CN102323820A - Intelligent rudder system and control method thereof - Google Patents
Intelligent rudder system and control method thereof Download PDFInfo
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- CN102323820A CN102323820A CN201110097927A CN201110097927A CN102323820A CN 102323820 A CN102323820 A CN 102323820A CN 201110097927 A CN201110097927 A CN 201110097927A CN 201110097927 A CN201110097927 A CN 201110097927A CN 102323820 A CN102323820 A CN 102323820A
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Abstract
The invention discloses an intelligent rudder system and a control method thereof; the system comprises a programmable automatic controller, a combined navigator, a propelling system device, a control system device and an emergency operation device. The method comprises the steps that: (1) the global positioning system (GPS) navigator and a three-dimensional electronic compass combined navigator which are arranged on a ship body are used for detecting the actual position and the course of the ship; (2) the programmable automatic controller converts and extracts characters, and then accounts the position, processes the course and computes a yaw angle; (3) the yaw distance d and the yaw angle Psi of the ship are computed; (4) whether the ship deviates or not is judged; and (5) the navigating state of the ship body at the next moment is detected, Step (1) is returned to, and the real-time closed-loop control is realized. The invention adopts a secondary gear to carry out reducing transmission, so that the operation precision of a rudder angle is improved. A host controller and a relay are adopted to timely control the propelling system and the control system, so that the sailing risks of the ship can be greatly reduced, and the intelligent steering stability when the ship is sailed is improved.
Description
Technical field
The invention belongs to Ship Controling system control technology field, particularly relate to a kind of novel intelligent rudder system and control method thereof, be intended to be installed on the boats and ships to realize the intelligent steering function of boats and ships through this intelligent apparatus.
Background technology
Along with advancing by leaps and bounds of science and technology development and shipbuilding industry, also there have been some achievements relevant Marine Autopilot system design aspect.At present by a kind of autopilot digitizing electric control system (number of applying for a patent: 200920072342.9) of season this mountain, Gong Shaojun, Gu Yimin invention.Its system mainly comprises Programmable Logic Controller; Absolute type photoelectricity rotary encoder; Described autopilot Digitizing And Control Unit is a core with absolute type photoelectricity rotary encoder and Programmable Logic Controller; The course feedback signal of gyro compass is by the course output interface input Programmable Logic Controller of gyro compass, and signals of other input Programmable Logic Controllers all adopt switching value, and the adjusting of rudder angle, rudder angle feedback adopt absolute type photoelectricity rotary encoder.
Also have a kind of autopilot course control system and the method (patent No.: 200410101876.1) thereof in addition by Yi Jianqiang, Zhao Dongbin, Cheng Jin invention.System comprises four parts: there are functional devices such as yaw effect, course angle compensation, virtual target course in first; Second portion has course deviation device and directional control gear; Third part has rudder angle instruction self-regulation device, ship's speed pick-up unit and steering apparatus; The 4th part has display equipment and safety signal case apparatus.The method of its realization comprises: the compensating instruction of course angle; Obtain the course deviation value; Rudder angle instruction self-regulation; The speed over ground of Ship '; The rudder angle steering order is regulated; The rudder angle value is uploaded to the bridge system; Adjust to the actual heading angle of marine installation consistent with bogey heading; And various alerting signals are issued display equipment; Real-time these information of display update on display, and when breaking down, report to the police.
This shows the patent of invention of at present relevant rudder control and system aspects thereof; The overwhelming majority relates to is the control and do not realize the complete Autonomous Control of whole rudder system automatically of single rudder system; The system and method for its description does not simultaneously all relate to the propulsion system of boats and ships, all rudder control and Ship Propeling control is separated.Yet intelligent rudder truly need be combined closely the control of shipping rudder system system with the control of marine propuision system, thus the Autonomous Control that realizes rudder system further solved simultaneously boats and ships unmanned in about the manipulation problem.Thereby a kind of invention of intelligent rudder will solve these a series of problems preferably, be to realize the unmanned reliable technique more that provides of boats and ships.
Summary of the invention
The present invention seeks to provides a kind of Based Intelligent Control that realizes the Ship Controling system to the defective that prior art exists, and a kind of intelligent rudder system and control method thereof based on programmable automatic controller is provided.
