CN100506640C - Comprehensive coordination control device for ship wing-fin, wing-rudder - Google Patents
Comprehensive coordination control device for ship wing-fin, wing-rudder Download PDFInfo
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- CN100506640C CN100506640C CNB2007100716647A CN200710071664A CN100506640C CN 100506640 C CN100506640 C CN 100506640C CN B2007100716647 A CNB2007100716647 A CN B2007100716647A CN 200710071664 A CN200710071664 A CN 200710071664A CN 100506640 C CN100506640 C CN 100506640C
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Abstract
The invention supplies a comprehensive coordination control device that includes intelligent process unit U1, servo mechanism U2 connecting to main fin U3, servo mechanism U4 connecting side fin U5, servo mechanism U6 connecting to main rudder U7, servo mechanism U8 connecting to side rudder U9, rolling information testing sensor U11 setting on vessel and connecting on intelligent information process unit, course heading information testing sensor U10, information gathering unit U12 and information display unit U13. The intelligent process unit connects to servo mechanism U2, U4, U6 and U8.
Description
(1) technical field
The present invention relates to ship's navigation attitude control field, particularly ship's navigation attitude control wing centre section fin, wing rudder comprehensive coordination control field.
(2) background technology
In ship gesture control, course control is the most basic, no matter which kind of boats and ships for finishing various missions, must carry out course control.The control of course, naval vessel mainly is to realize by the steering motion control.In addition, rolling motion all seriously influences the hit rate of marine operation safety, crewman's comfort and defense preparations system, and in order to reduce rolling motion effectively, marine engineers have designed various antirolling apparatuss.A kind of effective measures of ship stabilization are to adopt active fin stabilizing system.
In order to improve the road-holding property of boats and ships, usually increase the camber of fin (rudder), wing fin-wing rudder is exactly by go up the little control surface-wing fin (wing rudder) that increases a relatively independent motion at fin (rudder), make and produce an angle between main fin (rudder) and the wing fin (rudder), thereby be actually and a general stream line pattern fin (rudder) is become a fin (rudder) with certain camber obviously improve fin (rudder) hydrodynamic performance, subtract and shake performance and autopilot system course controller performance thereby improve fin stabilizing system.
Existing control to wing fin, wing rudder is to adopt two covers separate, between without any the contact control system, two separate control system are not considered the coupling influence between naval vessel rolling and the course, make high-speed ship or the road-holding property of the boats and ships in torrent, narrow fairway greatly reduces like this.
(3) summary of the invention
The object of the present invention is to provide and a kind ofly can reduce naval vessel rolling and yawing (course) motion, the boats and ships fin that improves the navigability of boats and ships, rudder comprehensive coordination control setup effectively.
The object of the present invention is achieved like this: it comprises Intelligent Information Processing unit U1, the main fin servomechanism U2 that connects main fin U3, the wing fin servomechanism U4 that connects wing fin U5, the main rudder servomechanism U6 that connects main rudder U7, the wing rudder servomechanism U8 that connects wing rudder U9, be arranged on the hull and connect the rolling information detection sensor U11 of Intelligent Information Processing unit U1, course information detecting sensor U10, connect Intelligent Information Processing unit U1 and main fin U3, wing fin U5, main rudder U7, the information display unit U13 of the information acquisition unit U12 of wing rudder U9 and link information collecting unit U12, Intelligent Information Processing unit U1 connect main fin servomechanism U2 respectively, wing fin servomechanism U4, main rudder servomechanism U6 and wing rudder servomechanism U8.
