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2.11 Chinese control and Decision Conference（CCDC）

作者： kangwu zhu and {2. gu are with the state key lab of Fluid Power transmission and control,zhejiang university,hangzhou,zhejiang 31002.,{12.

In this paper,for the positioning and trajectory tracking control of work-class ROVs with parameter uncertainties and unknown disturbances,a systematically MIMO nonlinear robust controller design method based on adaptive backstepping technique and sliding control is *** Lyapunov stability design method,the locally asymptotically stability of closed-loop control system has been *** effectiveness of controller has been demonstrated by simulation *** simulation results on a work-class ROV proved that the proposed control method has good control performance,and the controller is robust to parameter uncertainties and unknown disturbances.

关键词： Backstepping Sliding control Nonlinear control Work-class ROV Underwater vehicles

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High Speed On/Off Valve control Hydraulic Propeller

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Chinese Journal of Mechanical Engineering 2012年第3期25卷 463-473页

作者： zhu kangwu {2. linyi CHEN Yuanjie LI Wei The state key {2. of Fluid Power transmission and control Zhejiang UniversityHangzhou 310027China

The work-class remotely-operated-underwater-vehicles（ROVs） are mainly driven by hydraulic propulsion system,and the effeciency of hydraulic propulsion system is an important performance index of ***,the efficiency of traditional hydraulic propulsion system controlled by throttle valves is too ***,in this paper,for small and medium ROVs,a novel propulsion system with higher efficiency based on high speed on/off valve control hydraulic propeller is *** solve the conflict between large flow rate and high frequency response performance,a two-stage high speed on/off valve-motor unit with large flow rate and high response speed simultaneously is *** theoretical analysis,an effective fluctuation control method and a novel pulse-width-pulse-frequency-modulation（PWPFM） are introduced to solve the conflict among inherently fluctuation,valve dynamic performance and system efficiency.A simulation model is established to evaluate the system *** prove the advantage of system in energy saving,and test the dynamic control performance of high speed on/off valve control propeller,a test setup is developed and a series of comparative experiments is *** smimulation and experiment results show that the two-stage high speed on/off valve has an excellent dynamic response performance,and can be used to realize high accuracy speed *** experiment results prove that the new propulsion system has much more advantages than the traditional throttle speed regulation system in energy *** lowest efficiency is more than 40%.The application results on a ROV indicate that the high speed on/off valve control propeller system has good dynamic and steady-state control *** transient time is only about 1 s-1.5 s,and steady-state error is less than 5%.Meanwhile,the speed fluctuation is small,and the smooth propeller speed control effect is *** the premise of good propeller speed control performance,the proposed

关键词： high speed on/off valve fluctuation control pulse-width-pulse-frequency-modulation(PWPFM) hydraulic propulsion system remotely-operated-underwater-vehicle(ROV) energy saving system

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