CN109085778A - A kind of gondola propulsion ship model steerable system and method based on handle control - Google Patents
A kind of gondola propulsion ship model steerable system and method based on handle control Download PDFInfo
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- CN109085778A CN109085778A CN201810855317.1A CN201810855317A CN109085778A CN 109085778 A CN109085778 A CN 109085778A CN 201810855317 A CN201810855317 A CN 201810855317A CN 109085778 A CN109085778 A CN 109085778A
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- control
- ship
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of gondolas based on handle control to promote ship model steerable system and method, the direct control crank of driver first, by UART serial port module and single chip communication on the bank, the control data for generating control PODDED PROPULSOR revolving speed and steering are handled through control algolithm；Then by being communicated between wireless module and single-chip microcontroller on ship, the PWM wave signal of 3 tunnels control brshless DC motor rotation is generated through control algolithm, revolving speed and steering of the pwm signal through motor drive module control PODDED PROPULSOR, to realize the corresponding maneuvering motion of ship model.
Description
Technical field
The present invention relates to a kind of gondolas to promote ship model steerable system and method, especially a kind of gondola based on handle control
Ship model steerable system and method are promoted, ship control technical field is belonged to.
Background technique
Turning quality, course changing quality and stopping ability are several important performances of ship during traveling, especially in ship
From going to dock, under the operating condition that entering and leaving port etc. is run at a low speed, the accuracy of its operation is improved, simplicity has very important meaning
Justice.For conventional helical oar, the behaviour that flexible operating characteristics is not satisfactory, and paddle and rudder cooperate is carried out under the low speed
Make difficulty also ten/height.
Control panel (idler wheel) and keyboard are depended on to the operation of Ship Controling control method at present, driver needs
Pass through its application method of training and learning.Control panel and keyboard and instruction are more, and manual manipulation mode is not very convenient,
Sailor is needed to disperse the correctness that energy guarantees operation in use process, this brings some potential safety problems to ship's navigation.
With the fast development of nautical science technology and Naval Architecture and Ocean Engineering, gondola, which promotes, is used as a kind of novel propulsion skill
Art is increasingly appearing in the visual field of people, by the characteristic and excellent maneuverability of its 360 ° of full circle swingings, so that ship
From go to dock, access to the ports, the mobility of motor-driven operation and safety greatly increase.Studies have shown that gondola propelling ship has
Compared with high maneuverability and maneuverability, there is the ability for realizing the movement of the complex manipulations such as advance, reversing, left-hand rotation, right-hand rotation, cast.
Ship Controling controls key equipment of the handle as Ship Steering Simulation System, is widely used in console, driver's cabin
And other commanding apparatus.With the rapid development of Ship Controling automatic technology, to the overall performance of marine control handle, outer
Appearance quality, function specialization etc. require higher and higher.Existing marine control handle is primarily present following defect: first is that function list
One, existing handle is mostly single shaft control handle, for host and steering engine, can only operate separately, can not achieve the one of rudder and machine
Bodyization operation；Second is that manipulation feel is poor.
Three axes control handle can directly export handle swaying direction angle, handle amplitude of fluctuation angle, handle knob rotation angle three
A parameter, it is multiple functional, it can be used for the maneuvering motion of real-time control ship.
For simplicity, the humanization level for improving Ship Controling method, three axes control handle and gondola are promoted into ship model behaviour
Longitudinal phase combine, be conducive to ship-lifting manipulation accuracy, reduce ship complex operations movement difficulty, make Ship Controling gradually at
For a kind of enjoyment.The present invention can provide technology branch based on the gondola propelling ship product that stick control controls for domestic independent development
It holds, there is preferable promotional value and application prospect.
Summary of the invention
Technical problems to be solved
In order to solve existing manual operation technology control panel and keyboard and instruct it is more, manual manipulation mode is not
Convenient problem, the invention proposes a kind of gondolas based on handle control to promote ship model steerable system and method.
Technical solution
A kind of gondola based on handle control promotes ship model steerable system, including three axes control handle, control system on the bank
With control system on ship；Control system includes STM32 microcontroller development board and wireless sending module on the bank, STM32 monolithic on the bank
Machine development board is connected with wireless sending module by conducting wire；Control system includes wireless receiving module, STM32 monolithic on ship on ship
Machine development board and motor drive module, STM32 microcontroller development board and motor drive module successively lead on wireless receiving module, ship
Conducting wire connection is crossed, three axes control handle passes through UART serial ports and STM32 microcomputer development board communications on the bank.
