CN106628042B - High-speed ship stern guillotine system and control method - Google Patents
High-speed ship stern guillotine system and control method Download PDFInfo
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- CN106628042B CN106628042B CN201710059804.2A CN201710059804A CN106628042B CN 106628042 B CN106628042 B CN 106628042B CN 201710059804 A CN201710059804 A CN 201710059804A CN 106628042 B CN106628042 B CN 106628042B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
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- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of high-speed ship stern guillotine system and control methods, driver's cabin display control unit receives the control instruction of operating personnel, central control unit acquires ship rolling, pitching and heaving Three Degree Of Freedom attitude signal and speed of a ship or plane signal, helm order signal, control instruction is calculated and outputted through kernel control module, and control instruction signal is sent to by each servo drive unit group by CAN bus, each executing agency's group is driven to drive intercepter plate movement, each servo drive unit group receives the status feedback signal of intercepter plate, the status feedback signal received is transmitted to central control unit to handle, and stroke state instruction and alarm indication are carried out by the human-computer interaction interface of driver's cabin display control unit.The present invention can realize the adjusting of trim and heel, real time kinematics gesture stability, collaboration course changing control and auxiliary steering control to high-speed ship, with obvious effects to the motion attitude control of high-speed ship, effectively increase the seakeeping characteristics of high-speed ship.
Description
Technical field
The present invention relates to a kind of control systems, more particularly to a kind of suitable for the stern guillotine system of high-speed ship and control
Method processed.
Background technology
In recent years, with the high speed of the vehicles, it includes that high speed monomer is fast a series of novel high speed ship type occur
Ship wears unrestrained binary high-speed craft etc..The limitation of high-speed ship be its low speed turn to high speed operation when, vessel draft gradually subtracts
It is few, it is easy to be influenced by external disturbances such as wind, wave, streams, so as to cause hull swaying by a relatively large margin, is especially embodied in longitudinal direction
In movement.
For the comfort level of the airworthiness and crewman of raising high-speed ship, research improves its resistance to wave by improving Ship Hull Lines
Property produce little effect, and it is more notable come the effect for swaying acquirement for reducing ship by installing attached body additional.It is applied to ship appearance at present
The stabilizer of state control, tank stabilizer and subtracting shake gyro etc. and are mainly used for reducing the rolling motion of ship, and system weight, account for cabin
The limitations such as space, dynamic response time make it that can not have good application in high-speed ship.The application of current high-speed ship
Field is more and more extensive, and shipbuilding industry constantly payes attention to airworthiness concept, is also proposed to high-speed ship motion attitude control system
Higher requirement.
Invention content
The technical problems such as stall, the present invention when for horizontal and vertical motion control when solving shipping high speed navigation and turning to
A kind of suitable guillotine system and control method loaded on high-speed ship are provided, is cut using electrical servo drive system executing agency
Flowing plate moves, and to change the pressure distribution of hull surface, lift is generated, to ship shape at the stability force to contend with disturbing moment
Square achievees the effect that control Ship Motion Attitude.
To achieve the above object, the technical scheme is that：A kind of high-speed ship stern guillotine system, including drive
Room display control unit, central control unit, driving power supply box, servo drive unit group, executing agency's group, driver's cabin display control
Unit processed receives the control instruction of operating personnel, and central control unit acquires ship rolling, pitching and heaving Three Degree Of Freedom posture
Signal and speed of a ship or plane signal, helm order signal calculate and output control instruction through kernel control module, and will be controlled by CAN bus
Command signal is sent to each servo drive unit group, and each executing agency's group is driven to drive intercepter plate movement, each servo-drive
Unit group receives the status feedback signal of intercepter plate, and the status feedback signal received is transmitted at central control unit
Reason, and stroke state instruction and alarm indication are carried out by the human-computer interaction interface of driver's cabin display control unit.
Ship attitude-measuring sensor signal is received by RS232 inside the central control unit, outside passes through respectively
RS485 receives GPS signal or receives tachometer signal by DI, receives steering signal by AI, is controlled by LAN and driver's cabin
Display unit network interface communicates.