The present invention also has some architectural features like this:
1, described main fin servomechanism U2 comprises controller, the D/A converter that connects controller, the main fin servomechanism that connects D/A converter that connects Intelligent Information Processing unit U1, the sensor and the A/D converter that is connected sensor that connects main fin servomechanism, A/D converter connects controller, and main fin servomechanism connects main fin U3;
2, described wing fin servomechanism U4 comprises controller, the D/A converter that connects controller, the wing fin servomechanism that connects D/A converter that connects Intelligent Information Processing unit U1, the sensor and the A/D converter that is connected sensor that connects wing fin servomechanism, A/D converter connects controller, and wing fin servomechanism connects wing fin U5;
3, described main rudder servomechanism U6 comprises controller, the D/A converter that connects controller, the rudder servomechanism that connects D/A converter that connects Intelligent Information Processing unit U1, the sensor and the A/D converter that is connected sensor that connects the rudder servomechanism, A/D converter connects controller, and the rudder servomechanism connects main rudder U7;
4, described wing rudder servomechanism U8 comprises controller, the D/A converter that connects controller, the wing rudder servomechanism that connects D/A converter that connects Intelligent Information Processing unit U1, the sensor and the A/D converter that is connected sensor that connects wing rudder servomechanism, A/D converter connects controller, and wing rudder servomechanism connects wing rudder U9;
5, described Intelligent Information Processing unit comprises the comprehensive coordination controller, the smart allocation device and the speed of a ship or plane that connect the comprehensive coordination controller, wave level automatic gain adjustment unit, information acquisition unit U12 electric signal connects the speed of a ship or plane, wave level automatic gain adjustment unit, rolling information detection sensor U11, the yawing information detection sensor U10 and the speed of a ship or plane, wave level automatic gain adjustment unit electric signal connects the comprehensive coordination controller, comprehensive coordination controller electric signal connects the smart allocation device, and smart allocation device electric signal connects main fin servomechanism U2, wing fin servomechanism U4, main rudder servomechanism U6 and wing rudder servomechanism U8.。
Boats and ships wing fin proposed by the invention, wing rudder comprehensive coordination control setup have following characteristics:
(1) device has utilized the wing, rudder to move to the influential characteristic of ship rolling.Wing rudder not only can produce the yawing control torque,
Also can produce considerable rolling righting moment simultaneously, make the rudder rollstabilization become possibility.In fact, the rolling moment that rudder produces is appreciable, and the rolling moment that rudder turns over the certain angle generation can reach the rolling righting moment 70% that fin turns over same angle generation, gives full play to the ability of shaking that subtracts of rudder, can effectively improve stabilizing efficiency, cost-cutting.
(2) device has utilized the wing, fin motion to the little characteristic of boats and ships yawing influence.Stabilizer mainly is in order to produce the rolling righting moment, compare with the yawing moment that produces on the wing rudder, swaying power, fin turns over yawing moment that certain angle produces and swaying moment and is equivalent to wing rudder and turns over 6% of yawing moment that same angle produces, 58% of swaying power, therefore, fin produces little effect to naval vessel yawing motion control effect.
(3) device has been considered the coupled relation between rolling and the course, utilizes unified information process unit that wing fin, wing rudder are synthesized and coordinated control.For the control in course, utilize the low-frequency control signal of the wing, rudder to carry out; For the control of rolling, utilize the wing fin control signal and the wing, rudder high-frequency controling signal to carry out simultaneously.
The present invention coordinates fin or wing fin, rudder or the wing rudder of original independent control, adopts a unified information process unit to carry out Comprehensive Control, can reduce naval vessel rolling and yawing (course) motion effectively, improves the navigability of boats and ships.
(4) description of drawings
Fig. 1 is a principle assumption diagram of the present invention;
Fig. 2 is embodiment of the invention servomechanism controller principle figure;
Fig. 3 is the system protection circuit figure of embodiment of the invention servomechanism controller programmable logic device (PLD).
