CN111591425A - Electric ship control system and electric ship - Google Patents
Electric ship control system and electric ship Download PDFInfo
- Publication number
- CN111591425A CN111591425A CN202010494957.1A CN202010494957A CN111591425A CN 111591425 A CN111591425 A CN 111591425A CN 202010494957 A CN202010494957 A CN 202010494957A CN 111591425 A CN111591425 A CN 111591425A
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- steering
- motor
- rear axle
- control system
- electric
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- 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
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- 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
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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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
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
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- 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
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application discloses electric ship control system, including rear axle left side motor and rear axle right side motor, this electric ship control system still includes: a front side steering motor arranged at the front end of the hull of the electric ship; and the central controller is used for receiving the control signal, and driving the front side steering motor to operate when the control signal meets the steering condition so as to reduce the turning radius of the electric ship to a preset value through the cooperation of the front side steering motor and the rear axle left side motor and/or the rear axle right side motor. This application has increased the front side steering motor, can make the hull front portion carry out the lateral shifting who is independent of the rear axle and turns to, has reduced the turning radius of hull greatly, helps turning under narrow and small space and keeps away occasions such as barrier and improve the security of going the ship. The application also discloses an electric ship, which has the beneficial effects.
Description
Technical Field
The application relates to the field of ships, in particular to an electric ship control system and an electric ship.
Background
At present, ships become one of important municipal transportation means and goods transportation means, the density of the sailing ships on the coast and the river is higher and higher, and the requirement on the controllability of the sailing ships is higher and higher. For safety, a conventional ship is generally equipped with two sets of propulsion systems, i.e., a dual-locomotive system. The propellers of the double-unit system are symmetrically arranged at the tail part of the ship according to the longitudinal vertical center section of the ship, when the ship runs in a single machine, the direction of the propelling force of the propeller does not coincide with the longitudinal center axis of the ship, the steering performance is poor, the propeller needs to be dragged by the ship to finish the landing, the required space is large, and the control operation is complex in occasions such as turning and obstacle avoidance in narrow space.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The control system comprises a front steering motor, a rear axle, a rear steering motor and a rear steering motor, wherein the front steering motor is arranged on the front portion of a ship body; another object of the present application is to provide an electric boat comprising the electric boat control system described above.
In order to solve the technical problem, the present application provides an electric ship control system, including rear axle left side motor and rear axle right side motor, this electric ship control system still includes:
a front side steering motor arranged at the front end of the hull of the electric ship;
and the central controller is used for receiving a control signal, and driving the front side steering motor to operate when the control signal meets a steering condition so as to reduce the turning radius of the electric ship to a preset value through the cooperation of the front side steering motor and the rear axle left side motor and/or the rear axle right side motor.
Preferably, the front steering motor is fixed to a draft line of a front end axis of the hull of the electric boat.
Preferably, the control signal is a control signal sent by an external operation device.
Preferably, the external operating device is a steering rocker, and correspondingly, the control signal includes a first voltage signal corresponding to an abscissa of the steering rocker and a second voltage signal corresponding to an ordinate of the steering rocker.
Preferably, the steering condition is that the second voltage signal is greater than a steering threshold.
Preferably, the steering rocker comprises a spherical pair and four reset torsion springs, and the four reset torsion springs are uniformly distributed around the spherical pair.
Preferably, the central controller is further configured to obtain a feedback signal, where the feedback signal includes a rotation speed and a torque of the rear axle left side motor, a rotation speed and a torque of the rear axle right side motor, and a rotation speed and a torque of the front side steering motor.
Preferably, the electric ship control system further comprises a rear axle motor driving circuit and a steering motor driving circuit;
the central controller is specifically used for receiving a control signal, and when the control signal meets a steering condition, the front steering motor is driven to operate through the steering motor driving circuit; and the rear axle motor driving circuit is used for driving the rear axle left side motor and the rear axle right side motor to run in a differential mode according to the control signal and the feedback signal.
Preferably, the process of driving the front-side steering motor to operate specifically includes:
driving the front-side steering motor to operate through a steering relation, wherein the steering relation is that delta theta/delta t is equal to delta omega is equal to Pot/J, Δ θ is the error between the expected steering angle and the actual steering angle, J is the moment of inertia of the electric boat about the center of gravity, PoThe output power of the front-side steering motor.
In order to solve the technical problem, the present application further provides an electric ship, which includes an electric ship body and the electric ship control system as described in any one of the above.
