CN106143862A - A kind of ship steering engine driving means and detecting system thereof - Google Patents
A kind of ship steering engine driving means and detecting system thereof Download PDFInfo
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- CN106143862A CN106143862A CN201610343761.6A CN201610343761A CN106143862A CN 106143862 A CN106143862 A CN 106143862A CN 201610343761 A CN201610343761 A CN 201610343761A CN 106143862 A CN106143862 A CN 106143862A
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- mentioned
- steering engine
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- driving means
- ship steering
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Classifications
-
- 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
- B63H25/20—Transmitting of movement of initiating means to steering engine by mechanical means
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention relates to a kind of ship steering engine driving means and detecting system thereof, wherein, above-mentioned ship steering engine driving means includes the PLC control cabinet being sequentially connected, driver, electric cylinder, come about mechanism and rudder blade.Above-mentioned electric cylinder include cylinder body and be arranged at cylinder body outside servomotor and decelerator, above-mentioned servomotor is connected by one end of the leading screw with above-mentioned cylinder interior for the decelerator, the other end of above-mentioned leading screw is socketed with the push rod extending outside cylinder body, and the end of above-mentioned push rod is connected with the described mechanism that comes about.Above-mentioned driver is the corollary equipment of above-mentioned electric cylinder, is connected with servomotor, is used for driving electric cylinder to work.Ship steering engine driving means provided by the present invention and detecting system thereof can be greatly improved the control accuracy of ship steering engine power drive system.
Description
Technical field
The present invention relates to ship steering engine field, particularly relate to a kind of ship steering engine driving means and detecting system thereof.
Background technology
Current ship steering engine system generally uses electro-hydraulic servo type of drive.This type of drive have output torque big and
The advantages such as time constant is little.But there is also some shortcomings.First, hydraulic working oil characteristic is to a great extent by the shadow of temperature
Ring, cause the control accuracy of system to be substantially reduced；Secondly, generally there is the situation that hydraulic oil is revealed, institute in electrohydraulic servo system
More complicated with system maintenance；Meanwhile, Hydraulic Elements and hydraulic oil are difficult to obtain.And in the last few years, as the full electric power of boats and ships pushes away
Entering developing rapidly of technology, the unification increasingly of boat-carrying energy source type, traditional electro-hydraulic servo type of drive is gradually by emerging electricity
Type of drive is replaced.
In order to reach the driving effect similar with traditional electrohydraulic servo-driving system, only use again single electric power simultaneously
The energy, people have carried out continuous research to boats and ships power drive system, and up to the present, researcher successively proposes Linear transmission
Mechanism's (including Worm-gear type, pinion and-rack and nut-screw rod etc.) and driving system of linear motor, but these electricity drive
All there is the poor problem of control accuracy in dynamic system.
Content of the invention
It is an object of the invention to provide a kind of ship steering engine driving means and detecting system thereof, ship steering engine can be greatly improved
The control accuracy of power drive system.
For reaching above-mentioned purpose, technical scheme provided by the present invention is:
First aspect, the invention provides a kind of ship steering engine driving means, including the PLC control cabinet being sequentially connected, drive
Dynamic device, electric cylinder, come about mechanism and rudder blade.Above-mentioned electric cylinder include cylinder body and be arranged at cylinder body outside servomotor and deceleration
Device, above-mentioned servomotor is connected by one end of the leading screw with above-mentioned cylinder interior for the decelerator, the other end socket of above-mentioned leading screw
Having the push rod extending outside cylinder body, the end of above-mentioned push rod is connected with the described mechanism that comes about.Above-mentioned driver is above-mentioned electronic
The corollary equipment of cylinder, is connected with servomotor, is used for driving electric cylinder to work.
Further, the above-mentioned mechanism that comes about is that fork type is come about mechanism, including fork-shaped tiller and the fork being positioned at fork-shaped tiller
The slide block of shape opening part, the one end outside above-mentioned fork-shaped tiller extends cylinder body by slide block with push rod is connected.
