CN108372911A - Ensure the servo-control system of ship navigation platform stable - Google Patents
Ensure the servo-control system of ship navigation platform stable Download PDFInfo
- Publication number
- CN108372911A CN108372911A CN201810170038.1A CN201810170038A CN108372911A CN 108372911 A CN108372911 A CN 108372911A CN 201810170038 A CN201810170038 A CN 201810170038A CN 108372911 A CN108372911 A CN 108372911A
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- CN
- China
- Prior art keywords
- platform
- servo
- rotary actuator
- valve
- ship navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Analytical Chemistry (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention relates to a kind of servo-control systems ensureing ship navigation platform stable.Include platform, gyro compass, angular displacement sensor, amplifier, servo valve A, servo valve B, rotary actuator I, rotary actuator II on naval vessel；The interference signal that both direction deflects in length and breadth when the gyro compass is for detecting ship navigation；The angular displacement sensor is used for the swing angle of detection platform, and is converted to electric signal；The amplifier is used to the gyro compass, the interference signal of angular displacement sensor transmission, electric signal being amplified processing；The servo valve A, servo valve B are respectively used to control the pressure oil from hydraulic pump whether enter rotary actuator I, rotary actuator II；The rotary actuator I, rotary actuator II are respectively used to the longitudinally, laterally swing angle of adjustment platform.The present invention has directive significance to the steady steaming of all kinds of sail devices.
Description
Technical field
The present invention relates to Small Vessels to navigate by water field, and in particular to a kind of SERVO CONTROL ensureing ship navigation platform stable
System.
Background technology
With the rapid growth of marine economy, all kinds of Small Vessel mass productions, since wave influences, Small Vessel often goes out
The unstable situation of existing navigating platform, very big puzzlement is brought to the personnel on Small Vessel.
To ensure the stable equilibrium of Small Vessel navigation, the hardship of the top of ship's staff quite is released, therefore propose the present invention
A kind of guarantee ship navigation platform stable servo control loop.
Invention content
The purpose of the present invention is to provide a kind of servo-control systems ensureing ship navigation platform stable, to all kinds of seas
The steady steaming of aircraft has directive significance.
To achieve the above object, the technical scheme is that：A kind of SERVO CONTROL ensureing ship navigation platform stable
System includes platform, gyro compass, angular displacement sensor, amplifier, servo valve A, servo valve B, rotary actuator on naval vessel
I, rotary actuator II；
The interference signal that both direction deflects in length and breadth when the gyro compass is for detecting ship navigation；
The angular displacement sensor is used for the swing angle of detection platform, and is converted to electric signal；
The amplifier is used to the gyro compass, the interference signal of angular displacement sensor transmission, electric signal being amplified processing；
The servo valve A, servo valve B, which are respectively used to control the pressure oil from hydraulic pump, enters rotary actuator I, rotary actuator II
Whether；
The rotary actuator I, rotary actuator II are respectively used to the longitudinally, laterally swing angle of adjustment platform；
When naval vessel rides the sea, if chance is jolted, gyro compass detects interference signal S1, S2 of longitudinal and transverse two directions deflection,
After amplifier amplifies input servo valve A, B, the pressure oil from hydraulic pump through servo valve A, B respectively enter rotary actuator I,
II makes the negative direction that platform jolts to naval vessel swing, while angular displacement sensor converts the angle that platform is swung to electric signal,
And feed back to amplifier and be compared with interference signal S1, S2 that gyro compass deflects, obtain deviation signal；When platform returns back to water
When prosposition is set, deviation signal disappears, and servo valve A, B spool returns back to middle position, stops to rotary actuator I, II for pressure oil；
With jolting for naval vessel, platform is constantly adjusted automatically, remains at horizontal position, realizes continuous servo
Control.
In an embodiment of the present invention, the platform is weapon aiming platforms.
In an embodiment of the present invention, it is also respectively provided with orifice valve between described servo valve A, B and rotary actuator I, II
L, K improves the stability of platform to increase the damped coefficient of rotary actuator I, II servo loop.
In an embodiment of the present invention, the fluid in oil return pipe is kept when further including for shutting down, and prevents air intrusion system
The hydraulic control one-way valve G of system.
In an embodiment of the present invention, further include accumulator H, hydraulic control one-way valve C；In hydraulic pressure oil pump feed, pass through opening
Hydraulic control one-way valve C makes accumulator H be connected with working connection, for reducing the fluctuation of oil pressure source pressure.
In an embodiment of the present invention, further include pressure reducing valve D；After booting, by the decompression oil of pressure reducing valve D i.e. by hydraulic control list
It is opened to valve G to eliminate back pressure；Decompression oil is also used for driving locking device.
In an embodiment of the present invention, further include reversal valve E, for when platform does not work, controlling whole system power-off,
And platform is locked by mechanical device.
In an embodiment of the present invention, which is applied to Small Vessel.
