CN101024419A - Submersible omnibearing propeller controller - Google Patents
Submersible omnibearing propeller controller Download PDFInfo
- Publication number
- CN101024419A CN101024419A CN 200710071666 CN200710071666A CN101024419A CN 101024419 A CN101024419 A CN 101024419A CN 200710071666 CN200710071666 CN 200710071666 CN 200710071666 A CN200710071666 A CN 200710071666A CN 101024419 A CN101024419 A CN 101024419A
- Authority
- CN
- China
- Prior art keywords
- propeller
- control mechanism
- connects
- bow
- stern
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention supplies a control method to control submersible six degrees of freedom moving and improve the controllability. It includes information processing intelligent unit, bow omnibearing propeller control structure, stern propeller control structure, stern omnibearing propeller and submersible. The external structure connects to information processing intelligent structure that connects to bow omnibearing propeller control structure and stern screw propeller control structure. The bow omnibearing propeller control structure and stern screw propeller control structure connect to omnibearing propeller and stern omnibearing propeller. Bow omnibearing propeller and stern omnibearing propeller connect to submersible.
Description
(1) technical field
The submersible omnibearing propeller controller in a plurality of fields such as modeling, bow, stern oar coordinated movement of various economic factors control of a kind of all-around propeller three-degree-of-freedom motion rotating disk driving mechanisms control, pitch adjustment mechanism is designed in the device control field that the present invention relates to dive specifically.
(2) background technology
The conventional propulsive control device of device of diving is made up of several propelling units usually, is arranged on the position of top to bottom, left and right, front and rear of the device of diving (as II type latent device, totally 7 oars; Isosceles triangle is arranged 3 behind the ship, up and down, each 1 pair) to produce the thrust of above-below direction, left and right directions and fore-and-aft direction, satisfy the propelling of device and the requirement of maneuvering performance of diving, but arrange propelling unit like this, destroyed the continuity of latent device structure, reduced latent device structural strength, made latent device want corresponding increase structure dimension (as pneumatic shell thickness) in order to satisfy requirements such as intensity, propelling unit weight proportion increases, and is limited to advancing also to make latent device in-to-in to arrange.On energy-conservation meaning, angle of rake weight ratio increase is unfavorable for energy-conservation.All-around propeller (Variable Vector Propeller) then can solve above-mentioned contradiction, it only can produce the thrust of top to bottom, left and right, front and rear six direction as required at bow, stern configuration propelling unit, do not influence the requirement of structure and strength condition requirement and master layout simultaneously like this, correspondingly but can reduce angle of rake number, satisfy the maneuvering performance requirement of the device of diving, be beneficial to miniaturization, the lightweight of latent device.All-around propeller is a kind of in the process that blade rotates a circle, and by the cyclical variation of blade pitch angle, makes it not only produce the axial thrust parallel with the oar axle, also can produce the extraordinary propelling unit of thrust in side direction.For conventional screw propeller, the pitch angle of the same radius of each blade is equal and the blade edge is circumferentially uniform, then the circular rector on the corresponding blade section of each blade is identical, so each blade is on different circumferential positions, the tangential force of corresponding blade element equates, thereby whole propeller do not produce side force, only produces axial force; For the omnirange propelling unit, though its blade also is circumferentially uniform, but its blade geometry pitch angle is periodically variable (being generally sine or varies with cosine rule), like this, when blade was in different locus angles, the angle of attack of blade also will change with the variation of locus angle, made that the tangential force on the corresponding blade element of each blade changes with locus angle, then can not offset, therefore on blade, will have side force at the component of side direction.This has shown the essential distinction of omnirange propelling unit and conventional screw propeller: the axial force that conventional screw propeller produced can only make the device of diving move along its oar axis direction, i.e. longitudinal movement; And all-around propeller can not only make the device of diving produce longitudinal movement, and can produce cross motion and perpendicular movement, and the reason that produces this difference is that can blade pitch angle cyclical variation.
Because all-around propeller has also produced moment when producing side force, in order to remove this phenomenon, often be used in combination to install before and after two all-around propellers, make it when producing side force, vertical force, not produce moment.
Therefore, use outside the propulsion functions that all-around propeller can realize that not only common propeller can realize, can also realize laterally and the motion of vertical direction that the while, it also had simple in structure, be beneficial to energy-conservation and latent device topology layout, help improving the maneuvering performance of latent device.
