CN105947165A - Ship rudder machine system and rudder steering control method thereof - Google Patents
Ship rudder machine system and rudder steering control method thereof Download PDFInfo
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- CN105947165A CN105947165A CN201610343762.0A CN201610343762A CN105947165A CN 105947165 A CN105947165 A CN 105947165A CN 201610343762 A CN201610343762 A CN 201610343762A CN 105947165 A CN105947165 A CN 105947165A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/24—Transmitting of movement of initiating means to steering engine by electrical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention relates to the technical field of ship rudder machines, and particularly provides a ship rudder machine system and a rudder steering control method thereof. The ship rudder machine system provided by the invention comprises a controller, a motor driver, a servo motor, a brake, a decelerator, a gear transmission mechanism, a rudder blade and a rudder blade position encoder, wherein an output shaft of the servo motor and the brake are coaxially arranged; the rudder blade position encoder is used for detecting the rudder angle and the rudder speed of the rudder blade in a real-time manner; the controller and the motor driver are used for accurate control; the servo motor is used for providing power through the decelerator and the gear transmission mechanism; in addition, the brake can realize quick effective braking. According to the ship rudder machine system and the rudder steering control method thereof provided by the invention, a full electric driving manner is used for replacing a conventional electrohydraulic servo driving manner, so that the precision, the simplicity and the reliability of the ship rudder machine system can be improved.
Description
Technical field
The present invention relates to ship steering engine technical field, be specifically related to a kind of ship steering engine system and ship steering engine system
The steering control method of system.
Background technology
Ship steering engine system generally uses electro-hydraulic servo type of drive at present.Although this type of drive has defeated
Go out the advantages such as moment is big, system bulk is little, time constant is little, but there is also some shortcomings.First, liquid
The manufacturing process of pressure element requires higher, and under identical output, electrohydraulic servo system cost is higher than electric drive trains
System；Secondly, the quality of hydraulic oil, as electrohydraulic servo system duty is had the biggest by degree of purity and viscosity etc.
Impact, so the debugging of electrohydraulic servo system itself and maintenance the most relatively power drive system are complicated；Meanwhile, hydraulic pressure
Oil performance is influenced by temperature to a great extent, thus have impact on the control accuracy of system.
In the last few years, along with developing rapidly of boats and ships all electric propulsion, boat-carrying energy source type was the most single, ship
The research of oceangoing ship electric drive steering gear system is in gesture in the ascendant, then, how to realize low cost, in high precision,
Simplicity reliably electric drive steering gear system becomes one of current problem demanding prompt solution.
Summary of the invention
For defect of the prior art, the present invention provides ship steering engine system and the steering of ship steering engine system
Control method, to improve the precision of ship steering engine system, simplicity and reliability.
First aspect, the ship steering engine system that the present invention provides, including:
The system that the output shaft of controller, motor driver, servomotor and described servomotor is coaxially disposed
Dynamic device, decelerator, gear drive, rudder blade, rudder blade position coder；
Described controller is used for: according to the given course information, control instruction, helm signal and the rudder that receive
Speed signal, output motor control signal gives described motor driver or output brake signal to described brake；
Described motor driver is used for: the described motor control signal sent according to described controller drives described
Servomotor；
Described brake is used for: the brake signal sent according to described controller, carries out described servomotor
Brake operating；
Described servomotor is used for: through described decelerator and described gear drive by described servomotor
Power pass to described rudder blade, make described rudder blade along its axis of rotation；
Described rudder blade position coder is used for: the in real time rudder angle of detection rudder blade and rudder speed, and by helm signal and
Rudder speed signal is sent to described controller.
As shown from the above technical solution, the ship steering engine system that the present invention provides, use full driven by power mode
Replace traditional electro-hydraulic servo type of drive, carrier-borne energy device can be simplified, it is not necessary to be equipped with special liquid again
Force feed source, effectively reduces system cost, saves space limited on ship simultaneously.Power drive system structure
More simplify than fluid power system, equipment more versatility, the problem simultaneously avoiding leakage of oil, also will not
Producing hydraulic oil to be influenced by temperature and affect the problem of the control accuracy of system, care and maintenance is also the most square
Just.Additionally, use rudder blade position coder to detect the rudder angle of rudder blade and rudder speed in real time, and use controller and
Motor driver accurately controls, and uses servomotor to provide power, possesses higher accuracy and response
Speed, improves the precision of ship steering engine system.Servomotor passes through decelerator and gear drive, real
Now by the little torque of high speed to the transformation of low speed high torque, it is provided that enough power.The brake when braking
Can realize braking fast and effectively, add safety and the control accuracy of ship steering engine system.Therefore,
The ship steering engine system of the present invention has higher precision, simplicity and reliability.
As a further improvement on the present invention, described ship steering engine system also includes, spacing proximity switch: set
Put at described rudder blade, be used for judging whether rudder angle is more than preset value, if more than preset value, then by alarm signal
Number being sent to described controller, described controller sends electricity according to described alarm signal to described motor driver
The reverse output signal of machine, described motor driver controls described servomotor and reversely exports power.Use spacing
Proximity switch is arranged at rudder blade, it is judged that whether rudder angle is more than preset value, when rudder angle is more than this preset value,
Trigger spacing proximity switch, send alarm signal, and control servomotor and reversely export power, rudder can be prevented
Ship steering engine system is caused damage by the problems such as angle overshoot or the system failure, improves the reliability of system.