The application provides an electric ship control system, including rear axle left side motor and rear axle right side motor, this electric ship control system still includes: a front side steering motor arranged at the front end of the hull of the electric ship; and the central controller is used for receiving the control signal, and driving the front side steering motor to operate when the control signal meets the steering condition so as to reduce the turning radius of the electric ship to a preset value through the cooperation of the front side steering motor and the rear axle left side motor and/or the rear axle right side motor. In practical application, adopt the scheme of this application, because the effect of front side steering motor, make the hull front portion carry out the lateral shifting who is independent of the rear axle and turns to, reduced the turning radius of hull greatly, help turning under narrow and small space and keep away occasions such as barrier and improve the security of going the ship. The application also provides an electric ship, which has the same beneficial effect as the electric ship control system.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a schematic structural diagram of a three-motor electric boat control system provided in the present application;
FIG. 2 is a schematic diagram of one embodiment provided herein;
FIG. 3 is a schematic view of another embodiment provided herein;
fig. 4 is a structural diagram of a steering rocker provided in the present application.
Detailed Description
The core of the application is to provide an electric ship control system, a front steering motor is added, the front part of a ship body can move laterally independently of the steering of a rear axle, the turning radius of the ship body is greatly reduced, and the electric ship control system is beneficial to improving the safety of the ship in occasions of turning in a narrow space, obstacle avoidance and the like; another core of the present application is to provide an electric boat comprising the electric boat control system described above.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electric ship control system provided in the present application, the electric ship control system including:
a rear axle left motor M1 and a rear axle right motor M2;
a front steering motor M0 provided at the front end of the hull of the electric ship;
and the central controller 1 is used for receiving the control signal, and driving the front side steering motor M0 to operate when the control signal meets the steering condition, so that the turning radius of the electric ship is reduced to a preset value through the cooperation of the front side steering motor M0 and the rear axle left side motor M1 and/or the rear axle right side motor M2.
As a preferred embodiment, in this embodiment, the front steering motor may be disposed on a draft line where the front steering motor M0 is fixed to the axis of the front end of the hull of the electric ship, and the external rotating mechanism controls the steering motor and the propeller to enter and exit water.
Specifically, the control signal is a signal for controlling the forward movement and/or braking and/or steering of the electric ship and can be sent by an external operation device, the external operation device can be a steering rocker arranged on the electric ship body, correspondingly, the control signal comprises a first voltage signal corresponding to the ordinate of the steering rocker and a second voltage signal corresponding to the abscissa of the steering rocker, wherein the first voltage signal is used for controlling the rear axle left side motor M1 and the rear axle right side motor M2 to advance or brake at a constant speed, and the second voltage signal is used for controlling the rear axle left side motor M1 and the rear axle right side motor M2 to run at a different speed, and is mainly used for special occasions such as steering and obstacle avoidance.
Specifically, the central controller 1 includes a ship driving mode determining unit therein, and is configured to determine a current driving mode and a steering performance of the electric ship according to the received control signal and preset conditions (such as steering conditions, forward conditions, and braking conditions), where the current driving mode includes a forward mode, a braking mode, and a steering mode, where the steering mode includes a steering mode under a normal working condition and a steering mode under a special working condition, and the special working condition includes working conditions such as a narrow steering space and obstacle avoidance, and then drive the corresponding motor to operate according to the current driving mode and the steering performance of the electric ship. Assuming that the control signal received by the central controller 1 satisfies the steering condition, that is, the second voltage signal is greater than the steering threshold value, indicating that the electric ship is in the steering mode under the special working condition, the steering sensitivity needs to be improved, and the steering radius needs to be reduced, at this time, the front-side steering motor M0 is driven to operate, specifically, the output torque of the front-side steering motor M0 can be improved or reduced according to the requirement of the steering performance in the control signal, and the operation of the motor on either side of the rear axle can also be stopped or the reverse operation state can be started, so that the steering radius is reduced.
Specifically, for an electric ship with a wheelbase (distance between a rear axle and a front axle) of L and a rear axle wheelbase of W, the expected rotation angle and the motor propulsion speeds on the two sides of the rear axle are as follows:
since the propulsion speed and the rotation speed can be approximately considered as:
v＝kn；
among them, the propulsion coefficient k is easily affected by the fluid mechanical properties, resulting in:
therefore, the error Δ θ between the expected steering angle and the actual steering angle can be compensated using the front-side steering motor M0, and the steering action thereof is expressed as:
Δθ/Δt＝Δω＝Po·t/J；
wherein J is the moment of inertia of the vessel about the center of gravity, PoThe power is output for the steering motor, so that the function of adjusting the pose in real time in the process of sailing is realized, and the sailing precision is improved.