The tradition control method generally adopts PID control, along with the appearance of artificial intelligence, novel intelligent control methods such as for example fuzzy control, ANN (Artificial Neural Network) Control, expert mechanism, genetic algorithm occurred.PID control is simple with its algorithm, controller performance is good, the reliability advantages of higher still is widely used in hydraulic servo mechanism so far, but non-linear in control, the time change, coupling and parameter and the uncertain complex process of structure aspect, PID then out of reach control effect maybe can't realize control.Based Intelligent Control is non-linear in control, the time change, coupling, parameter uncertain, etc. the advantage of aspect can solve the control problem of complex mechanism just, therefore our method that adopts Based Intelligent Control to combine with traditional PID control realizes control to mechanism here.
(3) summary of the invention
The object of the present invention is to provide a kind of can solve the all-around propeller control mechanism non-linear, the time problem such as change controlling schemes, with the control of realization, and improve the dive manipulative capability of device and the submersible omnibearing propeller controller of controllability to the device six-freedom motion of diving.
The object of the present invention is achieved like this: it comprises bow all-around propeller and the stern all-around propeller that is arranged on the device of diving, it also comprises the information processing intelligent cell that is arranged in the device of diving, bow all-around propeller control mechanism and stern screw propeller control mechanism, the information processing intelligent cell connects bow all-around propeller control mechanism and stern screw propeller control mechanism, bow all-around propeller control mechanism is connected bow all-around propeller and stern all-around propeller respectively with stern screw propeller control mechanism, wherein bow all-around propeller control mechanism and stern screw propeller control mechanism advance control mechanism to constitute by pitch angle control mechanism and main shaft, and the pitch angle control mechanism comprises three identical hydraulic servo mechanisms.
The present invention also has some architectural features like this:
1, described pitch angle control mechanism also comprises motion rotating disk and mechanical drive, three identical hydraulic servo mechanisms connect the motion rotating disk, the motion rotating disk connects mechanical drive, and mechanical drive connects bow all-around propeller or stern all-around propeller;
2, described mechanical drive comprises shifter bar and pipe link, the motion rotating disk is made of inboard rotating disk and two rotating disks of outside rotating disk, outside rotating disk links to each other with hydraulic actuating cylinder, and inboard rotating disk directly links to each other with shifter bar by pipe link, and shifter bar links to each other with screw propeller;
3, described hydraulic servo mechanism comprises controller, power amplification device, hydraulic ram and displacement pickup, the information processing intelligent cell connects controller, and controller connects power amplification device, and power amplification device connects hydraulic ram, hydraulic ram connects displacement pickup, and displacement pickup connects controller;
4, described main shaft advances control mechanism to comprise rotational speed governor, current controller, power amplification device, motor, retarder, current sensor and tachogen, the information processing intelligent cell connects rotational speed governor, rotational speed governor connects current controller, current controller connects power amplification device, power amplification device connects motor, motor connects current sensor and retarder, current sensor connects current controller, retarder connects tachogen and bow all-around propeller or stern all-around propeller, and tachogen connects rotational speed governor.
The present invention adopts Based Intelligent Control and bow, the coordinated movement of various economic factors of stern oar to control and realizes the device manipulation of six degree of freedom under water of diving, submersible omnibearing propeller controller on controlled object the time a kind of brand new control mechanism, because all-around propeller is a kind of special propelling unit, it only needs a motion that just can realize the six-freedom degree of latent device; The control method that adopts intelligent control algorithm to combine from this control mechanism of control method with conventional pid control algorithm, improved the antijamming capability of control mechanism, strengthen the control mechanism robust performance, by bow stern oar co-operative control, realize control to dive the device course and the degree of depth, compare with traditional propelling unit, energy consumption obviously reduces.
Implementation procedure of the present invention is such, control signal is through the processing of resolving of information processing intelligent cell, output signal is divided into two parts, and a part is the incoming signal of bow all-around propeller control mechanism, and a part is the incoming signal of stern all-around propeller control mechanism in addition.The incoming signal of bow all-around propeller control mechanism resolves into two paths of signals again, and one road signal is directly inputted in the rotational speed governor as the incoming signal of main shaft electric propulsion control mechanism; Another road signal then is directly inputted to the input end of the controller of three hydraulic servo mechanisms as the incoming signal of pitch angle control mechanism.
Now with bow all-around propeller control mechanism be example briefly introduce all-around propeller control mechanism be how to realize to dive device under water six degree of freedom handle.
Bow all-around propeller control mechanism advances control mechanism to constitute by pitch angle control mechanism and main shaft, and the pitch angle control mechanism then is made of three identical hydraulic servo mechanisms.Main purpose of the present invention is the device six-freedom motion under water of realize diving, so will mainly state the implementation and the main shaft electric propulsion control mechanism of a passage in three hydraulic servo mechanisms of pitch angle control mechanism here.
