基于电磁阀特性补偿的海水液压可调压载系统广义模型预测控制研究

Abstract

海水液压是目前最具竞争力的可调压载系统实现方式之一，因其诸多优点，可调压载系统（WHVBS）被公认为是大深度载人潜水器浮力调节的理想方式。为提高现有WHVBS在较高采样频率下的流量控制精度，提出一种基于电磁阀特性补偿（SVC）的广义模型预测控制方法（GPC），并进行仿真验证。结果表明，较GPC所提出的GPCSVC方法能实现较高频率下的小流量精确跟踪，并能避免流量控制元件非线性带来的辨识参数振荡问题。

The water hydraulics is a competitive mechanism to adjust the ballast water and also is the best choice for ultra-deep sea manned submersible. In order to improve the flow-rate control performance in a higher sample frequency of the water hydraulic variable ballast system （WHVBS） , a generalized predictive controller with solenoid valve model-based compensation （GPCSVC） is proposed for simulation. As shown in simulation results, the GPCSVC can achieve a better tracing performance for small flow-rate than GPC in a higher sample frequency. Additionally, the osciUation of identification parameters in GPC, which is caused by the nonlinearity of WHVBS, is restrained by introduction of SVC.