The present invention adopts following technical scheme for realizing above-mentioned purpose:
A kind of intelligent rudder system of the present invention; Comprise programmable automatic controller, integrated navigation device, propulsion system device, control system device, emergency operation device; Wherein the integrated navigation device is made up of GPS navigation appearance and three-dimensional electronic compass; The propulsion system device is connected in series brushless direct current motor controller, first gearing and screw propeller group successively by brshless DC motor and constitutes; The control system device is connected in series controllor for step-by-step motor, stepper motor, second gearing and rudder system successively by frequency converter and constitutes; The emergency operation device comprises engine speed controller and relay, and the output terminal of GPS navigation appearance, three-dimensional electronic compass, engine speed controller and relay connects the input end of programmable automatic controller respectively, and the output terminal of programmable automatic controller connects the input end of brushless direct current motor controller and frequency converter respectively.
A kind of control method of intelligent rudder system comprises the steps:
(1) utilization is installed in GPS navigation appearance and detected boats and ships physical location of three-dimensional electronic compass integrated navigation device and the course on the hull;
(2) programmable automatic controller carries out character conversion and extraction to described boats and ships physical location of step (1) and course, carries out position accounting, course processing, crab angle calculating then;
(3) driftage of Ship ' is apart from d and crab angle ψ: serves as the driftage distance with the boats and ships actual position coordinate apart from the distance of prebriefed pattern
X wherein
0, Y
0Be boats and ships physical location Gauss coordinate; FX+gY+k=0 is the Ship Design course line; Wherein X, Y are the vessel position Gauss coordinate of design phase; F, g, k are that coefficient and f, the g of Ship Design course line equation is non-vanishing, and boats and ships are in the prebriefed pattern right side for just, with the angle of actual course line of boats and ships and prebriefed pattern be crab angle Ψ=| Ψ
s-Ψ
0|, Ψ wherein
sBe the course angle of boats and ships prebriefed pattern, Ψ
0Be the course angle of the actual boat of boats and ships, the angle on regulation bow standoff right side is for just;
(4) judge whether boats and ships go off course:
1. if not driftage be the position with the course all on prebriefed pattern: d=0, ψ=0, then keep boats and ships both vectoring with the speed of a ship or plane continuation navigate by water;
2. if go off course, according to the discussion of classifying of result of calculation utilization fuzzy control theory, optimization process obtains three kinds of results according to fuzzy control table and is respectively and carries out steering separately and control, advance control and steering and propelling to control simultaneously separately;
3. handle according to fuzzy control theory and obtain steering rudder angle δ and engine speed N, send signal to brushless direct current motor controller and frequency converter respectively, thereby realize the variation of rudder angle δ and speed of a ship or plane v by programmable automatic controller;
(5) detect next operational configuration of hull constantly, turn back to step (1), realize real-time closed-loop control.
The present invention has following beneficial effect:
(1) this system has adopted the core of programmable automatic controller PAC (Programmable AutomaticallyController) as Based Intelligent Control; Different with Programmable Logic Controller PLC (Programmable logicController); PAC comprises the major function of PLC and the control ability of expansion, and object-based in the PC-based control, open data layout and functions such as network is connected.(2) based on optimization methods such as Windows CE operating system utilization fuzzy control method and genetic algorithms; Develop the software platform of intelligent rudder system by Visual Basic.NET program language, realized the smart steering control of native system in water surface unmanned boat ship model experiment.(3) native system can combine with intelligent propulsion system, is installed in the unmanned autonomous navigation that can realize these boats and ships on the boats and ships.
Description of drawings
Fig. 1 is intelligent rudder system control chart.
Fig. 2 is intelligent rudder system control method process flow diagram.
Fig. 3 is fuzzy control principle figure.
Embodiment
Below in conjunction with accompanying drawing intelligent rudder system and control method thereof are done further to describe.
The present invention's intelligence rudder system as shown in Figure 1 comprises programmable automatic controller, integrated navigation device, propulsion system, control system, emergency operation device and relevant drive apparatus.