The signal of information processing intelligent cell output is through the treatment conversion of controller, the control signal that obtains is input to power amplification device, be input to the input end of hydraulic actuating cylinder through the control signal after the power amplification device amplification, the carry out bit shifting signal of hydraulic actuating cylinder feeds back to the input end of controller by displacement pickup, to reach the purpose of correction, make the output displacement of hydraulic actuating cylinder reappear input control signal to greatest extent.This is the mode of operation of a passage in three identical hydraulic servo mechanisms of pitch angle control mechanism, and all the other two passages are identical with it.
The output of three hydraulic servo mechanisms i.e. the inclination and the motion of translation of the output displacement direct drive motion rotating disk realization three degree of freedom of three hydraulic actuating cylinders.
The position of three-degree-of-freedom motion rotating disk bevelled angle and translation will change the pitch angle of all-around propeller by mechanical drive, and then change the direction and the size of the power of all-around propeller generation.Mechanical drive generally is made of shifter bar and pipe link.
The mode of operation of main shaft electric propulsion control mechanism is such, be input in the rotational speed governor behind the control signal process information processing intelligent cell, the signal of rotational speed governor output is input to motor through current controller, power amplification device, the output signal one tunnel of motor outputs to retarder, another road feeds back to the input end of current controller through current sensor, the signal one tunnel of retarder output feeds back to the input end of rotational speed governor through tachogen, and another road outputs to all-around propeller as the main shaft propel signal.
Advantage of the present invention and beneficial effect have been to provide a kind of brand new propelling unit notion and to be enclosed within theoretical what all practical, feasible control mechanism of engineering reality:
(1) omnibearing propeller of submersible of the present invention's research is a kind of later-model extraordinary propelling unit, it can replace six, seven traditional screw propellers to realize the propelling and the six degree of freedom maneuvering performance of latent device by two screw propellers, overcome of the negative effect that intercouple produce of traditional propelling unit, thereby further improved the physics operability and the angle of rake work efficiency of mechanism owing to multiple propeller.Adopt all-around propeller to reduce the number of screw propeller simultaneously,,, and also be of great importance from energy-saving significance for the developing in depth and breadth also to have greatly and benefit of the device of diving so can optimize the integral structure layout of the device of diving.
(2) the present invention adopts coordinate homogeneous transformation and newton-Eulerian equation that the kinematics and the dynam of motion rotating disk are analyzed, thereby sets up the math modeling of all-around propeller control mechanism motion rotating disk.Have laid a good foundation in the theoretical and actual aspect of engineering of being implemented in of all-around propeller propeller pitch control system that is established as of motion rotating disk math modeling.
(3) thus the present invention adopts bow, stern that two all-around propeller coordinated movements of various economic factors controls realize the device motion of six degree of freedom under water of diving.Because when single all-around propeller is worked, when producing side force, also will produce moment.Eliminate this phenomenon by being used in combination of bow, stern oar all-around propeller, when bow, stern oar reverse, the cycle pitch angle staggers 180 when spending, and produces side force; When bow, stern oar reverse, when the phase place of cycle pitch angle is consistent, produce commentaries on classics bow moment.Therefore the co-ordination of bow, stern oar all-around propeller produces the motion of under-water robot six degree of freedom, comprise seesaw, transverse moving left and right motion, moving, pitching motion of heave movement, yawing rotation, shipping and rolling motion up and down.
(4) the all-around propeller control mechanism is with non-linear, in time, become, the mechanism of coupling, therefore use traditional control method PID control method think in being difficult to reach the control effect, therefore the present invention has adopted intelligent control algorithm and traditional PID control method to the novel controlling schemes that combines, it is non-linear in control both to have overcome the traditional PID control method, the time become and the uncertain complex mechanism process of parameter in the shortcoming of control poor effect, it is simple to have possessed pid control algorithm again, controller performance is good, the reliability advantages of higher makes all-around propeller control mechanism control effect reach best.
(4) description of drawings
Fig. 1 is an all-around propeller control mechanism structure principle chart of the present invention;
Fig. 2 concerns scheme drawing for hydraulic actuating cylinder of the present invention and swash plate;
Fig. 3 is a position of the present invention normal solution feedback compensation schematic diagram;
Fig. 4 is a pitch changing actuator constructional drawing of the present invention;
Fig. 5-6 controls side force, changes bow moment scheme drawing for the present invention;
Fig. 7 has the latent device scheme drawing of two all-around propellers for the present invention;
Fig. 8 controls the thrust scheme drawing of fore-and-aft direction for the present invention;
Fig. 9 controls the thrust scheme drawing of left and right directions for the present invention;
Figure 10 controls the thrust scheme drawing of above-below direction for the present invention;
Figure 11 controls the deflecting force scheme drawing for the present invention;
Figure 12 controls the longitudinal force scheme drawing for the present invention;
Figure 13 is the motor control mechanism structure principle chart;
Figure 14 is the schematic circuit diagram of CPLD;
Figure 15 is the all-around propeller constructional drawing.
