CN103121504B - A kind of four oars that accelerate drive association's control device of boats and ships turning and assist control method - Google Patents
A kind of four oars that accelerate drive association's control device of boats and ships turning and assist control method Download PDFInfo
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- CN103121504B CN103121504B CN201310076175.6A CN201310076175A CN103121504B CN 103121504 B CN103121504 B CN 103121504B CN 201310076175 A CN201310076175 A CN 201310076175A CN 103121504 B CN103121504 B CN 103121504B
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Abstract
A kind of four oars that accelerate drive association's control device of boats and ships turning and assist control method, its technical essential is: comprise association of central authorities control unit, central authorities assist control unit to be connected with the sub-control unit of four driving oars respectively and communicate, described sub-control unit is divided into the left machine control unit of front deck, the left machine control unit of rear deck, front deck right machine control unit and the right machine control unit of rear deck, control cock on four sub-control unit difference connection controls, four driving oars, described control cock is respectively the front left valve controlled by the left machine control unit of front deck, the rear left valve controlled by the left machine control unit of rear deck, the front right valve controlled by front deck right machine control unit and the rear right valve controlled by the right machine control unit of rear deck.The present invention is applicable to the boats and ships of 3 ~ 100,000 tons, it carries out logic operation by association of central authorities control unit according to different rudder angles and the speed of a ship or plane, distribute the association's control device and association's control method that different dynamic exports to each power unit of quadruple screw vessel oceangoing ship, reach the object of flipper turn, its safe in operation, steadily.
Description
technical field:
The invention belongs to the control setup that boats and ships are turned, be specifically related to a kind of four oars that accelerate and drive the association of boats and ships turning to control device and association's control method thereof.
background technology:
There are the boats and ships of requirement in China at present major part for two oar drive form to manoevreability, because two oar drives total output scale less, the power demand of large-tonnage ships cannot be met, therefore four oars drivings are main drive forms of following large-tonnage ships, and the turning method of the current four oars driving boats and ships of China has still continued to use the turning method that two oar drives boats and ships, namely keep the rotating speed of target of each oar constant, the simple form of the different rudder angle of adjustment that adopts is turned, because existing four oars drive the tonnage of boats and ships to drive boats and ships much larger than two oar, tonnage is at least 7 to 8 times that two oar drives boats and ships, existing turning method is adopted to there is following shortcoming:
1. turn radius is large, and turning time is long: quadruple screw vessel oceangoing ship tonnage is large, and the inside and outside oar of existing dynamic method adopts identical power distribution, cannot form the differential force of outer oar relative to interior oar, and turn radius is large, and turning time is long.
2. there is potential safety hazard: traditional turning method rudder angle and the speed of a ship or plane do not enter Host Supervision System, vessel motion is under high speed of a ship or plane state, main frame runs on higher load condition, run into emergency situation when beating large helm, hull is due to the huge centnifugal force of the excessive generation of tonnage, hull is made to produce larger inclination laterally, the load torque of four oars produces larger change instantaneously, interior oar increases due to load torque, inner side power unit progressively increases Power output for keeping the constant meeting of spindle speed, thus main shaft may be had to surpass the danger turned round; Outer oar reduces, if still keep power unit outside original power distribution that main shaft may be had to surpass the danger turned round due to load torque.
summary of the invention:
The present invention is for overcoming the deficiencies in the prior art, and provide and a kind ofly accelerate association's control device that four oars drive boats and ships to turn and association's control method thereof, it can realize the object of flipper turn, its safe in operation, steadily.
The object of the invention is to realize in the following manner: association's control device that this acceleration four oar drives boats and ships to turn, the technical scheme adopted is: comprise association of central authorities control unit, described central authorities assist control unit to be connected with the sub-control unit of four driving oars respectively and communicate, described sub-control unit is divided into the left machine control unit of front deck, the left machine control unit of rear deck, front deck right machine control unit and the right machine control unit of rear deck, control cock on four sub-control unit difference connection controls, four driving oars, described control cock is respectively the front left valve controlled by the left machine control unit of front deck, the rear left valve controlled by the left machine control unit of rear deck, the front right valve controlled by front deck right machine control unit and the rear right valve controlled by the right machine control unit of rear deck.
Association of described central authorities control unit is the sub-control unit distributed power of four driving oars respectively by four power distribution unit, and the power that sub-control unit is distributed by respective power distribution unit is to drive the control cock on each driving oar.