A kind of gondola propulsion ship model method of operating based on handle control, steps are as follows: it is real-time to swing three axes control handle
Handle swaying direction angle, three handle amplitude of fluctuation angle, handle knob rotation angle parameters are exported, three parameters are three road RS232
Rs 232 serial interface signal is transmitted directly to STM32 microcontroller development board on the bank by UART serial communication, on the bank STM32 microcomputer development
After plate receives stick control control parameter, the control that processing generates control PODDED PROPULSOR revolving speed and steering is carried out to control parameter
Data processed, are sent by wireless sending module, and wireless receiving module receives control data, and will control data and STM32 on ship
Microcontroller development board is communicated, and generates the PWM wave signal of 3 tunnels control brshless DC motor rotation, pwm signal is through motor driven
Module controls revolving speed and the steering of PODDED PROPULSOR, and three PODDED PROPULSORs cooperate, and realizes that gondola promotes ship model corresponding
Maneuvering motion.
Beneficial effect
A kind of gondola based on handle control proposed by the present invention promotes ship model steerable system and method, which can
Directly controlling gondola by pilot control handle promotes ship model to complete the maneuvering motion of various complexity, significantly reduces ship model
The difficulty of manipulation improves the intelligence and humanization level of ship model manipulation.The method of operating may be used on the ship of gondola propulsion
Oceangoing ship product has important engineering significance for the maneuvering performance of ship-lifting.
(1) after ship model receives control crank control parameter, according to control algolithm, multiple PODDED PROPULSORs is realized and are cooperateed with
The ship model maneuvering motion of various complexity is completed in work；
(2) a kind of intelligent ship model design that can be controlled by three axes control handle is realized, it is convenient, accurate, more to have
Intelligent and hommization feature.
Detailed description of the invention
Fig. 1 is technical solution of the present invention flow chart.
Fig. 2 is stick control output parameter schematic diagram.
Fig. 3 is stick control movement of ship model control principle drawing.
In Fig. 1: 1- three axes control handle, 2- on the bank STM32 single-chip microcontroller, 3- wireless transport module, 4- wireless receiving module,
STM32 single-chip microcontroller, 6- motor drive module, 7- gondola promote ship model on 5- ship.
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
As shown in Figure 1-3, a kind of gondola based on handle control of the invention promotes ship model method of operating, composition includes
The input of stick control parameter, control system, gondola promote three parts of ship model.
Wherein stick control parameter input is mainly the direct swing handle of driver, and handle can export handle swing side in real time
To three angle, handle amplitude of fluctuation angle, handle knob rotation angle parameters, three parameters are three road RS232 rs 232 serial interface signals, are passed through
UART serial communication is transmitted directly to control system on the bank.
Control system is divided into control system two parts on control system on the bank and ship.Control system component units packet on the bank
Include: STM32 microcontroller development board, wireless sending module, power module, power module is to STM32 microcontroller development board, wireless hair
Module for power supply is sent, is connected each unit by conducting wire；Control system component units include: wireless receiving module, STM32 on ship
Microcontroller development board, motor drive module, power module, power module to wireless receiving module, STM32 microcontroller development board,
Motor drive module power supply, is connected each unit by conducting wire.
Gondola promote ship model symmetrical two PODDED PROPULSORs of stern, can 360 ° rotation, generate any level direction
On thrust；Bow is installed a bow side and is pushed away, and the thrust of a vertical hull center line can only be generated；All PODDED PROPULSORs are equal
Support positive and negative rotation.
It is powered first with power module to control system；On the coast, the direct control crank of driver first, passes through
UART serial port module and single chip communication on the bank, after control system receives stick control control parameter on the bank, carry out data
Processing generates the control data of control PODDED PROPULSOR revolving speed and steering；Then by between single-chip microcontroller on wireless module and ship into
Row communication generates the PWM wave signal of 3 tunnels control brshless DC motor rotation through control algolithm, and pwm signal is through motor drive module
Revolving speed and the steering for controlling PODDED PROPULSOR, to realize the corresponding maneuvering motion of ship model.
Above it is exactly specific implementation method of the invention, promotes the control of ship model by establishing three axes control handle and gondola
System processed achievees the purpose that directly controlling gondola by stick control promotes ship model maneuvering motion.It drives and grasps with traditional ship model
Vertical mode is compared, and is improved the maneuvering performance and humanization level of ship model, is reduced operating difficulty.