(5) specific embodiment
The present invention is further described as follows below in conjunction with accompanying drawing:
In conjunction with Fig. 1, the present invention includes information processing intelligent cell, bow all-around propeller control mechanism, stern screw propeller control mechanism, stern all-around propeller and latent device, external agency's link information is handled intelligent cell, the information processing intelligent cell connects bow all-around propeller control mechanism and stern screw propeller control mechanism, bow all-around propeller control mechanism is connected bow all-around propeller and stern all-around propeller respectively with stern screw propeller control mechanism, and the bow all-around propeller is connected the device of diving with the stern all-around propeller; Wherein bow all-around propeller control mechanism and stern screw propeller control mechanism advance control mechanism to constitute by pitch angle control mechanism and main shaft, and the pitch angle control mechanism comprises three identical hydraulic servo mechanisms.Described pitch angle control mechanism also comprises motion rotating disk and mechanical drive, three identical hydraulic servo mechanisms connect the motion rotating disk, the motion rotating disk connects mechanical drive, and mechanical drive connects bow all-around propeller and stern all-around propeller; Described hydraulic servo mechanism comprises controller, power amplification device, hydraulic ram and displacement pickup, the information processing intelligent cell connects controller, and controller connects power amplification device, and power amplification device connects hydraulic ram, hydraulic ram connects displacement pickup, and displacement pickup connects controller; Described main shaft advances control mechanism to comprise rotational speed governor, current controller, power amplification device, motor, retarder, current sensor and tachogen, the information processing intelligent cell connects rotational speed governor and connects current controller connection power amplification device, power amplification device connects motor, motor connects current sensor and retarder, current sensor connects current controller, and retarder connects bow/stern all-around propeller; Described mechanical drive comprises shifter bar and pipe link.
Blade pitch angle is to realize by being attached to a mechanical drive drive vane on the swash plate that rotatablely moves.The motion rotating disk different space angle that rotatablely moves, blade will produce corresponding pitch angle, therefore will study and set up the math modeling between the motion rotating disk anglec of rotation and the pitch angle, could realize the control to the all-around propeller control mechanism.The rotation of motion rotating disk is finished by the displacement movement of three hydraulic rams among the present invention, convert the combination of three hydraulic cylinder displacement motions to rotating disk space three degrees of freedom of movement (two angle of rotations, and the displacement movement of each hydraulic ram is to be controlled and driven by a closed loop servo displacement).Rotatablely moving of rotor shaft is to be controlled and driven by a cover electric propulsion mechanism.All-around propeller control mechanism structural principle as shown in Figure 1.
In conjunction with Fig. 1, control signal is to be generated by the conversion of input instruction through the information processing intelligent cell, mainly is the control signal that produces at bow and two all-around propeller control mechanisms of stern.Control signal can be divided into eight roads substantially, bow, each four road input control signal of two control mechanisms of stern.Four road incoming signals of bow all-around propeller control mechanism have the input control signal of three roads as the hydraulic servo mechanism of three hydraulic actuating cylinders of actuation movement rotating disk motion, and other is the incoming signal of main shaft electric propulsion control mechanism together.After three road incoming signals of hydraulic servo mechanism are handled via the controller of each passage, be input to power amplifier, control signal after the amplification is directly inputted to the input end of hydraulic actuating cylinder, the output direct drive motion rotating disk motion of hydraulic actuating cylinder, resolve the input end of feedback controller simultaneously through displacement pickup as position feed back signal, to produce error signal, control mechanism is proofreaied and correct.The motion of motion rotating disk changes the pitch angle of all-around propeller via mechanical drive.The mode of operation of the hydraulic servo mechanism of other two passages is identical with it.The control signal of main shaft electric propulsion control mechanism is input in the motor after going through the conversion, rectification of rotational speed governor, current controller, power amplification device, the output signal of motor is the running of direct drive all-around propeller behind retarder, the output signal of motor feeds back to the input end of current controller through current sensor simultaneously, the signal of retarder output feeds back in the input end rotational speed governor of main shaft electric propulsion control mechanism through tachogen, to reach the purpose of correcting motor rotating speed.The operation scheme of stern all-around propeller control mechanism is identical with the mode of operation of bow all-around propeller control mechanism.