As a further improvement on the present invention, described ship steering engine system also includes, position sensor: be used for
Monitor the real-time corner of described servo motor rotor, the rotor-position detection of servomotor and initial alignment, and
Be sent to described controller and described motor driver, described controller inspection servo motor rotor whether according to
Motor control signal rotates predetermined corner, and carries out position benefit according to the difference of real-time corner Yu predetermined corner
Repaying, described motor driver judges whether real-time corner exceedes the ultimate value of corner, if exceeding, watches described
Take motor and protect operation accordingly.Monitor the real-time corner of described servo motor rotor in real time, and to reality
Time corner and predetermined corner difference carry out position compensation, sea wave disturbance rudder blade can be reduced or other interference are led
The position deviation caused, can improve the precision that ship steering engine alliance controls.Additionally, motor driver is sentenced
Whether disconnected real-time corner exceedes the ultimate value of corner, if exceeding, servomotor is protected behaviour accordingly
Make, the reliability of ship steering engine system can be improved, it is ensured that the safety of system.
As a further improvement on the present invention, described ship steering engine system also includes, current sensor: be used for
Monitor the real-time current of described servomotor, and current signal is sent to described controller and described motor drives
Dynamic device, described controller carries out current compensation according to the difference of real-time current Yu scheduled current, and described motor drives
Dynamic device judges whether real-time current exceedes the ultimate value of electric current, if exceeding, carries out described servomotor accordingly
Protection operation.Monitor the real-time current of described servomotor in real time, and to real-time current and scheduled current
Difference carries out current compensation, revises deviation, improves the accuracy controlling servomotor electric current, can improve
The precision that ship steering engine alliance controls.Additionally, motor driver to judge whether real-time current exceedes default
Current limit value, if exceeding, servomotor being protected accordingly operation, prevents the electricity of servomotor
Flow through to cause greatly and burn, the reliability of ship steering engine system can be improved, it is ensured that the safety of system.
As a further improvement on the present invention, described ship steering engine system also includes, torque sensor: be used for
Monitor the real-time rotating speed of described servomotor and real-time torque, and be sent to described controller and described motor drives
Dynamic device, described controller and turns according to real-time rotating speed and real-time torque and desired speed according to described servomotor
The difference of square carries out speed considerations and compensated torque, and described motor driver judges real-time rotating speed and real-time torque
Whether exceeding corresponding ultimate value, if exceeding, described servomotor being protected operation accordingly.In real time
Monitor the real-time rotating speed of described servomotor and real-time torque, and real-time rotating speed and real-time torque are turned with predetermined
Speed and the difference of torque carry out speed considerations and compensated torque, revise deviation, improve servomotor rotating speed and
The accuracy of direct torque, can improve the precision that ship steering engine alliance controls.Additionally, motor drives
Device judges whether real-time rotating speed and real-time torque exceed default ultimate value, if exceeding, carries out servomotor
Protect operation accordingly, prevent the hypervelocity of servomotor or long-term stall from causing the damage of motor, can improve
The reliability of ship steering engine system, it is ensured that the safety of system.
Second aspect, the steering control method of the ship steering engine system that the present invention provides, including:
Described rudder blade position coder detects rudder angle and rudder speed in real time, and helm signal and rudder speed signal is sent
To described controller；
Described controller sends according to receiving given course information, control instruction and described rudder blade position coder
Described helm signal and rudder speed signal, generate motor control signal and also export to described motor driver；
Described motor driver controls the operating of described servomotor according to described motor control signal, through described
Decelerator and described gear drive, pass to described rudder blade by the power of described servomotor, makes described
Rudder blade is along its axis of rotation；
When described rudder angle is close to target rudder angle, described controller sends motor stalling to described motor driver
Signal, sends brake signal to described brake simultaneously, and described motor driver is believed according to described motor stalling
Number control described servomotor stall, described servomotor is carried out by described brake according to described brake signal
Brake operating.
As shown from the above technical solution, the steering control method of the ship steering engine system that the present invention provides, use
Rudder blade position coder detects the rudder angle of rudder blade and rudder speed in real time, controller based on receive given course information,
Described helm signal and rudder speed signal that control instruction and described rudder blade position coder send generate motor control
Signal processed, can be modified according to the fast deviation with control signal of real-time rudder angle and rudder simultaneously, the most smart
Accurate；Use motor driver accurately to control servomotor simultaneously, possess higher accuracy and response speed
Degree, further increases the control accuracy of ship steering engine system；Servomotor passes through decelerator and gear drive
Mechanism, it is achieved by the little torque of high speed to the transformation of low speed high torque, it is provided that enough power；Work as rudder angle
During close to target rudder angle, controller sends motor stalling signal to motor driver, sends to brake simultaneously
Brake signal, servomotor stall, brake simultaneously is braked operation, Ke Yishi to described servomotor
Brake the most fast and effectively, add control accuracy and the safety of ship steering engine system.Therefore, the present invention
The steering control method of ship steering engine system there is higher control accuracy, simplicity and reliability.