Compared to the prior art, the invention has the advantages that：The present invention is steady to all kinds of small-sized sail devices
Fixed navigation has directive significance.
Description of the drawings
Fig. 1 is the servo-control system block diagram that the present invention ensures ship navigation platform stable.
Specific implementation mode
Below in conjunction with the accompanying drawings, technical scheme of the present invention is specifically described.
A kind of servo-control system of guarantee ship navigation platform stable of the present invention, include platform on naval vessel,
Gyro compass, angular displacement sensor, amplifier, servo valve A, servo valve B, rotary actuator I, rotary actuator II；
The interference signal that both direction deflects in length and breadth when the gyro compass is for detecting ship navigation；
The angular displacement sensor is used for the swing angle of detection platform, and is converted to electric signal；
The amplifier is used to the gyro compass, the interference signal of angular displacement sensor transmission, electric signal being amplified processing；
The servo valve A, servo valve B, which are respectively used to control the pressure oil from hydraulic pump, enters rotary actuator I, rotary actuator II
Whether；
The rotary actuator I, rotary actuator II are respectively used to the longitudinally, laterally swing angle of adjustment platform；
When naval vessel rides the sea, if chance is jolted, gyro compass detects interference signal S1, S2 of longitudinal and transverse two directions deflection,
After amplifier amplifies input servo valve A, B, the pressure oil from hydraulic pump through servo valve A, B respectively enter rotary actuator I,
II makes the negative direction that platform jolts to naval vessel swing, while angular displacement sensor converts the angle that platform is swung to electric signal,
And feed back to amplifier and be compared with interference signal S1, S2 that gyro compass deflects, obtain deviation signal；When platform returns back to water
When prosposition is set, deviation signal disappears, and servo valve A, B spool returns back to middle position, stops to rotary actuator I, II for pressure oil；
With jolting for naval vessel, platform is constantly adjusted automatically, remains at horizontal position, realizes continuous servo
Control.
The platform is weapon aiming platforms.
Be also respectively provided with orifice valve L, K between described servo valve A, B and rotary actuator I, II, with increase rotary actuator I,
The damped coefficient of II servo loops improves the stability of platform.
It is the specific implementation process of the present invention below.
As shown in Figure 1, the principle of the present invention：To make platform 3 remain horizontal position, the equipment on platform can be accurately
Run-home.
When naval vessel rides the sea, if chance is jolted, the gyro compass on naval vessel detects that longitudinal and transverse two directions are inclined
Interference signal S1, S2 turned inputs servo valve A and B after amplifier amplifies, and the pressure oil from hydraulic pump is through servo valve A and B
Rotary actuator I and II are respectively enterd, so that the negative direction that platform 3 jolts to naval vessel is swung, while the angular displacement on platform passes
Sensor converts the angle that platform is swung to electric signal, and feeds back to the interference signal that amplifier is deflected with gyro compass and compared
Compared with.
When platform returns back to horizontal position, deviation signal disappears, and servo valve A returns back to middle position with B spools.
With jolting for naval vessel, platform 3 is constantly adjusted automatically, remains at horizontal position, realizes continuous
SERVO CONTROL.
Some explanations of the present invention：Orifice valve L and K is respectively intended to increase the damping system of rotary actuator I and II servo loops
Number improves the stability of platform 3.
The fluid in oil return pipe is kept when hydraulic control one-way valve G is used to shut down, and prevents air invasive system.
When hydraulic pressure oil pump feed, hydraulic control one-way valve C is opened, so that accumulator H is connected with working connection, for reducing oil pressure source pressure
Fluctuation.
After booting, valve G is opened to eliminate back pressure by the decompression oil of pressure reducing valve D.Decompression oil is also used for driving locking
Device.
When platform does not work, reversal valve E power-off is locked platform by mechanical device.
The above are preferred embodiments of the present invention, all any changes made according to the technical solution of the present invention, and generated function is made
When with range without departing from technical solution of the present invention, all belong to the scope of protection of the present invention.
Claims (8)
1. a kind of servo-control system ensureing ship navigation platform stable, which is characterized in that include on Small Vessel
Platform, gyro compass, angular displacement sensor, amplifier, servo valve A, servo valve B, rotary actuator I, rotary actuator II；
The interference signal that both direction deflects in length and breadth when the gyro compass is for detecting ship navigation；
The angular displacement sensor is used for the swing angle of detection platform, and is converted to electric signal；
The amplifier is used to the gyro compass, the interference signal of angular displacement sensor transmission, electric signal being amplified processing；
The servo valve A, servo valve B, which are respectively used to control the pressure oil from hydraulic pump, enters rotary actuator I, rotary actuator II
Whether；
The rotary actuator I, rotary actuator II are respectively used to the longitudinally, laterally swing angle of adjustment platform；
When naval vessel rides the sea, if chance is jolted, gyro compass detects interference signal S1, S2 of longitudinal and transverse two directions deflection,
After amplifier amplifies input servo valve A, B, the pressure oil from hydraulic pump through servo valve A, B respectively enter rotary actuator I,
II makes the negative direction that platform jolts to naval vessel swing, while angular displacement sensor converts the angle that platform is swung to electric signal,
And feed back to amplifier and be compared with interference signal S1, S2 that gyro compass deflects, obtain deviation signal；When platform returns back to water
When prosposition is set, deviation signal disappears, and servo valve A, B spool returns back to middle position, stops to rotary actuator I, II for pressure oil；
With jolting for naval vessel, platform is constantly adjusted automatically, remains at horizontal position, realizes continuous servo
Control.
