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 × 10^7
8	Hydraulic oil density		kg/m^3	850
9	Hydraulic motor displacement		m^3/rad	1.178 × 10^−4
10	Tank volume		m^3	1.47 × 10^−3
11	Bulk modulus		Pa	7.0 × 10^8
12	Total flow pressure coefficient		m^5/(N⋅s)	1.9 × 10^−11
13	Vehicle mass		kg	3000
14	Horizontal projection area of underwater vehicle		m^2	12.99