CN102914664B - Ship speed measuring method and device of brushless direct current motor ship - Google Patents

Ship speed measuring method and device of brushless direct current motor ship Download PDF

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Publication number
CN102914664B
CN102914664B CN201210097040.3A CN201210097040A CN102914664B CN 102914664 B CN102914664 B CN 102914664B CN 201210097040 A CN201210097040 A CN 201210097040A CN 102914664 B CN102914664 B CN 102914664B
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ship
speed
motor
microprocessor
current
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CN102914664A (en
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陈凤祥
俞林炯
周苏
章桐
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Tongji University
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Tongji University
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Abstract

The invention relates to a ship speed measuring method and device for a brushless direct current motor ship. The method comprises the following steps: a sensor detects rotating speed information and current information of the motor, a microprocessor inquires a ship speed meter in a memory, calculates the current ship speed based on the rotating speed information and the current information, and transmits the current ship speed to an indicator for display. The device comprises the microprocessor, and the sensor, the memory and the meter which are connected with the microprocessor. Compared with the prior art, the sensor transmits the measured data of the controller of the DC brushless motor to the microprocessor, the microprocessor automatically calculates to estimate the ship speed, the method and device is simpler, easy to implement and low in cost, and can achieve more satisfied accuracy.

Description

A kind of ship's speed measuring method and device of brshless DC motor ship
Technical field
The present invention relates to a kind of ship's speed measuring method and device, especially relate to a kind of ship's speed measuring method and device that is suitable for the brshless DC motor ship that uses in inland river or lake.
Background technology
The method and apparatus that relevant ship's speed is measured, the related method of patent is all utilized these additional sensors of electromagnetic sensor, helix sensors or semiconductor pressure sensor substantially both at home and abroad at present, and all needs to contact with water.The device > > that No. 5224075 patent < < of the U.S. measure moving object speed utilizes the Doppler effect of sound wave to carry out the measurement of hull speed, although can realize the accurate measurement without water resistance, but device is complicated, volume is larger, and cost is higher.Mono-kind of domestic No. 02138887.2 patent < < will install several acceleration transducers additional without water resistance ship's speed measuring instrument > >, also need signal conditioning circuit, make equally to measure structure comparatively complicated, cost increases.
The present invention utilizes the existing measurement data of DC brushless motor controller, by microprocessor, is automatically calculated and is realized ship's speed and estimate, the method relating to than above-mentioned patent more simply, easily realize, with low cost, and can obtain comparatively satisfied accuracy.
Summary of the invention
Object of the present invention is exactly to provide a kind of measurements accurate in order to overcome the defect that above-mentioned prior art exists, ship's speed measuring method and device that cost is low, be easy to the brushless motor ship of realization.
Object of the present invention can be achieved through the following technical solutions:
A ship's speed measuring method for brshless DC motor ship, comprises the following steps:
1) sensor detects rotary speed information and the current information of motor, and sends it to microprocessor;
2) the ship's speed table in microprocessor consults memory;
3) microprocessor calculates current ship's speed according to the information of ship's speed table and the rotary speed information detecting and current information, and is sent to instrument and shows.
2. the ship's speed measuring method of a kind of brshless DC motor ship according to claim 1, is characterized in that, described ship's speed table obtains and is stored in storer by many experiments, corresponding motor speed and ship's speed while comprising the different electric current of different loads.
The experiment that obtains ship's speed table specifically comprises the following steps:
A) first set the load { L of ship 1, L 2..., L m, L wherein 1represent zero load, L mrepresent to be fully loaded with, load increases successively;
B) under same load, selected different electric current { i 1, i 2..., i n, make i i< i i+1(i=1 ... N-1), measure respectively rotating speed and the ship's speed of motor under different electric currents, and be recorded in ship's speed table;
C) change charge capacity, and repeating step B) until record motor speed and the ship's speed that under all loads, different electric currents are corresponding.
Step 3) in, current ship's speed is obtained by following formula:
v＝A·(i-i 0)-B·(n-n 0)+v 0
P 0(i 0, n 0, v 0), P 1(i 0, n 1, v 1), P 2(i 1, n 2, v 2) be known data point, the data point that P (i, n, v) is current ship's speed, and P (i, n) is P 0(i 0, n 0), P 1(i 0, n 1), P 2(i 1, n 2) point in the plane domain that forms, coefficient A, B calculate according to following formula:
A = ( n 1 - n 0 ) ( v 2 - v 0 ) - ( n 2 - n 0 ) ( v 1 - v 0 ) ( i 1 - i 0 ) ( n 1 - n 0 ) , B = v 1 - v 0 n 1 - n 0 .
For implementing a ship's speed measurement mechanism for the brshless DC motor ship of said method, comprising:
Sensor, for detection of rotating speed and the electric current of motor;
Storer, the ship's speed table recording for storing experiment;
Microprocessor, difference connecting sensor and storer, for calculating the current ship's speed of ship;
