CN111522272B - High-speed boat multi-place remote control method and system based on follow-up synchronization - Google Patents

High-speed boat multi-place remote control method and system based on follow-up synchronization Download PDF

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Publication number
CN111522272B
CN111522272B CN202010356775.8A CN202010356775A CN111522272B CN 111522272 B CN111522272 B CN 111522272B CN 202010356775 A CN202010356775 A CN 202010356775A CN 111522272 B CN111522272 B CN 111522272B
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rotation angle
heading
ship speed
controlling
actual
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CN111522272A (en
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徐峰
冯城
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Ningbo Scallop Technology Co ltd
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Ningbo Scallop Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2231—Master slave
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2637—Vehicle, car, auto, wheelchair

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

The invention relates to the technical field of remote control, and particularly discloses a high-speed boat multi-place remote control method and system based on follow-up synchronization, wherein the method comprises the following remote control steps: s1, acquiring a set rotation angle of a first ship speed assemblyAnd a set rotation angle theta of the first heading component s The method comprises the steps of carrying out a first treatment on the surface of the S2, setting the rotation angleIs converted into a set ship speed v s Will set the rotation angle theta s Conversion to a set heading angle omega s The method comprises the steps of carrying out a first treatment on the surface of the S3, setting the ship speed v s Setting a heading angle omega s Setting a rotation angleAnd setting the rotation angle theta s Sending the boat to a boat control module; s4, detecting the actual rotation angle of the second ship speed assemblyAnd the actual rotation angle theta of the second heading component r The method comprises the steps of carrying out a first treatment on the surface of the S5, controlling the second ship speed assembly to rotate so as to set the rotation angleEqual to the actual rotation angleS6, controlling the second heading component to rotate so as to set a rotation angle theta s Equal to the actual rotation angle theta r . By adopting the technical scheme of the invention, local driving can be facilitatedThe driver observes the remote operation result.

Description

High-speed boat multi-place remote control method and system based on follow-up synchronization
Technical Field
The invention relates to the technical field of remote control, in particular to a high-speed boat multi-place remote control method and system based on follow-up synchronization.
Background
In the prior art, a high-speed boat often has functions of remote operation and local operation.
When the high-speed boat is controlled locally, a driver operates the mechanical handle, the control device collects handle signals and sends the signals to the high-speed boat control system on the boat, and the high-speed boat control system realizes adjustment of boat speed and heading.
When the high-speed boat is remotely controlled, a common method is that a remote control device inputs a remote preset value, the remote preset value is then transmitted to a high-speed boat control system through a communication link, the high-speed boat control controls a steering engine and a host on the boat, and then the state of the boat is displayed on the remote device through monitoring equipment. For example, the manual and remote control device and the control method for the ship disclosed in China patent publication No. CN104881024A comprise the following steps: the ship control platform is used for inputting a manual preset value and manually controlling a gear and a steering wheel; the remote control device is used for inputting a remote preset value, remotely controlling a gear and a steering wheel; a control device for controlling the gear and the steering wheel respectively; the feedback device is used for feeding back the data of the gear and the steering wheel in real time; and the control system receives two paths of preset values, compares the data detected by the feedback device with the input preset values, and enables the control device to control the gear and the steering wheel to act according to the comparison result until the comparison result of the detected data and the preset values is within the error allowable range.
The scheme ensures the accuracy of remote control, but because the actions of the gear and the steering wheel are output to the control system of the high-speed boat in real time, that is, the real-time change of the gear and the steering wheel can lead to the real-time change of the boat speed and the heading of the high-speed boat. The operator on the high-speed boat can not know the current remote control instruction intuitively, only can observe the change of the gear and the steering wheel, but can not know the final adjustment positions of the gear and the steering wheel in advance, and the final motion state of the high-speed boat can not be timely predicted, especially for the case of long remote control delay, misoperation is easy to occur due to remote control, and the local operator can not know the final adjustment positions of the gear and the steering wheel, so that the intervention is difficult in advance, and whether the misoperation is caused can be judged only after the action is finished, if the misoperation is caused, the operation space reserved for the local operator is reduced due to the fact that the actual operation is executed, and hidden danger can be brought to navigation safety of the high-speed boat.
For this reason, there is a need for a remote control method and system that facilitates the local driver's observation of the remote operation result.
Disclosure of Invention
The invention provides a high-speed boat multi-place remote control method and system based on follow-up synchronization, which can facilitate a local driver to observe remote operation results.
In order to solve the technical problems, the application provides the following technical scheme:
a high-speed boat multi-place remote control method based on follow-up synchronization comprises the following steps:
remote control step:
s1, acquiring a set rotation angle of a first ship speed component in a main control moduleAnd a set rotation angle theta of the first heading component s ；
S2, setting the rotation angle of the first ship speed componentIs converted into a set ship speed v s Setting rotation angle theta of first heading component s Conversion to a set heading angle omega s ；
S3, setting the ship speed v s Setting a heading angle omega s Setting a rotation angleAnd setting the rotation angle theta s Sending the boat to a boat control module;
s4, detecting the actual rotation angle of the second ship speed assembly in the ship control moduleAnd the actual rotation angle theta of the second heading component r ；
S5, controlling the second ship speed assembly to rotate so as to set the rotation angleEqual to the actual rotation angle>
S6, controlling the second heading component to rotate so as to set a rotation angle theta s Equal to the actual rotation angle theta r ；
S7, setting the ship speed v s And setting a heading angle omega s To a high speed boat control system.