It is extensive using ship type simultaneously present embodiments can apply on gondola propelling ship, it is equal in civilian, military and scientific research field
With boundless application prospect, there is very strong practicability and promotional value.
Claims (2)
1. a kind of gondola based on handle control promotes ship model steerable system, it is characterised in that including three axes control handle (1), bank
Control system in upper control system and ship；Control system includes STM32 microcontroller development board (2) on the bank and wireless transmission mould on the bank
Block (3), STM32 microcontroller development board (2) and wireless sending module (3) are connected by conducting wire；Control system includes wireless on ship
STM32 microcontroller development board (5) and motor drive module (6) on receiving module (4), ship, on wireless receiving module (4), ship
STM32 microcontroller development board (5) and motor drive module (6) are sequentially connected by wire, and three axes control handle (1) passes through UART
Serial ports is communicated with STM32 microcontroller development board (2) on the bank.
2. the gondola based on handle control that system according to claim 1 is realized promotes ship model method of operating, feature
It is that steps are as follows: swings three axes control handle (1) output handle swaying direction angle, handle amplitude of fluctuation angle, handle rotation in real time
Three parameters of button rotation angle, three parameters are three road RS232 rs 232 serial interface signals, are transmitted directly on the bank by UART serial communication
STM32 microcontroller development board (2), after STM32 microcontroller development board (2) receives stick control control parameter on the bank, to control
Parameter carries out the control data that processing generates control PODDED PROPULSOR revolving speed and steering, is sent by wireless sending module (3), nothing
Line receiving module (4) receives control data, and control data are communicated with STM32 microcontroller development board (5) on ship, generates
3 tunnels control the PWM wave signal of brshless DC motor rotation, and pwm signal turns through motor drive module (6) control PODDED PROPULSOR
Speed and steering, three PODDED PROPULSORs cooperate, and realize that gondola promotes ship model (7) corresponding maneuvering motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810855317.1A CN109085778A (en) | 2018-07-31 | 2018-07-31 | A kind of gondola propulsion ship model steerable system and method based on handle control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810855317.1A CN109085778A (en) | 2018-07-31 | 2018-07-31 | A kind of gondola propulsion ship model steerable system and method based on handle control |
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| Publication Number | Publication Date |
|---|---|
| CN109085778A true CN109085778A (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810855317.1A Pending CN109085778A (en) | 2018-07-31 | 2018-07-31 | A kind of gondola propulsion ship model steerable system and method based on handle control |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311849A (en) * | 2021-05-25 | 2021-08-27 | 中国船舶重工集团公司第七0七研究所九江分部 | Self-propelled model navigation operation control system |
| CN113460280A (en) * | 2021-07-21 | 2021-10-01 | 上海外高桥造船有限公司 | Propeller for FPSO (Floating production storage and offloading), control system of propeller and FPSO |
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2018
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Patent Citations (5)
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| JP2013184247A (en) * | 2012-03-07 | 2013-09-19 | Japan Marine United Corp | Weld bead grinding device |
| CN102692924A (en) * | 2012-05-10 | 2012-09-26 | 西北工业大学 | Experimental control structure of unmanned surface vessel |
| CN104648645A (en) * | 2015-03-04 | 2015-05-27 | 武汉理工大学 | Jet-propelled boat capable of realizing boat motion vector control |
| CN205375790U (en) * | 2016-01-04 | 2016-07-06 | 武汉理工大学 | Unmanned marine self -organizing communication system |
| CN105752308A (en) * | 2016-04-01 | 2016-07-13 | 武汉理工大学 | Pod propelled ship maneuvering vector control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311849A (en) * | 2021-05-25 | 2021-08-27 | 中国船舶重工集团公司第七0七研究所九江分部 | Self-propelled model navigation operation control system |
| CN113460280A (en) * | 2021-07-21 | 2021-10-01 | 上海外高桥造船有限公司 | Propeller for FPSO (Floating production storage and offloading), control system of propeller and FPSO |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190415 Address after: 518000 Guangdong Province Nanshan District Yuehai Street High-tech Industrial Park South District Virtual University Park Applicant after: SHENZHEN INSTITUTE, NORTHWESTERN POLYTECHNICAL UNIVERSITY Applicant after: Northwestern Polytechnical University Address before: 710072 No. 127 Youyi West Road, Shaanxi, Xi'an Applicant before: Northwestern Polytechnical University |
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| TA01 | Transfer of patent application right | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181225 |
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| WD01 | Invention patent application deemed withdrawn after publication |