Instrument, connects microprocessor, according to the result of calculation of microprocessor, shows current ship's speed.
Between described microprocessor and instrument, by serial line interface, connect, comprise RS232 interface, RS485 interface and CAN bus interface.
Described ship's speed measurement mechanism also comprises remote monitoring terminal, and described microprocessor is by the connection remote monitoring terminal of GSM or GPRS network.
Compared with prior art, the present invention utilizes the existing measurement data of the controller of DC brushless motor, by sensor, is sent to microprocessor, and by the automatic calculating of microprocessor, realize ship's speed and estimate, more simple, be easy to realize, with low cost, and can obtain comparatively satisfied accuracy.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the inventive method;
Fig. 2 is the schematic diagram of microprocessor computation of table lookup ship's speed;
Fig. 3 is the structural representation of apparatus of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
As shown in Figure 1, a kind of ship's speed measuring method of brshless DC motor ship, comprises the following steps:
Step S1: sensor detects rotary speed information and the current information of motor, and sends it to microprocessor;
Step S2: the ship's speed table in microprocessor consults memory, this ship's speed table obtained by experiment before carrying out ship's speed measurement, and first, according to the selected different load of specific requirement and different electric currents, wherein, the load of ship is { L 1, L 2..., L m, L wherein 1represent zero load, L mrepresent to be fully loaded with, load increases successively, and electric current can be controlled to adjust by operating rod, is set as { i 1, i 2..., i n, make i i< i i+1(i=1 ... N-1), then under the different electric currents of same load, measure respectively rotating speed and the ship's speed of motor, and be recorded in table, be stored in storer, until surveyed the data under all loads, each DATA REASONING is all carried out when ship's speed is stablized;
Step S3: microprocessor is according to the information of ship's speed table and the current information detecting and rotary speed information (i p, n p) calculate current ship's speed v p, its principle as shown in Figure 2:
(1) if i p>=i n, make i p=i n; If i p≤ i 1, make i p=i 1; Otherwise region of search cover [i k, i k+1], make i p∈ [i k, i k+1].
(2) x=i kwith load L jthere is M intersection point: be designated as (i k, n k, j), j=1,2 ..., M; X=i k+1also same: (i k+1, n k+1, j), j=1,2 ..., M.Note is by point (i k, n k, j) to point (i k+1, n k+1) straight-line equation that generates is l k , j k + 1 , j ( x , y ) = 0 , Calculation level P and straight line l k , j k + 1 , j ( x , y ) = 0 Position relationship: when l k , M k + 1 , M ( i p , n p ) &GreaterEqual; 0 Time, make n p=n *, wherein l k , M k + 1 , M ( i p , n * ) = 0 ; When l k , 1 k + 1,1 ( i p , n * ) &le; 0 Time, make n p=n *, wherein l k , 1 k + 1,1 ( i p , n * ) = 0 , Otherwise, search straight line bunch (k=1,2 ..., N, j=1,2 ..., M) P is met l k , j k + 1 , j ( i p , n p ) &GreaterEqual; 0 And l k , j + 1 k + 1 , j + 1 ( i p , n p ) &le; 0 .
(3) establishing P satisfies condition l k , j k + 1 , j ( i p , n p ) &GreaterEqual; 0 , l k , j + 1 k + 1 , j + 1 ( i p , n p ) &le; 0 , Put P in quadrilateral ABCD as shown in Figure 2; Then want judging point P in Δ ABC or in Δ ACD.Note point A (i k, n j+1) and some C (i k+1, n j) straight line that generates is l k , j + 1 k + 1 , j ( x , y ) = 0 . If l k , j + 1 k + 1 , j ( i p , n p ) &le; 0 , Illustrate that some P are in Δ ABC, otherwise in Δ ACD.
(4) postulated point P is in Δ ABC, by A, B, C tri-point coordinate A (i k, n k, j+1, v k, j+1), B (i k, n k, j, v k, j), C (i k+1, n k+1, j, v k+1, j) can generate plane equation:
&Gamma; ( i , n , v ) = i - i k n - n k , j + 1 v - v k , j + 1 i k - i k n k , j - n k , j + 1 v k , j - v k , j + 1 i k + 1 - i k n k + 1 , j - n k , j + 1 v k + 1 , j - v k , j + 1 = 0
Thereby can obtain ship's speed v about current i, the function of motor speed n:
v = ( n k , j - n k , j + 1 ) ( v k + 1 , j - v k , j + 1 ) - ( n k + 1 , j - n k , j + 1 ) ( v k , j - v k , j + 1 ) ( i k + 1 - i k ) ( n k , j - n k , j + 1 ) ( i - i k ) + v k , j - v k , j + 1 ( n k , j - n k , j + 1 ) ( n - n k , j + 1 ) + v k , j + 1
Due to P also in the plane, therefore meet Γ (i p, n p, v p)=0, thus can solve ship's speed v p.
Step S4: microprocessor calculates ship's speed v pby serial line interface, be sent to instrument and show, if transmitting range more in short-term, can adopt RS232 interface, if distant, can utilize RS485 or CAN bus interface, can, by the connection remote monitoring terminal of GSM or GPRS network, by modes such as notes, realize remote monitoring in addition.
Above-mentioned method can realize by measurement mechanism as shown in Figure 3, comprises sensor 1, storer 2, microprocessor 3, instrument 4 and remote monitoring terminal 5.For detection of the rotating speed of motor and electric current, (motor speed also can directly calculate acquisition by the commutation signal of motor to sensor 1, and do not need to pass through sensor), the ship's speed table that storer 2 records for storing experiment, microprocessor 3 is connecting sensor 1 and storer 2 respectively, for calculating the current ship's speed of ship, instrument 4 connects microprocessor 3 by serial line interface and shows current ship's speed according to the result of calculation of microprocessor 3, and remote monitoring terminal 5 is by the connection microprocessor 3 of GSM or GPRS network, carry out remote monitoring.Device in the present invention all can adopt the standard configuration device of brshless DC motor electric drive ship, without additional any sensor, simple in structure, with low cost, in the insignificant situation of current, can accurately calculate ship's speed, therefore has higher practical value.