The basic scheme principle and the beneficial effects are as follows:
in this scheme, when remote control, long-range operating personnel operates first ship speed subassembly and first bow subassembly, and the settlement turned angle of first ship speed subassemblyAnd a set rotation angle theta of the first heading component s And the collected data are sent to a boat control module on the high-speed boat. The boat control module controls the rotation of the second boat speed assembly and the second heading assembly so as to set the rotation angle +.>Equal to the actual rotation angle>Setting the rotation angle theta s Equal to the actual rotation angle theta r Finally, the ship speed v is set s And setting a heading angle omega s And the ship speed and heading are sent to a high-speed ship control system, and the high-speed ship control system realizes the adjustment of the ship speed and heading.
In the scheme, the rotation angle is the actual rotation angleAnd an actual rotation angle theta r After the adjustment is completed, the actual adjustment of the ship speed and the heading is performed. The local driver on the boat can observe the remote operation result conveniently, and the local driver can know the final adjustment positions of the boat speed and the heading; if the time delay or the misoperation exists, the local driver has sufficient operation space when in intervention because the actual execution is not carried out, and the navigation safety can be effectively ensured.
Further, in S5, the comparisonAnd->If->Controlling the second ship speed assembly to rotate positively if +.>Controlling the second ship speed assembly to reverse, if +.>Controlling the second ship speed assembly to stop rotating;
s6, comparing θ s And theta r If θ s >θ r Controlling the second heading component to rotate positively if theta s <θ r Controlling the second heading assembly to reverse if theta s ＝θ r And controlling the second heading component to stop rotating.
By controlling the forward rotation and the overturning of the second ship speed assembly, the forward rotation and the overturning of the second bow direction assembly can effectively ensure that the set rotation angle is ensuredIs +_with the actual rotation angle>Maintain the consistency and set the rotation angle theta s With the actual rotation angle theta r And the consistency is kept, so that the consistency of remote operation and local display operation is ensured.
Further, S601 is included to rotate the actual angleConversion to actual ship speed v r Actual rotation angle theta r Conversion to actual heading angle omega r The method comprises the steps of carrying out a first treatment on the surface of the S7, also comparing v r And v s ，ω r And omega s The method comprises the steps of carrying out a first treatment on the surface of the If v r ＝ν s And omega r ＝ω s The method comprises the steps of carrying out a first treatment on the surface of the Will set the ship speed v s And setting a heading angle omega s To a high speed boat control system.
Locally recalculating the actual ship speed v r And the actual heading angle omega r And is matched with the set ship speed v s And setting a heading angle omega s And the consistency of the calculation result can be ensured by performing contrast verification.
Further, in S2, the ship speed v is set s The calculation formula of (2) is as follows:setting a heading angle omega s The calculation formula of (2) is as follows: omega s ＝k ω θ s +b ω Wherein k is v 、b v 、k ω And b ω Are all constant.
Is convenient to directly obtain the set ship speed v s And setting a heading angle omega s Specific values of (3).
Further, the method also comprises a local control step:
s8, acquiring an actual rotation angle of the ship speed assembly in the second remote control deviceAnd the actual rotation angle theta of the heading component r ；
S9、Will actually rotate the angleConversion to actual ship speed v r Will actually rotate by an angle theta r Conversion to actual heading angle omega r ；
S10, the actual ship speed v r And the actual heading angle omega r To a high speed boat control system.
The local driver can directly control the high-speed boat.
Further, in S3, the boat speed v is also set s And setting a heading angle omega s To the slave control module.
S4, detecting the actual rotation angle of the ship speed assembly in the slave control moduleAnd the actual rotation angle theta of the heading component i ；
S5, also compareAnd->If->Controlling the third ship speed assembly to rotate positively if +.>Controlling the third ship speed assembly to reverse, if +.>Controlling the third ship speed assembly to stop rotating;
s6, also compare θ s And theta i If θ s >θ i Controlling the third heading component to rotate positively if theta s <θ i Controlling the third heading assembly to reverse ifθ s ＝θ i And controlling the third heading component to stop rotating.
If the slave control station exists, the current operation of the master control station can be sent to the slave control station, and the slave control station displays the instructions, so that an operator of the slave control station can monitor the operation in real time.