2. the servo-control system according to claim 1 for ensureing ship navigation platform stable, which is characterized in that described flat
Platform is weapon aiming platforms.
3. the servo-control system according to claim 1 for ensureing ship navigation platform stable, which is characterized in that described to watch
It takes and is also respectively provided with orifice valve L, K between valve A, B and rotary actuator I, II, to increase the resistance of rotary actuator I, II servo loop
Buddhist nun's coefficient improves the stability of platform.
4. the servo-control system according to claim 1 for ensureing ship navigation platform stable, which is characterized in that further include
The fluid in oil return pipe is kept when for shutting down, and preventing the hydraulic control one-way valve G of air invasive system.
5. the servo-control system according to claim 4 for ensureing ship navigation platform stable, which is characterized in that further include
Accumulator H, hydraulic control one-way valve C；In hydraulic pressure oil pump feed, by opening hydraulic control one-way valve C, accumulator H is made to be connected with working connection,
For reducing the fluctuation of oil pressure source pressure.
6. the servo-control system according to claim 5 for ensureing ship navigation platform stable, which is characterized in that further include
Pressure reducing valve D；After booting, hydraulic control one-way valve G is opened to eliminate back pressure by the decompression oil of pressure reducing valve D；Decompression oil is also used for
Driving locking device.
7. the servo-control system according to claim 6 for ensureing ship navigation platform stable, which is characterized in that further include
Reversal valve E, for when platform does not work, control whole system to power off, and is locked platform by mechanical device.
8. the servo-control system according to claim 1 for ensureing ship navigation platform stable, which is characterized in that the system
Applied to Small Vessel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810170038.1A CN108372911A (en) | 2018-03-01 | 2018-03-01 | Ensure the servo-control system of ship navigation platform stable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810170038.1A CN108372911A (en) | 2018-03-01 | 2018-03-01 | Ensure the servo-control system of ship navigation platform stable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108372911A true CN108372911A (en) | 2018-08-07 |
Family
ID=63018191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810170038.1A Withdrawn CN108372911A (en) | 2018-03-01 | 2018-03-01 | Ensure the servo-control system of ship navigation platform stable |
Country Status (1)
| Country | Link |
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| CN (1) | CN108372911A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010145733A1 (en) * | 2009-06-20 | 2010-12-23 | Robert Bosch Gmbh | Mobile working machine comprising a device for damping vibrations of a working arm, and method for damping the vibrations |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
| CN202420505U (en) * | 2011-12-02 | 2012-09-05 | 九江精密测试技术研究所 | Combined gesture measuring device of stable platform for self-correction ship |
| CN106444862A (en) * | 2016-11-24 | 2017-02-22 | 福建省新能海上风电研发中心有限公司 | Six-degree-of-freedom sea wave compensation platform control method and system |
| CN107298394A (en) * | 2017-07-07 | 2017-10-27 | 江苏科技大学 | A kind of compensation method of the two degrees of freedom wave compensation system detected based on sea horizon |
| CN107357171A (en) * | 2017-08-14 | 2017-11-17 | 哈尔滨理工大学 | The control method of boat-carrying three-axle steady platform |
-
2018
- 2018-03-01 CN CN201810170038.1A patent/CN108372911A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010145733A1 (en) * | 2009-06-20 | 2010-12-23 | Robert Bosch Gmbh | Mobile working machine comprising a device for damping vibrations of a working arm, and method for damping the vibrations |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
| CN202420505U (en) * | 2011-12-02 | 2012-09-05 | 九江精密测试技术研究所 | Combined gesture measuring device of stable platform for self-correction ship |
| CN106444862A (en) * | 2016-11-24 | 2017-02-22 | 福建省新能海上风电研发中心有限公司 | Six-degree-of-freedom sea wave compensation platform control method and system |
| CN107298394A (en) * | 2017-07-07 | 2017-10-27 | 江苏科技大学 | A kind of compensation method of the two degrees of freedom wave compensation system detected based on sea horizon |
| CN107357171A (en) * | 2017-08-14 | 2017-11-17 | 哈尔滨理工大学 | The control method of boat-carrying three-axle steady platform |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180807 |
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| WW01 | Invention patent application withdrawn after publication |