(5) specific embodiment
That the invention will be further described is as follows below in conjunction with drawings and Examples:
Embodiment:
In conjunction with Fig. 1, present embodiment comprises Intelligent Information Processing unit U1, the servomechanism U2 that connects main fin U3, the servomechanism U4 that connects wing fin U5, the servomechanism U6 that connects main rudder U7, the servomechanism U8 that connects wing rudder U9, be arranged on the hull and connect the rolling information detection sensor U11 of Intelligent Information Processing unit U1, course information detecting sensor U10, connect Intelligent Information Processing unit U1 and main fin U3, wing fin U5, main rudder U7, the information display unit U13 of the information acquisition unit U12 of wing rudder U9 and link information collecting unit U12, Intelligent Information Processing unit U1 connects servomechanism U2 respectively, U4, U6 and U8.Wherein U2, U4, U6, U8 structure are identical, described servomechanism U2 comprises controller, the D/A converter that connects controller, the main fin servomechanism that connects D/A converter that connects Intelligent Information Processing unit U1, the sensor and the A/D converter that is connected sensor that connects main fin servomechanism, A/D converter connects controller, and main fin servomechanism connects main fin U3; Described servomechanism U4 comprises controller, the D/A converter that connects controller, the wing fin servomechanism that connects D/A converter that connects Intelligent Information Processing unit U1, the sensor and the A/D converter that is connected sensor that connects wing fin servomechanism, A/D converter connects controller, and wing fin servomechanism connects wing fin U5; Described servomechanism U6 comprises controller, the D/A converter that connects controller, the rudder servomechanism that connects D/A converter that connects Intelligent Information Processing unit U1, the sensor and the A/D converter that is connected sensor that connects the rudder servomechanism, A/D converter connects controller, and the rudder servomechanism connects main rudder U7; Described servomechanism U8 comprises controller, the D/A converter that connects controller, the wing rudder servomechanism that connects D/A converter that connects Intelligent Information Processing unit U1, the sensor and the A/D converter that is connected sensor that connects wing rudder servomechanism, A/D converter connects controller, and wing rudder servomechanism connects wing rudder U9;
The Intelligent Information Processing unit has rolling or functions such as controller, fin angle or wing fin angle, rudder angle or wing rudder angle smart allocation device, the speed of a ship or plane, the adjustment of wave level automatic gain are synthesized and coordinated in the course.Boats and ships are done rolling and course motion under wave interference and fin or wing fin, rudder or wing rudder control action.Afloat rolling of boats and ships and yawing oscillating motion at random under different sea conditions, the wave condition.Rolling information detection sensor U11, yawing (course) information detection sensor U10 send the Ship Swaying information that records into the Intelligent Information Processing unit, carry out computing through the comprehensive coordination controller in conjunction with the speed of a ship or plane, unrestrained gain per stage, provide fin angle, wing fin angle, rudder angle, wing rudder angle command signal after the computing, by fin angle or wing fin angle, rudder angle or the wing rudder angle smart allocation device signal is sent into main fin servomechanism U2, wing fin servomechanism U4, rudder angle servomechanism U6, wing rudder angle servomechanism U8 again, drive main fin U3, wing fin U5, main rudder U7 and wing rudder U9.Sending into information display unit U13 after all information in the control process are gathered by information acquisition unit U12 shows.
In conjunction with Fig. 2, unit design based on the TMS320F2812 servomotor controller is core with TMS320F2812, control algorithm that all are complicated and control policy are all realized by this controller, this mechanism relates to the most of integrated peripheral hardware of DSP, as task manager EV, asynchronous serial communication interface SCI, A and D converter ADC, PWM module and JTAG emulation interface etc. takes place.Its hardware circuit mainly is made up of power circuit, control circuit and peripheral circuit.
For fear of the too high impact failure of phase current to DSP, utilize FO whether again to be used for detecting the too high breakdown signal of electric current, if FO is set, breakdown signal is given DSP by CPLD, then all PWM outputs are set to high configuration immediately.
Rotating speed of motor is measured by pulse coder, and code-disc signal A, the B of motor catches by CAP1, the CAP2 port of dsp controller.The deposit data that captures is in register, by the A that relatively captures, speed and the direction that B two-phase pulse value can be determined current rotor.
That inversion is partly adopted is Intelligent Power Module (IPM).IPM is that the Intelligent Power Module (three phase full bridge adds 1 bleeder pipe) of Unit seven includes: grid driving, short-circuit protection, overcurrent protection, overheating protection and undervoltage lockout circuit.A series of characteristics such as it has the reliability height, and volume is little, and is easy to use have shortened the development time, have simplified development procedure.
