CN103600826A - Grading-type control device of electromagnetic-valve-control hydraulic steering engine - Google Patents
Grading-type control device of electromagnetic-valve-control hydraulic steering engine Download PDFInfo
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- CN103600826A CN103600826A CN201310563549.7A CN201310563549A CN103600826A CN 103600826 A CN103600826 A CN 103600826A CN 201310563549 A CN201310563549 A CN 201310563549A CN 103600826 A CN103600826 A CN 103600826A
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- rudder angle
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Abstract
A grading-type control device of an electromagnetic-valve-control hydraulic steering engine comprises a steering engine speed adjusting circuit I, a steering engine control circuit II, a driving hydraulic steering engine electromagnetic valve and a rudder angle feedback mechanism. Instruction rudder angle signals delta c and rudder angle feedback signals delta f output by the rudder angle feedback mechanism are input into an operational amplifier F for summation, an output end of the operational amplifier is connected with the steering engine speed adjusting circuit I and the steering engine control circuit II, an output end of the steering engine speed adjusting circuit I is parallelly connected with an output end of the steering engine control circuit II and connected with a driving hydraulic steering engine left unit electromagnetic valve through a switch k, and another output end of the steering engine control circuit II is connected with a driving hydraulic steering engine right unit electromagnetic valve. The grading-type control device has the advantages of high reliability, low requirements on oil, less proneness to rudder floating, low steering noise and controllable speed, and follow-up control accuracy is improved.
Description
Technical field
The present invention relates to a kind of electromagnetic valve control hydraulic sterring engine stagewise control setup, for boats and ships autopilot, drive the medium-and-large-sized hydraulic sterring engine of circuit, particularly a kind of solenoid control of hydraulic sterring engine electromagnetic valve as the electromagnetic valve control hydraulic sterring engine stagewise control setup under the rotary vane type steering gear two-shipper group operating mode below 900kN.m.
Background technology
At present most of what adopt is solenoid valve type servomechanism to the servomechanism in above water craft hydraulic sterring engine control system, all the other employings be apportioning valve or servovalve, as Japanese Kawasaki steering wheel.The advantage of solenoid valve type servomechanism is: simple in structure, reliability is high, lower to the requirement of fluid.Although noise is larger with respect to proportional control servomechanism during steering, and steering precision is lower, but still is widely used in the steering control system of above water craft.
Autopilot adopts solenoid valve type servomechanism to control 400kN.m, 630kN.m hydraulic sterring engine, and under unit group operating mode (speed of coming about is greater than 2.3 °/S), follow-up steering sensitivity and rudder angle tracking error are all less than 0.5 ° of rudder angle.Under two-shipper group and isolation bypass operating mode (speed of coming about is greater than 4.7 °/S), follow-up steering sensitivity index is generally at 0.7 °～0.9 ° rudder angle, follow-up steering is followed precision 0.8 ° of rudder angle left and right, although precision can meet the requirement of existing national military standard and other relevant criterion, requirement is controlled in the manipulation that also can meet generally, but under supply etc. requires special operating situation that steering precision is higher, just can not meet the demands.Particularly for rudder moment, be greater than the medium-and-large-sized hydraulic sterring engine of 630kN.m, as the rotary vane type steering gear of 900kN.m, because two-shipper group operating mode overshoot amount is larger, its servocontrol control accuracy will further reduce.
Summary of the invention
Its object of the present invention is just to provide a kind of electromagnetic valve control hydraulic sterring engine stagewise control setup, has solved the problem of general electromagnetic valve control method deficiency under medium-and-large-sized hydraulic sterring engine two-shipper group operating mode.Have the advantages that reliability is high, lower to the requirement of fluid, be not easy to produce trip rudder, and steering noise is little, speed can be controlled, and has improved servo-actuated control accuracy.
The technical scheme that realizes above-mentioned purpose and take, comprises steering wheel speed adjustment circuit I, helm control circuit II, drives hydraulic sterring engine electromagnetic valve and rudder angle feedback mechanism, ordered rudder angle signal δ
crudder angle feedback signal δ with the output of rudder angle feedback mechanism
finput operational amplifier F summation, op amp F output connects steering wheel speed adjustment circuit I and helm control circuit II, described steering wheel speed adjustment circuit I output-parallel helm control circuit II mouth also connects and drives the left unit electromagnetic valve of hydraulic sterring engine through switch k, and another road mouth of described helm control circuit II connects the right unit electromagnetic valve of driving hydraulic sterring engine.
Compared with prior art the present invention has the following advantages.
