CN111559488B - Intelligent ship rudder equipment automatic control method and system - Google Patents
Intelligent ship rudder equipment automatic control method and system Download PDFInfo
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- CN111559488B CN111559488B CN202010451141.0A CN202010451141A CN111559488B CN 111559488 B CN111559488 B CN 111559488B CN 202010451141 A CN202010451141 A CN 202010451141A CN 111559488 B CN111559488 B CN 111559488B
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- steering engine
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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
- B63H25/26—Steering engines
- B63H25/28—Steering engines of fluid type
- B63H25/30—Steering engines of fluid type hydraulic
Abstract
The invention provides an automatic control method and system for intelligent ship rudder equipment, wherein the method comprises the following steps: acquiring a rudder angle setting instruction and judging whether a rudder angle set value in the rudder angle setting instruction is within a deflectable range of rudder equipment or not; if the rudder angle set value is in the range of the rudder equipment capable of deflecting, starting a hydraulic pump motor and a hydraulic pump to rotate the steering engine; when the steering engine is in a stable rotation state, judging whether the rotation angular speed of the rudder blade is greater than a rotation speed threshold value; if the rotation angular velocity of the rudder blade is not greater than the rotation speed threshold value, judging whether the rotation angle of the rudder blade reaches a rudder angle set value or not; and if the rotation angle of the rudder blade reaches the rudder angle set value, stopping the hydraulic pump motor and the hydraulic pump, and finishing the execution of the rudder angle set instruction. The invention realizes the speed control of the rudder equipment during the rudder diversion, avoids the damage of the steering engine and the rudder blade caused by the over-fast rotation of the rudder equipment, realizes the limitation of the angle of the rudder equipment and avoids the damage of the steering engine and the transmission mechanism of the rudder caused by the over-limit angle given by the decision error of the intelligent ship decision mechanism.
Description
Technical Field
The invention relates to the technical field of intelligent ships, in particular to an automatic control method and system for intelligent ship rudder equipment.
Background
The intelligent ship is a ship which automatically senses and obtains information and data of the ship, marine environment, logistics, port and the like by using technical means such as sensors, communication, internet of things, internet and the like, and intelligently operates in aspects of ship navigation, management, maintenance, cargo transportation and the like based on a computer technology, an automatic control technology and a big data processing and analyzing technology, so that the ship is safer, more environment-friendly, more economical and more reliable.
The rudder equipment in a ship refers to a general term of related devices which use a rudder to keep the ship in a required course during navigation, change the original course or perform a turning motion. The traditional rudder equipment needing manual operation mainly comprises a rudder, a steering engine, a steering device and the like, and is respectively arranged on the lower part of a stern, between the steering engines and on a driving platform. The rudder device is the main tool for keeping and changing course and turning movement of a ship during navigation. In the normal navigation process of the ship, when the navigation speed of the ship reaches more than 5 knots, the steering effect which can be provided by the ship side thrust almost disappears, and the ship side thrust mainly depends on the rudder equipment to steer, so that obstacles are avoided, meetings among the ships and the like are realized, and therefore, the rudder equipment is very important for the navigation safety of the ship.
The development of rudder equipment has been an autopilot so far, and the yaw angle can be automatically corrected according to the course and the course set by a ship driver, so that the ship keeps the stability of the course. However, most of the existing autopilots are automatically controlled based on equipment such as a relay and a single chip microcomputer, however, no matter a control system based on the relay or the single chip microcomputer has the problem of being greatly limited by the working environment, and the working stability of the system cannot meet the requirement of a ship during normal working.
The above drawbacks are expected to be overcome by those skilled in the art.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems in the prior art, the invention provides an automatic control method and system for an intelligent ship rudder device, and solves the problem that an intelligent ship rudder is greatly limited by a working environment in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
in one aspect, the invention provides an automatic control method for intelligent ship rudder equipment, which comprises the following steps:
s1: acquiring a rudder angle setting instruction, and judging whether a rudder angle set value in the rudder angle setting instruction is within a deflectable range of rudder equipment or not;
s2: if the rudder angle set value is within the range of the rudder equipment capable of deflecting, starting a hydraulic pump motor and a hydraulic pump to rotate the steering engine;
s3: when the steering engine is in a stable rotation state, judging whether the rotation angular speed of the rudder blade is greater than a rotation speed threshold value;
s4: if the rotation angular velocity of the rudder blade is not greater than the rotation speed threshold value, judging whether the rotation angle of the rudder blade reaches a rudder angle set value or not;
s5: and if the rotation angle of the rudder blade reaches the rudder angle set value, stopping the hydraulic pump motor and the hydraulic pump, and finishing the execution of the rudder angle set instruction.