As a further improvement on the present invention, described controller generates motor control signal and uses the change of segmentation sliding formwork
Structure control algorithm, presets different sliding formwork section for the different situations of difference between target rudder angle and actual rudder angle
Control program；Described controller is by giving course information, control instruction calculating target rudder angle, according to target rudder
The difference of angle and actual rudder angle selects sliding formwork section control program, and exports the motor control that this control program is corresponding
Signal.Controller generates the step of motor control signal and uses segmentation Sliding mode variable structure control algorithm, this algorithm
According to target rudder angle and the difference of actual rudder angle, the control algolithm choosing different sliding formwork sections is controlled,
Different sliding formwork sections can reach the control target of different phase, and Sliding mode variable structure control can preferably meet system
Dynamic and static state performance and strong robustness, it is possible to make system have a higher capacity of resisting disturbance, and algorithm be simple,
Fast response time.
As a further improvement on the present invention, the spacing proximity switch arranged at described rudder blade, monitor and sentence
Whether disconnected rudder angle is more than preset value, if more than preset value, then sends alarm signal to described controller；Described
Controller sends the reverse output signal of motor, described motor according to described alarm signal to described motor driver
Servomotor described in driver control reversely exports power.Spacing proximity switch is used to judge whether rudder angle is more than
Preset value, when rudder angle is more than this preset value, triggers spacing proximity switch, sends alarm signal, and control
Servomotor reversely exports power, and the problems such as rudder angle overshoot or the system failure can be prevented ship steering engine system
Cause damage, improve the reliability of system.
As a further improvement on the present invention, described controller receives described current sensor, torque sensor
The real-time current of described servomotor, real-time rotating speed, real-time torque and the rotor sent with position sensor
The signal of corner in real time, and contrast with corresponding predetermined value, and compensate control accordingly.Pass through
Sensor is monitored in real time, and sensor is modified according to the deviation of real-time monitor value with the predetermined value of control signal
Compensate, sea wave disturbance rudder blade can be reduced or other disturb the system deviation that causes, it is ensured that steering process steadily,
Dead-beat, can improve the precision that ship steering engine system steering controls.
As a further improvement on the present invention, described motor driver receives described current sensor, moment of torsion passes
The real-time current of described servomotor that sensor and position sensor send, real-time rotating speed, real-time torque and turn
The signal of the real-time corner of son, and contrast with corresponding ultimate value, if at least a part of which one oversteps the extreme limit
Described servomotor is then protected operation by value accordingly.The motor driver real-time parameter to servomotor
Corresponding ultimate value contrast to default, when a certain item parameter over-limit condition, is then carried out servomotor accordingly
Protection operation, prevent the corner overshoot of servomotor, overcurrent, hypervelocity or long-term stall from causing motor
Damage, the reliability that ship steering engine system steering controls can be improved, it is ensured that the safety of system.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will
The accompanying drawing used required in detailed description of the invention or description of the prior art is briefly described.All attached
In figure, similar element or part are typically by the reference mark being similar to.In accompanying drawing, each element or part
Might not draw according to actual ratio.
Fig. 1 shows the structured flowchart of a kind of ship steering engine system that first embodiment of the invention provided；
Fig. 2 shows the schematic diagram of a kind of ship steering engine system that first embodiment of the invention provided；
Fig. 3 shows the steering controlling party of a kind of ship steering engine system that second embodiment of the invention provided
The flow chart of method.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of technical solution of the present invention is described in detail.Following example
It is only used for clearly illustrating technical scheme, is therefore intended only as example, and can not come with this
Limit the scope of the invention.
It should be noted that except as otherwise noted, technical term used in this application or scientific terminology should
The ordinary meaning understood by those skilled in the art of the invention.
Embodiment one
Fig. 1 shows a kind of ship steering engine system architecture diagram that first embodiment of the invention is provided, Fig. 2
Show the schematic diagram of a kind of ship steering engine system that first embodiment of the invention provided.Such as Fig. 1 and Fig. 2
Shown in, ship steering engine system according to a first embodiment of the present invention includes:
Controller 10, motor driver 20, servomotor 30 are coaxial with the output shaft of servomotor 30
The brake 40 of setting, decelerator 50, gear drive 60, rudder blade 70, rudder blade position coder
80。
Controller 10 is used for: according to the given course information, control instruction, helm signal and the rudder that receive
Speed signal, output motor control signal is to motor driver 20 or exports brake signal to brake 40；
Motor driver 20 is used for: drive servomotor according to the motor control signal that controller 10 sends
30；
Brake 40 is used for: the brake signal sent according to controller 10, makes servomotor 30
Dynamic operation；
Servomotor 30 is used for: the moving servomotor 30 through decelerator 50 and gear drive 60
Power passes to rudder blade 70, makes rudder blade 70 along its axis of rotation；
Rudder blade position coder 80 is used for: rudder angle and the rudder of detection rudder blade 70 are fast in real time, and by helm signal
It is sent to controller 10 with rudder speed signal.