Association's control method of this association control device is:
1), when the speed of a ship or plane of boats and ships is less than 24 joints and makes rudder left, it is constant that the valve position of front left valve and rear left valve exports the steam valve aperture before all keeping each from rudder; The valve position of rear right valve and front right valve exports and increases, and before equaling each from rudder respectively steam valve aperture and rudder angle with open the large coefficient sum of products;
2), when the speed of a ship or plane of boats and ships is less than 24 joints and makes rudder to the right, the valve position of front left valve and rear left valve exports and increases, and before equaling each from rudder respectively steam valve aperture and rudder angle with open the large coefficient sum of products; It is constant that the valve position of rear right valve and front right valve exports the steam valve aperture before keeping each from rudder;
3), when the speed of a ship or plane of boats and ships is greater than 24 joints and makes rudder left, the valve position of front left valve and rear left valve exports and reduces, and steam valve aperture and rudder angle and the difference of product turning down coefficient before equaling each from rudder respectively; The valve position of rear right valve exports the valve position before keeping its dozen of rudders and exports constant, and the valve position of front right valve exports and reduces and the difference of steam valve aperture and overspeed protection value before equaling its dozen of rudders;
4), when the speed of a ship or plane of boats and ships is greater than 24 joints and makes rudder to the right, the valve position of front left valve exports and reduces, and the difference of steam valve aperture and overspeed protection value before equaling its dozen of rudders; Before the output area of rear left valve keeps its dozen of rudders, steam valve aperture is constant; The valve position of rear right valve and front right valve exports and reduces, and steam valve aperture and rudder angle and the difference turning down coefficient product before equaling each from rudder respectively.
The invention has the beneficial effects as follows: association's control device that this acceleration four oar drives boats and ships to turn and association's control method thereof, be applicable to the boats and ships of 3 ~ 100,000 tons, it carries out logic operation by association of central authorities control unit according to different rudder angles and the speed of a ship or plane, distribute association's control device and association's control method of different dynamic output to each power unit of quadruple screw vessel oceangoing ship, reach
To the object of flipper turn, its safe in operation, steadily.
accompanying drawing illustrates:
Fig. 1 is electrical principle block diagram of the present invention.
detailed description of the invention:
With reference to Fig. 1, association's control device that this acceleration four oar drives boats and ships to turn, comprise association of central authorities control unit, described central authorities assist control unit to be connected with the sub-control unit of four driving oars respectively and communicate, described sub-control unit is divided into the left machine control unit of front deck, the left machine control unit of rear deck, front deck right machine control unit and the right machine control unit of rear deck, control cock on four sub-control unit difference connection controls, four driving oars, described control cock is respectively the front left valve controlled by the left machine control unit of front deck, the rear left valve controlled by the left machine control unit of rear deck, the front right valve controlled by front deck right machine control unit and the rear right valve controlled by the right machine control unit of rear deck.Association of described central authorities control unit is the sub-control unit distributed power of four driving oars respectively by four power distribution unit, and the power that sub-control unit is distributed by respective power distribution unit is to drive the control cock on each driving oar.
Particular content of the present invention is in dynamic monitoring system, arrange association of a central authorities control unit, rudder angle and speed of a ship or plane signal are introduced association of these central authorities control unit, association of central authorities control unit is according to different rudder angles and the speed of a ship or plane, carry out different power distributions respectively by four power distribution unit to four sub-control units, the feedback signal (comprising engine speed, main-shaft torque and steam valve open degree feedback) of the different power distribution value that four power distribution unit send according to association of central authorities control unit again and this unit carries out Power output to the control cock on four driving oars.