Claims (6)

1. a ship's speed measuring method for brshless DC motor ship, is characterized in that, comprises the following steps:
1) sensor detects rotary speed information and the current information of motor, and sends it to microprocessor;
2) the ship's speed table in microprocessor consults memory;
3) microprocessor calculates current ship's speed according to the information of ship's speed table and the rotary speed information detecting and current information, and is sent to instrument and shows;
In step 3), current ship's speed is obtained by following formula:
v=A·(i-i 0)-B·(n-n 0)+v 0
P 0(i 0, n 0, v 0), P 1(i 0, n 1, v 1), P 2(i 1, n 2, v 2) be known data point, the data point that P (i, n, v) is current ship's speed, and P ' (i, n) is P 0' (i 0, n 0), P 1' (i 0, n 1), P 2' (i 1, n 2) point in the plane domain that forms, coefficient A, B calculate according to following formula:
A = ( n 1 - n 0 ) ( v 2 - v 0 ) - ( n 2 - n 0 ) ( v 1 - v 0 ) ( i 1 - i 0 ) ( n 1 - n 0 ) , B = v 1 - v 0 n 1 - n 0
Wherein, v is ship's speed, and i is electric current, and n is motor speed, i 0, i 1, n 0, n 1, n 2, v 0, v 1, v 2be respectively the corresponding electric current of known data point, motor speed and ship's speed in ship's speed table.
2. the ship's speed measuring method of a kind of brshless DC motor ship according to claim 1, is characterized in that, described ship's speed table obtains and is stored in storer by many experiments, corresponding motor speed and ship's speed while comprising the different electric current of different loads.
3. the ship's speed measuring method of a kind of brshless DC motor ship according to claim 2, is characterized in that, the experiment that obtains ship's speed table specifically comprises the following steps:
A) first set the load { L of ship 1, L 2..., L m, L wherein 1represent zero load, L mrepresent to be fully loaded with, load increases successively;
B) under same load, selected different electric current { i 1, i 2..., i n, make i i<i i+1(i=1 ... N-1), measure respectively rotating speed and the ship's speed of motor under different electric currents, and be recorded in ship's speed table;
C) change charge capacity, and repeating step B) until record motor speed and the ship's speed that under all loads, different electric currents are corresponding.
4. for implementing a ship's speed measurement mechanism for the brshless DC motor ship of method as claimed in claim 1, it is characterized in that, comprising:
Sensor, for detection of rotating speed and the electric current of motor;
Storer, the ship's speed table recording for storing experiment;
Microprocessor, difference connecting sensor and storer, for calculating the current ship's speed of ship;
Instrument, connects microprocessor, according to the result of calculation of microprocessor, shows current ship's speed.
5. the ship's speed measurement mechanism of brshless DC motor ship according to claim 4, is characterized in that, between described microprocessor and instrument, by RS232 interface, RS485 interface or CAN bus interface, connects.
6. the ship's speed measurement mechanism of brshless DC motor ship according to claim 4, is characterized in that, described ship's speed measurement mechanism also comprises remote monitoring terminal, and described microprocessor connects remote monitoring terminal by GSM or GPRS network.
CN201210097040.3A 2012-04-05 2012-04-05 Ship speed measuring method and device of brushless direct current motor ship Expired - Fee Related CN102914664B (en)

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CN105785990B (en) * 2016-02-26 2019-01-11 江苏科技大学 Ship mooring system and obstacle recognition method based on panoramic looking-around
US11027812B2 (en) 2016-07-07 2021-06-08 Cpac Systems Ab Method for a propulsion arrangement for a marine vessel

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1036268A (en) * 1988-03-31 1989-10-11 海德堡印刷机械股份公司 Measure the method and the device of rotating speed
CN2232587Y (en) * 1994-07-19 1996-08-07 沈跃 Engine rotational speed meter
US5894087A (en) * 1996-04-16 1999-04-13 Yamaha Hatsudoki Kabushiki Kaisha Speed sensor for watercraft

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1036268A (en) * 1988-03-31 1989-10-11 海德堡印刷机械股份公司 Measure the method and the device of rotating speed
CN2232587Y (en) * 1994-07-19 1996-08-07 沈跃 Engine rotational speed meter
US5894087A (en) * 1996-04-16 1999-04-13 Yamaha Hatsudoki Kabushiki Kaisha Speed sensor for watercraft

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