By the servomechanism that adopts electromagnetic valve (solenoid directional control valve) to control, have reliability high, lower to the requirement of fluid, be not easy to produce the advantages such as trip rudder, its shortcoming is that steering noise is large, speed is uncontrollable.Autopilot adopts the method for step control electromagnetic valve servomechanism, has overcome the low this shortcoming of control accuracy under two-shipper group operating mode, and the rotary vane type steering gear steering being specially adapted to below 900kN.m is controlled.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 1 is this principle of device schematic block diagram;
Fig. 2 is this device electrical schematic diagram;
Fig. 3 is this device embodiment control circuit figure;
Fig. 4 is this device embodiment control circuit structure instruction diagram.
The specific embodiment
This device comprises steering wheel speed adjustment circuit I, helm control circuit II, drives hydraulic sterring engine electromagnetic valve and rudder angle feedback mechanism, as shown in Figure 2, and ordered rudder angle signal δ
crudder angle feedback signal δ with the output of rudder angle feedback mechanism
finput operational amplifier F summation, op amp F output connects steering wheel speed adjustment circuit I and helm control circuit II, described steering wheel speed adjustment circuit I output-parallel helm control circuit II mouth also connects and drives the left unit electromagnetic valve of hydraulic sterring engine through switch k, and another road mouth of described helm control circuit II connects the right unit electromagnetic valve of driving hydraulic sterring engine.
Described op amp F is comparator N5A, the reverse termination ordered rudder angle of comparator N5A and the difference △ δ that feeds back rudder angle, termination adjustable resistance R93 in the same way, comparator N5A exports a road and connects and door D2A, another road connects and door D2B, described and door D2A exports a termination and a door D2B, exports to connect and controls aerotron V37, V38, as shown in Figure 3 with door D2B.
When steering wheel is operated under two-shipper group operating mode, steering wheel is come about speed within the scope of 4.7 °/S～5.6 °/S.Electromagnetic valve work is on off state, during work, flow is unadjustable, the speed of coming about can not regulate, because Hydraulic Pump, valve member exist regular hour constant, while stopping rudder, although control signal turn-offs, but just stop motion after steering wheel need be waited for the regular hour, because the speed of coming about is large, thereby overshoot amount is large, causes thus steering precision can not meet the operating needs under special operating situation.
Principle of work
As shown in Figure 1, when the speed of coming about of steering wheel is not more than 2.7 °/S, follow-up steering sensitivity and rudder angle are followed precision and all can be met the demands.Thus, under two-shipper group operating mode, according to the difference speed of coming about of ordered rudder angle and actual rudder angle, have level to regulate, when the poor absolute value of rudder angle is less than certain value, only have the electromagnetic valve work of a servomechanism, the speed of coming about is identical during with unit group.When the poor absolute value of rudder angle is greater than certain value, the servomechanism electromagnetic valve of two units is worked simultaneously, the come about requirement of speed of satisfied height.。
As shown in Figure 2, during two-shipper group operating mode, ordered rudder angle signal δ
crudder angle feedback signal δ with the output of rudder angle feedback mechanism
finput operational amplifier F summation, output Δ δ=δ
c-δ
fgive steering wheel speed adjustment circuit I and helm control circuit II.Steering wheel speed adjustment circuit receives Δ δ=δ
c-δ
fsignal carries out computing, when | Δ δ | be less than given value, switch k disconnects, cut off the left unit electromagnetic valve of diagram, only have right unit work, steering wheel speed is identical with unit group, when | Δ δ | be greater than given value, left and right unit electromagnetic valve is worked simultaneously, and steering wheel speed is now two unit speeds.
Concrete practical circuit, as shown in Figure 3, its circuit structure is shown in Fig. 4.Through actual use test, the regulation of electrical circuit is convenient, and result of use is better, reaches designing requirement.Under two-shipper group operating mode, to follow precision index identical with the servo-actuated index under unit group operating mode for follow-up steering sensitivity index and rudder angle.
In Fig. 3, ordered rudder angle enters N5A comparator with the difference △ δ of feedback rudder angle, and be rudder angle difference the opportunity that is converted to unit group by R93 setting two-shipper group.Such as, two set states, current rudder angle is right 5 °, setting R93 is 5 ° to △ δ.When ordered rudder angle is made as left 25 °, steering wheel rotates, during to left 20 °, (work of AB unit selects to be high level to comparator N5A output high level, with door D2A output high level), with door D2B output high level, control aerotron V37, V38 saturation conduction, the steering output of turn-offing this unit, two-shipper group becomes unit group.Steering wheel continues to rotate at single set state, to left 25 °.
Following table 1-3 adopts one group of actual measurement correlation data of follow-up steering sensitivity index under the single, double unit operating mode of certain type autopilot of electromagnetic valve step control circuit.
Table 1 follow-up steering sensitivity
Following table 2, table 3 are that rudder angle is followed precision index contrast measured data.
Table 2 rudder angle tracking error (unit I)
Table 3 rudder angle tracking error (unit I and II)
From above-mentioned data, adopt after electromagnetic valve step control technology, under two-shipper group operating mode, it is identical with the servo-actuated index under unit group operating mode that follow-up steering sensitivity index and the rudder angle of autopilot followed precision index.