In one exemplary embodiment of the present invention, the judging whether the rudder angle setting value in the rudder angle setting command is within a range in which the rudder apparatus can deflect further includes:
if the rudder angle set value is not in the range of the rudder equipment which can deflect, a reset signal is fed back;
receiving a response signal aiming at the reset signal, and if the response signal is the reset rudder angle, taking the reset rudder angle as a new rudder angle set value; if the response signal is that the rudder angle is not reset, taking the maximum rudder angle in the current rudder angle deflection direction as the set value of the rudder angle;
the deflectable range of the rudder device is [ -alpha, alpha ], and the rotatable angle of the steering engine is 2 alpha.
In an exemplary embodiment of the invention, actuating the hydraulic pump motor and the hydraulic pump to rotate the steering engine comprises:
after the hydraulic pump motor is started, judging whether the starting times of the hydraulic pump motor are greater than or equal to a first preset time;
if the starting times of the hydraulic pump motor are more than or equal to the first preset times, sending a first alarm signal, and if the starting times of the hydraulic pump motor are less than the first preset times, judging whether the hydraulic pump motor is normally started;
if the hydraulic pump motor is normally started, the operation is maintained, and the hydraulic pump is started;
after the hydraulic pump is started, judging whether the starting times of the hydraulic pump are greater than or equal to a second preset time;
if the starting times of the hydraulic pump is more than or equal to the second preset times, a second alarm signal is sent out, and if the starting times of the hydraulic pump is less than the second preset times, whether the motor of the hydraulic pump is normally started is judged:
if the hydraulic pump is started normally, the operation is maintained, and whether the current servo oil pressure meets the working condition of the rudder equipment or not is judged;
if the current servo oil pressure meets the working condition of the rudder equipment, the steering engine rotates; and if the current servo oil pressure does not meet the working condition of the rudder equipment, maintaining the operation of the hydraulic pump, and raising the servo oil pressure until the working condition of the rudder equipment is met.
In an exemplary embodiment of the present invention, the determining whether the rotation angular velocity of the rudder blade is greater than the rotation speed threshold value further includes:
and if the rotating angular speed of the rudder blade is larger than the rotating speed threshold value, a deceleration command is sent out for controlling the rotating angular speed of the rudder blade to be reduced.
In an exemplary embodiment of the present invention, the determining whether the rotation angle of the rudder blade reaches the rudder angle setting value further includes:
and if the rotation angle of the rudder blade does not reach the rudder angle set value, keeping the steering engine in a stable rotation state until the rotation angle of the rudder blade reaches the rudder angle set value.
In an exemplary embodiment of the present invention, after the execution of the rudder angle setting command is completed, the method further includes:
s6: whether a new rudder angle setting command is received is detected, and if the new rudder angle setting command is received, steps S1 to S5 are executed.
On the other hand, the invention also provides an automatic control system of the intelligent ship rudder equipment, which comprises the following components:
the rudder equipment comprises a steering engine and a rudder blade connected with the steering engine;
the sensing mechanism is connected with the rudder equipment and is used for acquiring sensing information of the rudder equipment, wherein the sensing information comprises the rotation angular velocity of the rudder blade and the rotation angle of the rudder blade;
the controller is connected with the sensing mechanism and the steering engine and used for acquiring sensing information;
the decision mechanism is connected with the controller and is used for acquiring the sensing information and the rudder angle setting instruction and judging whether a rudder angle set value in the rudder angle setting instruction is within the deflectable range of the rudder equipment or not; if the rudder angle set value is in the range of the rudder equipment capable of deflecting, starting a hydraulic pump motor and a hydraulic pump to enable a steering engine to rotate; when the steering engine is in a stable rotation state, judging whether the rotation angular speed of the rudder blade is greater than a rotation speed threshold value; if the rotation angular velocity of the rudder blade is not greater than the rotation speed threshold value, judging whether the rotation angle of the rudder blade reaches a rudder angle set value or not; and if the rotation angle of the rudder blade reaches the rudder angle set value, stopping the hydraulic pump motor and the hydraulic pump, and finishing the execution of the rudder angle set instruction.
In an exemplary embodiment of the present invention, further comprising:
and the upper computer is connected with the controller and is used for displaying the sensing information and the alarm information, acquiring a rudder angle setting instruction and sending the rudder angle setting instruction to the controller.
In an exemplary embodiment of the invention, the sensing mechanism includes:
the steering engine rotating speed sensor is connected with the steering engine and used for acquiring the rotating speed of the steering engine;
the steering engine torque sensor is connected with the steering engine and used for acquiring the rotation torque of the steering engine;
the rudder blade angle sensor is connected with the rudder blade and used for acquiring the rotation angle of the rudder blade;
and the rudder blade angular velocity sensor is connected with the rudder blade and is used for acquiring the angular velocity of the rudder blade.
