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Research on Electro-hydraulic Servo Unit in Ship Rudder Based on Intelligent Predictive Control

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Tutor: JiTianJing
School: Harbin Institute of Technology
Course: Fluid Machinery and Engineering
Keywords: electro-hydraulic servo unit,simulation,friction modeling,intelligentpredictive
CLC: U664.41
Type: Master's thesis
Year:  2012
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The globalization of economic exchanges promoted the vigorous developmentof the shipbuilding industry, so does the ship rudder control technology willgradually upgrade. Many problems, such as the oscillation with high frequency andsmall amplitude, the response time was too long and so on, have been found duringthe process of independent production and improvement for the foreign ship rudder.In this paper, the main work was to research and analysis the problems have beenfound in the electro-hydraulic servo unit.Firstly, the various components of the electro-hydraulic servo unit wereintroduced. According to their working principles the mathematical models wereestablished. In the process of mathematical modeling, a new, more universal, moreapplicable definition of the load flow was used according to the features of theselected parts.Secondly, the established mathematical model was simulated in Matlab. Itshown that there was a trace difference between the ideal model and the actualsituation by compared the two results got in simulation and experiment. It can befound that the friction factor, deadzone factor, saturation factor were the mainfactors which caused the difference. With the purpose of modeling theelectro-hydraulic servo unit more accurate, the friction model was rebulit. It provedthat the theoretical analysis was correct by simulating the new model.Finally, the intelligent predictive control method was selected to control theelectro-hydraulic servo unit. The simulation shown that using the intelligentpredictive control can improve the accuracy greatly and reduce the static error at thesame time compared with the PID control method. The oscillation which caused byfriction was eliminated by using the intelligent predictive control. The success wasjust in the theory. It still need more work to do to protect the intelligent predictivecontrol method to be used in the electro-hydraulic servo unit in reality.
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