No abstract

The valve-controlled hydraulic cylinder system (VCHCS) is commonly used for actuators such as manipulators in deep-sea equipment, whose working performance is crucial to subsea tasks. Affected by the ambient pressure introduced by the pressure compensator, the viscosity of the hydraulic oil increases significantly. On this basis, the viscosity changes further when flowing in the slender pipeline, making the pipeline pressure loss substantially increase and subsequently affecting the working performance of the deep-sea VCHCS. Aiming at this issue, a detailed nonlinear mathematical model of the deep-sea VCHCS is established, in which the viscosity-pressure characteristics of the hydraulic oil is considered to take the viscosity changes in the pipeline into account. Besides, the hydrodynamic effects are also included in the model. Then the corresponding numerical simulation model of the deep-sea VCHCS is established, and its working performance at different depths is simulated and analyzed. When the depth is 11km, the extension and retraction movements are delayed by 52.50% and 43.12% respectively. The root cause of the delay is then analyzed and discussed. Finally, the parameters that affect the working performance are studied, and suggestions to reduce or eliminate the delay phenomenon are given. The results can provide theoretical support for the performance optimization of the deep-sea VCHCS.

The valve-controlled hydraulic cylinder system (VCHCS) is commonly utilized in the underwater manipulator, which is the most important tool for subsea tasks. Hydraulic oil viscosity is very sensitive to pressure. Therefore, when working at different depths under different ambient pressures in the sea, the hydraulic oil viscosity and the pipeline pressure loss in the deep-sea VCHCS vary greatly, which seriously affects the energy efficiency of the system. In addition, the control accuracy of the deep-sea VCHCS is also influenced by changes in the hydraulic oil viscosity and the pipeline pressure loss. In order to realize energy-saving control, this research introduces a proportional relief valve and develops a variable pump pressure control strategy. At the same time, a variable gain proportional-integral-derivative (PID) algorithm is designed to achieve precise control. A co-simulation model of the deep-sea VCHCS is then established, and many simulation analyses are carried out. Compared with traditional PID control with a constant pump pressure, the proposed method presents advantages such as lower energy consumption, better control accuracy, better resistance to load impact, and accuracy consistency under different working depths. Among them, when working at 11 km depth in the sea, the proposed method is capable of saving energy by 36.5% for the multi-step movement, by 30% for the harmonic movement, and by 47% for the complex movement. The present work in this research provides a solution that can realize energy saving and precise control of the deep-sea VCHCS at the same time in the wide span of depth in the sea.