Further, above-mentioned electric cylinder is run-in index electric cylinder, and servomotor is permagnetic synchronous motor, above-mentioned decelerator
Speed reducing ratio is 3:1～5:1, and the helical pitch of above-mentioned leading screw is 8～12mm.
Further, above-mentioned PLC control cabinet uses touch-screen control.
Ship steering engine driving means of the present invention, by way of driven by servomotor, lead screw transmission, by the servo of electric cylinder
The rotary motion of motor becomes the linear motion of push rod, reaches the driving effect similar with hydraulic sterring engine.And electric cylinder is by essence
The parameters such as the rotating speed of true control servomotor, torque can realize the accurate control of the speed of push rod, position and thrust size, works as electricity
When dynamic cylinder uses Close loop servo control, positioning precision can reach 0.01mm, and thrust precision, up to 1%, is compared traditional electro-hydraulic
Servo-drive and electric driver, ship steering engine driving means of the present invention will increase substantially the control accuracy of ship steering engine.This
Outward, the type of drive than electro-hydraulic servo, electric cylinder work has only to make regular check on lubricating system, and injecting grease for lubricating, nothing
Consumable accessory needs to safeguard to be changed, and safeguards simple, and service life is longer.Meanwhile, ship steering engine driving means of the present invention achieves warship
Carry the simplification further of energy device, it is not necessary to be equipped with special hydraulic oil source, not only save the energy, it is achieved the full electricity of ship steering engine
Power drives, the problem that it also avoid hydraulic fluid leak so that the maintenance of system is more simple.
Second aspect, the invention provides the detecting system of a kind of ship steering engine driving means, including above-mentioned ship steering engine
Driving means, interior ring sensor, position coder, spacing proximity switch, signals collecting board, controller and industrial computer.Above-mentioned
Interior ring sensor device is installed in electric cylinder, is connected with PLC control cabinet signal.Above-mentioned position coder is installed on fork-shaped tiller
Place, for obtaining and sending rudder angle position signalling and rudder blade back to zero signal in real time.Above-mentioned spacing proximity switch is connected with rudder blade, uses
In judging whether rudder angle is more than preset value, if being more than preset value, then send the locking signal of spacing proximity switch.Above-mentioned signal is adopted
Collection board is connected with interior ring sensor, position coder and the equal signal of spacing proximity switch, obtains rudder angle position letter for real-time
Number, the locking signal of rudder blade back to zero signal and spacing proximity switch.Controller noted above and signals collecting board and PLC control cabinet phase
Even, for the real-time signal reading and obtaining in signals collecting board, and corresponding control signal is sent to PLC control cabinet.Above-mentioned
Industrial computer signal equal with signals collecting board and controller is connected, for the real-time signal reading and obtaining in signals collecting board,
And show on the human-computer interaction interface within industrial computer, and then control controller noted above sends corresponding control signal.
Further, above-mentioned interior ring sensor includes voltage sensor and current sensor, above-mentioned voltage sensor and electricity
Flow sensor is serially connected with on the stator winding of above-mentioned servomotor respectively, concurrently serves, for real-time acquisition, the electricity stating servomotor
Pressure signal and current signal.
Further, above-mentioned interior ring sensor also includes torque sensor, and above-mentioned torque sensor turns with servomotor
Son is connected, and concurrently serves, for real-time acquisition, tach signal and the dtc signal stating servomotor.
Further, above-mentioned interior ring sensor also includes grating scale, and above-mentioned grating scale is arranged on the inner surface of cylinder body, uses
In the displacement signal obtaining and sending push rod in real time.
Further, above-mentioned position coder is 17-bit incremental encoder.
