CN104536358B - The automatic switching method and device of the double steering control signals of Autopilot for ship - Google Patents
The automatic switching method and device of the double steering control signals of Autopilot for ship Download PDFInfo
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- CN104536358B CN104536358B CN201410777312.3A CN201410777312A CN104536358B CN 104536358 B CN104536358 B CN 104536358B CN 201410777312 A CN201410777312 A CN 201410777312A CN 104536358 B CN104536358 B CN 104536358B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
Patent of the present invention is related to the automatic switching method and device of a kind of double steering control signals of Autopilot for ship, control system aboard ship provided with two sets of independent parallels, Collection and output module are set in steering control system, Collection and output module are gathered the fault-signal in steering control system and fault-signal are classified and exported with level signal, two steering level signal control output ends, two Collections and output module are respectively connecting to automatic switching module, automatic switching module is according to level signal and switching law, judge that the corresponding steering level of the minimum steering control system of failure rank is manipulated into signal as actual level manipulates signal output.The automatic switching method and automatic switching control equipment of patent of the present invention, which are realized, automatically selects a set of optimal control system as real work system in two sets of control systems, improve the security of ship's navigation, reduce the fault rate of manual switching operation.
Description
Technical field
The present invention relates to ship domain, the double steering control signals being related specifically on a kind of Autopilot for ship
Automatic switching method and automatic switching control equipment.
Background technology
At present, the steering control system of the Autopilot for ship designed both at home and abroad is two sets of completely self-contained control systems
System., it is necessary to which steering personnel are controlled the switching of system manually when a set of control system breaks down, switching is there is
Not in time, it is necessary to which steering personnel keep one's eyes open the problems such as easy maloperation.
When steering control system breaks down, ship just loses direction, may both spin in situ, it is also possible to
Directly hit other ships, quite dangerous.Particularly when the near seas such as navigation at night, the Changjiang river are navigated by water, one when being navigation at night,
A piece of dark in driver's cabin, when failure occurs, steering personnel need to open illumination, then switch over, and delay the time；Two be near
Dealing ship is very intensive in navigation channel, and the navigation spacing between ship is very narrow.In prior art as shown in figure 1, aboard ship
Control system provided with two sets of independent parallels, respectively the first steering control system and the second steering control system, the first steering
Control system is provided with the first steering level signal control output end, and the second steering control system is provided with the second steering level signal control
Output end processed.Prior art is that the switching between two control systems is carried out by the way of artificial.Once this danger of generation
Anxious situation such as steering control system failure, is generally all that artificial i.e. steering personnel are operable to realize between two control systems
Switching.Occur emergency situation when, steering personnel should not be said in itself, be exactly whole driver's cabin personnel it is all very nervous, this
When steering control system handoff-security be to race against time, while the fault rate of artificial treatment failure is also greatly increased.
The content of the invention
There is provided a kind of auto-pilot peculiar to vessel for the above-mentioned the deficiencies in the prior art that aim to overcome that of patent of the present invention
The automatic switching method and automatic switching control equipment of double steering control signals on instrument.The automatic switching method of patent of the present invention and
Automatic switching control equipment, which be able to will be realized, automatically selects a set of optimal control system as real work system in two sets of control systems
System, improves the security of ship's navigation, reduces the fault rate of manual switching operation.