The scheme of the application is illustrated by specific examples:
when the second voltage signal is lower than the steering threshold, the front-side steering motor M0 is in an off state, and it is assumed that the powers supplied by the rear-axle left-side motor M1 and the rear-axle right-side motor M2 are respectively F1And F2The resulting velocities are respectively v1And v2When v is1＜v2Meanwhile, the electric ship turns to the left, and as shown in fig. 2, the turning radius is calculated to obtain:
when the second voltage signal is higher than the steering threshold, the front-side steering motor M0 is in an operating state, and the power provided by the rear-axle left-side motor M1 and the rear-axle right-side motor M2 is assumed to be F1And F2The resulting velocities are respectively v1And v2The power provided by the steering motor is F0When v is1＜v2And when the electric ship turns left, the steering radius of the rear axle is calculated to obtain:
under the action of a front side steering motor M0, the front part of the ship body moves laterally independently of the steering of the rear axle, the steering circle center is the middle point of the rear axle, and the turning radius is R-L1As shown in fig. 2. Due to the action of the front steering motor M0, the turning radius of the ship body is greatly reduced, and the safety of the ship in special occasions where obstacles such as reefs are encountered is improved.
When the second voltage signal is higher than the steering threshold, the front steering motor M0 is in working state, and only one of the two rear axle motors is in working state, taking left turn as an example, the power F provided by the front steering motor M00The motor M1 on the left side of the rear axle stops working, and the power provided by the motor M2 on the right side of the rear axle is F2Assuming that the velocity generated is v2At this time, the electric ship turns around with the center point of the rear axle as the center of a circle, and the turning radius reaches the turning radius shown in fig. 3To the minimum: r ═ Rmin＝L1。
The application provides an electric ship control system of three motors, including rear axle left side motor and rear axle right side motor, this electric ship control system still includes: a front steering motor provided at a front body of the electric ship; and the central controller is used for receiving the control signal, and driving the front side steering motor to operate when the control signal meets the steering condition so as to reduce the turning radius of the electric ship to a preset value through the cooperation of the front side steering motor and the rear axle left side motor and/or the rear axle right side motor. In practical application, adopt the scheme of this application, because the effect of front side steering motor, make the hull front portion carry out the lateral shifting who is independent of the rear axle and turns to, reduced the turning radius of hull greatly, help turning under narrow and small space and keep away occasions such as barrier and improve the security of going the ship.
On the basis of the above-described embodiment:
as a preferred embodiment, the control signal is a control signal transmitted from an external operation device.
As a preferred embodiment, the external operating device is a steering rocker and, correspondingly, the control signal comprises a first voltage signal corresponding to the abscissa of the steering rocker and a second voltage signal corresponding to the ordinate of the steering rocker.
As a preferred embodiment, the steering condition is that the second voltage signal is greater than a steering threshold.
As a preferred embodiment, the steering rocker comprises a spherical pair 11 and four restoring torsion springs 12, and the four restoring torsion springs 12 are uniformly distributed around the spherical pair 11.
Specifically, as shown in fig. 4, the steering rocker of the present application is mainly composed of a spherical pair 11 and a return torsion spring 12, and when an operator controls the steering rocker, the steering rocker is a two-degree-of-freedom control device, and the steering rocker sends two voltage signals to a central processing unit, which respectively represent the abscissa and the ordinate of the operating point of the rocker. The central processing unit sets a steering threshold value in advance, when the abscissa of the operating point of the rocker exceeds the threshold value, the steering performance of the electric ship needs to be improved, the front side steering motor M0 is started at the moment, and when an operator is disengaged from the operation, the steering rocker resets.
As a preferred embodiment, the central controller 1 is further configured to obtain feedback signals, where the feedback signals include the rotation speed and torque of the rear axle left motor M1, the rotation speed and torque of the rear axle right motor M2, and the rotation speed and torque of the front steering motor M0.
As a preferred embodiment, the electric ship control system further comprises a rear axle motor drive circuit and a steering motor drive circuit;
the central controller 1 is specifically used for receiving a control signal, and when the control signal meets a steering condition, the central controller drives the front steering motor M0 to operate through the steering motor driving circuit; and the differential speed driving device is also used for driving a rear axle left side motor M1 and a rear axle right side motor M2 to perform differential speed operation through a rear axle motor driving circuit according to the control signal and the feedback signal.
Specifically, the central controller 1 further includes a signal receiving unit, configured to receive the rotation speed and torque of the rear axle left side motor M1, the rotation speed and torque of the rear axle right side motor M2, and the rotation speed and torque of the front side steering motor M0, so that the central controller 1 controls the rear axle motor driving circuit and the steering motor driving circuit to output corresponding driving signals to drive the motors to stably operate according to the feedback signals, and further, when the electric ship is in the steering mode, the central controller 1 performs differential control on the rear axle left side motor M1 and the rear axle right side motor M2 according to steering requirements of the feedback signals and the control signals, thereby further improving steering performance of the electric ship.