A multi-place remote control system of a high-speed boat based on follow-up synchronization comprises a main control module arranged at a main control station and a boat control module arranged on the high-speed boat;
the main control module comprises a first remote control device and a first synchronous controller; the boat control module comprises a second remote control device and a second synchronous controller; the first synchronous controller is in communication connection with the second synchronous controller;
the first remote control device comprises a first ship speed component, a first heading component and a first acquisition unit; the second remote control device comprises a second ship speed assembly, a second heading assembly and a second acquisition unit;
the first acquisition unit is used for acquiring a set rotation angle of the first ship speed componentAnd a set rotation angle theta of the first heading component s And send to the first synchronization controller;
the first synchronous controller is used for setting the rotation angle of the first ship speed assemblyIs converted into a set ship speed v s Setting a rotation angle theta of the first heading component s Conversion to a set heading angle omega s ；
The first synchronous controller is also used for setting the ship speed v s Setting a heading angle omega s Setting a rotation angleAnd setting the rotation angle theta s Sending to a second synchronous controller in the boat control module;
second oneThe acquisition unit is used for detecting the actual rotation angle of the second ship speed component in the second remote control deviceAnd the actual rotation angle theta of the second heading component r And sending to a second synchronous controller;
the second synchronous controller is used for controlling the second ship speed assembly to rotate so as to set the rotation angleEqual to the actual rotation angle>Controlling the second bow assembly to rotate to set the rotation angle theta s Equal to the actual rotation angle theta r ；
The second synchronous controller is also used for controlling the actual rotation angleConversion to actual ship speed v r Actual rotation angle theta r Conversion to actual heading angle omega r ；
The second synchronous controller is also used for comparing the actual ship speed v r And setting the ship speed v s Actual heading angle ω r And the set heading angle omega s If v r ＝ν s And omega r ＝ω s The method comprises the steps of carrying out a first treatment on the surface of the Will set the ship speed v s And setting a heading angle omega s To a high speed boat control system.
In this scheme, when remote control, long-range operating personnel operates first ship speed subassembly and first bow subassembly, and the settlement turned angle of first ship speed subassemblyAnd a set rotation angle theta of the first heading component s And the collected data are sent to a boat control module on the high-speed boat. The boat control module controls the rotation of the second boat speed assembly and the second heading assembly so as to set the rotation angle +.>Equal to the actual rotation angle>Setting the rotation angle theta s Equal to the actual rotation angle theta r Finally, the ship speed v is set s And setting a heading angle omega s And the ship speed and heading are sent to a high-speed ship control system, and the high-speed ship control system realizes the adjustment of the ship speed and heading.
In the scheme, the rotation angle is the actual rotation angleAnd an actual rotation angle theta r After the adjustment is completed, the actual adjustment of the ship speed and the heading is performed. The local driver on the boat can observe the remote operation result conveniently, and the local driver can know the final adjustment positions of the boat speed and the heading; if the time delay or improper operation exists, the local driver has sufficient operation space when needing to intervene because the actual execution is not performed, and the navigation safety can be effectively ensured.
Further, the second acquisition unit is used for respectively acquiring the actual rotation angle of the ship speed assembly in the second remote control deviceAnd the actual rotation angle theta of the heading component r And sending to a second synchronous controller; the second synchronous controller is also used for setting the actual rotation angle +.>Conversion to actual ship speed v r Will actually rotate by an angle theta r Conversion to actual heading angle omega r The method comprises the steps of carrying out a first treatment on the surface of the The second synchronous controller is also used for converting the actual ship speed v r And the actual heading angle omega r To a high speed boat control system.
The local driver can directly control the high-speed boat.
Further, the setting of the rotation angleEqual to the actual rotation angle>The second synchronous controller compares +.>And->If->The second synchronous controller is used for controlling the second ship speed assembly to rotate positively if +.>The second synchronous controller is used for reversing the second ship speed assembly if +.>The second synchronous controller is used for controlling the second ship speed assembly to stop rotating;
setting the rotation angle theta s Equal to the actual rotation angle theta r When the second synchronous controller compares theta s And theta r If θ s >θ r The second synchronous controller is used for controlling the second heading component to rotate forward if theta s <θ r The second synchronous controller is used for controlling the second heading component to rotate reversely if theta s ＝θ r The second synchronous controller is used for controlling the second heading component to stop rotating.
By controlling the forward rotation and the reverse rotation of the second ship speed assembly, the forward rotation and the reverse rotation of the second bow direction assembly can effectively ensure that the set rotation angle is ensuredIs +_with the actual rotation angle>Maintain the consistency and set the rotation angle theta s Equal to the actual rotation angle theta r And the consistency is kept, so that the consistency of remote operation and local display operation is ensured.
Further, the system also comprises a slave control module, wherein the slave control module comprises a third remote control device and a third synchronous controller, and the first synchronous controller is in communication connection with the third synchronous controller;
the third remote control device comprises a third ship speed component, a third heading component and a third acquisition unit;
the first synchronous controller is also used for setting the ship speed v s And setting a heading angle omega s A third synchronization controller in the slave control module; the third acquisition unit is also used for detecting the actual rotation angle of the third ship speed component in the third remote control deviceAnd the actual rotation angle theta of the third heading component r ；
The third synchronous controller is also used for comparingAnd->If->The third synchronous controller is used for controlling the third ship speed assembly to rotate positively if +.>The third synchronous controller is used for reversing the third ship speed assembly if +.>The third synchronous controller is used for controlling the third ship speed assembly to stop rotating;
the third synchronous controller compares theta s And theta r If θ s >θ r The third synchronous controller is used for controlling the third heading component to rotate forward if theta s <θ r A third synchronous controller for controlling the third heading component to reverse if theta s ＝θ r The third synchronous controller is used for controlling the third heading component to stop rotating.
If a slave control station exists, the current operation of the master control station can be sent to the slave control station, and the slave control station displays the instructions so as to facilitate the monitoring operation of operators of the slave control station.