As shown from the above technical solution, the ship steering engine system that the present invention provides, use full driven by power mode
Replace traditional electro-hydraulic servo type of drive, carrier-borne energy device can be simplified, it is not necessary to be equipped with special liquid again
Force feed source, effectively reduces system cost, saves space limited on ship simultaneously.Power drive system structure
More simplify than fluid power system, equipment more versatility, the problem simultaneously avoiding leakage of oil, also will not
Producing hydraulic oil to be influenced by temperature and affect the problem of the control accuracy of system, care and maintenance is also the most square
Just.Additionally, use rudder blade position coder 80 to detect rudder angle and the rudder speed of rudder blade 70 in real time, and use control
Device 10 processed and motor driver 20 accurately control, and use servomotor 30 to provide power, possess relatively
High accuracy and response speed, improve the precision of ship steering engine system.Servomotor 30 is by slowing down
Device 50 and gear drive 60, it is achieved by the little torque of high speed to the transformation of low speed high torque, it is provided that
Enough power.When braking, brake 40 can realize fast braking, adds ship steering engine system
Safety and control accuracy.Therefore, the ship steering engine system of the present invention have higher precision, simplicity and
Reliability.
In the above-described embodiments, controller 10 uses dsp chip, and controller 10 is internal to be compiled by software
Program writing realize corresponding control algolithm, main circuit include power module, reseting module, clock module,
The parts such as D/A modular converter, in-circuit emulation interface and serial communication interface.
Servomotor 30 uses permagnetic synchronous motor, and realization coaxially connected with decelerator 50 is by the little torque of high speed
To the transformation of low speed high torque, and then by gear drive 60, drive rudder blade 70 according to given instruction
Rotate.
Motor driver 20 uses the servo-driver supporting with servomotor 30.Controller 10 output
Motor control signal, is read in by servo-driver outside terminal platform, and signal is the simulation between positive and negative 10V
Voltage signal.
The speed reducing ratio of decelerator 50 is 50:1, coaxially connected by bearing with servomotor 30, gear drive
Mechanism 60 is arranged between the output shaft of decelerator 50 and rudder blade 70 rotating shaft, by gear ratio be 5:1 and
Gear ratio is that two groups of gears of 4:1 carry out transmission, and slows down further.To equipment when avoiding single-stage speed reducing
Need bigger ability to bear, and harsh to the technological requirement of part, and it is susceptible to fault.
Rudder blade position coder 8 uses 17-bit incremental encoder to detect position of coming about, encoder
Being arranged at the rotating shaft of rudder blade 70, Real-time Feedback helm signal is to controller 10.
As further improvement of this embodiment, ship steering engine system also includes, spacing proximity switch 91:
It is arranged at rudder blade 70, is used for judging that rudder angle, whether more than preset value, if more than preset value, then will be reported to the police
Signal is sent to controller 10, and it is anti-that controller 10 sends motor according to alarm signal to motor driver 20
To output signal, motor driver 20 controls servomotor 30 and reversely exports power.Use spacing close to opening
Close 91 and be arranged at rudder blade 70, it is judged that whether rudder angle is more than preset value, when rudder angle is more than this preset value,
Trigger spacing proximity switch 91, send alarm signal, and control servomotor 30 and reversely export power, can
Prevent the problems such as rudder angle overshoot or the system failure from ship steering engine system causing damage, improve the reliable of system
Property.Such as, spacing proximity switch 91 may be installed at 95% hard over angle, when rudder blade 70 forwards this point to,
Then trigger spacing proximity switch 91, concurrently send alarm signal.
As further improvement of this embodiment, ship steering engine system also includes, position sensor 92: use
In the real-time corner of monitoring servomotor 30 rotor, the rotor-position of servomotor 30 detects and initial alignment,
And it being sent to controller 10 and motor driver 20, controller 10 is used for checking servomotor 30 rotor be
No according to the motor control signal predetermined corner of rotation, and carry out position according to the difference of real-time corner Yu predetermined corner
Putting compensation, motor driver 20 judges whether real-time corner exceedes the ultimate value of corner, if exceeding, to watching
Take motor 30 and protect operation accordingly.Monitor the real-time corner of servomotor 30 rotor in real time, and right
In real time corner carries out position compensation with the difference of predetermined corner, can reduce sea wave disturbance rudder blade 70 or other
The position deviation that interference causes, can improve the precision that ship steering engine alliance controls.Additionally, motor drives
Dynamic device 20 judges whether real-time corner exceedes the ultimate value of corner, if exceeding, servomotor 30 is carried out phase
The protection operation answered, can improve the reliability of ship steering engine system, it is ensured that the safety of system.
As further improvement of this embodiment, ship steering engine system also includes, current sensor 93: use
In the real-time current of monitoring servomotor 30, and current signal is sent to controller 10 and motor driver
20, controller 10 carries out current compensation, motor driver 20 according to the difference of real-time current Yu scheduled current
Judging whether real-time current exceedes the ultimate value of electric current, if exceeding, servomotor 30 being protected accordingly
Protect operation.Monitor the real-time current of servomotor 30, and the difference to real-time current Yu scheduled current in real time
Carry out current compensation, revise deviation, improve the accuracy that servomotor 30 electric current is controlled, can improve
The precision that ship steering engine alliance controls.Additionally, motor driver 20 judges whether real-time current exceedes
The current limit value preset, if exceeding, protecting operation accordingly to servomotor 30, preventing servo
Excessive the causing of the electric current of motor 30 is burnt, and can improve the reliability of ship steering engine system, it is ensured that system
Safety.Current sensor 93 can be HAS type current sensor, and sensor is connected to driver and servo electricity
On cable between machine 30 stator winding joint.