Further, the human-computer interaction interface within above-mentioned industrial computer includes parameter setting, system monitoring and data process,
Wherein, above-mentioned parameter arranges and includes that rudder angle gives the parameter arranging with position coder and arranges, and said system monitoring includes rudder angle
With rudder angle tracking error over time over time, above-mentioned data process and include interpretation, historical data
Inquiry and statistical report form print.
Using said structure, user can send certain command information on the human-computer interaction interface within above-mentioned industrial computer
(such as control instructions such as pose are given), and above-mentioned command information is transferred to controller by ethernet communication.Controller is connecing
After above-mentioned command information, the kinematic parameter of electric cylinder can be calculated, i.e. electricity by operations such as pose conversion and arithmetic analysis
The stroke of dynamic cylinder, and above-mentioned kinematic parameter is transferred to PLC control cabinet, based on above-mentioned kinematic parameter, PLC control cabinet can control
The above-mentioned electric cylinder of driver drives is operated, and be connected with the push rod end of electric cylinder comes about mechanism under the drive of electric cylinder
Rotate, thus realize the motion of steering wheel.
In the said detecting system course of work, the grating scale being arranged on inner surface of cylinder block can obtain electric cylinder push rod in real time
Displacement signal, and above-mentioned information is fed back to information gathering board；And the position coder being arranged on tiller can obtain in real time
Rudder angle position signalling and rudder blade back to zero signal, and send above-mentioned information to information gathering board.Above-mentioned information gathering board exists
After obtaining above-mentioned information, above-mentioned information being transferred to human-computer interaction interface and the controller of industrial computer, user can be in man-machine friendship
Know the duty of current ship steering engine driving means on mutual interface in real time, and pass through man-machine interaction according to above-mentioned duty
Interface sends corresponding modification command information, thus realizes being precisely controlled of above-mentioned ship steering engine driving means.Meanwhile, in order to protect
Demonstrate,prove the safe and reliable operation of the detecting system of ship steering engine driving means of the present invention, said system is additionally provided with servomotor
Spacing proximity switch at voltage sensor, current sensor, torque sensor and rudder blade.Above-mentioned voltage sensor, electric current pass
Sensor and torque sensor can realize the Real-time Feedback of the voltage of above-mentioned servomotor, electric current, torque, tach signal, and by institute
Obtain signal message to send to information gathering board, above-mentioned information gathering board after obtaining above-mentioned signal message simultaneously by upper
Stating signal message to send to the human-computer interaction interface of controller and industrial computer, controller can judge that above-mentioned signal message is voluntarily
No more than system setting, if being more than, controller can control system and sends failure safe alarm, and carries on human-computer interaction interface
Show to break down in custom system where, with the user friendly maintenance overhaul to ship steering engine driving means of the present invention.And install
Spacing proximity switch at rudder blade also can detect whether rudder angle is more than preset value in real time, if it is more than preset value, then sends limit
Above-mentioned locking signal, when signal acquiring board card receives above-mentioned locking signal, is sent extremely by the locking signal of position proximity switch
Controller and the human-computer interaction interface of industrial computer, controller can control system and sends failure safe alarm, and in above-mentioned man-machine friendship
Display on mutual interface.
Brief description
The following drawings is only intended to schematically illustrate the present invention and explain, not delimit the scope of the invention.
Fig. 1 is the structural representation of the ship steering engine driving means of the embodiment of the present invention；
Fig. 2 is the structural representation of the detecting system of the ship steering engine driving means of the embodiment of the present invention；
Fig. 3 be the ship steering engine driving means of the embodiment of the present invention detecting system in the installation site of interior ring sensor show
It is intended to；
Fig. 4 be the ship steering engine driving means of the embodiment of the present invention detecting system in position coder and spacing close to opening
The installation site schematic diagram closing.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Embodiment one
As it is shown in figure 1, embodiments provide a kind of ship steering engine driving means, including the PLC control being sequentially connected
The 13rd, cabinet processed 11st, driver the 12nd, electric cylinder comes about mechanism 14 and rudder blade 15.Above-mentioned electric cylinder 13 includes cylinder body 133 and is arranged at cylinder
Servomotor 131 outside body 133 and decelerator 132, above-mentioned servomotor 131 is by decelerator 132 and above-mentioned cylinder body 133
One end of the leading screw 134 in portion is connected, and the other end of above-mentioned leading screw 134 is socketed with the push rod 135 extending outside cylinder body 133, on
The end stating push rod 135 is connected with the described mechanism 14 that comes about.The corollary equipment that above-mentioned driver 12 is above-mentioned electric cylinder 13, and watches
Take motor 131 to connect, be used for driving electric cylinder 13 to work.
