Optimal Design of Hydraulic System Parameters for Vector Propeller in Underwater Robot

2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering

材料科学;无线电电子学;电工学

Liu, Hongsheng^1 ; Wang, Xinghai^1 ; Chen, Zurui^2 ; Yu, Jun^2

Navy Representative Office in 431 Shipyard, Huludao

125004, China^1

Shanghai Marine Equipment Research Institute, Shanghai

200031, China^2

关键词: Hydraulic circuits;    Hydraulic parameters;    Hydraulic system;    Hydraulic system components;    Kriging methods;    Multi objective;    Software simulation;    Underwater robots;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/452/4/042072/pdf
DOI  :  10.1088/1757-899X/452/4/042072

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

Vector Propeller can increase the steering force and oscillation ability for anti-wind and anti-wave of underwater machinery at any speed. The device uses three parallel hydraulic circuits to drive the lifting, rotating and locking operations. In order to make the hydraulic system control vector propeller precisely, the hydraulic parameters need to be optimized. Genetic algorithm is used to optimize the hydraulic system components' parameters, which can optimize multi-parameters and multi-objectives at the same time; the parameters of hydraulic PID control is optimized by Kriging method, which can get the optimal value flexibly and quickly. Finally, the correctness of the optimization results is verified by the software simulation of the whole system.