CN105730646A

CN105730646A - Fin stabilizer controller based on DSP

Info

Publication number: CN105730646A
Application number: CN201410764985.5A
Authority: CN
Inventors: 杨亮; 赵彬彬
Original assignee: HARBIN GONGCHENG TECHNOLOGY VENTURE CAPITAL Co Ltd
Current assignee: HARBIN GONGCHENG TECHNOLOGY VENTURE CAPITAL Co Ltd
Priority date: 2014-12-11
Filing date: 2014-12-11
Publication date: 2016-07-06

Abstract

The invention relates to a fin stabilizer controller based on DSP. The fin stabilizer controller comprises a control circuit, a power circuit, a keyboard circuit, a display circuit, an angular velocity signal acquisition circuit, a navigation speed signal acquisition circuit and a D/A output circuit, wherein a TMS320LF2406A DSP chip is used as a core by the control circuit. According to the design of the fin stabilizer controller disclosed by the invention, the DSP is used as a digital controller, a conventional analog control system can be replaced, and the functions of acquiring angular velocity signals, performing PID operations and outputting fin angle signals can be completed.

Description

A kind of Ship-Fin-Stabilizer Control device based on DSP

Technical field

The present invention relates to a kind of fin stabilizer control device, belong to automation field, be based especially on the Ship-Fin-Stabilizer Control device of DSP.

Background technology

Boats and ships navigate by water in ocean, and what can produce six-freedom degree sways motion, and wherein rolling is especially serious.The disturbance factor being subject to is a lot, and such as the change of Caulis Piperis Kadsurae size and Orientation, the fluctuation of wave and impact, the load of boats and ships self and power etc., these all make boats and ships inevitably produce various swaying and course change.And boats and ships violent sway airworthiness, the safe navigation of boats and ships, equipment on ship, goods and crewman create adverse influence, and the safety of boats and ships is constituted a threat to.To warship, the hit rate of the transmitting of weapon and the landing of carrier-borne aircraft also can be affected.For this, be developed multiple ship rolling stabilizer, wherein stabilizer is one of maximum special device of application.It is widely used on a lot of naval vessels at present.

Boats and ships ride the sea, and due to the disturbance of wind, wave, will produce to wave, shake including pitching, rolling, head.But wave maximum, subtract and shake also it is most useful that rolling.Ship rolling can increase the danger that boats and ships topple；Increase wave upper deck number of times；Produce the additional stress of hull and equipment；The degree of fatigue of increase personnel；Especially for naval vessels, rolling can affect defense preparations and measure the precision of monitoring device.Therefore the boats and ships of rolling function admirable should be designed.Owing to roll damping is less, often leading to excessive rolling, designing special stabilizer is the important method improving rolling performance.Stabilizer can be divided into the active and big class of passive type two from itself whether having power.The power of active stabilizer dependence itself and the control system raw stabilizing moment of examination ship, to reduce rolling.Passive type stabilizer itself does not have power, works according only to the size of wave disturbance moment making ship rolling.

Stabilizer is the airfoil type fin stretched out from hull both sides, is similar to the effect of rudder.When ship is at seas, when producing rolling motion, fin, under the manipulation of automatic control system, constantly changes fin angle with the rolling rule of ship, thus produces periodic stabilizing moment, resist sea wave disturbance moment.Thus reaching to subtract the purpose shaken.Control System of Ship Fin is made up of parts such as measuring cell, controller, servo system, phantom elements.

Development along with DSP technology and the application at control field, it is necessary to utilize up-to-date DSP technology, it is achieved the realtime digital control to stabilizer.So can reduce the volume of control equipment, the reliability that raising controls, can arbitrarily change control algolithm and control parameter, debugging extremely convenient, also be that the realization of complex control algorithm provides possibility simultaneously.

Summary of the invention

It is an object of the invention to design a kind of Ship-Fin-Stabilizer Control device based on DSP.The design adopts DSP as controller, NJ5 stabilizer to be controlled, and integrated level and unfailing performance are high.

The object of the present invention is achieved like this:

A kind of Ship-Fin-Stabilizer Control device based on DSP, its composition includes: control circuit 1, power circuit 2, keyboard circuit 3, display circuit 4, angular velocity signal Acquisition Circuit 5, speed of a ship or plane signal acquisition circuit 6 and D/A output circuit 7 form, it is characterised in that: control chip TMS320LF2406ADSP has+15V ,-15V ,+5V ,+3.3V power supply and+2.5V reference voltage；+ 15V ,-15V and+5V power supply are directly obtained by external power source；+ 3.3V power supply is to be obtained through three-terminal voltage-stabilizing chip LD1117D33 voltage stabilizing by+5V power supply.

A kind of Ship-Fin-Stabilizer Control device based on DSP according to claim 1, it is characterised in that :+2.5V reference voltage is to be obtained through precision voltage reference chip MC1403D voltage stabilizing by+5V power supply；+ 15V and-15V power supply are that high precision operating amplifier OP07 powers, and-15V power supply also provides negative supply for liquid crystal；+ 5V power supply, except obtaining+3.3V and+2.5V for voltage stabilizing, is also powered for DC source isolation module 0505 and optocoupler 4N25；+ 3.3V is that DSPTMS320LF2406A, liquid crystal, Keysheet module, jtag interface, serial D/AMAX5722 power；+ 2.5V reference voltage is used as biasing circuit and the reference voltage of serial D/AMAX5722.