In an exemplary embodiment of the present invention, further comprising:
and the interface converter is connected with the controller and the sensing mechanism and used for converting the sensing information transmitted by the sensing mechanism into an Ethernet communication mode from an RS485 communication mode.
(III) advantageous effects
The invention has the beneficial effects that: according to the automatic control method and system for the intelligent ship rudder equipment, provided by the embodiment of the invention, the decision mechanism for realizing the automatic control of the rudder equipment is arranged on the intelligent ship, the rudder angle setting instruction of the rudder equipment can be automatically decided and executed under the condition of no participation of people, the speed control during the rudder turning of the rudder equipment is realized, the damage of a steering engine and a rudder blade caused by the over-fast rotation of the rudder equipment is avoided, the limitation on the angle of the rudder equipment can also be realized, and the damage of a transmission mechanism of the steering engine and the rudder caused by the over-limit angle given by the error decision of the decision mechanism of the intelligent ship is avoided.
Drawings
Fig. 1 is a flowchart of an automated control method for an intelligent ship rudder apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an automated control system for an intelligent rudder apparatus according to another embodiment of the present invention;
fig. 3 is a schematic diagram of a hardware structure of the intelligent ship rudder equipment automation control system in fig. 2 according to another embodiment of the present invention;
fig. 4 is a logic diagram of the PLC-based rudder equipment automation control system of fig. 2 according to another embodiment of the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention provides an automatic control method and system for intelligent ship rudder equipment, which solve the communication problem between an intelligent ship decision mechanism and a rudder equipment controller (PLC), solve the problem that the rudder equipment is possibly damaged when the intelligent ship decision mechanism makes a decision, solve the problem that the intelligent ship rudder equipment possibly deflects at an over-high speed when executing the instruction information of the decision mechanism, solve the starting and stopping problems of the rudder equipment in an automatic control state and the problem of fault timely feedback in the running process, and solve the problem that a hydraulic pump possibly tries to deflect rudder blades repeatedly when in a fault state.
Fig. 1 is a flowchart of an automated control method for an intelligent ship rudder device according to an embodiment of the present invention, as shown in fig. 1, specifically including the following steps:
step S1: acquiring a rudder angle setting instruction, and judging whether a rudder angle set value in the rudder angle setting instruction is within a deflectable range of rudder equipment or not;
step S2: if the rudder angle set value is in the range of the rudder equipment capable of deflecting, starting a hydraulic pump motor and a hydraulic pump to enable a steering engine to rotate;
step S3: when the steering engine is in a stable rotation state, judging whether the rotation angular speed of the rudder blade is greater than a rotation speed threshold value;
step S4: if the rotation angular velocity of the rudder blade is not greater than the rotation speed threshold value, judging whether the rotation angle of the rudder blade reaches a rudder angle set value or not;
step S5: and if the rotation angle of the rudder blade reaches the rudder angle set value, stopping the hydraulic pump motor and the hydraulic pump, and finishing the execution of the rudder angle set instruction.
Corresponding to the above method, fig. 2 is a schematic composition diagram of an intelligent rudder equipment automation control system according to another embodiment of the present invention, and as shown in fig. 2, the system includes: rudder apparatus 210, sensing mechanism 220, controller 230 and decision mechanism 240.
The rudder device 210 includes a steering engine and a rudder blade connected to the steering engine; the sensing mechanism 220 is connected to the rudder device 210, and is configured to collect sensing information of the rudder device, where the sensing information includes a rotation angular velocity of the rudder blade and a rotation angle of the rudder blade; the controller 230 is connected with the sensing mechanism 220 and the steering engine and used for acquiring sensing information; the decision mechanism 240 is connected to the controller 230, and is configured to acquire the sensing information and a rudder angle setting instruction, and determine whether a rudder angle setting value in the rudder angle setting instruction is within a range in which rudder equipment can deflect; if the rudder angle set value is in the range of the rudder equipment capable of deflecting, starting a hydraulic pump motor and a hydraulic pump to enable a steering engine to rotate; when the steering engine is in a stable rotation state, judging whether the rotation angular speed of the rudder blade is greater than a rotation speed threshold value; if the rotation angular velocity of the rudder blade is not greater than the rotation speed threshold value, judging whether the rotation angle of the rudder blade reaches a rudder angle set value or not; and if the rotation angle of the rudder blade reaches the rudder angle set value, stopping the hydraulic pump motor and the hydraulic pump, and finishing the execution of the rudder angle set instruction.
