Dynamic Characteristics Analysis of a Hydraulic Propeller Controlled by a Servo Valve for Work Class ROV

In order to study the dynamic response characteristic of hydraulic propeller control system for a work-class ROV (Remote Operated Vehicle), a dynamic system model for hydraulic propeller controlled by a servo valve is constructed with respect to propeller dynamic load characteristics. A solution method for motor flow, motor pressure, motor speed, propeller torque and thrust is presented. The dynamic response characteristics of hydraulic propeller control system with different control voltages are analyzed by numerical simulation. The thrust constraint model in thrust allocation is constructed, and the nonlinear function relationship between the control voltage and the expected thrust is obtained. Compared with tank test results of hydraulic propeller, the simulation results are accurate and reliable. It is good for motion control, thrust allocation and hydraulic propeller control of underwater vehicles and dynamic positioning ships.