The present invention is made up of control circuit, power circuit, keyboard circuit, display circuit, angular velocity signal Acquisition Circuit, speed of a ship or plane signal acquisition circuit and D/A output circuit.Stabilizer is the airfoil type fin stretched out from hull both sides, is similar to the effect of rudder.When ship is at seas, when producing rolling motion, fin, under the manipulation of automatic control system, constantly changes fin angle with the rolling rule of ship, thus produces periodic stabilizing moment, resist sea wave disturbance moment.Thus reaching to subtract the purpose shaken.Control System of Ship Fin is made up of parts such as measuring cell, controller, servo system, phantom elements；Adopt TMS320LF2406ADSP chip.It adopts high performance CMOS technologies, significantly reduces power consumption；Sheet internal storage capacity is significantly high；There is double; two task manager；Expansible external memory storage；There is house dog time block (WDT)；CAN, SPI, SCI communication can be carried out；Clock generator based on phaselocked loop；Up to 40 GPI0,5 external interrupt；Power management includes 3 kinds of low-power consumption modes, is also integrated with the A/D converter of two 8 passages simultaneously.

The construction features of the present invention and beneficial effect:

1, this invention is for the realtime digital control of stabilizer, decreases the volume of control equipment, the reliability that raising controls, and can arbitrarily change control algolithm and control parameter, debugging extremely convenient, is also that the realization of complex control algorithm provides possibility simultaneously.

2, based on the Ship-Fin-Stabilizer Control device of DSP compared with original system, volume is greatly reduced, and reliability improves, and control algolithm and parameter adjustment are flexible.

3, serial communication protocol is adopted between each system and modules, it is ensured that the stability of signal transmission.

Accompanying drawing explanation

Fig. 1 is the system principle structure chart of the present invention；

Fig. 2 is the angular velocity signal acquisition interface circuit theory diagrams of the present invention；

Fig. 3 is D/A output circuit schematic diagram；

Fig. 4 is speed of a ship or plane signals collecting interface circuit schematic diagram；

Detailed description of the invention

Below in conjunction with accompanying drawing, principles of the invention and concrete annexation are described in more detail:

In conjunction with the system principle structure chart that Fig. 1, Fig. 1 are the present invention；The present invention includes log speed input, turning rate input, keyboard and display module, D/A output；S1 is made up of arm processor and Freescale single-chip microcomputer, wherein Freescale single-chip microcomputer primary responsibility processes the S4 car body position deviation data sent and the mechanical arm position deviation data passed back by RS232 serial ports of S5, and the data obtained after process is fed in arm processor by SPI communication interface.Mechanical arm and mobile platform controller S3, by processing the image information passed back of S2 and car body position deviation that Freescale single-chip microcomputer is passed back and mechanical arm position deviation, are sent control instruction by ARM.

Fig. 2 is the angular velocity signal acquisition interface circuit theory diagrams of the present invention；Boats and ships turning rate input is bipolarity input, scope | A | 1.5V.Angular velocity signal acquisition hardware interface is made up of two-stage calculation amplifier；The first order is voltage follower, improves input impedance.The second level is Noninverting summing operation circuit, plays the effect regulating gain and being biased；The advantage that in-phase proportion computing circuit has high input resistance, low output resistance；Operational amplification circuit gain can be regulated by R27；Operational amplification circuit has two-way；Wherein a road is backup, can be selected by wire jumper；In controller, all amplifiers are OP07, and are connected to zero potentiometer.

Fig. 3 is D/A output circuit schematic diagram.D/A exports hardware interface and is made up of chip MAX5722 and two-stage calculation amplifier；MAX5722 contains the DAC of 12 voltage outputs of two-way.Two-way DAC shares a reference voltage；Compatible 3 line SPI, QSPI, the MICROWIRE and the DSP with schmidt trigger logic incoming serial interface of MAX5722；It is plus and minus calculation amplifying circuit that D/A exports the first order operational amplifier of hardware interface, rises and adds bias；Second level operational amplifier is anti-phase scale operation amplifying circuit, is used for regulating gain and making phase place change 180 °, and channel gain can be regulated by R32.

Fig. 4 is speed of a ship or plane signals collecting interface circuit schematic diagram；The speed of a ship or plane signal of log is transmitted by RS-422A asynchronous communication, and for anti-tampering, interface with the addition of isolation circuit；Chip MAX3281E is adopted to carry out RS-422A asynchronous communication reception.

Claims

1. the Ship-Fin-Stabilizer Control device based on DSP, its composition includes: control circuit (1), power circuit (2), keyboard circuit (3), display circuit (4), angular velocity signal Acquisition Circuit (5), speed of a ship or plane signal acquisition circuit (6) and D/A output circuit (7) composition, it is characterised in that: control chip TMS320LF2406ADSP has+15V ,-15V ,+5V ,+3.3V power supply and+2.5V reference voltage；+ 15V ,-15V and+5V power supply are directly obtained by external power source；+ 3.3V power supply is to be obtained through three-terminal voltage-stabilizing chip LD1117D33 voltage stabilizing by+5V power supply.

2. a kind of Ship-Fin-Stabilizer Control device based on DSP according to claim 1, it is characterised in that :+2.5V reference voltage is to be obtained through precision voltage reference chip MC1403D voltage stabilizing by+5V power supply；+ 15V and-15V power supply are that high precision operating amplifier OP07 powers, and-15V power supply also provides negative supply for liquid crystal；+ 5V power supply, except obtaining+3.3V and+2.5V for voltage stabilizing, is also DC source isolation module (0505) and optocoupler (4N25) power supply；+ 3.3V is DSP (TMS320LF2406A), liquid crystal, Keysheet module, jtag interface, serial D/A (MAX5722) power supply；+ 2.5V reference voltage is used as biasing circuit and the reference voltage of serial D/A (MAX5722).