Drawings
FIG. 1 is a logic block diagram of an embodiment of a high-speed boat multi-domain remote control system based on follower synchronization;
FIG. 2 is a front view of a high speed boat multi-location remote control device according to an embodiment;
FIG. 3 is a right side view of a high speed boat multi-location remote control device according to an embodiment;
FIG. 4 is a front cross-sectional view of a boat speed control mechanism in a high speed boat multi-station remote control device according to an embodiment;
FIG. 5 is a right side view cross section of a boat speed control mechanism in a high speed boat multi-station remote control device according to an embodiment;
FIG. 6 is a cross-sectional view in a top view of a boat speed follower in a high speed boat multi-location remote control device according to an embodiment;
FIG. 7 is a cross-sectional view of a heading manipulation mechanism in a multi-station remote control of a high-speed boat according to an embodiment;
FIG. 8 is a cross-sectional view of a heading follower in a high-speed boat multi-location remote control of an embodiment;
fig. 9 is a logic block diagram of a high-speed boat multi-domain remote control system based on the follow-up synchronization according to the second embodiment.
Detailed Description
The following is a further detailed description of the embodiments:
the labels in the drawings of this specification include: bracket 100, ship speed control mechanism 200, ship speed follower 300, bow control mechanism 400, bow follower 500, turning handle 201, stopper 202, hand feeling module 210, pitch gear 203, potentiometer 204, transverse spindle 205, first split fixed ring 206, first mount 301, disk motor 302, first decelerator 303, primary synchronous pulley 304, secondary synchronous pulley 305, ship speed clutch 306, first clutch gear 307, dial 401, vertical spindle 402, roll gear 403, damper 404, bow sense gear 405, potentiometer 406, support plate 407, second split fixed ring 408, hollow cup motor 501, second decelerator 502, second mount 503, second clutch gear 504, second clutch gear 505.
Example 1
As shown in fig. 1, the high-speed boat multi-place remote control system based on the follow-up synchronization of the embodiment comprises a main control module arranged at a main control station and a boat control module arranged on the high-speed boat.
The main control module comprises a first remote control device and a first synchronous controller; the boat control module comprises a second remote control device and a second synchronous controller; the first synchronous controller and the second synchronous controller are connected through a communication link.
The first remote control device comprises a first ship speed assembly, a first heading assembly, a first acquisition unit, a first ship speed clutch and a first heading clutch. The second remote control device comprises a second ship speed assembly, a second heading assembly, a second acquisition unit, a second ship speed clutch and a second heading clutch. In this embodiment, the first remote control device is identical to the second remote control device, and the first synchronous controller is identical to the second synchronous controller; the "first" and "second" are merely for descriptive convenience and to facilitate distinction.
The first synchronous controller is used for controlling the first ship speed clutch and the first heading clutch to be disconnected when a remote control instruction is received;
the first acquisition unit is used for acquiring a set rotation angle of the first ship speed componentAnd a set rotation angle theta of the first heading component s And send to the first synchronization controller;
the first synchronous controller is also used for setting the rotation angle of the first ship speed assemblyIs converted into a set ship speed v s Setting a rotation angle theta of the first heading component s Conversion to a set heading angle omega s . Specifically, the->ω s ＝k ω θ s +b ω Wherein k is v 、b v 、k ω And b ω Are all constant.
The first synchronous controller is also used for setting the ship speed v s Setting a heading angle omega s Setting a rotation angleAnd setting the rotation angle theta s And sent to a second synchronous controller in the boat control module. The second synchronous controller is used for controlling the second ship speed clutch and the second heading clutch to be engaged.
The second acquisition unit is used for detecting the actual rotation angle of the second ship speed component in the second remote control deviceAnd the actual rotation angle theta of the second heading component r And sent to the second synchronization controller.
The second synchronous controller is also used for comparingAnd->If->The second synchronous controller is used for controlling the second ship speed assembly to rotate positively if +.>The second synchronous controller is used for reversing the second ship speed assembly if +.>The second synchronous controller is used for controlling the second ship speed assembly to stop rotating. Specifically, the second ship speed assembly comprises a ship speed control mechanism and a ship speed follow-up mechanism; the ship speed control mechanism is used for rotating along with the control of a driver when the first ship speed clutch is disconnected; the ship speed follow-up assembly is used for driving the ship speed control mechanism to rotate based on a control instruction of the second synchronous controller when the first ship speed clutch is in suction.
The second synchronous controller compares theta s And theta r If θ s >θ r The second synchronous controller is used for controlling the second heading component to rotate forward if theta s <θ r The second synchronous controller is used for controlling the second heading component to rotate reversely if theta s ＝θ r The second synchronous controller is used for controlling the second heading component to stop rotating. Specifically, the second heading component comprises a heading control mechanism and a heading follow-up mechanism; the heading control mechanism is used for rotating along with the control of a driver when the second heading clutch is disconnected; and the heading follow-up assembly is used for driving the heading control mechanism to rotate based on a control instruction of the second synchronous controller when the second heading clutch is in suction.
The second synchronous controller is also used for controlling the actual rotation angleConversion to actual ship speed v r Actual rotation angle theta r Conversion to actual heading angle omega r The method comprises the steps of carrying out a first treatment on the surface of the Specifically, the->ω r ＝k ω θ r +b ω The method comprises the steps of carrying out a first treatment on the surface of the Wherein k is v 、b v 、k ω And b ω Are all constant.