A kind of control method of high-speed ship stern guillotine system, including MANUAL CONTROL mode and automatic control mode,
The operation mode that central control unit receives driver's cabin control display unit instructs, acquisition ship attitude-measuring sensor signal,
Speed of a ship or plane signal and steering command signal resolve the movement travel of each guillotine executing agency intercepter plate, select control manually
When molding formula, by the heel in driver's cabin control display unit, trim angle control button, output corresponding site is horizontally mounted
Intercepter plate Stroke Control command signal, respectively drive corresponding executing agency's group and drive the intercepter plate movement being horizontally mounted；Choosing
When with automatic control mode, then be divided into the control of automatic trim, the control of automatic heel, real-time attitude control, collaboration course changing control and
Assist steering control model：Under automatic trim, automatic heel pattern, kernel control module is according to pitch angle control target and currently
Attitude of ship and speed of a ship or plane signal, intercepter plate travel parameters, real-time resolving and the output phase under experts database corresponding modes in calling system
Position is answered to be horizontally mounted intercepter plate Stroke Control command signal；Under real-time attitude control model, kernel control module is according to working as
Preceding attitude of ship and speed of a ship or plane signal resolve the vertical row of the stroke and the longitudinal optimum attitude of control needed for the rolling for reducing ship
Journey is distributed control instruction to the servo drive unit for being respectively horizontally mounted intercepter plate executing agency in real time after summation process；It is assisting
With under steering control mode, kernel control module is horizontally mounted intercepter plate stroke according to ship helm signal, output corresponding site
Control instruction model reduces ship heel when turning to；In the case where auxiliary comes about pattern, kernel control module is according to current ship appearance
State, speed of a ship or plane signal and steering instruction, kernel control module resolve the Stroke Control instruction of vertical installation intercepter plate, reduce ship and turn
To radius, the harmful effect that stall is brought when mitigating ship turning.
Under orderly sea, using automatic trim control model, and in combination with collaboration course changing control；Under violent sea situation,
Using real-time attitude control model, the optimal athletic posture of ship is adjusted；Auxiliary comes about pattern suitable for using hydraulic jet propulsion
High-speed ship can be controlled with automatic trim, real-time attitude control isotype is used in combination.
The beneficial effects of the invention are as follows：
The high-speed ship stern guillotine system and control method of the present invention, can realize the trim and heel to high-speed ship
Adjusting, real time kinematics gesture stability, collaboration course changing control and auxiliary steering control, system reliability is high, it is simple in structure, install just
Victory, it is with obvious effects to the motion attitude control of high-speed ship, effectively increase the seakeeping characteristics of high-speed ship.
Description of the drawings
Fig. 1 is the high-speed ship stern guillotine System Working Principle schematic diagram of the present invention；
Fig. 2 is the high-speed ship stern guillotine system structure diagram of the present invention；
Fig. 3 is the stern guillotine of the present invention in high-speed tape driving stern scheme of installation；
Fig. 4 is that the stern guillotine of the present invention is wearing unrestrained binary high-speed craft stern scheme of installation；
Fig. 5 is the high-speed ship stern guillotine system control sytsem functional block diagram of the present invention；
Fig. 6 is the high-speed ship stern guillotine system actuator schematic diagram of the present invention；
Fig. 7 is the high-speed ship stern guillotine system control function module map of the present invention.
Specific implementation mode
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, guillotine executing agency is mounted on high-speed ship stern, it can change flow field and hull around hull
Stress.Around guillotine, the especially front of guillotine, the speed and pressure of fluid are compared with having in the case of without guillotine
Prodigious change.Although guillotine also produces resistance on hull, but as long as height stroke chooses suitable, the work of this resistance
With can ignore.The movement of intercepter plate changes the pressure distribution of hull surface, and Trimming Moment is generated on hull, reduces trim
Angle.Intercepter plate to change the pressure distribution of hull surface, generates lift in movement in vertical direction, to ship shape at perturbed force
The stabilizing moment that square contends with.Intercepter plate moves in the horizontal direction, can generate the torque that auxiliary ship station is come about.
High-speed ship stern guillotine system structure diagram as shown in Figure 2, composition have driver's cabin display control unit, in
Entreat control unit, driving power supply box, servo drive unit group, executing agency's group（Containing intercepter plate, be divided into left side be horizontally mounted group,
Right side is horizontally mounted group, left vertical installation group, Right vertical installation group）.High-speed ship occurs under the action of wave torque
It sways, is especially embodied in longitudinal movement, central control unit passes through the solution to signals such as attitude of ship, the speed of a ship or plane and steering instructions
It calculates, the intercepter plate Stroke Control instruction of output each group executing agency, then each intercepter plate carries out vertical and horizontal balance according to signal,
Realize that motion attitude control and auxiliary are come about function.Stern guillotine system can be respectively suitable for high-speed tape driving and wear unrestrained binary
High-speed craft, system are as shown in Figure 3 and Figure 4 in the scheme of installation difference of both ship type sterns.