In an exemplary embodiment of the present invention, the system further includes: the upper computer 250 is connected with the controller 230, and is used for displaying sensing information and alarm information, acquiring a rudder angle setting instruction and sending the rudder angle setting instruction to the controller, and the interface converter 260 is connected with the upper computer 250. The interface converter 260 is connected to the controller 230 and the sensing mechanism 220, and is configured to convert the sensing information transmitted by the sensing mechanism from an RS485 communication mode to an ethernet communication mode.
In an exemplary embodiment of the invention, the sensing mechanism includes:
the steering engine rotating speed sensor is connected with the steering engine and used for acquiring the rotating speed of the steering engine;
the steering engine torque sensor is connected with the steering engine and used for acquiring the rotation torque of the steering engine;
the rudder blade angle sensor is connected with the rudder blade and used for acquiring the rotation angle of the rudder blade;
and the rudder blade angular velocity sensor is connected with the rudder blade and is used for acquiring the angular velocity of the rudder blade.
Fig. 3 is a schematic diagram of a hardware structure of the intelligent ship rudder equipment automatic control system in fig. 2 according to another embodiment of the present invention, as shown in fig. 3, specifically, the hardware structure includes:
the decision mechanism is arranged in the information integration platform 301, and the information integration platform itself supports a plurality of data interfaces (including an ethernet data interface, an RS485 data interface, and the like). The controller is realized through the PLC302, serial ports, Ethernet data interfaces and input and output of analog quantity and digital quantity are supported, and Ethernet communication is adopted between the information integration platform 301 and the PLC 0302. The PLC is electrically connected with the steering engine 302 through an analog output interface carried by the PLC, so that the steering engine 303 is controlled, and the rudder blade 304 is mechanically connected with the steering engine 303. The sensing mechanism comprises a steering engine rotating speed sensor 307, a steering engine torque sensor 308, a rudder blade angle sensor 309 and a rudder blade angular velocity sensor 310, wherein the steering engine rotating speed sensor 307 and the steering engine torque sensor 308 are used for acquiring sensing information of a steering engine 303, and the rudder blade angle sensor 309 and the rudder blade angular velocity sensor 310 are used for acquiring sensing information of a rudder blade 304. The upper computer of the PLC is realized through the HMI 305, supports an Ethernet data interface and is in communication connection with the PLC through the Ethernet. The steering engine rotating speed sensor 307, the steering engine torque sensor 308, the rudder blade angle sensor 309 and the rudder blade angular velocity sensor 310 are installed beside a host of rudder equipment through mechanical/electrical connection, acquire information such as rotating speed and torque of a steering engine, deflection angle and deflection angular velocity of a rudder blade and the like, convert the information into Ethernet communication in an RS485 communication mode through an interface converter, and transmit the acquired data information to the information integration platform 301 and the PLC 302.
The steering engine 303 is a position (angle) servo motor, is suitable for control systems which require a constantly changing angle and can keep the angle, is a power source for rotation of a rudder blade, and is a controlled object in the automatic control system of the rudder device in this embodiment. The rudder blade 304 is a body that generates rudder acting force and is made of wood or steel. The force from the steering engine is received through a mechanical connection with the steering engine 303 and is rotated when necessary, causing the vessel to generate a yawing moment.
The information integration platform 301 is used for displaying information such as the rotation speed and torque of the controlled steering engine 303, the rotation angle and the rotation angular velocity of the rudder blade 304 (i.e. the velocity at which the steering engine rotates from one angle to a set angle). The information integration platform 301 serves as a decision mechanism, and an intelligent ship decision algorithm is carried in the information integration platform, so that control decision can be made on rudder equipment according to the state of a controlled host and various parameters, and decision information and a control instruction are generated.
The PLC302 is internally provided with a PLC control program, and the rotating speed and the torque of the steering engine carried by the intelligent ship, the rotating angle and the rotating angular speed of the rudder blade and the like are specifically controlled according to decision information of the information integration platform. The two parameters of the rotating speed and the torque of the steering engine play a complementary role in the control process of the steering engine, the running state and the control precision of the steering engine can be monitored, and the relationship between the two parameters is that when the external interference force is reduced and the rotating speed is kept unchanged, the torque is reduced; when the external disturbance force is increased, the rotating speed is kept unchanged, and the torque is increased.
The HMI 305 is used for visually displaying related data information of a controlled object and manual control of the controlled object to a machine-side controller, and for example, may be used for displaying information such as the rotation speed and torque of a steering engine, and the rotation angle and rotation angular velocity of a rudder blade to a maintainer when an intelligent ship rudder device has a fault and needs to be manually maintained.