The second synchronous controller is also used for comparing the actual ship speed v r And setting the ship speed v s Actual heading angle ω r And the set heading angle omega s If v r ＝ν s ；ω r ＝ω s The method comprises the steps of carrying out a first treatment on the surface of the The second synchronous controller is also used for setting the ship speed v s And setting a heading angle omega s To a high speed boat control system.
And the second synchronous controller is used for controlling the ship speed clutch and the heading clutch of the second remote control device to be disconnected when receiving the command of local control. A switch can be arranged on the high-speed boat to switch between local control and remote control; the switch is electrically connected with the second synchronous controller, for example, the switch is pressed down, and the electric signal of the switch is used as a command for local control. A switch can be arranged in the main control station to perform remote control switching; the implementation manner of the above switching is the prior art and will not be described here again.
The second acquisition unit is used for respectively acquiring the actual rotation angle of the ship speed assembly in the second remote control deviceAnd the actual rotation angle theta of the heading component r And sending to a second synchronous controller; the second synchronous controller is also used for setting the actual rotation angle +.>Conversion to actual ship speed v r Will actually rotate by an angle theta r Conversion to actual heading angle omega r The method comprises the steps of carrying out a first treatment on the surface of the Specifically, the->ω r ＝k ω θ r +b ω The method comprises the steps of carrying out a first treatment on the surface of the The second synchronous controller is also used for converting the actual ship speed v r And the actual heading angle omega r To a high speed boat control system.
In order to introduce the detailed working procedures of the first remote control device and the first synchronous controller, the embodiment also provides a high-speed boat multi-place remote control device based on follow-up synchronization; basically as illustrated in fig. 2 and 3, the ship speed control device comprises a bracket 100 and a synchronous controller, wherein a ship speed control mechanism 200, a ship speed follow-up mechanism 300, a bow direction control mechanism 400, a bow direction follow-up mechanism 500 and an acquisition unit are arranged on the bracket 100.
As shown in fig. 2, the ship speed control mechanism 200 is provided with an auxiliary control assembly, and the auxiliary control assembly, the ship speed control mechanism 200 and the ship speed follow-up mechanism 300 are integrally provided. The auxiliary control component is a rotating handle 201, the rotating handle 201 is rotatably connected to the side surface of the ship speed control mechanism 200, and the ship speed control mechanism 200 is located above the ship speed follow-up mechanism 300.
As shown in fig. 4 and 5, the ship speed control mechanism 200 comprises a housing, on which a scale is provided, and a turning handle 201 is rotatably connected to a side wall of the housing and vertically and circumferentially turned. A first drive gear set, a limiter 202, a hand feel assembly 210 and a first angle acquisition module are disposed within the housing. The first transmission gear set comprises a pitching gear 203, a transverse main shaft 205 and an opening fixing ring 206; the limiter 202 and the hand feeling component 210 are connected with the rotating handle 201 through screws, and the rotating handle 201 is connected with the transverse main shaft 205 through screws; pitch gear 203 is connected to transverse spindle 205 by a flat key. In this embodiment, the first angle acquisition module is a potentiometer 204, and the potentiometer 204 is connected to a transverse spindle 205 through an opening fixing ring 206.
As shown in fig. 6, the boat speed follower 300 is located within the housing and includes a first motor, a second drive gear set, and a boat speed clutch 306. In this embodiment, the first motor is a disc motor 302. The second transmission gear set includes a first mount 301, a first reducer 303, a primary synchronous pulley 304, a secondary synchronous pulley 305, and a first clutch gear 307. The disc motor 302 and the boat speed clutch 306 are connected with the first fixing frame 301 through screws, and the disc motor 302 is connected with the first speed reducer 303; the first decelerator 303 is connected with a primary synchronous pulley 304; the primary synchronous pulley 304 is in transmission connection with the secondary synchronous pulley 305 through a synchronous belt; the secondary synchronous pulley 305 is connected with a ship speed clutch 306; the boat speed clutch 306 is connected to the first clutch gear 307; the first clutch gear 307 is engaged with the pitch gear 203. The boat speed clutch 306 is an electromagnetic clutch.
As shown in fig. 7, the display assembly is a dial 401, the dial 401 being part of the heading manipulation mechanism 400. The dial 401 is horizontally arranged and horizontally and circumferentially rotated, and the lower end surface of the housing is fixed on the upper surface of the dial 401. The heading control mechanism 400 further comprises a third transmission gear set coaxially fixed with the dial 401, and a second angle acquisition module for acquiring the rotation angle of the dial 401. The third drive gear set comprises a vertical main shaft 402, a roll gear 403, a damper 404, a heading sensing gear 405, a support plate 407, and a first split fixed ring 408. In this embodiment, the second angle acquisition module is a potentiometer 406. The dial 401 is connected with the vertical main shaft 402 through a screw; the vertical main shaft 402 is connected with the rolling gear 403 through a flat key; the damper 404 is connected with the vertical main shaft 402 in a matching way; the bow sensing gear 405 is in meshed transmission connection with the roll gear 403; the bow sensing gear 405 is connected with the potentiometer 406 through an opening and the first fixed ring 408; the potentiometer 406 and the damper 404 are connected to the support plate 407 by screws.