In order to reach foregoing invention purpose, the technical scheme that patent of the present invention is provided is as follows：
The automatic switching method of the double steering control signals of a kind of Autopilot for ship, aboard ship provided with two sets of independent parallels
Control system, respectively the first steering control system and the second steering control system, the first steering control system is provided with first
Steering level signal control output end, the second steering control system is provided with the second steering level signal control output end, its feature
It is, described automatic switching method includes having the following steps：
The first step, sets Fisrt fault signal acquisition and output module, in institute in the first described steering control system
Second Collection and output module be set in the second steering control system stated, described Fisrt fault signal acquisition and
Output module gathers the fault-signal in the first steering control system and fault-signal is classified, described the second failure letter
Number collection and output module gather the fault-signal in the second steering control system and fault-signal are classified, and with level
Signal output；
Second step, sets an automatic switching module, and the automatic switching module is provided with four inputs and an output end,
Four inputs connect the first described steering level signal control output end, Fisrt fault signal acquisition and output mould respectively
Block, the second steering level signal control output end and the second Collection and output module, the output end output are actual
Level manipulates signal；
Failure rank switch unit is provided with 3rd step, the automatic switching module, in the failure rank switch unit
Provided with failure rank switching law, judge that the first steering control system and the second steering are controlled according to level signal and switching law
Which failure rank is minimum in system；
4th step, is selected after the minimum steering control system of failure rank, corresponding steering level is manipulated signal as
Actual level manipulates signal output.
The automatic switching control equipment of the double steering control signals of a kind of Autopilot for ship, aboard ship provided with two sets of independent parallels
Control system, respectively the first steering control system and the second steering control system, the first steering control system is provided with first
Steering level signal control output end, the second steering control system is provided with the second steering level signal control output end, its feature
It is, Fisrt fault signal acquisition and output module is set in the first described steering control system, in the second described behaviour
Second Collection and output module are set in rudder control system, and described Fisrt fault signal acquisition and output module are adopted
Collect the fault-signal in the first steering control system and fault-signal is classified, described the second Collection and defeated
Go out module to gather the fault-signal in the second steering control system and classify to fault-signal, and exported with level signal；
The first steering level signal control output end, the second steering level signal control output end, Fisrt fault signal acquisition and
Output module and the second Collection and output module are respectively connecting to an automatic switching module, the automatic switching module
In be provided with four inputs and an output end, four inputs connect described the first steering level signal control output respectively
End, Fisrt fault signal acquisition and output module, the second steering level signal control output end and the second Collection and
Output module, the output end output actual level manipulation signal；Switch list provided with failure rank in the automatic switching module
Failure rank switching law is provided with member, the failure rank switch unit, the first behaviour is judged according to level signal and switching law
Which failure rank is minimum in rudder control system and the second steering control system, by the steering control system that failure rank is minimum
Corresponding steering level manipulation signal manipulates signal output as actual level.
In the automatic switching method and device of the double steering control signals of Autopilot for ship of the present invention, to fault-signal
Collection be divided into two-way output, having four states is respectively：Two-way is low level 00, is all the way low level high level all the way
01st, all the way high level low level 10 and two-way are high level 11 all the way.
In the automatic switching method and device of the double steering control signals of Autopilot for ship of the present invention, failure is carried out
Classifying rules is as follows：
Two-way is low level 00：Lose any rudder angle；Electricity, magnetic compass signal are lost under auto state；Servo-actuated state
Lower handwheel dropout；
It is low level high level 01 all the way all the way：Peripheral hardware is normal；Two machine communication is normal；
High level low level 10 all the way all the way：Electricity, magnetic compass signal are lost under non-automatic state；Lose electricity, magnetic compass letter
One of number；Handwheel signal is lost under non-follow-up state；
Two-way is high level 11：Two machine communication fails.
In the automatic switching method and device of the double steering control signals of Autopilot for ship of the present invention, described failure
Rank switching law is：
In the state of the first steering control system is as work system：
If the first steering level signal control output end is 00；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 01, then needs
Switch；
If the first steering level signal control output end is 00；Second steering level signal control output end is 10, then needs
Switch；
If the first steering level signal control output end is 00；Second steering level signal control output end is 11, then needs
Switch；
If the first steering level signal control output end is 01；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 11, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 01, then needs
Switch；
If the first steering level signal control output end is 10；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 11, then needs
Switch；
If the first steering level signal control output end is 11；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 01, then needs
Switch；
If the first steering level signal control output end is 11；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 11, then not
Need switching；
In the state of the second steering control system is as work system：
If the first steering level signal control output end is 00；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 11, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 00, then needs
Switch；
If the first steering level signal control output end is 01；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 10, then needs
Switch；
If the first steering level signal control output end is 01；Second steering level signal control output end is 11, then needs
Switch；
If the first steering level signal control output end is 10；Second steering level signal control output end is 00, then needs
Switch；
If the first steering level signal control output end is 10；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 11, then not
Need switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 00, then needs
Switch；
If the first steering level signal control output end is 11；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 10, then needs
Switch；
If the first steering level signal control output end is 11；Second steering level signal control output end is 11, then not
Need switching.