Programmable automatic controller PAC (Programmable Automatically Controller) is the core of total system, deal with data transmission of Information and storage.The PAC operating system of native system configuration is Windows CE.NET, supports Visual Basic.NET language to programme.I-87017 analog quantity load module, i-87024 analog output module and the i-87064 relay module of utilization COM1 port are carried out data acquisition, processing and feedback, thereby realize the control to propulsion system and control system.The RS485 serial ports of RS232 serial ports and the COM3 of the utilization COM2 realization data acquisition function that is connected with the integrated navigation device.
The integrated navigation device mainly is made up of GPS navigation appearance and three-dimensional electronic compass two equipment.The GPS navigation appearance carries out data transmission through the RS485 serial ports of PAC, and its transmission statement adopts NMEA0183 standard statement.Extract in the transmission statement information such as latitude and longitude coordinates and the speed of a ship or plane that character accurately obtains the boats and ships place through compiling.Because the GPS navigation appearance is merely 60% in the validity that signal under the situation of covering is arranged.And under static situation, the GPS navigation appearance also can't provide course information.For remedying this deficiency, native system adopts GPS navigation appearance and the directed method of three-dimensional electronic compass integrated navigation.Three-dimensional electronic compass can effectively compensate gps signal, guarantees that navigation orientation information 100% is effective, even also can operate as normal after the gps signal losing lock.Three-dimensional electronic compass carries out data transmission through the RS232 serial ports of PAC, and its transmission statement is the ASCII character character, equally through compiling the ASCII character character conversion is become character to decimal and extracts the information such as course, rolling angle, pitching angle of boats and ships.
Propulsion system mainly is made up of brshless DC motor and controller, transmission shaft and screw propeller etc.Countless DC motor controllers are connected with the i-87024 module of PAC; The analog quantity voltage signal that sends through PAC is transferred to controller; The size that changes analog quantity voltage can realize the speed-regulating function to brshless DC motor, thereby realizes the change of ship speed.
Control system mainly is made up of frequency converter, stepper motor and controller thereof, drive apparatus and rudder etc.Stepper motor is the open loop control element that electric impulse signal is changed into angular displacement or displacement of the lines.Frequency converter can be realized the conversion between the pulse signal PWM of analog quantity voltage signal and controllor for step-by-step motor of i-87024 module among the PAC, thereby has solved PAC for the Stepping Motor Control problem.Thereby the transmission between stepper motor and the rudder has been adopted secondary gear to carry out the reduction of speed transmission to have improved its rudder angle performance accuracy.
The emergency operation device mainly is to be emergency condition in prevention and the processing ship's navigation and the unstable operational configuration under the accident; Adopt console controller and relay in time propulsion system and control system to be controlled; Thereby can reduce the risk of ship's navigation greatly, improve the stability of ship's navigation intelligence steering.
Relevant drive apparatus is mainly realized connection and the data-transformation facility between each device of intelligent rudder.
Set up rational hardware systems, the control method step of intelligent rudder system be described below in conjunction with Fig. 2:
(1) utilization is installed in GPS navigation appearance and detected boats and ships physical location of three-dimensional electronic compass integrated navigation device and the course on the hull;
(2) PAC carries out character conversion and extraction, carries out position accounting and course then and handles.Computing method: will be by the detected latitude and longitude coordinates of GPS (north latitude N, east longitude E), utilize Gauss projection be converted to Gauss's coordinate (X, Y).
(3) driftage of Ship ' is apart from d and crab angle ψ.Computing method are: serves as the driftage distance with the boats and ships actual position coordinate apart from the distance of prebriefed pattern
(X wherein
0, Y
0Be boats and ships physical location Gauss coordinate, suppose that fX+gY+k=0 is the Ship Design course line, the regulation boats and ships are in the prebriefed pattern right side for just), with the angle of actual course line of boats and ships and prebriefed pattern be crab angle Ψ=| Ψ
s-Ψ
0| (Ψ wherein
sBe the course angle of boats and ships prebriefed pattern, Ψ
0Be the course angle of the actual boat of boats and ships, the angle on regulation bow standoff right side is for just).
(4) judge whether boats and ships go off course.
1. be position and course all on prebriefed pattern (d=0, ψ=0) as if not going off course, then keep boats and ships both vectoring and speed of a ship or plane continuation navigation;
2. if go off course; According to the discussion of classifying of result of calculation utilization fuzzy control theory; Optimization process; Can obtain three kinds of results according to fuzzy control table (see table 1, L representes the captain in the table, and B representes the beam) is respectively and carries out steering control separately, advances control and steering and propelling to control simultaneously separately.Steering control means the change of rudder angle, advances control to mean the change of engine speed.