As shown in FIG. 8, the heading follower 500 includes a second motor, a fourth drive gear set, and a heading clutch 504. In this embodiment, the second motor is a coreless motor 501. The fourth drive gear set includes a second reducer 502, a second mount 503, and a second clutch gear 505. The second speed reducer 502 and the heading clutch 504 are connected with a second fixing frame 503, and the hollow cup motor 501 is connected with the second speed reducer 502; the second clutch gear 505 is connected with the heading clutch 504 and is in meshed transmission with the rolling gear 403 of the heading control mechanism; the second fixing frame 503 is connected with the supporting plate 407 of the heading control mechanism. The heading clutch 504 employs an electromagnetic clutch.
The acquisition unit is electrically connected with the first angle acquisition module and the second angle acquisition module. The synchronous controller is electrically connected to the acquisition unit, the disc motor 302, the boat speed clutch 306, the cup motor 501 and the heading clutch 504.
And (3) manual control: for controlling the disc motor 302, the boat speed clutch 306, the cup motor 501, the heading clutch 504 to be closed when the remote control signal is not received. The first transmission gear set is separated from the second transmission gear set, that is, the rotating shaft of the secondary synchronous pulley 305 is in a separated state from the rotating shaft of the first clutch gear 307; the third drive gear set is decoupled from the fourth drive gear set, i.e. the second clutch gear 505 is in a decoupled state from the roll gear 403. The angle data of the rotating handle 201 collected by the potentiometer 204 is used as a ship speed control input, and the angle data of the rotating angle of the heading sensing gear 405 collected by the potentiometer 406 is used as a heading control input.
Remote control: for controlling the engagement of both the ship speed clutch 306 and the heading clutch 504 upon receipt of a remote control signal; the first transmission gear set is engaged with the second transmission gear set, that is, the rotation shaft of the secondary synchronous pulley 305 is in an engaged state with the rotation shaft of the first clutch gear 307. The third drive gear set is engaged with the fourth drive gear set, i.e. the second clutch gear 505 is in engagement with the roll gear 403. Simultaneously, the disc motor 302 and the coreless motor 501 are controlled to be started, first angle data of the potentiometer 204 and second angle data of the potentiometer 406 are collected, and when the first angle data and the second angle data reach a set threshold value, the first angle data are used as ship speed control input, and the second angle data are used as heading control input.
Because the gear transmission function inside the first transmission gear set and the second transmission gear set and the gear transmission function inside the third transmission gear set and the fourth transmission gear set, when in remote control, the first angle data collected by the potentiometer 204 and the second angle data collected by the potentiometer 406 can not reach the set threshold value at the moment of starting the disc motor 302 and the coreless motor 501, the transmission between the gear sets has a delay function, the delay function is played, the rotating handle 201 and the dial 401 can not reach the designated angle immediately, and a certain time is required to rotate the handle 201 and the dial 401 to reach the designated angle, so that the high-speed boat can be driven. In other words, functions like delay control. The remote control signal may delay control of the high speed boat rather than immediate control.
The above remote control device for high-speed boats is only one implementation, and the practical application is not limited to the above.
A high-speed boat remote control method based on follow-up synchronization comprises the following steps:
remote control step:
s0, disconnecting a first ship speed clutch and a first heading clutch of a first remote control device in the main control module;
s1, acquiring a set rotation angle of a first ship speed component in a first remote control deviceAnd a set rotation angle theta of the first heading component s ；
S2, setting the rotation angle of the first ship speed componentIs converted into a set ship speed v s Setting rotation angle theta of first heading component s Conversion to a set heading angle omega s The method comprises the steps of carrying out a first treatment on the surface of the Specifically, the->ω s ＝k ω θ s +b ω Wherein k is v 、b v 、k ω And b ω Are all constants;
s3, setting the ship speed v s Setting a heading angle omega s Setting a rotation angleAnd setting the rotation angle theta s Sending to a second synchronous controller in the boat control module;
s301, sucking a second ship speed clutch and a second heading clutch of a second remote control device in the ship control module;
s4, detecting the actual rotation angle of the second ship speed component in the second remote control deviceAnd a second heading assemblyActual rotation angle theta r ；
S5, comparingAnd->If->Controlling the second ship speed assembly to rotate positively if +.>Controlling the second ship speed assembly to reverse, if +.>And controlling the second ship speed assembly to stop rotating.
S6, comparing theta s And theta r If θ s >θ r Controlling the second heading component to rotate positively if theta s <θ r Controlling the second heading assembly to reverse if theta s ＝θ r And controlling the second heading component to stop rotating.
S601, the actual rotation angleConversion to actual ship speed v r Actual rotation angle theta r Conversion to actual heading angle omega r The method comprises the steps of carrying out a first treatment on the surface of the Specifically, the->ω r ＝k ω θ r +b ω ；
S7, comparing v r And v s ，ω r And omega s The method comprises the steps of carrying out a first treatment on the surface of the If v r ＝ν s And omega r ＝ω s The method comprises the steps of carrying out a first treatment on the surface of the Will set the ship speed v s And setting a heading angle omega s To a high speed boat control system.
A local control step:
s801, disconnecting a second ship speed clutch and a second heading clutch of a second remote control device in the ship control module;
s802, the second acquisition units acquire actual rotation angles of the ship speed components in the second remote control device respectivelyAnd the actual rotation angle theta of the heading component r ；
S9, the second synchronous controller rotates the actual angleConversion to actual ship speed v r Will actually rotate by an angle theta r Conversion to actual heading angle omega r The method comprises the steps of carrying out a first treatment on the surface of the Specifically, the->ω r ＝k ω θ r +b ω The method comprises the steps of carrying out a first treatment on the surface of the Wherein k is v 、b v 、k ω And b ω Are all constant.
