A hydraulic power unit(HPU) is the driving "heart" of deep-sea working equipment.It is critical to predict its dynamic performances in deep-water before being immerged in the seawater,while the experimental tests by simulating deep-sea environment have many disadvantages,such as expensive cost,long test cycles,and difficult to achieve low-temperature simulation,which is only used as a supplementary means for confirmatory experiment.This paper proposes a novel theoretical approach based on the linear varying parameters(LVP) modeling to foresee the dynamic performances of the driving unit.Firstly,based on the varying environment features,dynamic expressions of the compressibility and viscosity of hydraulic oil are derived to reveal the fluid performances changing.Secondly,models of hydraulic system and electrical system are accomplished respectively through studying the control process and energy transfer,and then LVP models of the pressure and flow rate control is obtained through the electro-hydraulic models integration.Thirdly,dynamic characteristics of HPU are obtained by the model simulating within bounded closed sets of varying parameters.Finally,the developed HPU is tested in a deep-sea imitating hull,and the experimental results are well consistent with the theoretical analysis outcomes,which clearly declare that the LVP modeling is a rational way to foresee dynamic performances of HPU.The research approach and model analysis results can be applied to the predictions of working properties and product designs for other deep-sea hydraulic pump.