3. handle according to fuzzy control theory and obtain steering rudder angle δ and engine speed N, send signal to brushless direct current motor controller and frequency converter respectively, thereby realize the variation of rudder angle δ and speed of a ship or plane v by PAC.
(5) detect next operational configuration of hull constantly, turn back to step (1), realize real-time closed-loop control.
In conjunction with Fig. 3 the fuzzy control theory in the intelligent rudder control system system control method is described.The fuzzy control principle of work is to change into the fuzzy quantity that is suitable for fuzzy operation to the accurate amount of being measured by sensing equipment; Then with the computing in addition in fuzzy control table of these fuzzy quantities; At last convert the fuzzy quantity in the operation result to accurate amount again, so that each actuator is carried out concrete controling.Driftage is the input quantity of fuzzy control apart from d and crab angle ψ among Fig. 3, and driftage is carried out the built-up pattern gelatinization apart from d and crab angle ψ, advances fuzzy control rule again and draws fuzzy control quantity.By controlled amount behind the fuzzy judgment, last object output is steering rudder angle δ and engine speed N.
Claims (2)
1. intelligent rudder system; It is characterized in that comprising programmable automatic controller, integrated navigation device, propulsion system device, control system device, emergency operation device; Wherein the integrated navigation device is made up of GPS navigation appearance and three-dimensional electronic compass; The propulsion system device is connected in series brushless direct current motor controller, first gearing and screw propeller group successively by brshless DC motor and constitutes; The control system device is connected in series controllor for step-by-step motor, stepper motor, second gearing and rudder system successively by frequency converter and constitutes; The emergency operation device comprises engine speed controller and relay; The output terminal of GPS navigation appearance, three-dimensional electronic compass, engine speed controller and relay connects the input end of programmable automatic controller respectively, and the output terminal of programmable automatic controller connects the input end of brushless direct current motor controller and frequency converter respectively.
2. the control method of an intelligent rudder system is characterized in that comprising the steps:
(1) utilization is installed in GPS navigation appearance and detected boats and ships physical location of three-dimensional electronic compass integrated navigation device and the course on the hull;
(2) programmable automatic controller carries out character conversion and extraction to described boats and ships physical location of step (1) and course, carries out position accounting, course processing, crab angle calculating then;
(3) driftage of Ship ' is apart from d and crab angle ψ: serves as the driftage distance with the boats and ships actual position coordinate apart from the distance of prebriefed pattern
X wherein
0, Y
0Be boats and ships physical location Gauss coordinate; FX+gY+k=0 is the Ship Design course line; Wherein X, Y are respectively the horizontal ordinate of vessel position Gauss of design phase; F, g, k are that coefficient and f, the g of Ship Design course line equation is non-vanishing, and boats and ships are in the prebriefed pattern right side for just, with the angle of actual course line of boats and ships and prebriefed pattern be crab angle Ψ=| Ψ
s-Ψ
0|, Ψ wherein
sBe the course angle of boats and ships prebriefed pattern, Ψ
0Be the course angle of the actual boat of boats and ships, the angle on bow standoff right side is for just;
(4) judge whether boats and ships go off course:
1. if not driftage be the position with the course all on prebriefed pattern: d=0, ψ=0, then keep boats and ships both vectoring with the speed of a ship or plane continuation navigate by water;
2. if go off course, according to the discussion of classifying of result of calculation utilization fuzzy control theory, optimization process obtains three kinds of results according to fuzzy control table and is respectively and carries out steering separately and control, advance control and steering and propelling to control simultaneously separately;
3. handle according to fuzzy control theory and obtain steering rudder angle δ and engine speed N, send signal to brushless direct current motor controller and frequency converter respectively, thereby realize the variation of rudder angle δ and speed of a ship or plane v by programmable automatic controller;
(5) detect next operational configuration of hull constantly, turn back to step (1), realize real-time closed-loop control.