S10, the second synchronous controller changes the actual ship speed v r And the actual heading angle omega r To a high speed boat control system.
Example two
As shown in fig. 9, the difference between the present embodiment and the first embodiment is that the high-speed boat multi-site remote control system based on the follow-up synchronization of the present embodiment further includes a slave control module provided at the slave control station; the number of slave control stations is greater than or equal to 1; in this embodiment, the number of slave stations is two.
The slave control module comprises a third remote control device and a third synchronous controller. The first synchronous controller and the third synchronous controller are connected through a communication link, and the third synchronous controllers are connected in a communication mode. In this embodiment, the first remote control device is identical to the third remote control device, and the first synchronous controller is identical to the third synchronous controller; also, "first" and "third" are for descriptive convenience only.
The first remote control device comprises a third ship speed assembly, a third heading assembly, a third acquisition unit, a third ship speed clutch and a third heading clutch.
The first synchronous controller is also used for setting the ship speed v s And setting a heading angle omega s A third synchronization controller in the slave control module;
the third synchronous controller is also used for controlling the third ship speed clutch and the third heading clutch of the third remote control device to be engaged;
the third acquisition unit is also used for detecting the actual rotation angle of the third ship speed component in the third remote control deviceAnd the actual rotation angle theta of the third heading component r ；
The third synchronous controller is also used for comparingAnd->If->The third synchronous controller is used for controlling the third ship speed assembly to rotate positively if +.>The third synchronous controller is used for reversing the third ship speed assembly if +.>The third synchronous controller is used for controlling the third ship speed assembly to stop rotating.
The third synchronous controller compares theta s And theta r If θ s >θ r The third synchronous controller is used for controlling the third heading component to rotate forward if theta s <θ r A third synchronous controller for controlling the third heading component to reverse if theta s ＝θ r The third synchronous controller is used for controlling the third heading component to stop rotating.
The high-speed boat multi-place remote control method based on the follow-up synchronization of the embodiment further comprises the following contents:
s3, the ship speed v is also set s And setting a heading angle omega s A third synchronization controller in the slave control module;
in S301, a third ship speed clutch and a three heading clutch in a third remote control device are also engaged;
s4, detecting the actual rotation angle of the ship speed assembly in the third remote control deviceAnd the actual rotation angle theta of the heading component i ；
S5, also compareAnd->If->Controlling the third ship speed assembly to rotate positively if +.>Controlling the third ship speed assembly to reverse, if +.>Controlling the third ship speed assembly to stop rotating;
s6, also compare θ s And theta i If θ s >θ i Controlling the third heading component to rotate positively if theta s <θ i Controlling the third heading assembly to reverse if theta s ＝θ i And controlling the third heading component to stop rotating.
The foregoing is merely an embodiment of the present invention, the present invention is not limited to the field of this embodiment, and the specific structures and features well known in the schemes are not described in any way herein, so that those skilled in the art will know all the prior art in the field before the application date or priority date, and will have the capability of applying the conventional experimental means before the date, and those skilled in the art may, in light of the teaching of this application, complete and implement this scheme in combination with their own capabilities, and some typical known structures or known methods should not be an obstacle for those skilled in the art to practice this application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.

Claims (2)

1. The high-speed boat multi-place remote control method based on the follow-up synchronization is characterized by comprising the following steps of:
remote control step:
s1, acquiring a set rotation angle of a first ship speed component in a main control moduleAnd a set rotation angle of the first heading component +.>；
S2, setting the rotation angle of the first ship speed componentConversion to a set ship speed +.>The set rotation angle of the first heading component +.>Conversion to the set heading angle->；
S3, setting the ship speedSetting a heading angle->Setting a rotation angle +.>And setting a rotation angle +.>Sending the boat to a boat control module;
s4, detecting the actual rotation angle of the second ship speed assembly in the ship control moduleAnd the actual rotation angle of the second heading component +.>；
S5, controlling the second ship speed assembly to rotate so as to enable the actual rotation angleEqual to the set rotation angle +.>；
S6, controlling the second heading component to rotate so as to enable the actual rotation angle to beEqual to the set rotation angle +.>；
S7, setting the ship speedAnd setting a heading angle +.>Sending the data to a high-speed boat control system;
in the S5, comparisonAnd->If->Controlling the second ship speed assembly to rotate positively if +.>Controlling the second ship speed assembly to rotate reversely if +.>Controlling the second ship speed assembly to stop rotating;
s6, comparingAnd->If->Controlling the second heading component to rotate forward if +.>Controlling the second heading component to reverse, if +.>Controlling the second heading component to stop rotating;
also comprises S601, the actual rotation angleConversion to actual ship speed +.>Actual rotation angle +.>Conversion to the actual heading angle->The method comprises the steps of carrying out a first treatment on the surface of the S7, also compare->And->，/>And->The method comprises the steps of carrying out a first treatment on the surface of the If->=/>And->=/>The method comprises the steps of carrying out a first treatment on the surface of the Will set the ship speed +.>And setting a heading angle +.>Sending the data to a high-speed boat control system;
in S2, the ship speed is setThe calculation formula of (2) is as follows: />Setting a heading angle +.>The calculation formula of (2) is as follows:wherein->、/>、/>And->Are all constants;
a local control step:
s8, acquiring an actual rotation angle of the ship speed assembly in the second remote control deviceAnd the actual rotation angle of the heading component +.>；
S9, the actual rotation angleConversion to actual ship speed +.>Will actually rotate the angle +>Conversion to the actual heading angle->；
S10, the actual ship speedAnd the actual heading angle->Sending the data to a high-speed boat control system;
in S3, the ship speed is also setAnd setting a heading angle +.>Sending to a slave control module;
s301, a third ship speed clutch and a three heading clutch in a third remote control device are also engaged;
in the step S4, the actual rotation angle of the ship speed component in the third remote control device is also detectedAnd the actual rotation angle of the heading component +.>；
In the S5, also compareAnd->If->Controlling the third ship speed assembly to rotate positively if +.>Controlling the third ship speed assembly to reverse, if +.>Controlling the third ship speed assembly to stop rotating;
in the S6, also compareAnd->If->Controlling the third heading component to rotate forward if +.>Controlling the third heading component to reverse, if +.>And controlling the third heading component to stop rotating.