Association's control method of this association control device is
1), when the speed of a ship or plane of boats and ships is less than 24 joints and makes rudder left, it is constant that the valve position of front left valve and rear left valve exports the steam valve aperture before all keeping each from rudder; The valve position of rear right valve and front right valve exports and increases, and before equaling each from rudder respectively steam valve aperture and rudder angle with open the large coefficient sum of products;
2), when the speed of a ship or plane of boats and ships is less than 24 joints and makes rudder to the right, the valve position of front left valve and rear left valve exports and increases, and before equaling each from rudder respectively steam valve aperture and rudder angle with open the large coefficient sum of products; It is constant that the valve position of rear right valve and front right valve exports the steam valve aperture before keeping each from rudder;
3), when the speed of a ship or plane of boats and ships is greater than 24 joints and makes rudder left, the valve position of front left valve and rear left valve exports and reduces, and steam valve aperture and rudder angle and the difference of product turning down coefficient before equaling each from rudder respectively; The valve position of rear right valve exports the valve position before keeping its dozen of rudders and exports constant, and the valve position of front right valve exports and reduces and the difference of steam valve aperture and overspeed protection value before equaling its dozen of rudders;
4), when the speed of a ship or plane of boats and ships is greater than 24 joints and makes rudder to the right, the valve position of front left valve exports and reduces, and the difference of steam valve aperture and overspeed protection value before equaling its dozen of rudders; Before the output area of rear left valve keeps its dozen of rudders, steam valve aperture is constant; The valve position of rear right valve and front right valve exports and reduces, and steam valve aperture and rudder angle and the difference turning down coefficient product before equaling each from rudder respectively.
Design in advance the control logic of sub-control unit as shown in the table: wherein x be turn time helm signal, z is the steam valve open degree feedback value before making rudder, y is that the final valve position after logic operation exports, k1 be the high speed of a ship or plane when turning inner side oar turn down coefficient, inside when k2 is the turning of the high speed of a ship or plane, the second oar turns down coefficient, outside when k3 is the turning of the low speed of a ship or plane, the second oar opens large coefficient, when k4 is the turning of the low speed of a ship or plane, outermost oar opens large coefficient, m is the overspeed protection value of outermost oar of turning under the high speed of a ship or plane, k1, k2, k3, k4 determines in the debug phase, wherein k1>k2, k4>k3.
Be premised on 0 ~ 100% by the valve opening of steam engine below, be described by embodiment 1 and embodiment 2 pairs of the specific embodiment of the present invention:
embodiment 1
When certain boats and ships is normal, the steam valve aperture of steam engine is in 0 ~ 100% interval, and boats and ships are with the speed of a ship or plane line navigation of 18 joints, and when stablizing, the steam valve aperture of steam engine is 40%, and operator's compartment starts to make a call to 15
oleft rudder, rudder angle zero after 1min, obtains out large coefficient (k3)=0.3 according to debugging in early stage, turns down coefficient (k4)=0.9, super turns round protection.Adopt this patent method first to assist control unit to judge the speed of a ship or plane and rudder angle information by central authorities, and distribute different power to four unit, once rudder angle is non-vanishing, carry out power distribution according to the method for subordinate list immediately:
Front deck left machine control unit: valve position exports and remains constant, and steam valve aperture is still 40%;
Rear deck left machine control unit: valve position exports and remains constant, and steam valve aperture is still 40%;
The right machine control unit of rear deck: valve position output=(40+15 × 0.3) %=44.5%;
The right machine control unit in front court: valve position output=(40+15 × 0.9) %=53.5%.
When after rudder angle zero after 1min, boats and ships complete turning action, and four power units come back to the even power distribution before making rudder, and steam valve aperture is 40%.
embodiment 2
When certain boats and ships is normal, the steam valve aperture of steam engine is in 0 ~ 100% interval, and boats and ships are with the speed of a ship or plane line navigation of 26 joints, and when stablizing, the steam valve aperture of steam engine is 80%, and operator's compartment starts to make a call to 15
oright standard rudder, after 1min rudder angle zero, according to early stage debugging obtain turning down coefficient (k1)=1.2, (k2)=0.9, m=4.5.Adopt this patent method first to assist control unit to judge the speed of a ship or plane and rudder angle information by central authorities, and distribute different power to four unit, once rudder angle is non-vanishing, carry out power distribution according to the method for subordinate list immediately:
The left machine control unit of front deck: valve position output=(80-4.5) %=83.5%;
Rear deck left machine control unit: valve position exports and remains constant, and steam valve aperture is still 80%;
The right machine control unit of rear deck: valve position output=(80-15 × 0.9) %=66.5%;
The right machine control unit in front court: valve position output=(80-15 × 1.2) %=62%.
When after rudder angle zero after 1min, boats and ships complete turning action, and four power units come back to the even power distribution before making rudder, and steam valve aperture is 80%.