When being embodied as, ship steering engine driving means of the present invention, by servomotor 131 drive, the side of leading screw 134 transmission
The rotary motion of the servomotor 131 of electric cylinder 13 is become the linear motion of push rod 135, reaches similar with hydraulic sterring engine by formula
Driving effect.And electric cylinder 13 can realize push rod 135 by parameters such as the rotating speed of accurate control servomotor 131, torques
The accurate control of speed, position and thrust size, when electric cylinder 13 uses Close loop servo control, positioning precision can reach
0.01mm, thrust precision, up to 1%, compares traditional electro-hydraulic servo driving and electric driver, ship steering engine of the present invention driving
Device will increase substantially the control accuracy of ship steering engine.Additionally, than the type of drive of electro-hydraulic servo, electric cylinder 13 work is only
Needing to make regular check on lubricating system, and injecting grease for lubricating, needing to safeguard without consumable accessory and change, safeguarding simple, service life is relatively
Long.Meanwhile, ship steering engine driving means of the present invention achieves the simplification further of carrier-borne energy device, it is not necessary to be equipped with special liquid
Force feed source, not only saves the energy, it is achieved the full driven by power of ship steering engine, the problem that it also avoid hydraulic fluid leak so that be
The maintenance of system is more simple.
Preferably, the above-mentioned mechanism 14 that comes about comes about mechanism for fork type, including fork-shaped tiller 142 and be positioned at fork-shaped tiller
The slide block 141 of the fork-shaped opening part of 142, outside above-mentioned fork-shaped tiller 142 extends cylinder body 133 by slide block 141 and push rod 135
One end be connected.The fork type mechanism that comes about is a kind of conventional mechanism that comes about, and uses process to be not necessarily to guide plate, simple in construction, nominal
Moment of torsion is higher.It should be noted that fork type is come about, mechanism selects the preferred version being only the embodiment of the present invention, it is impossible to
As the restriction to the scope of the present invention, the above-mentioned mechanism that comes about also can use cross-head type to come about mechanism or roller type turns
Steering wheel structure.
Preferably, above-mentioned electric cylinder 13 is run-in index electric cylinder, and servomotor 131 is permagnetic synchronous motor, above-mentioned deceleration
The speed reducing ratio of device 132 is 4:1, and the helical pitch of above-mentioned leading screw 134 is 10mm.Run-in index electric cylinder refers to servomotor 131 and cylinder body
The electric cylinder 13 of 133 parallel installations, the installation length of this electric cylinder 13 is short, is applicable to compared with the application under subenvironment, and relatively
Orthoscopic or vertical electric cylinder, run-in index electric cylinder has higher control accuracy, be conducive to improve the embodiment of the present invention
The control accuracy of ship steering engine driving means；Than the motor of other forms, permagnetic synchronous motor has simple in construction, volume
Little, lightweight, be lost little, efficiency is high, power factor advantages of higher, it is adaptable to require response quick and the high-performance of accurate positioning
Servomechanism, uses the motor of this form, is also beneficial to improve the control of embodiment of the present invention ship steering engine driving means
Precision processed；And use the decelerator 132 of this 4:1 speed reducing ratio can preferably realize the control to electric cylinder 13；Leading of leading screw 134
Cheng Yue great, its screw turns is also bigger once the distance enclosing its transmission, but the increase of helical pitch value also results under control accuracy
Fall, the helical pitch of leading screw 134 is less, and its control accuracy is higher, but the distance of screw turns transmission once enclosing is also less, transmission
The energy that journey is consumed is also bigger, Comprehensive Control precision and factor of both transmission energy ezpenditure, the embodiment of the present invention
The helical pitch of leading screw 134 is preferably 10mm.It should be noted that the type of the type of above-mentioned electric cylinder 13, servomotor 131, on
The selection of the deceleration when helical pitch of leading screw 134 stating decelerator 132 is all only a preferred version of the embodiment of the present invention, it is impossible to
As the restriction to the scope of the present invention, above-mentioned electric cylinder 13 also can be orthoscopic electric cylinder or vertical electric cylinder, on
Stating permagnetic synchronous motor also can be electric excitation synchronous motor, and the helical pitch of the deceleration when leading screw of above-mentioned decelerator 132 can basis
Actual conditions are chosen.
