulic artificial muscle and the driving wire is fixed with the first company
The junction of extension bar, the 4th hydraulic artificial muscle and the driving wire is fixed with second connecting rod,
First connecting plate is fixedly connected with the fixing end of the first displacement sensor, the measurement end of first displacement sensor
It is fixedly connected with the first connecting rod；
Second connecting plate is fixedly connected with the fixing end of second displacement sensor, the measurement end of first displacement sensor
It is fixedly connected with the second connecting rod.
7. the vector adjusting method that a kind of hydraulic artificial muscle two degrees of freedom vector adjusts hydro-jet propulsion system, which is characterized in that
Include the following steps:
S1, in advance to first hydraulic artificial muscle, second hydraulic artificial muscle, the third hydraulic artificial muscle and
Water-filling makes its contraction inside 4th hydraulic artificial muscle, and each driving wire is tight；
S2, pre- trim angle and pre- angle of revolution are inputted by the first ω loader and the 2nd ω loader, respectively
U1 and U2 is inputted by the first mean voltage input module and the Second Intermediate Value voltage input module；
S3, first hydraulic artificial muscle, second hydraulic artificial muscle, the third hydraulic artificial muscle and described
Four hydraulic artificial muscles carry out water-filling or are discharged water under the control of the control system, first hydraulic artificial muscle and described
The trim of the nozzle is completed in the cooperation of second hydraulic artificial muscle, and the third hydraulic artificial muscle and the 4th hydraulic pressure are artificial
The revolution of the nozzle is completed in muscle cooperation；
S4, the switch module control the open and close of the electro hydraulic on-off valve；The control module control electric-hydraulic proportion subtracts
Pressure valve opens size.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111775177A (en) * | 2020-06-30 | 2020-10-16 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
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