As further improvement of this embodiment, ship steering engine system also includes, torque sensor 94: use
In real-time rotating speed and the real-time torque of monitoring servomotor 30, and it is sent to controller 10 and motor driver
20, controller 10 according to servomotor 30 according to real-time rotating speed and real-time torque and desired speed and torque
Difference carries out speed considerations and compensated torque, and motor driver 20 judges whether are real-time rotating speed and real-time torque
Exceeding corresponding ultimate value, if exceeding, servomotor 30 being protected operation accordingly.Monitoring in real time
The real-time rotating speed of servomotor 30 and real-time torque, and to real-time rotating speed and real-time torque and desired speed and
The difference of torque carries out speed considerations and compensated torque, revises deviation, improve servomotor 30 rotating speed and
The accuracy of direct torque, can improve the precision that ship steering engine alliance controls.Additionally, motor drives
Device device 20 judges whether real-time rotating speed and real-time torque exceed default ultimate value, if exceeding, to servo electricity
Operation protected accordingly by machine 30, prevents the hypervelocity of servomotor 30 or long-term stall from causing the damage of motor
Bad, the reliability of ship steering engine system can be improved, it is ensured that the safety of system.Torque sensor 94 can be
CYT-302 type torque sensor 94, and measure rotating speed and torque, moment of torsion by supporting F/I modular converter
Sensor 94 is coaxially connected with rotor to be measured.
Additionally, the ship steering engine system of the present embodiment also includes signals collecting board 101, above-mentioned each sensor
The signal being sent to controller 10 is acquired by signals collecting board 101, reduces industrial controlled machine and directly connects
Number required complicated wiring and the complicated program etc. of collecting mail limits, it is possible to achieve flexibly, self-defining
Signal acquiring system, makes ship steering engine system possess the preferably division of labor and adaptability.Additionally, signal acquiring board
The signal of collection also can be sent to industrial computer 102 by card 101, realizes ship steering engine on industrial computer 102
The monitoring of system, controller 10 also can read the letter that signals collecting board 101 sends from industrial computer 102
Number.
Industrial computer 102 is internal can design various software function, to realize given parameters and arrange, system monitoring and
The functions such as data process.Such as, parameter can include to vectoring, given rudder angle, the outer ring controller of steering wheel
10 parameters etc.；System monitoring part is mainly to rudder angle, rudder speed, electric moter voltage electric current, torque rotary speed, limit
The position alarm signal such as approach signal is monitored in real time, and then the tracking effect of observation rudder angle, ensure simultaneously be
System does not haves the problems such as overvoltage, overcurrent, hypervelocity, long-term stall and rudder angle overshoot, it is to avoid to system
Generation harmful effect, and cisco unity malfunction；Data processing section mainly realizes interpretation, history
The function such as data query and statistics.
Embodiment two
Fig. 3 shows the steering controlling party of a kind of ship steering engine system that second embodiment of the invention provided
The flow chart of method.As it is shown on figure 3, the steering of ship steering engine system according to a second embodiment of the present invention controls
Method, including:
S100, rudder blade position coder 80 detect rudder angle and rudder speed in real time, and helm signal and rudder speed are believed
Number it is sent to controller 10；
S200, controller 10 are according to receiving given course information, control instruction and rudder blade position coder 80
The helm signal sent and rudder speed signal, generate motor control signal and export to motor driver 20；
S300, motor driver 20 control servomotor 30 according to motor control signal and operate, through slowing down
Device 50 and gear drive 60, pass to rudder blade 70 by the power of servomotor 30, makes rudder blade 70
Along its axis of rotation；
S400, when rudder angle is close to target rudder angle, controller 10 sends motor stalling to motor driver 20
Signal, sends brake signal to brake 40 simultaneously, and motor driver 20 controls according to motor stalling signal
Servomotor 30 stall, brake 40 is braked operation according to brake signal to servomotor 30.
As shown from the above technical solution, the steering control method of the ship steering engine system that the present invention provides, use
Rudder blade position coder 80 detects rudder angle and the rudder speed of rudder blade 70 in real time, and controller 10 is given based on receiving
Helm signal and rudder speed signal that course information, control instruction and rudder blade position coder 80 send generate electricity
Machine control signal, can be modified, the most more according to the fast deviation with control signal of real-time rudder angle and rudder simultaneously
For precisely；Using motor driver 20 accurately to control servomotor 30, it is higher accurate to possess simultaneously
Degree and response speed, further increase the control accuracy of ship steering engine system；Servomotor 30 is by subtracting
Speed device 50 and gear drive 60, it is achieved by the little torque of high speed to the transformation of low speed high torque, Ke Yiti
For enough power；When rudder angle is close to target rudder angle, controller 10 sends motor to motor driver 20
Stall signal, sends brake signal, servomotor 30 stall, brake simultaneously to brake 40 simultaneously
40 pairs of servomotors 30 are braked operation, it is possible to achieve fast braking, add ship steering engine system
Control accuracy and safety.Therefore, the steering control method of the ship steering engine system of the present invention has higher
Control accuracy, simplicity and reliability.