And the steering engine rotating speed sensor 307 is used for acquiring the rotating speed of the controlled steering engine, and providing a basis for the control of the PLC on the steering equipment and the decision of the information integration platform. The steering engine torque sensor 308 is used for acquiring the rotation torque of the controlled steering engine, and providing a basis for the control of the PLC on the steering equipment and the decision of the information integration platform. The rudder blade angle sensor 309 is used for acquiring the current rotation angle of the rudder blade, namely the swinging angle of the steering engine, and provides a basis for the control of the PLC on the rudder equipment and the decision of the information integration platform. The rudder blade angular velocity sensor 310 is used for acquiring the current rotation angular velocity of the rudder blade, and provides a basis for the control of the PLC on the rudder equipment and the decision of the information integration platform.
The steps of the method shown in fig. 1 are described in detail below based on the hardware architecture shown in fig. 3:
as shown in fig. 1, in step S1, a rudder angle setting command is acquired, and it is determined whether or not the rudder angle setting value in the rudder angle setting command is within the rudder equipment deflectable range.
In an exemplary embodiment of the invention, in this step, the rudder angle setting instruction may be obtained by an upper computer and then transmitted to the decision mechanism through the controller, or the rudder angle setting instruction may be obtained by the decision mechanism. After the rudder angle setting instruction is acquired, judging whether the rudder angle setting value in the rudder angle setting instruction is within the range of the rudder equipment capable of deflecting further comprises the following steps:
if the rudder angle set value is not in the range of the rudder equipment which can deflect, a reset signal is fed back; receiving a response signal aiming at the reset signal, and if the response signal is the reset rudder angle, taking the reset rudder angle as a new rudder angle set value; and if the response signal is that the rudder angle is not reset, taking the maximum rudder angle in the current rudder angle deflection direction as the rudder angle set value.
The deflectable range of the rudder device is [ -alpha, alpha ], and the rotatable angle of the steering engine is 2 alpha. For example, at this time, it is assumed that the steering engine of the smart ship can rotate 70 degrees, the middle position 35 degrees is set to a value of 0, the left and right are-35 degrees and 35 degrees, respectively, and the range of the rudder equipment capable of deflecting is [ -35 degrees, 35 degrees ].
As shown in fig. 1, in step S2, if the rudder angle setting value is within the rudder equipment deflectable range, the hydraulic pump motor and the hydraulic pump are activated to rotate the steering engine.
In an exemplary embodiment of the invention, the step of activating the hydraulic pump motor and the hydraulic pump to rotate the steering engine comprises:
after the hydraulic pump motor is started, judging whether the starting times of the hydraulic pump motor are greater than or equal to a first preset time; if the starting times of the hydraulic pump motor are more than or equal to the first preset times, sending a first alarm signal, and if the starting times of the hydraulic pump motor are less than the first preset times, judging whether the hydraulic pump motor is normally started; if the hydraulic pump motor is normally started, the operation is maintained, and the hydraulic pump is started; after the hydraulic pump is started, continuously judging whether the starting times of the hydraulic pump are greater than or equal to a second preset time; if the starting frequency of the hydraulic pump is greater than or equal to the second preset frequency, a second alarm signal is sent out, and if the starting frequency of the hydraulic pump is less than the second preset frequency, whether the hydraulic pump motor is normally started is judged: if the hydraulic pump is started normally, the operation is maintained, and whether the current servo oil pressure meets the working condition of the rudder equipment or not is judged; if the current servo oil pressure meets the working condition of the rudder equipment, the steering engine rotates; and if the current servo oil pressure does not meet the working condition of the rudder equipment, maintaining the operation of the hydraulic pump, and raising the servo oil pressure until the working condition of the rudder equipment is met.
As shown in fig. 1, in step S3, when the steering engine is in a steady rotation state, it is determined whether the rotational angular velocity of the rudder blade is greater than a rotational speed threshold value.
In an exemplary embodiment of the present invention, the determining whether the rotation angular velocity of the rudder blade is greater than the rotation speed threshold in the step further includes:
and if the rotating angular speed of the rudder blade is larger than the rotating speed threshold value, a deceleration command is sent out for controlling the rotating angular speed of the rudder blade to be reduced.
As shown in fig. 1, in step S4, if the rotational angular velocity of the rudder blade is not greater than the rotational speed threshold value, it is determined whether the rotational angle of the rudder blade reaches the rudder angle set value.
In an exemplary embodiment of the present invention, the determining whether the rotation angle of the rudder blade reaches the rudder angle setting value in the step further includes:
and if the rotation angle of the rudder blade does not reach the rudder angle set value, keeping the steering engine in a stable rotation state until the rotation angle of the rudder blade reaches the rudder angle set value.
As shown in fig. 1, in step S5, if the rotation angle of the rudder blade reaches the rudder angle setting value, the hydraulic pump motor and the hydraulic pump are stopped, and the execution of the rudder angle setting command is completed.