Fig. 2 concerns scheme drawing for hydraulic actuating cylinder of the present invention and swash plate, in conjunction with Fig. 2, here mainly finish the work of two aspects, bow was set up counter the separating and normal solution in kinematics position of motion rotating disk before this, next is the dynamics analysis of carrying out the motion rotating disk, because kinematics and dynamics analysis are the prerequisites of design of motion rotating disk and control.Rational motion rotating disk mechanism will have good dynamic and static quality and must be able to satisfy kinematics and dynamic (dynamical) parameter index; And the design of the Mechanism Optimization on kinematics and dynamical foundation also is very crucial, comprise the comprehensive of many aspects, such as motion space maximum, hydraulic cylinder travel minimum and the stressed minimum of hydraulic actuating cylinder etc., here mentioning hydraulic cylinder travel and hydraulic actuating cylinder stressed is that driver train also can adopt electronic or pneumatic control mechanism certainly because the present invention adopts is hydraulic servo mechanism.Bow is set up fixed coordinate system O-XYZ and moving coordinate system c-xyz earlier in Fig. 2, provide motion rotating disk motion angle, utilize the pose after the coordinate transform formula draws the variation of motion rotating disk, the difference of position after the variation between initial position can obtain counter the separating in position of motion rotating disk, utilizes the anti-formula that obtains of separating in position to set up
One Nonlinear System of Equations is separated the position normal solution that this set of equations can obtain the motion rotating disk.Dynamics analysis is to adopt newton-Euler's dynamics calculation method of simplifying, because load quality is far longer than the total mass of hydraulic actuating cylinder and servovalve generally speaking, calculate the motion rotating disk propulsive effort that each hydraulic actuating cylinder must provide in motion process, this selects dynamical element for hydraulic control, comprise servo hydraulic cylinder and electrohydraulic servo valve, important basis is provided.
In conjunction with Fig. 3, mainly finish position normal solution and counter the separating of utilizing previous calculations to draw and realize position normal solution feedback compensation effect.When the motion rotating disk moves, the motion that will realize when given rotating disk, just can draw the output displacement of three hydraulic actuating cylinders by anti-calculating of separating, and deviation is arranged unavoidably between the motion of the actual movement rule of rotating disk and expectation, and along with the increase of frequency input signal, deviation between the actual motion and the motion of expectation is increasing, makes the dynamic characteristics variation of mechanism.In order to improve the dynamic tracking accuracy of flat-bed, utilize normal solution to feed back the attained pose that obtains the motion rotating disk, the deviation between itself and the expectation attitude is fed back to input end, thereby reach the purpose of compensation.Its mode of operation is such, the characteristics of motion signal of rotating disk expectation is through counter the resolving of separating in position, draw the flexible rule of hydraulic actuating cylinder, output to the input end of electric hydraulic servoactuator via computer interface mechanism, thereby actuation movement rotating disk motion, output signal by electric hydraulic servoactuator draws the actual flexible rule of hydraulic actuating cylinder simultaneously, draw the rotating disk actual movement rule through the output signal after the computer interface mechanism through resolving of position normal solution, Error Feedback between rotating disk desired motion rule and the actual movement rule is the anti-input end of separating to the position, realizes the purpose that normal solution is proofreaied and correct.
In conjunction with Fig. 4 and Figure 15, what mainly finish here is the mathematical modeling of all-around propeller control mechanism motion rotating disk latter half, the just mathematical modeling between motion rotating disk and the all-around propeller pitch angle.For all-around propeller, the change of pitch angle is to realize by the leaf inclination angle that changes blade.The motion rotating disk is made of inboard and two rotating disks in the outside, and outside rotating disk 2 is directly to link to each other with hydraulic actuating cylinder 1, and its motion with translation of only tilting when working is not rotated motion with main shaft.And inboard rotating disk 3 directly links to each other with shifter bar 7 by pipe link 6, it except that tilt and motion of translation, also together rotate with main shaft, shifter bar 7 is the devices that change blade 5 pitches, rotating disk and shifter bar form very large radius of action, so 6 pairs of all-around propeller axles of pipe link 4 form very big inclination.Between inboard rotating disk and all-around propeller axle, designed at the uniform velocity ball connection, on one side inboard rotating disk keeps bigger inclination can do common rotation with propeller shaft again simultaneously.By setting up the math modeling between motion rotating disk and all-around propeller pitch angle, make by the control of controlled motion rotating disk realization to all-around propeller, joined together just to obtain the complete math modeling of all-around propeller control mechanism with figure two parts, this has laid solid theory for realizing to the control of all-around propeller, for the further design and the Project Realization of control mechanism provides foundation.
