СИНТЕЗ ЦИФРОВОГО РЕГУЛЯТОРА ГИДРАВЛИЧЕСКОЙ СИСТЕМЫ СТАБИЛИЗАЦИИ ПОДВОДНОГО ОБЪЕКТА

Abstract

The article presents the results of the development and synthesis of a hydraulic system forstabilizing an underwater object. For completeness and accuracy of mathematical modeling in thehydraulic system, the forces of dry friction between the piston and the walls of the hydraulic cylinder,the forces of dry friction between the rod and the hydraulic cylinder, which together determinethe total dry friction force in the active hydraulic cylinder, the total dry friction force in thepassive hydraulic cylinder, and the acceleration of movement, are taken into account. Also takeninto account is the reduced mass of the system of blocks and chain hoist, the mass of the movingparts of the active and passive hydraulic cylinders. After calculating the mass and dynamic characteristicsof the hydraulic stabilization system, mathematical modeling of the developed systemwas carried out. In the process of developing and synthesizing the system, the features and typicalnon-linearities of the hydraulic and pneumatic parts included in the system were taken into account,such as the flow characteristic of a spool-type hydraulic valve, low leakage and compressioncosts in the working cavities of the active hydraulic cylinder. When designing, the adiabaticnature of the process in the pneumohydraulic displacer was adopted, since the reaction andmovement of the hydraulic stabilization system occurs quite quickly, which means that the heatexchange with the environment will be negligible. In the process of synthesizing the mathematicalmodel of the system, the nonlinearity of the rope elasticity coefficient is taken into account. A studyof the stability of the mathematical model of the stabilization system was carried out and a synthesisof the control system for the hydraulic part of the system was carried out using a fairly commonPID controller. The PID controller parameters were calculated using a standard calculationmethod. Since the result of the operation of the stabilization system with such a synthesis of thecontrol system strongly depended on the perturbation signal, it was decided to increase the invarianceof the system with respect to the input signal by introducing a combined control. Such animprovement of the system turned out to be sufficient to improve the quality of the mathematicalmodel of the hydraulic stabilization system. A digital redesign of the controller was carried out,the features of the operation of analog-to-digital transducers of sensors were taken into account.The simulation results showed the operability of such a control system.