In an exemplary embodiment of the present invention, after the step of executing the rudder angle setting command, the method further includes:
s6: whether a new rudder angle setting command is received is detected, and if the new rudder angle setting command is received, steps S1 to S5 are executed.
According to the above-mentioned method of the present invention,
fig. 4 is a logic diagram of an automated control system of a rudder equipment based on a PLC in fig. 2 according to another embodiment of the present invention, wherein the steering of the steering engine is logically determined by an algorithm carried inside the PLC according to a current rudder angle and a rudder angle set value in an automated control process, so as to provide a rotation direction of the steering engine, and as shown in fig. 4, the logical determination process is as follows:
firstly, a decision mechanism of the intelligent ship makes a decision of a rudder angle deflection angle according to sensing information acquired by a sensing mechanism, and main parameters when the rudder angle is controlled are as follows: the steering wheel is in the judgement of position, the judgement of host computer rudder angle setting value, PLC procedure in to the upper limit of rudder blade angle and a given value of lower limit when the power-on starts, and when control system power-on back, the host computer assigns the instruction of deflecting, and the numerical value that conveys back according to rudder blade angle sensor this moment contrasts with the instruction of deflecting that the host computer assigned. Still taking the above-mentioned 35 degrees deflection angle as an example, if the steering wheel had been in 35 degrees at this moment and the instruction that the host computer was given still is the rotation right this moment can carry out the police dispatch newspaper, and the steering wheel does not move.
Further, whether a rudder angle set value (namely a given rudder angle) given by the decision mechanism is within a deflectable range of rudder equipment is judged, if so, the steering engine is started, and the steering engine in the embodiment adopts a hydraulic pump motor; and if the set rudder angle is not in the range of the deflectable rudder equipment, sending a signal to the intelligent ship information integration platform to require resetting the rudder angle. After that, whether the rudder angle is reset or not needs to be judged, if the rudder angle is reset, the hydraulic motor of the steering engine is started, and if the information integration platform is judged not to reset the rudder angle, the rudder angle is set to be the maximum rudder angle of the deflection direction, and then the hydraulic motor of the steering engine is started.
After the hydraulic pump motor is started, judging whether the starting frequency of the hydraulic pump motor is more than or equal to three times (namely a first preset frequency), and if the starting frequency of the hydraulic pump motor is more than or equal to three times, sending out an alarm signal of motor failure; if the starting times of the hydraulic pump motor is judged to be less than three times, whether the hydraulic pump motor is normally started is further judged, if yes, the hydraulic pump motor is maintained to stably run, and a hydraulic pump of the steering engine is started. And if the hydraulic pump motor is judged not to be normally started, restarting the hydraulic pump motor, and carrying out the judgment process II.
After the hydraulic pump is started, whether the starting times of the hydraulic pump are more than or equal to three times (namely, the second preset times) needs to be continuously judged, and if yes, a hydraulic pump fault alarm signal is sent out; if the starting frequency of the hydraulic pump is judged to be less than three times, whether the hydraulic pump works normally is continuously judged, if the hydraulic pump is judged to be started normally, whether the current servo oil pressure meets the working condition of the steering gear is continuously judged, and if the current servo oil pressure meets the working condition of the steering gear, the current state is maintained to run stably, so that the steering gear rotates stably; if the current servo oil pressure is judged not to meet the working conditions of the rudder equipment, the stable operation of the hydraulic pump is maintained, the servo oil pressure is stably lifted, and whether the current servo oil pressure meets the working conditions of the rudder equipment or not is judged in a circulating mode at a fixed period; and if the hydraulic pump is judged not to be normally started, restarting the hydraulic pump, and carrying out the judgment process of the third step.
Judging whether the rotation angular speed of the current rudder blade is too high or not under the state that the rudder stably keeps rotating stably, and if not, continuously judging whether the rudder rotates to a given angle or not; if the current rudder blade rotation angular velocity is judged to be too fast, the steering engine performs deceleration braking, and whether the rudder blade rotation angular velocity is too fast is judged in a circulating manner in the process; if the rudder is judged to rotate to the rudder angle set value, the hydraulic pump motor stops, the hydraulic pump stops, and the steering engine keeps the current angle unchanged; and if the steering engine is judged not to rotate to the set rudder angle value, continuing to keep the steering engine rotating stably, and judging whether the rudder rotates to the set rudder angle value again.
And fifthly, when the steering engine rotates to a rudder angle set value, after the hydraulic pump motor stops and the hydraulic pump stops, judging whether a new rudder angle setting instruction is received, and returning to the previous layer if the new rudder angle setting instruction is not received, namely the hydraulic pump motor is in a stop state and the hydraulic pump is in a stop state.