Claims (3)
1. the association's control device accelerating four oars and drive boats and ships to turn, it is characterized in that: comprise association of central authorities control unit, described central authorities assist control unit to be connected with the sub-control unit of four driving oars respectively and communicate, described sub-control unit is divided into the left machine control unit of front deck, the left machine control unit of rear deck, front deck right machine control unit and the right machine control unit of rear deck, control cock on four sub-control unit difference connection controls, four driving oars, described control cock is respectively the front left valve controlled by the left machine control unit of front deck, the rear left valve controlled by the left machine control unit of rear deck, the front right valve controlled by front deck right machine control unit and the rear right valve controlled by the right machine control unit of rear deck.
2. a kind of association's control device accelerating four oars and drive boats and ships to turn as claimed in claim 1, it is characterized in that: association of described central authorities control unit is the sub-control unit distributed power of four driving oars respectively by four power distribution unit, the power that sub-control unit is distributed by respective power distribution unit is to drive the control cock on each driving oar.
3. a kind of association's control method accelerating association's control device that four oars drive boats and ships to turn as claimed in claim 2, is characterized in that:
1), when the speed of a ship or plane of boats and ships is less than 24 joints and makes rudder left, it is constant that the valve position of front left valve and rear left valve exports the steam valve aperture before all keeping each from rudder; The valve position of rear right valve and front right valve exports and increases, and before equaling each from rudder respectively steam valve aperture and rudder angle with open the large coefficient sum of products;
2), when the speed of a ship or plane of boats and ships is less than 24 joints and makes rudder to the right, the valve position of front left valve and rear left valve exports and increases, and before equaling each from rudder respectively steam valve aperture and rudder angle with open the large coefficient sum of products; It is constant that the valve position of rear right valve and front right valve exports the steam valve aperture before keeping each from rudder;
3), when the speed of a ship or plane of boats and ships is greater than 24 joints and makes rudder left, the valve position of front left valve and rear left valve exports and reduces, and steam valve aperture and rudder angle and the difference of product turning down coefficient before equaling each from rudder respectively; The valve position of rear right valve exports the valve position before keeping its dozen of rudders and exports constant, and the valve position of front right valve exports and reduces and the difference of steam valve aperture and overspeed protection value before equaling its dozen of rudders;
4), when the speed of a ship or plane of boats and ships is greater than 24 joints and makes rudder to the right, the valve position of front left valve exports and reduces, and the difference of steam valve aperture and overspeed protection value before equaling its dozen of rudders; Before the output area of rear left valve keeps its dozen of rudders, steam valve aperture is constant; The valve position of rear right valve and front right valve exports and reduces, and steam valve aperture and rudder angle and the difference turning down coefficient product before equaling each from rudder respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310076175.6A CN103121504B (en) | 2013-03-11 | 2013-03-11 | A kind of four oars that accelerate drive association's control device of boats and ships turning and assist control method |
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| CN201310076175.6A CN103121504B (en) | 2013-03-11 | 2013-03-11 | A kind of four oars that accelerate drive association's control device of boats and ships turning and assist control method |
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| CN103121504B true CN103121504B (en) | 2015-09-09 |
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| CN109334936B (en) * | 2018-09-25 | 2019-10-18 | 中国船舶重工集团公司第七0三研究所 | A kind of auto-barring method reducing the steam drive ship power response time |
| WO2020252725A1 (en) * | 2019-06-20 | 2020-12-24 | 陈勇贵 | Method and apparatus for hull control by cooperation of multiple propellers, device and storage medium |
| WO2020252722A1 (en) * | 2019-06-20 | 2020-12-24 | 陈勇贵 | Novel hydrofoil and control method thereof |
| CN115390561B (en) * | 2022-08-24 | 2023-07-07 | 中国船舶科学研究中心 | Ship course control method based on paddle rotation speed differential motion |
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| CN203078745U (en) * | 2013-03-11 | 2013-07-24 | 中国船舶重工集团公司第七�三研究所 | Cooperative control device for accelerating four-oar driven ship to swerve |
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| US3392696A (en) * | 1965-10-06 | 1968-07-16 | Gen Electric | Ship |
| JPH03281495A (en) * | 1990-03-30 | 1991-12-12 | Japan Aircraft Mfg Co Ltd | Sailing body in fluid |
| JPH0820388A (en) * | 1994-07-07 | 1996-01-23 | Kawasaki Heavy Ind Ltd | Water jet propulsion for ship |
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