It is illustrated in figure 5 high-speed ship stern guillotine system control sytsem functional block diagram.Central control unit leads to respectively
It crosses LAN to communicate with driver's cabin control display unit network interface, passes through serial ports（COM2）Receive GPS signal（Or it is had the records of distance by the log by DI receptions
Instrument signal）, steering instruction is received by 1 road AI, by CAN bus to each servo drive unit group output executing mechanism stroke control
System instruction, and reception state feedback signal and alarm signal.
The command signal that servo drive unit group is exported according to central control module in control system, driving executing agency cuts
Flowing plate acts, and is system core control unit, as shown in Figure 6.When automatic motion attitude control and auxiliary steering control in real time, control
System processed stretches out intercepter plate 10 adjusting of stroke by controlling driving mechanism 20 and realizing, change around hull flow field and hull by
Power, to achieve the purpose that Attitude is adjusted.
Fig. 7 show high-speed ship stern guillotine system control function module map, and system function pattern is broadly divided into base
This pattern（Manual trim control, the control of manual heel）And automatic control mode（Automatic trim control, automatic heel control, are real
When gesture stability, collaboration course changing control, auxiliary steering control）.Wherein auxiliary steering control model is by vertically arranged execution machine
The action of structure intercepter plate realizes that remaining control model is realized by the executing agency's intercepter plate action being horizontally mounted, and assists steering mould
Formula and other automatic control modes are used in combination.Each mode control method is illustrated individually below：
1. basic model（Manual heel control/manual trim control）：Pass through the man-machine boundary of driver's cabin control display unit
It is adjusted in face of the current heel of ship/Angle of Trim desired value, the ratio that central control module passes through solving target value and current value
Compared with, the stabilizing moment that resolving system need to provide, the Stroke Control instruction for being converted into executing agency's group I 1 and executing agency group II2 is defeated
Go out to servo drive unit group I and servo drive unit group II, respectively drives corresponding executing agency's movement；
2. automatic trim control model：When shipping high speed navigates by water, the Trimming Moment that underwater sheet body generates changes the longitudinal direction of ship
Posture.CS central control unit is stored with the experts database of ship trim control strategy, when shipping high speed navigates by water, according to current
Sea situation selects corresponding control strategy, central control unit can be according to current ship longitudinal attitude signal and navigational speed information at
Understand to calculate and obtains current ship trim angle, the vertical Stroke Control of real-time output executing mechanism group I 1 and executing agency group II2
Instruction, generates corresponding Trimming Moment, and the Angle of Trim of ship is decreased to setting value, realizes and controls the automatic trim of ship；
3. automatic heel control model：When uneven load-carrying, the navigation in beam wind occur for ship, hull generates
Heel.Central control unit can carry out processing according to current ship lateral attitude signal and navigational speed information and resolve the current ship of acquisition
Angle of heel, the vertical stroke different with executing agency group II2 intercepter plates of real-time adjustment actuating mechanism group I 1 generate corresponding horizontal
It goes all out square, ship is adjusted to the angle of heel of default（Usually 0 °）, realize and the automatic heel of ship controlled.Work as ship
For oceangoing ship when turning to, control system automatic pause heel regulatory function improves the turning efficiency of ship；
4. real-time attitude control model：CS central control unit passes through the ship Three Degree Of Freedom attitude signal that acquires in real time
With speed of a ship or plane signal, real-time control is carried out to executing agency's group I 1 and executing agency group II2, can by high-speed ship arbitrary sea situation,
It is adjusted to optimum attitude under each speed of a ship or plane, to reduce the pitch angular and heaving acceleration of ship；By to executing agency's group I 1
With the Differential Control of executing agency group II2 intercepter plates, the roll angle of ship is effectively reduced；Control system longitudinally transports ship simultaneously
Dynamic control and transverse movement Con trolling index are dynamically distributed, and realize that synthetic attitude control performance is optimal under the high speed of a ship or plane of ship；
5. cooperateing with steering control mode：In most cases, Angle of Heel contributes to ship to obtain higher in turning
Turning velocity and the comfort level for increasing passenger.CS central control unit acquires rudder position letter when ship turning in real time
Number, it is moved accordingly with rudder position for automatically controlling executing agency's group I 1 and executing agency group II2, for example, turning to the left
When, I intercepter plate of executing agency's group stretches out, and effectively reduces turning diameter, obtains better turning velocity；
6. assisting steering pattern：For the high-speed ship using hydraulic jet propulsion mode, will produce when being turned to using spray pump
Apparent stall event increases the consumption of the energy.CS central control unit acquires steering command signal in real time, adjusts vertical peace
The executing agency group III3 and executing agency's group IV4 intercepter plates horizontal throw of dress can generate corresponding steering force without causing
Larger stall event.When ship only needs smaller direction to adjust, can directly be realized using auxiliary steering function；And side
When larger to adjust instruction, spray pump can be used and mutually assisted with guillotine system to increase steering force, and reduces the revolution half of ship
Diameter；
Under normal conditions, under orderly sea, high-speed ship stern guillotine system is controlled using automatic trim（It is automatic horizontal
Incline control）Pattern, and in combination with collaboration course changing control；Under violent sea situation, using real-time attitude control model, ship is adjusted in real time
The optimal athletic posture of oceangoing ship.Simultaneity factor auxiliary operation function can make vertically arranged execution machine under ship difference steering demand
Structure participates in direction adjustment, reduces stall problem when ship turning, energy-efficient, meets the direction of current energy-saving and emission-reduction shipbuilding.
