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浙江大学学报(工学版)
浙江大学学报(工学版)  2026, Vol. 60 Issue (1): 191-198    DOI: 10.3785/j.issn.1008-973X.2026.01.018
能源与动力工程     
变负载下大功率船舶全回转推进器水动及液控仿真
何浩1(),舒永东2,3,林勇刚2,*(),代富全2,张举2
1. 武汉船用机械有限责任公司，湖北 武汉 430080
2. 浙江大学 流体动力与机电系统国家重点实验室，浙江 杭州 310027
3. 南京高精船用设备有限公司，江苏 南京 211103
hydrodynamic and hydraulic-control simulation of high-power ship azimuth thruster under variable load
Hao HE1(),Yongdong SHU2,3,Yonggang LIN2,*(),Fuquan DAI2,Ju ZHANG2
1. Wuhan Marine Machinery Plant Co. Ltd, Wuhan 430080, China
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
3. Nanjing High Accurate Marine Equipment Co. Ltd, Nanjing 211103, China
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摘要：

为了进一步指导大功率全回转推进器回转系统的设计制造，从负载计算、系统设计、仿真控制到样机测试各个方面对大功率回转推进器的回转液压驱动系统进行研究. 使用水动力仿真研究方法，得到全回转推进器不同进速系数下不同回转角度下的回转负载力矩，通过与敞水实验结果的对比证明了仿真的正确性和合理性，并总结出回转负载力矩波动频率与浆叶转速的关系；根据回转负载设计单泵三马达闭式液压转舵系统，同时考虑机械系统齿轮啮合与液压系统压力波动，使用AMESIM和Adams搭建联合仿真模型，通过速度PID反馈控制实现推进器180°回转. 频谱分析结果表明，负载的波动严重影响了传动系统内部的齿轮啮合力及液压系统压力. 通过实船试验验证了系统设计和仿真控制的合理性.
关键词： 全回转推进器;  水动力仿真;  液压转舵系统;  联合仿真;  反馈控制    
Abstract:

The hydraulic steering drive system of the high-power azimuth thruster was studied from load calculation, system design, simulation control to prototype test, in order to further guide the design and manufacture of the high-power azimuth thruster steering system. The hydrodynamic simulation method was used to obtain the steering load moment of the azimuth thruster under different advance coefficients and different steering angles. The validity and rationality of the hydrodynamic simulation were proved by comparing with the results of the open water experiment. The relationship between the fluctuation frequency of steering load moment and propeller blade rotation speed was summarized. A single-pump three-motor closed hydraulic steering system was designed according to the steering load. Considering the gear meshing of the mechanical system and the pressure fluctuation of the hydraulic system, a co-simulation model was built using AMESIM and ADAMS. The 180° rotation of the thruster was realized by speed PID feedback control. Through spectrum analysis, it was found that the load fluctuation seriously affected the gear meshing force and the hydraulic pressure inside the transmission system. Finally, the rationality of the system design and simulation control was verified by the real ship test.
Key words: azimuth thruster    hydrodynamic simulation    hydraulic steering system    co-simulation    feedback control
收稿日期: 2024-12-19 出版日期: 2025-12-15
:  TP 393  
基金资助: 国家重点研发计划“高性能制造技术与重大装备”重点专项资助项目（2022YFB3404804）；江苏省科技成果转化专项资金项目（BA2023019）.
通讯作者: 林勇刚     E-mail: 515612258@qq.com;yglin@zju.edu.cn
作者简介: 何浩（1986—），男，高级工程师，从事船舶动力研究. orcid.org/0009-0001-4984-1869. E-mail：515612258@qq.com
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引用本文:

何浩,舒永东,林勇刚,代富全,张举. 变负载下大功率船舶全回转推进器水动及液控仿真[J]. 浙江大学学报(工学版), 2026, 60(1): 191-198.

Hao HE,Yongdong SHU,Yonggang LIN,Fuquan DAI,Ju ZHANG. hydrodynamic and hydraulic-control simulation of high-power ship azimuth thruster under variable load. Journal of ZheJiang University (Engineering Science), 2026, 60(1): 191-198.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.01.018    或    https://www.zjujournals.com/eng/CN/Y2026/V60/I1/191

图 1  全回转推进器流场仿真网格图
网格MJ
静止域大旋转域小旋转域
初始网格57476795911112777960.3362
网格1689721115093215333550.3358
网格2827665138111918400260.3361
表 1  网格独立性测试 (J=0.4)
图 2  进速系数J=0.2时的流场速度变化
图 3  进速系数J=0.4时的流场速度变化
图 4  进速系数J=0.6时的流场速度变化
图 5  Akintur敞水实验[13]的回转负载系数
图 6  CFD仿真得到的不同进速系数下的回转负载
图 7  液压转舵系统原理图
特性参数数值
材料40 Cr
密度/( kg·m?3)7850
弹性模量/ GPa207
泊松比0.29
刚度系数/( N·mm?1)1×105
阻尼系数/( N·s·mm?1)50
表 2  ADAMS齿轮参数
基本参数数值
马达排量/( mL·r?1)151.8
液压泵排量/( mL·r?1)646.6
补油泵排量/( mL·r?1)100
液压油体积弹性模量/Pa6.9×108
补油泵补油压力/(105 Pa)20
系统最高压力/(105 Pa)250
冲洗溢流阀压力/(105 Pa)17
表 3  AMEsim液压系统参数
图 8  全回转推进器的回转系统联合仿真模型
控制器类型KpTiTd
P0.50Kps——
PI0.45Kps0.83Ts—
PID0.60Kps0.50Ts0.125Ts
表 4  临界增益法整定PID参数
图 9  180°回转过程系统参数变化
图 10  齿轮啮合力和液压系统压力的频率分析图
图 11  全回转推进器样机
图 12  推进器回转角度变化
图 13  液压泵体积流量变化
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