As a further improvement on the present invention, controller 10 generates motor control signal and uses the change of segmentation sliding formwork
Structure control algorithm, presets different sliding formwork section for the different situations of difference between target rudder angle and actual rudder angle
Control program；Controller 10 is calculated target rudder angle, according to target rudder by given course information, control instruction
The difference of angle and actual rudder angle selects sliding formwork section control program, and exports the motor control that this control program is corresponding
Signal.Controller 10 generates the step of motor control signal and uses segmentation Sliding mode variable structure control algorithm, should
Algorithm is controlled according to target rudder angle and the difference of actual rudder angle, the control algolithm choosing different sliding formwork sections
System, can reach the control target of different phase in different sliding formwork sections, and Sliding mode variable structure control can preferably expire
The dynamic and static state performance of pedal system and strong robustness, it is possible to make system have higher capacity of resisting disturbance, and algorithm
Simply, fast response time.Such as, when rudder angle difference is positioned at the rudder angle difference range of a sliding formwork section, motor
Control signal reaches setting speed for driving servomotor 30 to set acceleration with this sliding formwork section and keeps this turn
Speed；When close to given rudder angle, motor control signal is for driving the quick reduction of speed of servomotor 30.
As a further improvement on the present invention, the spacing proximity switch 91 arranged at rudder blade 70, monitoring is also
Judge that rudder angle, whether more than preset value, if more than preset value, then sends alarm signal to controller 10；Control
Device 10 processed sends the reverse output signal of motor, motor driver according to alarm signal to motor driver 20
20 control servomotor 30 reversely exports power.Spacing proximity switch 91 is used to judge whether rudder angle is more than
Preset value, when rudder angle is more than this preset value, triggers spacing proximity switch 91, sends alarm signal, and
Control servomotor 30 and reversely export power, the problems such as rudder angle overshoot or the system failure can be prevented boats and ships
Steering gear system causes damage, improves the reliability of system.
As a further improvement on the present invention, controller 10 receives current sensor 93, torque sensor 94
The real-time current of servomotor 30, real-time rotating speed, real-time torque and the rotor sent with position sensor 92
The signal of real-time corner, and contrast with corresponding predetermined value, and compensate control accordingly.Logical
Crossing sensor to monitor in real time, sensor is repaiied according to the deviation of real-time monitor value with the predetermined value of control signal
Just compensate, sea wave disturbance rudder blade 70 can be reduced or other disturb the system deviation caused, ship can be improved
The precision that oceangoing ship steering gear system steering controls.
As a further improvement on the present invention, motor driver 20 receives current sensor 93, torque sensing
The real-time current of servomotor 30 that device 94 and position sensor 92 send, real-time rotating speed, real-time torque
With the signal of the real-time corner of rotor, and contrast with corresponding ultimate value, if at least a part of which one exceedes
Servomotor 30 is then protected operation by ultimate value accordingly.Motor driver 20 is to servomotor 30
Real-time parameter and preset corresponding ultimate value contrast, when a certain item parameter over-limit condition, then to servo electricity
Operation protected accordingly by machine 30, prevents the corner overshoot of servomotor 30, overcurrent, exceeds the speed limit or long
Phase stall causes the damage of motor, can improve the reliability that ship steering engine system steering controls, it is ensured that system
Safety.
Additionally, the internal mastery routine of controller 10 and interrupt service routine flow process can be arranged as follows, work as boats and ships
During departure, industrial computer 102 and controller 10 start work, first block simultaneously and export and close in DSP
Disconnected, bring into operation system initialization routine, including control module initialization, peripheral hardware initialization of register and ginseng
Number variable initialization etc..Then set up communication with industrial computer 102, receive the given instruction of rudder angle and actual rudder angle
Rudder speed feedback signal, and then update parameters and variables of system；Then, open DSP interrupt, enter and interrupt
Waiting state.Interrupting using intervalometer T1 underflow to interrupt realizing, timing is rudder speed and the adopting of rudder angle
The sample cycle, i.e. every a sampling period, controller 10 from industrial computer 102 read one group of rudder angle given and
Rudder angle rudder speed actual signal.When an interrupt occurs, interrupt service routine is performed.First keep the scene intact, then
The given rudder angle sent into according to industrial computer 102 and actual rudder angle rudder speed signal, by segmentation sliding moding structure control
Algorithm processed runs, and the given torque signal of output is also changed by D/A, is sent to motor driver 20, drives
Dynamic rudder blade 70 moves to given helm order position, and last restoring scene returns mastery routine, again with industrial computer 102
Communication, again reads in the systematic parameter such as given rudder angle and actual rudder angle rudder speed and gives and correlated variables, then enter
Enter next cycle of operation.
The system that the embodiment of the present invention is provided, it realizes principle and the technique effect of generation and embodiment of the method
Identical, for briefly describing, the not mentioned part of system embodiment part, refer in embodiment of the method corresponding interior
Hold.Flow chart and block diagram in accompanying drawing show the system of multiple embodiments, method and meter according to the present invention
Architectural framework in the cards, function and the operation of calculation machine program product.In this, flow chart or block diagram
In each square frame can represent a module, program segment or a part for code, described module, program segment
Or a part for code comprises the executable instruction of one or more logic function for realizing regulation.Also should
Working as attention, at some as in the realization replaced, the function marked in square frame can also be to be different from accompanying drawing
Middle marked order occurs.