Preferably, above-mentioned PLC control cabinet 11 uses touch-screen control.Use the control of touch-screen so that the present invention
Embodiment ship steering engine driving means uses more convenient.
Embodiment two
As shown in Figures 2 and 3, the detecting system of a kind of ship steering engine driving means is embodiments provided, including
Above-mentioned ship steering engine driving means the 1st, interior ring sensor the 24th, position coder the 26th, spacing proximity switch the 25th, signals collecting board
23rd, controller 22 and industrial computer 21.Above-mentioned interior ring sensor 24 is installed in electric cylinder 13, is connected with PLC control cabinet 11 signal.
Above-mentioned position coder 26 is installed at fork-shaped tiller 142, for obtaining and sending rudder angle position signalling and rudder blade back to zero in real time
Signal.Above-mentioned spacing proximity switch 25 is connected with rudder blade 15, is used for judging whether rudder angle is more than preset value, if being more than preset value,
Then send the locking signal of spacing proximity switch 25.Above-mentioned signals collecting board 23 and interior ring sensor the 24th, position coder 26
And the equal signal of spacing proximity switch 26 connects, obtain rudder angle position signalling, rudder blade back to zero signal and spacing close to opening for real-time
Close the locking signal of 26.Controller noted above 22 is connected with signals collecting board 23 and PLC control cabinet 11, reads signal for real-time
The signal obtaining in analog input card 23, and corresponding control signal is sent to PLC control cabinet 11.Above-mentioned industrial computer 21 is adopted with signal
Collection board 23 and the equal signal of controller 22 connect, for the real-time signal reading and obtaining in signals collecting board 23, and in industry control
Show on human-computer interaction interface within machine 21, and then control controller noted above 22 sends corresponding control signal.