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| CN102681537A (en) * | 2012-06-01 | 2012-09-19 | 江苏科技大学 | Failure diagnosis device and method for chip course control system |
| CN103017765A (en) * | 2012-12-06 | 2013-04-03 | 北京遥测技术研究所 | Yaw angle correction method and yaw angle correction device applied to a micro-mechanical integrated navigation system |
| CN103792959A (en) * | 2012-10-30 | 2014-05-14 | 重庆科技学院 | Genetic algorithm optimized fuzzy PID flow control method in variable-rate spraying system |
| CN104155877A (en) * | 2014-08-19 | 2014-11-19 | 江苏科技大学 | Brushless DC motor fuzzy control system based on genetic algorithm and control method thereof |
| CN105137993A (en) * | 2015-09-09 | 2015-12-09 | 广州睿航电子科技有限公司 | Pollution source tracking method and system used for unmanned ship |
| CN105373125A (en) * | 2015-12-01 | 2016-03-02 | 山东交通学院 | Yacht track autopilot on the basis of active-disturbance-rejection control algorithm |
| CN108121338A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of flight path closed loop control method of USV |
| CN108152827A (en) * | 2017-09-28 | 2018-06-12 | 北京卫星制造厂 | A kind of omnidirectional's intelligent mobile equipment positioning and air navigation aid based on laser ranging |
| CN108762184A (en) * | 2018-05-16 | 2018-11-06 | 江苏科技大学 | Ship course and flight path keep remote trial system and method |
| CN108910007A (en) * | 2018-06-28 | 2018-11-30 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN109213135A (en) * | 2017-07-05 | 2019-01-15 | 武汉理工大学 | A kind of unmanned boat control method and device solving the problems, such as that complicated water channel is current |
| WO2019051914A1 (en) * | 2017-09-15 | 2019-03-21 | 广船国际有限公司 | Automatic tcs detection method for ship |
| CN109814547A (en) * | 2018-12-24 | 2019-05-28 | 上海大学 | Unmanned boat Course Keeping Control and method under stormy waves interference effect |
| CN110442135A (en) * | 2019-08-06 | 2019-11-12 | 南京赛沃夫海洋科技有限公司 | A kind of unmanned boat paths planning method and system based on improved adaptive GA-IAGA |
| CN111240337A (en) * | 2020-02-10 | 2020-06-05 | 上海海事大学 | Power positioning method for under-actuated unmanned surface vessel |
| CN111712431A (en) * | 2018-01-29 | 2020-09-25 | 株式会社商船三井 | Ship steering control device |
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| CN102681537B (en) * | 2012-06-01 | 2014-06-04 | 江苏科技大学 | Failure diagnosis device and method for chip course control system |
| CN103792959A (en) * | 2012-10-30 | 2014-05-14 | 重庆科技学院 | Genetic algorithm optimized fuzzy PID flow control method in variable-rate spraying system |
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| CN108121338B (en) * | 2016-11-30 | 2019-12-03 | 中国科学院沈阳自动化研究所 | A kind of track closed loop control method of USV |
| CN109213135A (en) * | 2017-07-05 | 2019-01-15 | 武汉理工大学 | A kind of unmanned boat control method and device solving the problems, such as that complicated water channel is current |
| WO2019051914A1 (en) * | 2017-09-15 | 2019-03-21 | 广船国际有限公司 | Automatic tcs detection method for ship |
| CN108152827A (en) * | 2017-09-28 | 2018-06-12 | 北京卫星制造厂 | A kind of omnidirectional's intelligent mobile equipment positioning and air navigation aid based on laser ranging |
| CN111712431A (en) * | 2018-01-29 | 2020-09-25 | 株式会社商船三井 | Ship steering control device |
| CN108762184A (en) * | 2018-05-16 | 2018-11-06 | 江苏科技大学 | Ship course and flight path keep remote trial system and method |
| CN108910007A (en) * | 2018-06-28 | 2018-11-30 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN108910007B (en) * | 2018-06-28 | 2019-05-28 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN109814547A (en) * | 2018-12-24 | 2019-05-28 | 上海大学 | Unmanned boat Course Keeping Control and method under stormy waves interference effect |
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| CN111240337A (en) * | 2020-02-10 | 2020-06-05 | 上海海事大学 | Power positioning method for under-actuated unmanned surface vessel |
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Application publication date: 20120118 |