2. The multi-place remote control system of the high-speed boat based on the follow-up synchronization is characterized by comprising a main control module arranged at a main control station and a boat control module arranged on the high-speed boat;
the main control module comprises a first remote control device and a first synchronous controller; the boat control module comprises a second remote control device and a second synchronous controller; the first synchronous controller is in communication connection with the second synchronous controller;
the first remote control device comprises a first ship speed component, a first heading component and a first acquisition unit; the second remote control device comprises a second ship speed assembly, a second heading assembly and a second acquisition unit;
the first acquisition unit is used for acquiring a set rotation angle of the first ship speed componentAnd a set rotation angle of the first heading component +.>And send to the first synchronization controller;
the first synchronous controller is used for setting the rotation angle of the first ship speed assemblyConversion to a set ship speed +.>Setting the rotation angle of the first heading component +.>Conversion to the set heading angle->；
The first synchronous controller is also used for setting the ship speedSetting a heading angle->Setting a rotation angle +.>And setting a rotation angle +.>Sending to a second synchronous controller in the boat control module;
the second acquisition unit is used for detecting the actual rotation angle of the second ship speed component in the second remote control deviceAnd the actual rotation angle of the second heading component +.>And sending to a second synchronous controller;
the second synchronous controller is used for controlling the second ship speed assembly to rotate so as to lead the actual rotation angle to beEqual to the set rotation angle +.>Controlling the second heading component to rotate so as to enable the actual rotation angle +.>Equal to the set rotation angle +.>；
The second synchronous controller is also used for controlling the actual rotation angleConversion to actual ship speed +.>Actual rotation angle +.>Conversion to actual heading angle/>；
The second synchronous controller is also used for comparing the actual ship speedAnd set the ship speed +>Actual heading angle +.>And set heading angle->If->=/>And->=/>The method comprises the steps of carrying out a first treatment on the surface of the Will set the ship speed +.>And setting a heading angle +.>Sending the data to a high-speed boat control system;
the second acquisition units are used for respectively acquiring actual rotation angles of the ship speed components in the second remote control deviceAnd the actual rotation angle of the heading component +.>And sending to a second synchronous controller; the second synchronous controller is also used for setting the actual rotation angle +.>Conversion to actual ship speed +.>Actual rotation angle +.>Conversion to the actual heading angle->The method comprises the steps of carrying out a first treatment on the surface of the The second synchronous controller is also used for controlling the actual ship speed +.>And the actual heading angle->Sending the data to a high-speed boat control system;
make the setting of the rotation angleEqual to the actual rotation angle>The second synchronous controller compares +.>And->If the difference of (1)The second synchronous controller is used for controlling the second ship speed assembly to rotate positively if +.>The second synchronous controller is used for reversing the second ship speed assembly if +.>The second synchronous controller is used for controlling the second ship speed assembly to stop rotating;
make the setting of the rotation angleEqual to the actual rotation angle>The second synchronous controller compares +.>And->If the difference of (1)The second synchronous controller is used for controlling the second heading component to rotate positively if +.>The second synchronous controller is used for controlling the second heading component to rotate reversely if +.>The second synchronous controller is used for controlling the second heading component to stop rotating;
the slave control module comprises a third remote control device and a third synchronous controller, and the first synchronous controller is in communication connection with the third synchronous controller;
the third remote control device comprises a third ship speed component, a third heading component and a third acquisition unit;
first togetherThe step controller is also used for setting the ship speedAnd setting a heading angle +.>A third synchronization controller in the slave control module; the third acquisition unit is also used for detecting the actual rotation angle of the third ship speed component in the third remote control device>And the actual rotation angle of the third heading component +.>；
The third synchronous controller is also used for comparingAnd->If->The third synchronous controller is used for controlling the third ship speed assembly to rotate positively if +.>The third synchronous controller is used for reversing the third ship speed assembly if +.>The third synchronous controller is used for controlling the third ship speed assembly to stop rotating;
third synchronization controller comparisonAnd->If->The third synchronous controller is used for controlling the third heading component to rotate positively if +.>The third synchronous controller is used for controlling the third heading component to rotate reversely if +.>The third synchronous controller is used for controlling the third heading component to stop rotating.
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