Fig. 5-12 is the latent device bow of the present invention, stern all-around propeller coordinated movement of various economic factors control picture group.In conjunction with Fig. 5-6, because single all-around propeller also will produce moment when producing side force.In order to eliminate this phenomenon, adopt bow, two all-around propellers of stern to be used in combination and to reach the set goal usually, make it only produce side force and commentaries on classics bow moment.In conjunction with Fig. 7, when bow, stern oar reverse, the phase angle of cycle pitch staggers 180 when spending, and produces side force; Bow, stern oar reverse, and when the phase angle of cycle pitch was consistent, producing changeed bow moment, and latent utensil has bow, two all-around propellers of stern.In conjunction with Fig. 8, when bow stern oar all-around propeller all is in correction pitch state, but bow, the angle of rake hand of rotation of stern oar are opposite or bow, the identical rotating wobble plate of the angle of rake hand of rotation of stern oar along opposite oar direction of principal axis translation, then all-around propeller produces thrust forward or backward, the motion that the device work advances or retreats so dive this moment.In conjunction with Fig. 9, the hand of rotation that all is in cosine cycle pitch state and bow stern oar all-around propeller when bow, stern oar all-around propeller is opposite, perhaps the phase shifting of the angle of rake cycle pitch angle of bow propelling unit and stern is 180 °, that is to say that angle of rake two rotating wobble plates have rotated identical angle in the opposite direction around Y-axis, then all-around propeller produces thrust to the left or to the right, so the device of diving has the displacement movement of left and right directions.In conjunction with Figure 10, the hand of rotation that all is in sinusoidal period pitch state and bow, stern oar all-around propeller when bow, stern oar all-around propeller is opposite, perhaps the phase shifting of the angle of rake cycle pitch angle of bow propelling unit and stern is 180 °, that is to say that angle of rake two rotating wobble plates have rotated identical angle around the direction of Z axial opposed, then all-around propeller produces thrust up or down, so the device of diving has the displacement movement of above-below direction.In conjunction with Figure 11, when bow, stern oar all-around propeller are in different sinusoidal period pitch states, 180 ° of the phase shiftings of the angle of rake cycle pitch angle of bow propelling unit and stern, then the bow all-around propeller produces thrust left, the stern all-around propeller produces thrust to the right, the device of diving produces the navigation to left avertence, opposite then generation yawing rotation to the right.In conjunction with Figure 12, when bow, stern oar all-around propeller are in different cycle pitch states, 180 ° of the phase shiftings of the angle of rake cycle pitch angle of bow propelling unit and stern, then the bow all-around propeller produces power upwards, the stern all-around propeller produces downward power, and the device of then diving produces pitching motion upwards.Otherwise produce downward pitching motion.If generation rolling motion, need the all-around propeller of bow and stern to be operated in different propeller speed and pitch state, can realize the rolling motion of latent device like this by the method for utilizing intrinsic statical stability and utilization to wave the automatic lateral stability control of sensor.
In conjunction with Figure 13-14, the XC9536XL chip that programmable logic device (PLD) (CPLD) adopts, the 2-8 pin of CPLD chip is PWM6-PWM1 output, connecting resistance R 37-R42 respectively arrives+the 3.3V power supply, 7 pin are the T1 pin of PWM, 35 pin are the T2 pin of PWM, 9 pin are the DRIVE pin, 10,23,31 pin meet DGND, 15 pin are the TDI_CPLD input, 30 pin are TDO_CPLD output, 16 pin are the TMS_CPLD pin, 17 pin are the TCK_CPLD pin, 20 pin are the HV_S pin, 22 pin are the LV_S pin, 24 pin connect switch S 1, capacitor C 48 to DGND, connecting resistance R 103 arrives+the 3.3V power supply, 21,32,41 pin connection+3.3V power supplys, 25-29,33 pin are PWM6O, PWM4O, PWM2O, PWM5O, PWM3O and PWM1O pin, 38 pin are the IPMF_S pin, 39 pin are the BREAK pin, the TCK1 pin of the JTAG-CPLD chip of programmable logic device (PLD) is the TCK_CPLD pin, and the GND2 pin meets DGND, and the TDI3 pin is the TDI_CPLD pin, the VCC4 pin connects+the 5V power supply, the TMS5 pin is the TMS_CPLD pin, and the TDO9 pin is the TDO_CPLD pin, and capacitor C 54-C56 connection+3.3V is to DGND.
Claims (5)
1, a kind of submersible omnibearing propeller controller, it comprises bow all-around propeller and the stern all-around propeller that is arranged on the device of diving, it is characterized in that it also comprises the information processing intelligent cell that is arranged in the device of diving, bow all-around propeller control mechanism and stern screw propeller control mechanism, the information processing intelligent cell connects bow all-around propeller control mechanism and stern screw propeller control mechanism, bow all-around propeller control mechanism is connected bow all-around propeller and stern all-around propeller respectively with stern screw propeller control mechanism, wherein bow all-around propeller control mechanism and stern screw propeller control mechanism advance control mechanism to constitute by pitch angle control mechanism and main shaft, and the pitch angle control mechanism comprises three identical hydraulic servo mechanisms.