And if the new rudder angle setting instruction is received, judging whether the rudder angle setting value in the new rudder angle setting instruction is in the deflectable range or not, and circularly executing the control logics of the first to the fifth parts of the steering engine.
In summary, the automatic control method and system for the intelligent ship rudder equipment provided by the embodiment of the invention have the following effects:
(1) the rudder control device can receive decision instructions made by an intelligent ship decision mechanism (information integration platform), and control the operation of rudder equipment under the condition of no participation of people according to the content of the decision instructions of the intelligent ship decision mechanism (information integration platform), so that the rudder is arranged at a given rudder angle.
(2) Through the programming in PLC, realize the speed control when helm device helm steering, avoid because of helm device rotates the helm, rudder blade damage that leads to too fast.
(3) Through the programming in the PLC, the limit to the rudder equipment angle is realized, and the damage of the steering engine and the transmission mechanism of the rudder caused by the over-limit angle given after the decision-making error of the intelligent ship decision-making mechanism (information integration platform) is avoided.
(4) The condition that the steering engine can not be normally started due to the fault of the steering engine is fully considered, and the steering engine is prevented from being repeatedly tried to be started in a fault state, so that the damage of the steering engine caused by frequent starting is avoided.
(5) The condition that the rudder blade can not normally deflect due to the fault of the hydraulic pump is fully considered, and the steering engine is prevented from repeatedly trying to rotate in the fault state of the hydraulic pump, so that possible further damage to the hydraulic pump is avoided, and loss minimization is achieved.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit according to an embodiment of the invention. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present invention.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (6)
1. An automatic control method for intelligent ship rudder equipment is characterized by comprising the following steps:
s1: acquiring a rudder angle setting instruction, and judging whether a rudder angle set value in the rudder angle setting instruction is within a deflectable range of rudder equipment or not;
s2: if the rudder angle set value is in the range of the rudder equipment capable of deflecting, starting a hydraulic pump motor and a hydraulic pump to enable a steering engine to rotate;
s3: when the steering engine is in a stable rotation state, judging whether the rotation angular speed of the rudder blade is greater than a rotation speed threshold value;
s4: if the rotation angular velocity of the rudder blade is not greater than the rotation speed threshold value, judging whether the rotation angle of the rudder blade reaches a rudder angle set value or not;
s5: if the rotation angle of the rudder blade reaches the rudder angle set value, stopping the hydraulic pump motor and the hydraulic pump to complete the execution of the rudder angle set instruction;
judging whether the rudder angle set value in the rudder angle set instruction is in the range of the rudder equipment capable of deflecting further comprises the following steps:
if the rudder angle set value is not in the range of the rudder equipment which can deflect, a reset signal is fed back;
receiving a response signal aiming at the reset signal, and if the response signal is the reset rudder angle, taking the reset rudder angle as a new rudder angle set value; if the response signal is that the rudder angle is not reset, taking the maximum rudder angle in the current rudder angle deflection direction as the set value of the rudder angle;
wherein the deflectable range of the rudder equipment is [ -alpha, alpha ], and the rotatable angle of the steering engine is 2 alpha;
judging whether the rotation angular velocity of the rudder blade is greater than the rotation speed threshold value further comprises:
if the rotating angular velocity of the rudder blade is larger than the rotating speed threshold value, a deceleration instruction is sent out to control the rotating angular velocity of the rudder blade to be reduced;
judging whether the rotation angle of the rudder blade reaches a rudder angle set value further comprises:
if the rotation angle of the rudder blade does not reach the rudder angle set value, the steering engine is kept in a stable rotation state until the rotation angle of the rudder blade reaches the rudder angle set value;
after the execution of the rudder angle setting instruction is completed, the method further comprises the following steps:
s6: whether a new rudder angle setting command is received is detected, and if the new rudder angle setting command is received, steps S1 to S5 are executed.
2. The intelligent automatic control method for the rudder equipment of the ship as claimed in claim 1, wherein the starting of the hydraulic pump motor and the hydraulic pump to rotate the steering engine comprises:
after the hydraulic pump motor is started, judging whether the starting times of the hydraulic pump motor are greater than or equal to a first preset time;
if the starting times of the hydraulic pump motor are more than or equal to the first preset times, sending a first alarm signal, and if the starting times of the hydraulic pump motor are less than the first preset times, judging whether the hydraulic pump motor is normally started;
if the hydraulic pump motor is normally started, the operation is maintained, and the hydraulic pump is started;
after the hydraulic pump is started, judging whether the starting times of the hydraulic pump are greater than or equal to a second preset time;
if the starting frequency of the hydraulic pump is greater than or equal to the second preset frequency, a second alarm signal is sent out, and if the starting frequency of the hydraulic pump is less than the second preset frequency, whether the hydraulic pump motor is normally started is judged:
if the hydraulic pump is started normally, the operation is maintained, and whether the current servo oil pressure meets the working condition of the rudder equipment or not is judged;
if the current servo oil pressure meets the working condition of the rudder equipment, the steering engine rotates; and if the current servo oil pressure does not meet the working condition of the rudder equipment, maintaining the operation of the hydraulic pump, and raising the servo oil pressure until the working condition of the rudder equipment is met.
