Research Article
A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction
Table 1
The main nominal parameters of hydraulic system.
| Number | Parameter | Note | Unit | Nominal |
| 1 | Drum radius | | m | 0.768 | 2 | Winch reduction ratio | | | 600 | 3 | Flow spool gain | | | 0.003 | 4 | Proportional valve gain | | m/V | 1.25 × 10−3 | 5 | Orifice flow coefficient | | | 0.61 | 6 | Valve area gradient | | m | 0.785 | 7 | Hydraulic oil pressure | | Pa | 1.5 × 107 | 8 | Hydraulic oil density | | kg/m3 | 850 | 9 | Hydraulic motor displacement | | m3/rad | 1.178 × 10−4 | 10 | Tank volume | | m3 | 1.47 × 10−3 | 11 | Bulk modulus | | Pa | 7.0 × 108 | 12 | Total flow pressure coefficient | | m5/(N⋅s) | 1.9 × 10−11 | 13 | Vehicle mass | | kg | 3000 | 14 | Horizontal projection area of underwater vehicle | | m2 | 12.99 |
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