Using said structure, user can send certain instruction letter on the human-computer interaction interface within above-mentioned industrial computer 21
Breath (such as control instructions such as pose are given), and above-mentioned command information is transferred to controller 22 by ethernet communication.Controller
22 after receiving above-mentioned command information, can calculate the motion of electric cylinder 13 by operations such as pose conversion and arithmetic analysis
Parameter, the i.e. stroke of electric cylinder 13, and above-mentioned kinematic parameter is transferred to PLC control cabinet 11, based on above-mentioned kinematic parameter,
PLC control cabinet 11 controllable driver 12 drives above-mentioned electric cylinder 13 to be operated, and is connected with push rod 135 end of electric cylinder 13
The mechanism 14 that comes about rotate under the drive of electric cylinder 13, thus realize the motion of steering wheel.Said detecting system is worked
Cheng Zhong, is installed on the interior ring sensor 24 within electric cylinder 13 and can obtain the running state information of current power cylinder 13 in real time, and
Above-mentioned running state information is sent to PLC control cabinet 11 and information gathering board 23 in real time, and information gathering board 23 is obtaining
After above-mentioned running state information, send above-mentioned information to controller 22 and main control computer 21, and the people within main control computer 21
Showing on machine interactive interface, user can know the operation of current power cylinder 13 in real time according to the information of display on human-computer interaction interface
State, and send corresponding instruction change information according to current operating conditions, thus realize above-mentioned ship steering engine driving means
It is precisely controlled (the specific works process of position coder 26 is similar to therewith, does not repeats) at this.Simultaneously in order to ensure the present invention
The safe and reliable operation of the detecting system of ship steering engine driving means, said detecting system is also provided with spacing connecing at rudder blade 15s
Whether nearly switch 25, be more than preset value for real-time detection rudder angle, if it is more than preset value, then send spacing proximity switch 25
Locking signal is to signals collecting board 23, when signals collecting board 23 receives above-mentioned locking signal, by above-mentioned locking signal
Sending to the human-computer interaction interface of controller 22 and industrial computer 21, controller 22 can control system and sends failure safe alarm, and
Above-mentioned human-computer interaction interface shows break down, with user friendly to rudder of the present invention in prompting custom system where
The maintenance overhaul of machine actuating device, thus reach the purpose that security of system is operated reliably.
As shown in Figure 4, a kind of preferred version as the embodiment of the present invention, above-mentioned interior ring sensor 22 includes voltage sensor
Device 1311 and current sensor 1312, above-mentioned voltage sensor 1311 and current sensor 1312 are serially connected with above-mentioned servo electricity respectively
On the stator winding of machine 131, concurrently serve, for real-time acquisition, voltage signal and the current signal stating servomotor 131.Arrange
Above-mentioned servomotor 131 can be obtained in the voltage sensor 1311 within servomotor 131 and current sensor 1312 in real time
Voltage and current signal, and above-mentioned signal message is sent to information gathering board 23, above-mentioned information gathering board 23 is obtaining
Send above-mentioned signal message to the human-computer interaction interface of controller 22 and industrial computer 21 after above-mentioned signal message, control simultaneously
Device 22 processed can judge whether above-mentioned signal message is more than system setting voluntarily, if being more than, controller 22 can control system and sends
Failure safe alarm, and point out custom system where to break down, with user friendly to the present invention on human-computer interaction interface
The maintenance overhaul of ship steering engine driving means, thus ensure that the detecting system of ship steering engine driving means of the present invention is safe and reliable
Be operated.
As shown in Figure 4, above-mentioned interior ring sensor 22 also includes torque sensor 1313, above-mentioned torque sensor 1313 with watch
The rotor taking motor 131 is connected, and concurrently serves, for real-time acquisition, tach signal and the dtc signal stating servomotor 131.
It is arranged at the torque sensor 1313 within servomotor 131 and can obtain rotating speed and the torque letter of above-mentioned servomotor 131 in real time
Number, and above-mentioned signal message is sent to information gathering board 23, above-mentioned information gathering board 23 is obtaining above-mentioned signal message
Sending above-mentioned signal message to the human-computer interaction interface of controller 22 and industrial computer 21 afterwards, controller 22 can be voluntarily simultaneously
Judging whether above-mentioned signal message is more than system setting, if being more than, controller 22 can control system and sends failure safe alarm,
And point out custom system where to break down on human-computer interaction interface, with user friendly, dress is driven to ship steering engine of the present invention
The maintenance overhaul put, thus ensure that safe and reliable being operated of detecting system of ship steering engine driving means of the present invention.