In the automatic switching control equipment of the double steering control signals of Autopilot for ship of the present invention, described automatic switchover mould
Block is as a circuit board, on circuit boards provided with 24V power modules, signal automatic switchover chip, level isolating chip and defeated
Enter output port, the input/output port is described four input ports and an output port, described input port point
The first steering level signal control output end, the second steering level signal control output end, Fisrt fault signal are not received
The level signal of collection and output module and the second Collection and output module is simultaneously inputted to described with 5V level signals
Signal automatic switchover chip in, the output signal of the signal automatic switchover chip is incoming to institute through described level isolating chip
The output port stated, the output port controls level signal output end as 24V steerings.
Based on above-mentioned technical proposal, the automatic switching method of the double steering control signals of patent Autopilot for ship of the present invention
And device has following technological merit compared with prior art：
The automatic switching method and device of the double steering control signals of patent Autopilot for ship of the present invention are realized any
In the case that steering control system breaks down, another set of control system is automatically switched to.When two sets of control systems all have event
In the case of barrier, the failure rank provided according to two systems is judged, that relatively low set control system of selection failure rank
It is operated.Using the signal automatic switching control equipment, another set of control system is switched to when shortening a set of control system failure
Time, it is to avoid the artificial operational error in flurried, so as to be brought when reducing steering due to control system failure
Risk, improves navigation safety.
Brief description of the drawings
Fig. 1 is the manual switching signal of the automatic switching control equipment of the double steering control signals of prior art Autopilot for ship
Figure.
Fig. 2 is the automatic switching method of the double steering control signals of Autopilot for ship of the present invention and the circuit theory of device
Figure.
Fig. 3 is the structured flowchart of the automatic switching control equipment of the double steering control signals of Autopilot for ship of the present invention.
Embodiment
We come to the double steering control signals of Autopilot for ship of the present invention with reference to accompanying drawing and specific embodiment below
Automatic switching method and device further elaborated, in the hope of provide a clearer understanding of its operation principle, work
Flow and composition structure, but the protection domain of patent of the present invention can not be limited with this.
The invention provides the signal automatic switching method of a kind of pair of steering control system and switching device, realize any
In the case that steering control system breaks down, another set of control system is automatically switched to.When two sets of control systems all have event
In the case of barrier, the failure rank provided according to two systems is judged, that relatively low set control system of selection failure rank
It is operated.Using the signal automatic switching control equipment, shorten and another set of control system is switched in a set of control system failure
System spent time, it is to avoid the artificial operational error in flurried, so that due to control system failure when reducing steering
And the risk brought, improve navigation safety.
As shown in Fig. 2 the present invention is a kind of automatic switching method of the double steering control signals of Autopilot for ship, in ship
Steering control system of the oceangoing ship provided with two sets of independent parallels, respectively the first steering control system and the second steering control system,
First steering control system is provided with the first steering level signal control output end 2, and the second steering control system is provided with the second steering
Level signal control output end 4.Although two steering control systems are all in operation, only wherein one in the practice of ship
Individual steering control system is in running order, and method of the invention is exactly when a steering control system failure or two
How individual steering control system selects an optimal scheme when all breaking down, using failure steering control system or low level
Failure steering control system is operated, and can be automatically performed switching, it is to avoid is manually seen and being cut manually again after fault-signal
Time delay and bigger infringement that tape swapping comes.
