李力,樊袁东.深海采矿机器人行走液压系统特性研究[J].海洋工程,2019,37(6):29~38
深海采矿机器人行走液压系统特性研究
Research on characteristics of walking hydraulic system of deep sea mining robot
  
DOI:10.16483/j.issn.1005-9865.2019.06.004
中文关键词:  深海采矿机器人  行走液压系统  油液特性  稳定性
英文关键词:deep sea mining robot  walking hydraulic system  oil characteristics  stability
基金项目:中国大洋矿产资源研究开发协会项目(DY125-14-T-03);国家自然科学基金重点项目(51434002);国家自然科学基金面上项目(50275152)
作者单位E-mail
李力 中南大学机电工程学院 高性能复杂制造国家重点实验室湖南 长沙 410083 lilicsu@vip.sina.com 
樊袁东 中南大学机电工程学院 高性能复杂制造国家重点实验室湖南 长沙 410083  
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中文摘要:
      针对深海采矿机器人“鲲龍500”行走液压系统,建立深海采矿机器人行走液压系统理论模型,分析深海高压和低温环境对油液特性影响,并基于AMESim软件平台,建立深海采矿机器人行走液压系统数值模型,研究了0~6 000 m不同作业深度下的行走液压系统泵和马达的动态特性,以及在6 000 m水深时不同牌号液压油和行走启动特性对其行走性能的影响,对比分析了深海采矿机器人水池行走试验和500 m海底行走试验的行走泵的输出压力与流量曲线与其数值模拟曲线。研究表明,随着超过1 000 m作业水深的增加,深海行走液压系统的动态响应性能和稳定性显著降低,通过减小行走输入电压斜坡斜率和减小控制电压可以提高行走液压系统的稳定性,并通过试验验证了行走液压系统数值建模与仿真的正确性,为深海液压系统研究提供理论基础。
英文摘要:
      Aiming at the walking hydraulic system of the deep sea mining robot “Kunlong 500”, a theoretical model of the walking hydraulic system of deep sea mining robot was established, and the influence of deep sea high pressure and low temperature environment on oil characteristics was analyzed. Based on the AMESim software platform, a numerical model of the walking hydraulic system of deep sea mining robot was established. The dynamic characteristics of the pump and motor of the walking hydraulic system at different working depths from 0 to 6 000 meters, and the influence of different grades of hydraulic oil and startup characteristics on the walking performance at 6 000 meters water depth were studied. The output pressure and flow curves of the walking pump for deep sea mining robot pool walking test and 500 meter seabed walking test and numerical simulation curves were compared and analyzed.Results show that with the increase of water depth over 1 000 meters, the dynamic response performance and stability of the deep sea walking hydraulic system is significantly reduced. The stability of the walking hydraulic system can be improved by reducing the slope of the walking input voltage ramp and reducing the control voltage. The correctness of the numerical model and simulation of the walking hydraulic system is verified by experiment. The research results can provide a theoretical basis for the research of the deep sea hydraulic system.
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