In conjunction with Fig. 3; programmable logic device (PLD) adopts the XC9536XL chip of CPLD in the controller; be provided with the device protection circuit; incoming signal bus voltage IPMP connects resistance R 81 in the device protection circuit; R82 is to amplifier U8A and amplifier U8B; connect resistance R 83; capacitor C 35 to P_GND; amplifier U8A connects resistance R 74; capacitor C 11 to P_GND; resistance R 32 to VCC+15V; the output of amplifier U8A connects resistance R 32 to VCC+15V; resistance R 71 is to aerotron Q5 base electrode; aerotron Q5 cascode level is to P_GND; collecting electrode output connects resistance R 53 to the O1 unit; the O1 unit connects resistance R 14 to VCC+5V; output connects over voltage alarm signal HV_S; amplifier U8B connects resistance R 55; capacitor C 12 to P_GND; resistance R 90 to VCC+15V; the output of amplifier U8B connects resistance R 75 to VCC+15V; resistance R 72 is to aerotron Q6 base electrode; aerotron Q6 cascode level is to P_GND; collecting electrode output connects resistance R 54 to the O2 unit, and the O2 unit connects resistance R 16 to VCC+5V; output connects undervoltage warning signal LV_S.
Among Fig. 3, bus voltage IPMP obtains voltage actual detected voltage U d by the dividing potential drop of resistance R 81, R82 and R83, and Ud connects 5 pin of LM339.The reference voltage of alarm for high voltage is obtained by resistance R 32 and R74 dividing potential drop by+15V voltage, and the high pressure reference voltage connects 4 pin of LM339.When detection voltage U d is higher than the high pressure reference voltage, the comparator upset, the 2 pin output high pressure of LM339 makes the Q5 conducting, by electric current, makes HV_S over voltage alarm signal put height, output alarm signal among the O1.Low pressure detects 6 pin that Ud meets LM339.Low pressure reference voltage+15V voltage is obtained by resistance R 90 and R55 dividing potential drop, and low pressure detects 7 pin that meet LM339.When detection voltage U d was lower than the low pressure reference voltage, 1 jiao of output high pressure of LM39 made the Q6 conducting.O2 alives and makes LV_S undervoltage warning signal put height, output alarm signal.
Claims (6)
1, a kind of boats and ships fin, rudder comprehensive coordination control setup, it comprises Intelligent Information Processing unit [U1], it is characterized in that it also comprises the main fin servomechanism [U2] that connects main fin [U3], the wing fin servomechanism [U4] that connects wing fin [U5], the main rudder servomechanism [U6] that connects main rudder [U7], the wing rudder servomechanism [U8] that connects wing rudder [U9], be arranged on the hull and connect the rolling information detection sensor [U11] of Intelligent Information Processing unit [U1], course information detecting sensor [U10], connect Intelligent Information Processing unit [U1] and main fin [U3], wing fin [U5], main rudder [U7], the information acquisition unit [U12] of wing rudder [U9] and the information display unit [U13] of link information collecting unit [U12], Intelligent Information Processing unit [U1] connects main fin servomechanism [U2] respectively, wing fin servomechanism [U4], main rudder servomechanism [U6] and wing rudder servomechanism [U8].
2, a kind of boats and ships fin according to claim 1, rudder comprehensive coordination control setup, it is characterized in that described main fin servomechanism [U2] comprises controller, the D/A converter that connects controller, the main fin servomechanism that connects D/A converter that connects Intelligent Information Processing unit [U1], the sensor and the A/D converter that is connected sensor that connects main fin servomechanism, A/D converter connects controller, and main fin servomechanism connects main fin [U3].