The automatic switching method of the present invention includes having the following steps：
The first step, sets Fisrt fault signal acquisition and output module 1, in institute in the first described steering control system
Second Collection and output module 3, described Fisrt fault signal acquisition are set in the second steering control system stated
And output module 1 gathers the fault-signal in the first steering control system and fault-signal is classified, the second described event
Barrier signal acquisition and output module 3 gather the fault-signal in the second steering control system and fault-signal are classified, and two
Individual Collection and output module are all exported to sorted fault-signal with level signal；
Second step, sets an automatic switching module 5, the automatic switching module is provided with four inputs and an output
End, it is defeated that four inputs connect described Fisrt fault signal acquisition and output module 1, the control of the first steering level signal respectively
Go out end 2, the second Collection and the steering level signal control output end 4 of output module 3 and second, the output end output
Actual level manipulates signal 6；
Failure rank switch unit is provided with 3rd step, the automatic switching module 5, in the failure rank switch unit
Provided with failure rank switching law, judge that the first steering control system and the second steering are controlled according to level signal and switching law
Which failure rank is minimum in system；
4th step, is selected after the minimum steering control system of failure rank, corresponding steering level is manipulated signal as
Actual level manipulation signal 6 is exported.
In the automatic switching method and device of the double steering control signals of Autopilot for ship of the present invention, to fault-signal
Collection and classification after be divided into two-way output, having four states is respectively：Two-way is low level 00, is all the way low level one
Low level 10 and two-way are high level 11 all the way for road high level 01, all the way high level.
Classifying rules is carried out to failure as follows：
Two-way is low level 00：Lose any rudder angle；Electricity, magnetic compass signal are lost under auto state；Servo-actuated state
Lower handwheel dropout；
It is low level high level 01 all the way all the way：Peripheral hardware is normal；Two machine communication is normal；
High level low level 10 all the way all the way：Electricity, magnetic compass signal are lost under non-automatic state；Lose electricity, magnetic compass letter
One of number；Handwheel signal is lost under non-follow-up state；
Two-way is high level 11：Two machine communication fails.
Then, the failure rank level signal and steering control level signal of two sets of steering control systems are respectively connected to letter
Number automatic switching module, by two sets of control system failure level signals formation combinational logics, according to steering control system therefore
Hinder level signal formation malfunction numbering, the failure rank of signal automatic switching control equipment two sets of control systems before switches
Which set of fault rank of regular automatic decision is minimum, so as to be used as real control system using the covering device.
Above-mentioned failure rank switching law is：
In the state of the first steering control system is as work system：
If the first steering level signal control output end is 00；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 01, then needs
Switch；
If the first steering level signal control output end is 00；Second steering level signal control output end is 10, then needs
Switch；
If the first steering level signal control output end is 00；Second steering level signal control output end is 11, then needs
Switch；
If the first steering level signal control output end is 01；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 11, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 01, then needs
Switch；
If the first steering level signal control output end is 10；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 11, then needs
Switch；
If the first steering level signal control output end is 11；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 01, then needs
Switch；
If the first steering level signal control output end is 11；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 11, then not
Need switching；
In the state of the second steering control system is as work system：
If the first steering level signal control output end is 00；Second steering level signal control output end is 00, then not
Need switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 11, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 00, then needs
Switch；
If the first steering level signal control output end is 01；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 10, then needs
Switch；
If the first steering level signal control output end is 01；Second steering level signal control output end is 11, then needs
Switch；
If the first steering level signal control output end is 10；Second steering level signal control output end is 00, then needs
Switch；
If the first steering level signal control output end is 10；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 10, then not
Need switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 11, then not
Need switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 00, then needs
Switch；
If the first steering level signal control output end is 11；Second steering level signal control output end is 01, then not
Need switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 10, then needs
Switch；
If the first steering level signal control output end is 11；Second steering level signal control output end is 11, then not
Need switching.