In several embodiments provided herein, it should be understood that disclosed system and method, can
To realize by another way, device embodiment described above is only schematically.It addition,
Each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to is each
Unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
The described unit illustrated as separating component can be or may not be physically separate, as
The parts that unit shows can be or may not be physical location, i.e. may be located at a place, or
Can also be distributed on multiple NE.Can select therein some or all of according to the actual needs
Unit realizes the purpose of the present embodiment scheme.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, rather than to it
Limit；Although the present invention being described in detail with reference to foregoing embodiments, the ordinary skill of this area
Personnel it is understood that the technical scheme described in foregoing embodiments still can be modified by it, or
The most some or all of technical characteristic is carried out equivalent；And these amendments or replacement, do not make phase
The essence answering technical scheme departs from the scope of various embodiments of the present invention technical scheme, and it all should be contained in the present invention
Claim and description scope in the middle of.
Claims (10)
1. a ship steering engine system, it is characterised in that including:
The system that the output shaft of controller, motor driver, servomotor and described servomotor is coaxially disposed
Dynamic device, decelerator, gear drive, rudder blade, rudder blade position coder；
Described controller is used for: according to the given course information, control instruction, helm signal and the rudder that receive
Speed signal, output motor control signal gives described motor driver or output brake signal to described brake；
Described motor driver is used for: the described motor control signal sent according to described controller drives described
Servomotor；
Described brake is used for: the brake signal sent according to described controller, carries out described servomotor
Brake operating；
Described servomotor is used for: through described decelerator and described gear drive by described servomotor
Power pass to described rudder blade, make described rudder blade along its axis of rotation；
Described rudder blade position coder is used for: the in real time rudder angle of detection rudder blade and rudder speed, and by helm signal and
Rudder speed signal is sent to described controller.
Ship steering engine system the most according to claim 1, it is characterised in that also include,
Spacing proximity switch: be arranged at described rudder blade, is used for judging whether rudder angle is more than preset value, if greatly
In preset value, then alarm signal is sent to described controller, described controller according to described alarm signal to
Described motor driver sends the reverse output signal of motor, and it is anti-that described motor driver controls described servomotor
To output power.
Ship steering engine system the most according to claim 2, it is characterised in that also include,
Position sensor: for monitoring the real-time corner of described servo motor rotor, the rotor position of servomotor
Putting detection and initial alignment, and be sent to described controller and described motor driver, described controller is checked
Whether servo motor rotor rotates predetermined corner according to motor control signal, and turn with predetermined according to real-time corner
The difference at angle carries out position compensation, and described motor driver judges whether real-time corner exceedes the ultimate value of corner,
If exceeding, described servomotor is protected operation accordingly.
Ship steering engine system the most according to claim 3, it is characterised in that also include,
Current sensor: for monitoring the real-time current of described servomotor, and current signal is sent to institute
Stating controller and described motor driver, described controller is carried out according to the difference of real-time current with scheduled current
Current compensation, described motor driver judges whether real-time current exceedes the ultimate value of electric current, if exceeding, right
Operation protected accordingly by described servomotor.
Ship steering engine system the most according to claim 4, it is characterised in that also include,
Torque sensor: for monitoring the real-time rotating speed of described servomotor and real-time torque, and be sent to institute
State controller and described motor driver, described controller according to described servomotor according to real-time rotating speed and reality
Time torque and desired speed and the difference of torque carry out speed considerations and compensated torque, described motor driver is sentenced
Whether disconnected real-time rotating speed and real-time torque exceed corresponding ultimate value, if exceeding, carry out described servomotor
Protect operation accordingly.
6. the steering control method of a ship steering engine system, it is characterised in that including:
Described rudder blade position coder detects rudder angle and rudder speed in real time, and helm signal and rudder speed signal is sent
To described controller；
Described controller sends according to receiving given course information, control instruction and described rudder blade position coder
Described helm signal and rudder speed signal, generate motor control signal and also export to described motor driver；
Described motor driver controls the operating of described servomotor according to described motor control signal, through described
Decelerator and described gear drive, pass to described rudder blade by the power of described servomotor, makes described
Rudder blade is along its axis of rotation；
When described rudder angle is close to target rudder angle, described controller sends motor stalling to described motor driver
Signal, sends brake signal to described brake simultaneously, and described motor driver is believed according to described motor stalling
Number control described servomotor stall, described servomotor is carried out by described brake according to described brake signal
Brake operating.
The steering control method of ship steering engine system the most according to claim 6, it is characterised in that
Described controller generates motor control signal and uses segmentation Sliding mode variable structure control algorithm, for target rudder
Between angle and actual rudder angle, the different situations of difference preset the control program of different sliding formwork section；Described controller is by giving
Vectoring information, control instruction calculate target rudder angle, select sliding according to the difference of target rudder angle and actual rudder angle
Mold segment control program, and export the motor control signal that this control program is corresponding.
The steering control method of ship steering engine system the most according to claim 7, it is characterised in that
The spacing proximity switch arranged at described rudder blade, monitors and judges whether rudder angle is more than preset value, if
More than preset value, then send alarm signal to described controller；Described controller according to described alarm signal to
Described motor driver sends the reverse output signal of motor, and it is anti-that described motor driver controls described servomotor
To output power.
The steering control method of ship steering engine system the most according to claim 8, it is characterised in that
The described controller described current sensor of reception, torque sensor and position sensor are watched described in sending
Take the signal of the real-time corner of the real-time current of motor, real-time rotating speed, real-time torque and rotor, and with accordingly
Predetermined value contrast, and compensate control accordingly.