The manipulation of steering wheel under special operation condition controlled
General steering wheel is all comprised of four oil cylinders, and two one group, each group can work independently, and also can work simultaneously.Therefore, when one or a group oil cylinder fault, during the situations such as leakage of oil, automatically by a group oil cylinder isolation in bad order, or in case of emergency, manually (electronic) isolates a group oil cylinder, and namely a group oil cylinder quits work.Under unit group operating mode, as occur this situation, the kinematic velocity of steering wheel will double, and reach the two-shipper group kinematic velocity under nominal situation, and this situation is generally referred to as to isolate bypass.When servo-actuated, rudder angle control will produce concussion, thereby meet the Control requirements under steering wheel special operation condition with regard to reducing steering sensitivity and follow precision, and this is a kind of way.Can also adopt " simple and easy " mode of steering to control rudder angle, although it is more difficult that this mode of steering is handled rudder angle, labour intensity is also large, but can make control circuit become simple, reliability also can improve greatly, this is worth, because isolation bypass must be a kind of special operation condition unexpectedly, the probability that this fault occurs is very little.
Claims (2)
1. an electromagnetic valve control hydraulic sterring engine stagewise control setup, comprises steering wheel speed adjustment circuit I, helm control circuit II, drives hydraulic sterring engine electromagnetic valve and rudder angle feedback mechanism, it is characterized in that ordered rudder angle signal δ
crudder angle feedback signal δ with the output of rudder angle feedback mechanism
finput operational amplifier F summation, op amp F output connects steering wheel speed adjustment circuit I and helm control circuit II, described steering wheel speed adjustment circuit I output-parallel helm control circuit II mouth also connects and drives the left unit electromagnetic valve of hydraulic sterring engine through switch k, and another road mouth of described helm control circuit II connects the right unit electromagnetic valve of driving hydraulic sterring engine.
2. a kind of electromagnetic valve control hydraulic sterring engine stagewise control setup according to claim 1, it is characterized in that, described op amp F is comparator N5A, the reverse termination ordered rudder angle of comparator N5A and the difference △ δ that feeds back rudder angle, termination adjustable resistance R93 in the same way, comparator N5A exports a road and connects and door D2A, and another road connects and door D2B, described and door D2A exports a termination and a door D2B, exports to connect control aerotron V37, V38 with door D2B.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310563549.7A CN103600826B (en) | 2013-11-14 | 2013-11-14 | A kind of electromagnetic valve control hydraulic sterring engine stagewise control setup |
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| CN201310563549.7A CN103600826B (en) | 2013-11-14 | 2013-11-14 | A kind of electromagnetic valve control hydraulic sterring engine stagewise control setup |
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| CN103600826B CN103600826B (en) | 2016-04-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335470A (en) * | 2021-07-16 | 2021-09-03 | 中国船舶重工集团公司第七0七研究所九江分部 | Wave direction self-adaptive fluid momentum wheel active control stabilizing device |
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| CN203581375U (en) * | 2013-11-14 | 2014-05-07 | 中国船舶重工集团公司第七0七研究所九江分部 | Hierarchical control device of hydraulic steering engine controlled by electromagnetic valves |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007008690A1 (en) * | 2007-02-20 | 2008-08-21 | Linde Ag | Production of gas products from synthesis gas |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2125163A1 (en) * | 1996-04-09 | 1999-02-16 | Univ De La Coruna Y En Su Nomb | Feedback system for a rudder servo telemotor for ships |
| CN101289114A (en) * | 2007-12-26 | 2008-10-22 | 广州文冲船厂有限责任公司 | Electro-hydraulic proportional twin rudders follow-up synchronization operation controlled system |
| CN102275633A (en) * | 2010-06-10 | 2011-12-14 | 史震 | Novel pump control system of electric hydraulic steering engine |
| CN103140421A (en) * | 2010-12-27 | 2013-06-05 | 川崎重工业株式会社 | Ship steering gear and ship steering method |
| JP2012210847A (en) * | 2011-03-30 | 2012-11-01 | Mitsubishi Heavy Ind Ltd | Vessel steering device and control method thereof |
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| CN203581375U (en) * | 2013-11-14 | 2014-05-07 | 中国船舶重工集团公司第七0七研究所九江分部 | Hierarchical control device of hydraulic steering engine controlled by electromagnetic valves |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335470A (en) * | 2021-07-16 | 2021-09-03 | 中国船舶重工集团公司第七0七研究所九江分部 | Wave direction self-adaptive fluid momentum wheel active control stabilizing device |
| CN113335470B (en) * | 2021-07-16 | 2022-07-26 | 中国船舶重工集团公司第七0七研究所九江分部 | Wave direction self-adaptive fluid momentum wheel active control stabilizing device |
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