As shown in Figures 2 and 3, in the automatic switching control equipment of the double steering control signals of Autopilot for ship of the present invention,
Control system of the ship provided with two sets of independent parallels, respectively the first steering control system and the second steering control system, first
Steering control system is provided with the first steering level signal control output end 2, and the second steering control system is provided with the second steering level
Signal control output end 4.Fisrt fault signal acquisition and output module 1 are set in the first described steering control system,
Second Collection and output module 3 are set in the second described steering control system, and described Fisrt fault signal is adopted
Collection and output module 1 gather the fault-signal in the first steering control system and fault-signal are classified, and described second
Collection and output module 3 gather the fault-signal in the second steering control system and fault-signal are classified,
Two Collections and output module are exported in the form of level signal.Above-mentioned the first steering level signal control is defeated
Go out end 2, the second steering level signal control output end 4, Fisrt fault signal acquisition and the fault-signal of output module 1 and second to adopt
Collection and output module 3 are respectively connecting to an automatic switching module 5, and four inputs and one are provided with the automatic switching module 5
Individual output end, four inputs connect the first described steering level signal control output end 2, Fisrt fault signal acquisition respectively
And output module 1, the second steering level signal control output end 4 and the second Collection and output module 3, the output
End output actual level manipulation signal 6.Failure rank switch unit, failure rank switching are provided with the automatic switching module
Failure rank switching law is provided with unit, the first steering control system and the second behaviour are judged according to level signal and switching law
Which failure rank is minimum in rudder control system, and the corresponding steering level of the minimum steering control system of failure rank is manipulated
Signal is exported as actual level manipulation signal 6.
In the design of specific circuit block, in automatic switching control equipment 5 of the invention as a circuit board, in circuit board
It is provided with 24V power modules 51, signal automatic switchover chip 52, level isolating chip 53 and input/output port.The input is defeated
Exit port is described four input ports and an output port：Four input ports are respectively Fisrt fault rank level letter
Number input 54, the first steering control level signal input 55, the second failure rank level signal input 56 and the second behaviour
Rudder control level signal input 57, what four input ports were received is 5V level signal.Described input port difference
Receive the first steering level signal control output end 2, the second steering level signal control output end 4, Fisrt fault signal
The level signal of collection and the Collection of output module 1 and second and output module 3 is simultaneously inputted to institute with 5V level signals
In the signal automatic switchover chip 52 stated.The journey as failure rank switching law is provided with signal automatic switchover chip 52
Sequence, the output signal of the signal automatic switchover chip 52 through incoming to the described output port of described level isolating chip 53,
The output port controls level signal output end 58 as 24V steerings.Purpose used here as level isolating chip 53 is to avoid
24V signal transductions cause to damage into the input port even port of steering control system, play a part of isolated from power.
The automatic switching method and automatic switching control equipment of the present invention are used for the steering control signal of Autopilot for ship
Automatically switch.Two sets of steering control device signals are specifically respectively connected to signal automatic switching control equipment, two sets of steering controls are judged
With that relatively low set steering control system of failure rank as actual steering control system after the failure rank of system processed, wherein therefore
Barrier level condition coded system is represented, failure rank is determined by coded system to carry out breakdown judge, so as to judge event
Hinder the lighter signal of rank, this is switched to the time of another set of control system when just substantially reducing a set of control system failure,
The artificial operational error in flurried is avoided, so that the risk brought when reducing steering due to control system failure, is carried
High navigation safety.