3. The utility model provides an intelligent boats and ships rudder equipment automated control system which characterized in that, it includes:
the rudder equipment comprises a steering engine and a rudder blade connected with the steering engine;
the sensing mechanism is connected with the rudder equipment and is used for acquiring sensing information of the rudder equipment, wherein the sensing information comprises the rotation angular velocity of the rudder blade and the rotation angle of the rudder blade;
the controller is connected with the sensing mechanism and the steering engine and used for acquiring sensing information;
the decision mechanism is connected with the controller and is used for acquiring the sensing information and a rudder angle setting instruction and judging whether a rudder angle setting value in the rudder angle setting instruction is within a deflectable range of rudder equipment or not; if the rudder angle set value is in the range of the rudder equipment capable of deflecting, starting a hydraulic pump motor and a hydraulic pump to enable a steering engine to rotate; when the steering engine is in a stable rotation state, judging whether the rotation angular speed of the rudder blade is greater than a rotation speed threshold value; if the rotation angular velocity of the rudder blade is not greater than the rotation speed threshold value, judging whether the rotation angle of the rudder blade reaches a rudder angle set value or not; and if the rotation angle of the rudder blade reaches the rudder angle set value, stopping the hydraulic pump motor and the hydraulic pump, and finishing the execution of the rudder angle set instruction.
4. The intelligent marine rudder apparatus automation control system as claimed in claim 3 further comprising:
and the upper computer is connected with the controller and is used for displaying the sensing information and the alarm information, acquiring a rudder angle setting instruction and sending the rudder angle setting instruction to the controller.
5. An intelligent marine rudder apparatus automation control system as claimed in claim 4 wherein said sensing mechanism includes:
the steering engine rotating speed sensor is connected with the steering engine and used for acquiring the rotating speed of the steering engine;
the steering engine torque sensor is connected with the steering engine and used for acquiring the rotation torque of the steering engine;
the rudder blade angle sensor is connected with the rudder blade and used for acquiring the rotation angle of the rudder blade;
and the rudder blade angular velocity sensor is connected with the rudder blade and is used for acquiring the angular velocity of the rudder blade.
6. An intelligent marine rudder apparatus automation control system as claimed in claim 5 further including:
and the interface converter is connected with the controller and the sensing mechanism and used for converting the sensing information transmitted by the sensing mechanism into an Ethernet communication mode from an RS485 communication mode.
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| CN112829897B (en) * | 2021-01-29 | 2024-04-09 | 交通运输部天津水运工程科学研究所 | Intelligent navigation state monitoring and early warning method and system for self-propelled ship model |
| CN113665776B (en) * | 2021-08-03 | 2022-10-11 | 珠海云洲智能科技股份有限公司 | Rudder angle control method, rudder angle control device and rudder angle control box |
| CN114348227B (en) * | 2022-01-26 | 2023-01-31 | 广东华中科技大学工业技术研究院 | Propeller steering engine control system with sensor fault-tolerant capability and control method |
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| CN100491915C (en) * | 2004-12-30 | 2009-05-27 | 中国科学院自动化研究所 | Autopilot course control system and method thereof |
| CN203005731U (en) * | 2012-12-11 | 2013-06-19 | 南宁睿洋自动化科技有限公司 | Automatic steering control system used for ships |
| JP2014193706A (en) * | 2013-02-27 | 2014-10-09 | Furuno Electric Co Ltd | Automatic steering device, automatic steering method and automatic steering program |
| CN105947165A (en) * | 2016-05-23 | 2016-09-21 | 哈尔滨工程大学 | Ship rudder machine system and rudder steering control method thereof |
| JP7002232B2 (en) * | 2017-06-30 | 2022-01-20 | 川崎重工業株式会社 | Steering control system and stopping method of steering device |
| CN107965494A (en) * | 2017-10-12 | 2018-04-27 | 武汉船用机械有限责任公司 | A kind of rotary vane type steering gear failure detector and method |
| CN108910007B (en) * | 2018-06-28 | 2019-05-28 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN208813491U (en) * | 2018-09-14 | 2019-05-03 | 上海宜通海洋科技股份有限公司 | A kind of auto-pilot control system |
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