As shown in Figure 4, above-mentioned interior ring sensor 22 also includes grating scale 1331, and above-mentioned grating scale 1331 is arranged on cylinder body
On the inner surface of 133, for obtaining and sending the displacement signal of push rod 135 in real time.It is arranged on the grating scale of cylinder body 133 inner surface
The displacement signal of 1331 push rods 135 that can obtain electric cylinder 13 in real time, and above-mentioned information is fed back to information gathering board 23, on
State information gathering board 23 after obtaining above-mentioned information, above-mentioned information is transferred to human-computer interaction interface and the control of industrial computer 21
Device processed, user can know the duty of current ship steering engine driving means on human-computer interaction interface in real time, and according to above-mentioned
Duty sends corresponding modification command information by human-computer interaction interface, thus realizes that above-mentioned ship steering engine drives further
Being precisely controlled of dynamic device.
Preferably, above-mentioned position coder 26 is 17-bit incremental encoder.17-bit incremental encoder is by position
Shifting signal is converted into periodic electrical signal, then claims count pulse signal of telecommunication conversion, represents the size of displacement by the number of pulse,
Its certainty of measurement is higher, can reflect that above-mentioned ship steering engine drives the information of course of work centered rudder Angle Position accurately.Need explanation
, above-mentioned position coder 26 model choose a kind of preferred version that the only present invention implements power, it is impossible to as to this
The restriction of bright practical range, on the premise of not affecting functional realiey of the present invention, above-mentioned position coder also can increase with 20-bit
Amount formula encoder or the encoder of other forms.
Preferably, the human-computer interaction interface within above-mentioned industrial computer 21 includes parameter setting, system monitoring and data process.
Above-mentioned parameter arranges and includes that rudder angle gives the parameter arranging with position coder and arranges, and said system monitoring includes rudder angle in time
Change and rudder angle tracking error over time, above-mentioned data process include interpretation, the inquiry of historical data and
Statistical report form prints.By above-mentioned setting so that man-machine interaction circle of the detecting system of the ship steering engine driving means of the present invention
Face is more friendly, and user can use according to the selection above-mentioned functions that needs of oneself.
Above one embodiment of the present of invention is described in detail, but described content has been only the preferable enforcement of the present invention
Example, it is impossible to be considered the practical range for limiting the present invention.All equalizations made according to the present patent application scope change and improve,
All should belong within the patent covering scope of the present invention.
Claims (10)
1. a ship steering engine driving means, it is characterised in that the PLC control cabinet that includes being sequentially connected, driver, electric cylinder,
Come about mechanism and rudder blade；
Described electric cylinder include cylinder body and be arranged at cylinder body outside servomotor and decelerator, described servomotor is by described
One end of the leading screw with described cylinder interior for the decelerator is connected, and the other end of described leading screw is socketed with and extends outside described cylinder body
Push rod, the end of described push rod is connected with the described mechanism that comes about；
Described driver is the corollary equipment of described electric cylinder, is connected with described servomotor, is used for driving described electric cylinder work
Make.
2. ship steering engine driving means according to claim 1, it is characterised in that the described mechanism that comes about is that fork type is come about machine
Structure, including fork-shaped tiller and the slide block of fork-shaped opening part being positioned at described fork-shaped tiller, described fork-shaped tiller passes through described slide block
One end outside extending described cylinder body with described push rod is connected.
3. ship steering engine driving means according to claim 1, it is characterised in that described electric cylinder is run-in index electric cylinder,
Described servomotor is permagnetic synchronous motor, and the speed reducing ratio of described decelerator is 3:1～5:1, the helical pitch of described leading screw is 8～
12mm。
4. ship steering engine driving means according to claim 1, it is characterised in that described PLC control cabinet uses touch
Screen control.