Claims (5)
1. a kind of automatic switching method of the double steering control signals of Autopilot for ship, aboard ship provided with two sets of independent parallels
Control system, respectively the first steering control system and the second steering control system, the first steering control system is provided with the first behaviour
Rudder level signal control output end, the second steering control system is provided with the second steering level signal control output end, and its feature exists
In described automatic switching method includes having the following steps：
The first step, sets Fisrt fault signal acquisition and output module, described in the first described steering control system
Second Collection and output module, described Fisrt fault signal acquisition and output are set in the second steering control system
Module gathers the fault-signal in the first steering control system and fault-signal is classified, and the second described fault-signal is adopted
Collection and output module gather the fault-signal in the second steering control system and fault-signal are classified, and with level signal
Output；
Second step, sets an automatic switching module, and the automatic switching module is provided with four inputs and an output end, four
Input connects described the first steering level signal control output end, Fisrt fault signal acquisition and output module, the respectively
Two steering level signal control output ends and the second Collection and output module, the output end of the automatic switching module
Export actual level manipulation signal；
Failure rank switch unit is provided with 3rd step, the automatic switching module, is provided with the failure rank switch unit
Failure rank switching law, the first steering control system and the second steering control system are judged according to level signal and switching law
In which failure rank it is minimum；
4th step, is selected after the minimum steering control system of failure rank, regard corresponding steering level manipulation signal as reality
Level manipulates signal output；
Two-way output is divided into the collection of fault-signal in the first step, having four states is respectively：Two-way is low electricity
It is flat（00）, be all the way low level high level all the way（01）, high level low level all the way all the way（10）It is high level with two-way
（11）；
Classifying rules is carried out to failure in the first step as follows：
Two-way is low level（00）：Lose any rudder angle；Electricity, magnetic compass signal are lost under auto state；Under servo-actuated state
Handwheel dropout；
It is low level high level all the way all the way（01）：Peripheral hardware is normal；Two machine communication is normal；
High level low level all the way all the way（10）：Electricity, magnetic compass signal are lost under non-automatic state；Lose electricity, magnetic compass signal
One of；Handwheel signal is lost under non-follow-up state；
Two-way is high level（11）：Two machine communication fails.
2. the automatic switching method of the double steering control signals of Autopilot for ship according to claim 1, its feature exists
In the failure rank switching law in the 3rd step is：
In the state of the first steering control system is as work system：
If the first steering level signal control output end is 00；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 01, then needs to cut
Change；
If the first steering level signal control output end is 00；Second steering level signal control output end is 10, then needs to cut
Change；
If the first steering level signal control output end is 00；Second steering level signal control output end is 11, then needs to cut
Change；
If the first steering level signal control output end is 01；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 11, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 01, then needs to cut
Change；
If the first steering level signal control output end is 10；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 11, then needs to cut
Change；
If the first steering level signal control output end is 11；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 01, then needs to cut
Change；
If the first steering level signal control output end is 11；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 11, then need not
Switching；
In the state of the second steering control system is as work system：
If the first steering level signal control output end is 00；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 11, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 00, then needs to cut
Change；
If the first steering level signal control output end is 01；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 10, then needs to cut
Change；
If the first steering level signal control output end is 01；Second steering level signal control output end is 11, then needs to cut
Change；
If the first steering level signal control output end is 10；Second steering level signal control output end is 00, then needs to cut
Change；
If the first steering level signal control output end is 10；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 11, then need not
Switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 00, then needs to cut
Change；
If the first steering level signal control output end is 11；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 10, then needs to cut
Change；
If the first steering level signal control output end is 11；Second steering level signal control output end is 11, then need not
Switching.