In another aspect, the present application further provides an electric boat comprising an electric boat body and an electric boat control system as in any one of the above.
For the introduction of the electric boat provided by the present application, please refer to the above embodiments, which are not described herein again.
The electric ship provided by the application has the same beneficial effects as the electric ship control system.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an electric ship control system, includes rear axle left side motor and rear axle right side motor, its characterized in that, this electric ship control system still includes:
a front side steering motor arranged at the front end of the hull of the electric ship;
and the central controller is used for receiving a control signal, and driving the front side steering motor to operate when the control signal meets a steering condition so as to reduce the turning radius of the electric ship to a preset value through the cooperation of the front side steering motor and the rear axle left side motor and/or the rear axle right side motor.
2. The electric boat control system of claim 1, wherein the front steering motor is fixed to a draft of a hull front end axis of the electric boat.
3. The electric boat control system of claim 1, wherein the control signal is a control signal sent by an external operating device.
4. The motorized watercraft control system of claim 3, wherein the external operating device is a steering rocker and, in response, the control signal comprises a first voltage signal corresponding to an abscissa of the steering rocker and a second voltage signal corresponding to an ordinate of the steering rocker.
5. The electric boat control system of claim 4, wherein the steering condition is the second voltage signal being greater than a steering threshold.
6. The electric boat control system of claim 4, wherein the steering rocker comprises a spherical pair and four return torsion springs, the four return torsion springs being evenly distributed around the spherical pair.
7. The electric ship control system of any of claims 1-6, wherein the central controller is further configured to obtain feedback signals, the feedback signals including a speed and a torque of the rear-axle left motor, a speed and a torque of the rear-axle right motor, and a speed and a torque of the front-side steering motor.
8. The electric boat control system of claim 7, further comprising a rear axle motor drive circuit and a steering motor drive circuit;
the central controller is specifically used for receiving a control signal, and when the control signal meets a steering condition, the front steering motor is driven to operate through the steering motor driving circuit; and the rear axle motor driving circuit is used for driving the rear axle left side motor and the rear axle right side motor to run in a differential mode according to the control signal and the feedback signal.
9. The electric boat control system of claim 7, wherein the driving operation of the front-side steering motor is specifically:
driving the front-side steering motor to operate through a steering relation, wherein the steering relation is that delta theta/delta t is equal to delta omega is equal to Pot/J, Δ θ is the error between the expected steering angle and the actual steering angle, J is the moment of inertia of the electric boat about the center of gravity, PoThe output power of the front-side steering motor.
10. An electric boat, characterized by comprising an electric boat body and an electric boat control system according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010494957.1A CN111591425A (en) | 2020-06-03 | 2020-06-03 | Electric ship control system and electric ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010494957.1A CN111591425A (en) | 2020-06-03 | 2020-06-03 | Electric ship control system and electric ship |
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| Publication Number | Publication Date |
|---|---|
| CN111591425A true CN111591425A (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010494957.1A Pending CN111591425A (en) | 2020-06-03 | 2020-06-03 | Electric ship control system and electric ship |
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| CN (1) | CN111591425A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114524062A (en) * | 2022-02-25 | 2022-05-24 | 江苏埃驱奥新能源科技有限公司 | Control system and method of pure electric double-power ship |
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| JP2004155407A (en) * | 2002-09-10 | 2004-06-03 | Yamaha Motor Co Ltd | Steering auxiliary device for vessel |
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| CN205355850U (en) * | 2015-12-25 | 2016-06-29 | 宁波市北仑海伯精密机械制造有限公司 | Electric ship control system |
| CN107434023A (en) * | 2017-07-07 | 2017-12-05 | 周易 | Underwater sightseeing machine of playing with assisted diversion propeller |
| CN108549396A (en) * | 2018-04-17 | 2018-09-18 | 福州大学 | A kind of Dual-motors Driving unmanned boat control system based on STM32F429 |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002087389A (en) * | 2000-09-12 | 2002-03-27 | Ishigaki Co Ltd | Side thruster device for ship |
| JP2004155407A (en) * | 2002-09-10 | 2004-06-03 | Yamaha Motor Co Ltd | Steering auxiliary device for vessel |
| CN101342939A (en) * | 2008-01-22 | 2009-01-14 | 上海海事大学 | Propelling device of self-moving carrier on water surface and control method thereof |
| CN202226047U (en) * | 2011-09-02 | 2012-05-23 | 株洲县育红小学 | Twin-propeller rudderless steamship |
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| CN114524062A (en) * | 2022-02-25 | 2022-05-24 | 江苏埃驱奥新能源科技有限公司 | Control system and method of pure electric double-power ship |
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