2, port according to claim 1 device all-around propeller control setup, it is characterized in that described pitch angle control mechanism also comprises motion rotating disk and mechanical drive, three identical hydraulic servo mechanisms connect the motion rotating disk, the motion rotating disk connects mechanical drive, and mechanical drive connects bow all-around propeller or stern all-around propeller.
3, submersible omnibearing propeller controller according to claim 2, it is characterized in that described mechanical drive comprises shifter bar and pipe link, the motion rotating disk is made of inboard rotating disk and two rotating disks of outside rotating disk, outside rotating disk links to each other with hydraulic actuating cylinder, inboard rotating disk directly links to each other with shifter bar by pipe link, and shifter bar links to each other with screw propeller.
4, submersible omnibearing propeller controller according to claim 3, it is characterized in that described hydraulic servo mechanism comprises controller, power amplification device, hydraulic ram and displacement pickup, the information processing intelligent cell connects controller, controller connects power amplification device, power amplification device connects hydraulic ram, hydraulic ram connects displacement pickup, and displacement pickup connects controller.
5, submersible omnibearing propeller controller according to claim 4, it is characterized in that described main shaft advances control mechanism to comprise rotational speed governor, current controller, power amplification device, motor, retarder, current sensor and tachogen, the information processing intelligent cell connects rotational speed governor, rotational speed governor connects current controller, current controller connects power amplification device, power amplification device connects motor, motor connects current sensor and retarder, current sensor connects current controller, retarder connects tachogen and bow all-around propeller or stern all-around propeller, and tachogen connects rotational speed governor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100716666A CN100540395C (en) | 2007-01-19 | 2007-01-19 | Submersible omnibearing propeller controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100716666A CN100540395C (en) | 2007-01-19 | 2007-01-19 | Submersible omnibearing propeller controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101024419A true CN101024419A (en) | 2007-08-29 |
| CN100540395C CN100540395C (en) | 2009-09-16 |
Family
ID=38743159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100716666A Expired - Fee Related CN100540395C (en) | 2007-01-19 | 2007-01-19 | Submersible omnibearing propeller controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100540395C (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101916117A (en) * | 2010-07-09 | 2010-12-15 | 哈尔滨工程大学 | Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller |
| CN102495641A (en) * | 2011-12-15 | 2012-06-13 | 朱留存 | High-precision attitude control system for swing table with six degrees of freedom |
| CN102923299A (en) * | 2012-10-31 | 2013-02-13 | 中国航天空气动力技术研究院 | PID (proportion integration differentiation) control system for constant-speed propeller torque conversion |
| CN104118553A (en) * | 2014-06-26 | 2014-10-29 | 江苏海湾电气科技有限公司 | Electric control system for full-revolving propeller |
| CN107515629A (en) * | 2017-08-16 | 2017-12-26 | 广州海工船舶设备有限公司 | A kind of PID speed control systems during full-rotary oar rotary rudder |
| CN108082422A (en) * | 2017-12-15 | 2018-05-29 | 中国南方电网有限责任公司调峰调频发电公司 | AUV Control device |
| CN109144080A (en) * | 2018-08-31 | 2019-01-04 | 华中科技大学 | The deep-controlled strategy of submarine navigation device bow stern joint steering and its PID controller |
| CN112039334A (en) * | 2020-07-28 | 2020-12-04 | 北京精密机电控制设备研究所 | Controller of direct-drive electro-hydraulic servo valve for multi-parameter requirements |
| CN112498644A (en) * | 2020-12-15 | 2021-03-16 | 上海瀚星船舶科技有限公司 | Inland river ship electric propulsion system and inland river ship navigation control method comprising same |
-
2007
- 2007-01-19 CN CNB2007100716666A patent/CN100540395C/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101916117A (en) * | 2010-07-09 | 2010-12-15 | 哈尔滨工程大学 | Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller |
| CN101916117B (en) * | 2010-07-09 | 2012-02-01 | 哈尔滨工程大学 | Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller |
| CN102495641A (en) * | 2011-12-15 | 2012-06-13 | 朱留存 | High-precision attitude control system for swing table with six degrees of freedom |
| CN102923299A (en) * | 2012-10-31 | 2013-02-13 | 中国航天空气动力技术研究院 | PID (proportion integration differentiation) control system for constant-speed propeller torque conversion |