5. the detecting system of a ship steering engine driving means, it is characterised in that include:
Ship steering engine driving means according to any one of claims 1 to 4；
Interior ring sensor, it is installed in described electric cylinder, is connected with described PLC control cabinet signal；
Position coder, it is installed at described fork-shaped tiller, for obtaining in real time and sending rudder angle position signalling and rudder blade returns
Zero-signal；
Spacing proximity switch, is connected with described rudder blade, is used for judging whether described rudder angle is more than preset value, if being more than preset value,
Then send the locking signal of spacing proximity switch；
Signals collecting board, is connected with described interior ring sensor, described position coder and the equal signal of described spacing proximity switch,
For the real-time locking signal obtaining described rudder angle position signalling, described rudder blade back to zero signal and described spacing proximity switch；
Controller, is connected with described signals collecting board and described PLC control cabinet, reads described signals collecting board for real-time
The signal of middle acquisition, and corresponding control signal is sent to described PLC control cabinet；
Industrial computer, is connected with described signals collecting board and the equal signal of controller, reads described signals collecting board for real-time
The signal of middle acquisition, and show on the human-computer interaction interface within described industrial computer, and then control described controller and send phase
The control signal answered.
6. the detecting system of ship steering engine driving means according to claim 5, it is characterised in that described interior ring sensor bag
Include voltage sensor and current sensor；
Described voltage sensor and described current sensor are serially connected with on the stator winding of described servomotor respectively, in real time
Obtain and send voltage signal and the current signal of described servomotor.
7. the detecting system of ship steering engine driving means according to claim 6, it is characterised in that described interior ring sensor is also
Including torque sensor,
Described torque sensor is connected with the rotor of described servomotor, for obtaining in real time and sending described servomotor
Tach signal and dtc signal.
8. the detecting system of ship steering engine driving means according to claim 7, it is characterised in that described interior ring sensor is also
Including grating scale,
Described grating scale is arranged on the inner surface of described cylinder body, for obtaining and sending the displacement signal of described push rod in real time.
9. the detecting system of ship steering engine driving means according to claim 5, it is characterised in that described position coder is
17-bit incremental encoder.
10. the detecting system of ship steering engine driving means according to claim 5, it is characterised in that inside described industrial computer
Human-computer interaction interface include parameter arrange, system monitoring and data process；
Wherein, described parameter arranges and includes that rudder angle gives the parameter arranging with position coder and arranges, and described system monitoring includes
With rudder angle tracking error over time over time, described data process and include interpretation, history rudder angle
Data query and statistical report form print.
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| CN109229318A (en) * | 2018-09-12 | 2019-01-18 | 上海海事大学 | A kind of watertight helm gear of underwater robot |
| CN109540076A (en) * | 2018-12-12 | 2019-03-29 | 谢业海 | A kind of machine outside rotation angle sensor design method |
| CN109808863A (en) * | 2019-01-17 | 2019-05-28 | 上海大学 | Small capacity double pushes away unmanned boat steering control system |
| CN109911165A (en) * | 2019-04-18 | 2019-06-21 | 威海海洋职业学院 | Watercraft rudder/wing rudder concentric shafts connecting rocker arm vector transmission device |
| CN110304229A (en) * | 2019-07-18 | 2019-10-08 | 重庆大学 | A kind of steering engine for ship of two-stage mechanical transmission structure |
| CN111322979A (en) * | 2019-12-27 | 2020-06-23 | 北京海兰信数据科技股份有限公司 | Unmanned boat rudder angle measuring device |
| CN112027016A (en) * | 2020-08-24 | 2020-12-04 | 西北工业大学 | Rudder angle control device for embedded water tunnel test |
| CN114499035A (en) * | 2020-10-26 | 2022-05-13 | 北京机械设备研究所 | Electric steering engine system directly driven by outer rotor permanent magnet synchronous motor |
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| CN112027016A (en) * | 2020-08-24 | 2020-12-04 | 西北工业大学 | Rudder angle control device for embedded water tunnel test |
| CN114499035A (en) * | 2020-10-26 | 2022-05-13 | 北京机械设备研究所 | Electric steering engine system directly driven by outer rotor permanent magnet synchronous motor |
| CN114499035B (en) * | 2020-10-26 | 2024-01-23 | 北京机械设备研究所 | Electric steering engine system directly driven by outer rotor permanent magnet synchronous motor |
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