3, a kind of boats and ships fin according to claim 1, rudder comprehensive coordination control setup, it is characterized in that described wing fin servomechanism [U4] comprises controller, the D/A converter that connects controller, the wing fin servomechanism that connects D/A converter that connects Intelligent Information Processing unit [U1], the sensor and the A/D converter that is connected sensor that connects wing fin servomechanism, A/D converter connects controller, and wing fin servomechanism connects wing fin [U5].
4, a kind of boats and ships fin according to claim 1, rudder comprehensive coordination control setup, it is characterized in that described main rudder servomechanism [U6] comprises controller, the D/A converter that connects controller, the rudder servomechanism that connects D/A converter that connects Intelligent Information Processing unit [U1], the sensor and the A/D converter that is connected sensor that connects the rudder servomechanism, A/D converter connects controller, and the rudder servomechanism connects main rudder [U7].
5, a kind of boats and ships fin according to claim 1, rudder comprehensive coordination control setup, it is characterized in that described wing rudder servomechanism [U8] comprises controller, the D/A converter that connects controller, the wing rudder servomechanism that connects D/A converter that connects Intelligent Information Processing unit [U1], the sensor and the A/D converter that is connected sensor that connects wing rudder servomechanism, A/D converter connects controller, and wing rudder servomechanism connects wing rudder [U9].
6, a kind of boats and ships fin according to claim 1, rudder comprehensive coordination control setup, it is characterized in that described Intelligent Information Processing unit comprises the comprehensive coordination controller, the smart allocation device and the speed of a ship or plane that connect the comprehensive coordination controller, wave level automatic gain adjustment unit, information acquisition unit [U12] electric signal connects the speed of a ship or plane, wave level automatic gain adjustment unit, rolling information detection sensor [U11], the yawing information detection sensor [U10] and the speed of a ship or plane, wave level automatic gain adjustment unit electric signal connects the comprehensive coordination controller, comprehensive coordination controller electric signal connects the smart allocation device, and smart allocation device electric signal connects main fin servomechanism [U2], wing fin servomechanism [U4], main rudder servomechanism [U6] and wing rudder servomechanism [U8].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100716647A CN100506640C (en) | 2007-01-19 | 2007-01-19 | Comprehensive coordination control device for ship wing-fin, wing-rudder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100716647A CN100506640C (en) | 2007-01-19 | 2007-01-19 | Comprehensive coordination control device for ship wing-fin, wing-rudder |
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| CN101024421A CN101024421A (en) | 2007-08-29 |
| CN100506640C true CN100506640C (en) | 2009-07-01 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101519117B (en) * | 2009-04-17 | 2012-01-04 | 哈尔滨工程大学 | Ship rudder/wing rudder-fin/wing fin combined control method |
| CN103792889B (en) * | 2014-02-28 | 2017-04-19 | 扬州市江都永坚有限公司 | Electric driven fin stabilizer electric servo control system |
| CN103895849B (en) * | 2014-03-28 | 2016-05-04 | 哈尔滨工程大学 | Servo fin/wing fin the arbitrary rotation angle ratio transmission device of a kind of boats and ships electricity |
| CN103935480B (en) * | 2014-05-26 | 2016-08-17 | 哈尔滨工程大学 | A kind of rudder stabilization method based on analytic modell analytical model Predictive control design |
| CN105185218B (en) * | 2015-09-23 | 2017-10-03 | 哈尔滨工程大学 | A kind of swing arm ship rudder/wing rudder is driven simulator |
| CN105966566B (en) * | 2016-05-23 | 2017-10-27 | 哈尔滨工程大学 | Hydrofoil catamaran course heel control method and device |
| IT201600094283A1 (en) * | 2016-09-20 | 2016-12-20 | Psc Eng S R L | Procedure for controlling the rolling and / or pitching motion of a boat at no or low vessel speed |
| CN106828819A (en) * | 2017-01-23 | 2017-06-13 | 哈尔滨工程大学 | Ship Steering Autopilot and wing fin vector control method |
| CN107187575A (en) * | 2017-05-31 | 2017-09-22 | 威海海洋职业学院 | A kind of ship vector rudder control method, apparatus and system |
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