Claims (3)
1. a kind of control method of high-speed ship stern guillotine system, which includes driver's cabin display control unit, center
Control unit, driving power supply box, servo drive unit group, executing agency's group, the driver's cabin display control unit receive operation
The control instruction of personnel, central control unit acquire ship rolling, pitching and heaving Three Degree Of Freedom attitude signal and speed of a ship or plane letter
Number, helm order signal, calculate and output control instruction through kernel control module, and be sent to control instruction signal by CAN bus
Each servo drive unit group drives each executing agency's group that intercepter plate movement, each servo drive unit group reception is driven to shut off
The status feedback signal received is transmitted to central control unit and handled, and passes through driving by the status feedback signal of plate
The human-computer interaction interface of room display control unit carries out stroke state instruction and alarm indication, it is characterised in that：The controlling party
Method includes MANUAL CONTROL mode and automatic control mode, and central control unit receives the operation mode of driver's cabin control display unit
Instruction, acquisition ship attitude-measuring sensor signal, speed of a ship or plane signal and steering command signal, shuts off to each guillotine executing agency
The movement travel of plate is resolved, and when selecting MANUAL CONTROL mode, passes through the heel in driver's cabin control display unit, Angle of Trim
Control button is spent, the intercepter plate Stroke Control command signal that output corresponding site is horizontally mounted respectively drives corresponding execution machine
Structure group drives the intercepter plate movement being horizontally mounted；When selecting automatic control mode, then it is divided into automatic trim control, automatic heel control
System, real-time attitude control, collaboration course changing control and auxiliary steering control model：Under automatic trim, automatic heel pattern, core
Control module is according to pitch angle control target and current attitude of ship and speed of a ship or plane signal, lower section of experts database corresponding modes in calling system
Flowing plate travel parameters, real-time resolving simultaneously export corresponding site and are horizontally mounted intercepter plate Stroke Control command signal；In real-time attitude
Under control model, kernel control module resolves the row needed for the rolling for reducing ship according to current attitude of ship and speed of a ship or plane signal
The vertical stroke of journey and the longitudinal optimum attitude of control is distributed control instruction after summation process in real time to being respectively horizontally mounted intercepter plate
The servo drive unit of executing agency；In the case where cooperateing with steering control mode, kernel control module is according to ship helm signal, output
Corresponding site is horizontally mounted intercepter plate Stroke Control command signal, reduces ship heel when turning to；In the case where auxiliary comes about pattern, core
Heart control module is instructed according to current attitude of ship, speed of a ship or plane signal and steering, and kernel control module resolves vertical installation intercepter plate
Stroke Control instruction, reduce ship turning radius, the harmful effect that brings of stall when mitigating ship turning.
2. the control method of high-speed ship stern guillotine system according to claim 1, it is characterised in that：The center
Ship attitude-measuring sensor signal is received by RS232 inside control unit, outside receives GPS signal by RS485 respectively
Or tachometer signal is received by DI, and steering signal is received by AI, it is logical by LAN and driver's cabin control display unit network interface
Letter.
3. the control method of high-speed ship stern guillotine system according to claim 1, it is characterised in that：In tranquil sea
Under condition, using automatic trim control model, and in combination with collaboration course changing control；Under violent sea situation, controlled using real-time attitude
Pattern adjusts the optimal athletic posture of ship；Auxiliary comes about pattern suitable for the high-speed ship using hydraulic jet propulsion, is indulged with automatic
Incline control, real-time attitude control model be used in combination.
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| CN112278176B (en) * | 2020-11-05 | 2022-03-18 | 中国船舶工业集团公司第七0八研究所 | Ship attitude control topological structure and control system |
| CN115489684A (en) * | 2021-06-28 | 2022-12-20 | 中舟海洋科技(上海)有限公司 | Intercepting plate device and intercepting plate thereof |
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| CN201002710Y (en) * | 2007-01-30 | 2008-01-09 | 中国船舶重工集团公司第七○四研究所 | Fin stabilizer control device with GPS |
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