水下仿生推进器阀控液压摆动关节建模与动态特性分析

采用液压驱动的模拟鱼柔性长背鳍波动运动的水下仿生推进器,当改变液压系统的流量和阀的控制参数时,其运动学参数能够迅速地做相应调整,实现平稳、流畅、连续的仿生运动。建立了阀控液压摆动关节的动力学模型,根据动力学模型得到系统传递函数,并绘制了Bode图。根据传递函数分析了阀控液压摆动关节的稳定特性、动态位置刚度特性和动态响应特性。结果表明阀控液压摆动关节具有一定的自稳定性,其工作频率与影响位置刚度的负载变化频率重叠,动态响应速度可以通过优化结构参数来调整。

Modeling and Dynamic Characteristics Analysis of the Valve-controlled Hydraulic Swaying Cylinder in Bionic Underwater Thruster

The bionic underwater thruster imitating fish's undulating motion can adapt its kinematic parameters to the changing of the flux and valve signal within its hydraulic system, so that it can generate a bionic motion smoothly, fluently and continually. In the paper, flux equations of the rotatable direction valve was built, as well as the dynamic model of the valve-controlled hydraulic swaying cylinder, with which the transmission function and Bode chart were produced. Some analysis were carried out on the valve-controlled hydraulic swaying cylinder, such as the stability, the dynamic rigidity of its position, and the dynamic response velocity. The results show that the valve-controlled hydraulic swaying cylinder is a stable system, and the response speed can be optimized by adjusting its structure parameters. However, its position rigidity can be affected by the frequency of disturbing load.