The steering control method of ship steering engine system the most according to claim 9, it is characterised in that
Described motor driver receives the institute that described current sensor, torque sensor and position sensor send
State the signal of the real-time corner of the real-time current of servomotor, real-time rotating speed, real-time torque and rotor, and with
Corresponding ultimate value contrasts, if one over-limit condition of at least a part of which, described servomotor is carried out phase
The protection operation answered.
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| CN201610343762.0A CN105947165A (en) | 2016-05-23 | 2016-05-23 | Ship rudder machine system and rudder steering control method thereof |
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|---|---|---|---|
| CN201610343762.0A CN105947165A (en) | 2016-05-23 | 2016-05-23 | Ship rudder machine system and rudder steering control method thereof |
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| CN108058800A (en) * | 2016-11-08 | 2018-05-22 | 广州奥睿智能科技有限公司 | The method for controlling number of revolution and system of steering engine |
| CN109696910A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | A kind of steering engine motion control method and device, computer readable storage medium |
| CN110780597A (en) * | 2019-10-23 | 2020-02-11 | 四川航天烽火伺服控制技术有限公司 | Control method, device, equipment and medium for preventing steering engine from oscillating |
| CN111232177A (en) * | 2020-02-18 | 2020-06-05 | 大连海事大学 | Marine electric steering engine servo device |
| CN111559488A (en) * | 2020-05-25 | 2020-08-21 | 智慧航海（青岛）科技有限公司 | Intelligent ship rudder equipment automatic control method and system |
| CN112000107A (en) * | 2020-09-07 | 2020-11-27 | 中国船舶重工集团公司第七0七研究所九江分部 | Steering control loop fault diagnosis method and diagnosis system based on steering engine model |
| CN112829897A (en) * | 2021-01-29 | 2021-05-25 | 交通运输部天津水运工程科学研究所 | Intelligent monitoring and early warning method and system for navigation state of self-propelled ship model |
| CN113074588A (en) * | 2020-12-09 | 2021-07-06 | 北京航天飞腾装备技术有限责任公司 | Two-dimensional trajectory correction assembly for aviation guidance bomb |
| CN114056534A (en) * | 2021-10-15 | 2022-02-18 | 武汉船用机械有限责任公司 | Auxiliary control system for marine steering engine and control method thereof |
| CN114261510A (en) * | 2021-12-30 | 2022-04-01 | 中国航空工业集团公司西安飞机设计研究所 | Power drive device monitoring system that skids |
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| CN114590384A (en) * | 2022-03-28 | 2022-06-07 | 四川摩比斯智能物联科技有限公司 | Cooperative control method and device for outboard motors with different powers |
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| CN108058800A (en) * | 2016-11-08 | 2018-05-22 | 广州奥睿智能科技有限公司 | The method for controlling number of revolution and system of steering engine |
| CN109696910A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | A kind of steering engine motion control method and device, computer readable storage medium |
| CN109696910B (en) * | 2017-10-23 | 2022-04-15 | 深圳市优必选科技有限公司 | Steering engine motion control method and device and computer readable storage medium |
| CN110780597A (en) * | 2019-10-23 | 2020-02-11 | 四川航天烽火伺服控制技术有限公司 | Control method, device, equipment and medium for preventing steering engine from oscillating |
| CN111232177A (en) * | 2020-02-18 | 2020-06-05 | 大连海事大学 | Marine electric steering engine servo device |
| CN111559488A (en) * | 2020-05-25 | 2020-08-21 | 智慧航海（青岛）科技有限公司 | Intelligent ship rudder equipment automatic control method and system |
| CN112000107A (en) * | 2020-09-07 | 2020-11-27 | 中国船舶重工集团公司第七0七研究所九江分部 | Steering control loop fault diagnosis method and diagnosis system based on steering engine model |
| CN113074588B (en) * | 2020-12-09 | 2023-02-17 | 北京航天飞腾装备技术有限责任公司 | Two-dimensional trajectory correction assembly for aviation guidance bomb |
| CN113074588A (en) * | 2020-12-09 | 2021-07-06 | 北京航天飞腾装备技术有限责任公司 | Two-dimensional trajectory correction assembly for aviation guidance bomb |
| CN112829897A (en) * | 2021-01-29 | 2021-05-25 | 交通运输部天津水运工程科学研究所 | Intelligent monitoring and early warning method and system for navigation state of self-propelled ship model |
| CN112829897B (en) * | 2021-01-29 | 2024-04-09 | 交通运输部天津水运工程科学研究所 | Intelligent navigation state monitoring and early warning method and system for self-propelled ship model |
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| CN114261510A (en) * | 2021-12-30 | 2022-04-01 | 中国航空工业集团公司西安飞机设计研究所 | Power drive device monitoring system that skids |
| CN114348227A (en) * | 2022-01-26 | 2022-04-15 | 广东华中科技大学工业技术研究院 | Propeller steering engine control system with sensor fault-tolerant capability and control method |
| CN114590384A (en) * | 2022-03-28 | 2022-06-07 | 四川摩比斯智能物联科技有限公司 | Cooperative control method and device for outboard motors with different powers |
| CN114590384B (en) * | 2022-03-28 | 2024-04-02 | 四川摩比斯智能物联科技有限公司 | Cooperative control method and device for outboard motor with different power |
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