| CN102923299B (en) * | 2012-10-31 | 2015-03-25 | 中国航天空气动力技术研究院 | PID (proportion integration differentiation) control system for constant-speed propeller torque conversion |
| CN104118553A (en) * | 2014-06-26 | 2014-10-29 | 江苏海湾电气科技有限公司 | Electric control system for full-revolving propeller |
| CN107515629A (en) * | 2017-08-16 | 2017-12-26 | 广州海工船舶设备有限公司 | A kind of PID speed control systems during full-rotary oar rotary rudder |
| CN107515629B (en) * | 2017-08-16 | 2021-09-28 | 广州海工船舶设备有限公司 | PID speed control system in rudder turning process of full-turning propeller |
| CN108082422A (en) * | 2017-12-15 | 2018-05-29 | 中国南方电网有限责任公司调峰调频发电公司 | AUV Control device |
| CN108082422B (en) * | 2017-12-15 | 2020-09-11 | 中国南方电网有限责任公司调峰调频发电公司 | Underwater robot motion control device |
| CN109144080A (en) * | 2018-08-31 | 2019-01-04 | 华中科技大学 | The deep-controlled strategy of submarine navigation device bow stern joint steering and its PID controller |
| CN112039334A (en) * | 2020-07-28 | 2020-12-04 | 北京精密机电控制设备研究所 | Controller of direct-drive electro-hydraulic servo valve for multi-parameter requirements |
| CN112498644A (en) * | 2020-12-15 | 2021-03-16 | 上海瀚星船舶科技有限公司 | Inland river ship electric propulsion system and inland river ship navigation control method comprising same |
| CN112498644B (en) * | 2020-12-15 | 2021-12-03 | 上海瀚星船舶科技有限公司 | Inland river ship electric propulsion system and inland river ship navigation control method comprising same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100540395C (en) | 2009-09-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100540395C (en) | Submersible omnibearing propeller controller | |
| CN110027692B (en) | Amphibious robot propelled by fluctuation fin | |
| CN105171722B (en) | Imitative eel multi-freedom robot under water | |
| CN103171750B (en) | A kind of direction adjusting apparatus and its control method of under-water self-navigation device | |
| CN106527133A (en) | Multi-paddle coordination control distribution method for ship | |
| CN102887217B (en) | Autonomous underwater vehicle (AUV) vector thrust device | |
| CN105752308B (en) | A kind of gondola propelling ship manoeuvre vector control apparatus | |
| CN101003300A (en) | Turning, rotating propeller of underwater robot with six degrees of freedom | |
| CN103129729A (en) | Thrust distribution optimizing method for power positioning system of dredge boat | |
| CN102700701B (en) | Vector propulsion system applied to small-size underwater unmanned aircraft | |
| CN102303492B (en) | Small-sized variable-structure propulsion device with amphibious function | |
| CN102059927B (en) | Paddle-pedal plate hybrid driving-based amphibious robot | |
| CN107140163A (en) | A kind of underwater robot of imitative green turtle | |
| CN212637870U (en) | Ray-imitating robotic fish with single main shaft and single motor and by taking fluctuating pectoral fins as power | |
| CN102081357B (en) | Ship attitude motion testing platform | |
| CN114089634B (en) | Underwater robot control method based on multi-motor main shaft and slave shaft cooperative algorithm | |
| CN106672185A (en) | Flexible flapping wing driving device for small underwater vehicle | |
| CN203864969U (en) | Underwater glider direction adjusting device | |
| CN103818534A (en) | Direction adjusting device of underwater gliding device and control method thereof | |
| CN201580464U (en) | Amphibious robot based on wheel propeller-foot plate combination drive | |
| CN212766696U (en) | Underwater robot motion control system and underwater robot | |
| WO2023201896A1 (en) | Control system and control method for vector propeller of underwater robot, and vector angle selection method | |
| CN206255179U (en) | A kind of direction disk control system of ship | |
| CN210101962U (en) | Sub-propeller rudder capable of improving sailing efficiency of ship and ship thereof | |
| Gao et al. | Design, fabrication, and testing of a maneuverable underwater vehicle with a hybrid propulsor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Sheng Inventor after: Zheng Xiuli Inventor after: Zhang Lanyong Inventor after: Li Bing Inventor after: Liu Xin Inventor after: Sun Xiaoguang Inventor after: Shi Hongyu Inventor after: Song Jia Inventor after: Jia Yunlu Inventor before: Liu Sheng Inventor before: Zheng Xiuli Inventor before: Li Bing Inventor before: Shi Hongyu Inventor before: Song Jia |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LIU SHENG ZHENG XIULI LI BING SHI HONGYU SONG JIA TO: LIU SHENG ZHENG XIULI ZHANG LANYONG LI BING LIU XIN SUN XIAOGUANG SHI HONGYU SONG JIA JIA YUNLU |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090916 Termination date: 20120119 |