3. a kind of automatic switching control equipment of the double steering control signals of Autopilot for ship, aboard ship provided with two sets of independent parallels
Control system, respectively the first steering control system and the second steering control system, the first steering control system is provided with the first behaviour
Rudder level signal control output end, the second steering control system is provided with the second steering level signal control output end, and its feature exists
In setting Fisrt fault signal acquisition and output module in the first described steering control system, in the second described steering
Second Collection and output module, described Fisrt fault signal acquisition and output module collection are set in control system
Fault-signal in first steering control system is simultaneously classified to fault-signal, the second described Collection and output
Module gathers the fault-signal in the second steering control system and fault-signal is classified, and sorted fault-signal is with electricity
Flat signal output；The first steering level signal control output end, the second steering level signal control output end, Fisrt fault
Signal acquisition and output module and the second Collection and output module are respectively connecting to an automatic switching module, should be certainly
Four inputs and an output end are provided with dynamic handover module, four inputs connect described the first steering level letter respectively
Number control output end, Fisrt fault signal acquisition and output module, the second steering level signal control output end and the second failure
Signal acquisition and output module, the output end output actual level manipulation signal；Failure is provided with the automatic switching module
Failure rank switching law is provided with rank switch unit, the failure rank switch unit, according to level signal and switching law
Judge which failure rank is minimum in the first steering control system and the second steering control system, by the behaviour that failure rank is minimum
The corresponding steering level manipulation signal of rudder control system manipulates signal output as actual level；
Collection to fault-signal is divided into two-way output, and having four states is respectively：Two-way is low level（00）, be all the way
Low level high level all the way（01）, high level low level all the way all the way（10）It is high level with two-way（11）；
Classifying rules is carried out to failure as follows：
Two-way is low level（00）：Lose any rudder angle；Electricity, magnetic compass signal are lost under auto state；Under servo-actuated state
Handwheel dropout；
It is low level high level all the way all the way（01）：Peripheral hardware is normal；Two machine communication is normal；
High level low level all the way all the way（10）：Electricity, magnetic compass signal are lost under non-automatic state；Lose electricity, magnetic compass signal
One of；Handwheel signal is lost under non-follow-up state；
Two-way is high level（11）：Two machine communication fails.
4. the automatic switching control equipment of the double steering control signals of Autopilot for ship according to claim 3, its feature exists
In the failure rank switching law is：
In the state of the first steering control system is as work system：
If the first steering level signal control output end is 00；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 01, then needs to cut
Change；
If the first steering level signal control output end is 00；Second steering level signal control output end is 10, then needs to cut
Change；
If the first steering level signal control output end is 00；Second steering level signal control output end is 11, then needs to cut
Change；
If the first steering level signal control output end is 01；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 11, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 01, then needs to cut
Change；
If the first steering level signal control output end is 10；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 11, then needs to cut
Change；
If the first steering level signal control output end is 11；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 01, then needs to cut
Change；
If the first steering level signal control output end is 11；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 11, then need not
Switching；
In the state of the second steering control system is as work system：
If the first steering level signal control output end is 00；Second steering level signal control output end is 00, then need not
Switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 00；Second steering level signal control output end is 11, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 00, then needs to cut
Change；
If the first steering level signal control output end is 01；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 01；Second steering level signal control output end is 10, then needs to cut
Change；
If the first steering level signal control output end is 01；Second steering level signal control output end is 11, then needs to cut
Change；
If the first steering level signal control output end is 10；Second steering level signal control output end is 00, then needs to cut
Change；
If the first steering level signal control output end is 10；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 10, then need not
Switching；
If the first steering level signal control output end is 10；Second steering level signal control output end is 11, then need not
Switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 00, then needs to cut
Change；
If the first steering level signal control output end is 11；Second steering level signal control output end is 01, then need not
Switching；
If the first steering level signal control output end is 11；Second steering level signal control output end is 10, then needs to cut
Change；
If the first steering level signal control output end is 11；Second steering level signal control output end is 11, then need not
Switching.
5. the automatic switching control equipment of the double steering control signals of Autopilot for ship according to claim 3, its feature exists
In described automatic switching module is as a circuit board, on circuit boards provided with 24V power modules, signal automatic switchover core
Piece, level isolating chip and input/output port, the input/output port are described four input ports and an output end
Mouthful, described input port receives the first steering level signal control output end, the control of the second steering level signal respectively
Output end, the level signal of Fisrt fault signal acquisition and output module and the second Collection and output module and with 5V
Level signal is inputted into described signal automatic switchover chip, and the output signal of the signal automatic switchover chip is through described electricity
Incoming to the described output port of flat isolating chip, the output port controls level signal output end as 24V steerings.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410777312.3A CN104536358B (en) | 2014-12-17 | 2014-12-17 | The automatic switching method and device of the double steering control signals of Autopilot for ship |
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| CN101447858B (en) * | 2008-01-17 | 2012-01-11 | 中兴通讯股份有限公司 | Method for realizing synchronous switching of virtual router redundancy protocol in dual-machine hot backup system |
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