CN111596579A

CN111596579A - Driving system for diesel engine of unmanned ship

Info

Publication number: CN111596579A
Application number: CN202010262269.2A
Authority: CN
Inventors: 杨睿; 李树伟; 刘源; 冯旭琛
Original assignee: Ocean University of China
Current assignee: Ocean University of China
Priority date: 2020-04-06
Filing date: 2020-04-06
Publication date: 2020-08-28

Abstract

The invention relates to a driving system for a diesel engine of an unmanned ship, which comprises a communication unit, a control unit and a control unit, wherein the communication unit comprises a CAN communication module and an RS422 communication module and is configured to acquire and transmit data of the diesel engine; the processing unit comprises an FPGA core board, is connected with the communication unit, receives and analyzes the data acquired by the communication unit and sends an instruction; and the adjusting unit receives the instruction of the processing unit and controls the diesel engine to work. The driving system is compatible with two diesel engine control schemes of digital signal control and analog signal control, can simultaneously exert the advantages of the FPGA and the embedded system, and has high data acquisition and processing speed, good real-time performance and lower power consumption; in addition, the driving system can realize the free switching function of automatic control and manual control of the unmanned ship, the emergency stop function of the diesel engine and other extended functions.

Description

Driving system for diesel engine of unmanned ship

Technical Field

The invention relates to a driving system for a diesel engine of an unmanned ship.

Background

Compared with the traditional ship, the unmanned ship has the most obvious advantages of getting rid of dependence on crews, reducing labor cost and independently completing transportation tasks. On the other hand, the unmanned ship can break through the limit of the traditional ship, develop higher performance, play greater potential value and engage in more dangerous maritime activities, and integrate complex technologies in various aspects such as ships, communication, automation, robot control, remote monitoring, networking systems and the like, so that intelligent unmanned realization is realized.

The intelligent unmanned control of the ship body posture is realized, the change of the ship body posture is closely related to the behavior of a diesel engine, the diesel engine is used as a power source for the unmanned ship to work and is a key component in an unmanned ship power assembly, the stability and the safety of a driving system directly influence the safety of the unmanned ship, and the general applicability of the driving system can enable the diesel engine driving system to be applied to the unmanned ships with various functions. Therefore, the development of a set of diesel engine driving system for unmanned ships, which is safe, flexible, strong in performance and high in applicability, is more and more urgent.

Disclosure of Invention

The embodiment of the application provides a driving system for a diesel engine of an unmanned ship, so as to solve the problems. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

A drive system for an unmanned marine diesel engine, comprising: the communication unit comprises a CAN communication module and an RS422 communication module and is configured to acquire and transmit data of the diesel engine; the processing unit comprises an FPGA core board, is connected with the communication unit, receives and analyzes the data acquired by the communication unit and sends an instruction; and the adjusting unit receives the instruction of the processing unit and controls the diesel engine to work.

Optionally, the adjusting unit includes a start-stop control module, which receives the instruction from the processing unit and sends a passive switch signal to control the start or stop of the diesel engine.

Optionally, the adjusting unit comprises a gear control module, which receives the instruction of the processing unit, and sends out a 24V switch output signal to control the forward rotation, the reverse rotation or the idling of the diesel engine.

Optionally, the adjusting unit comprises a rotating speed control module, which receives the instruction of the processing unit, and sends a 4-20 mA current signal to control the rotating speed of the diesel engine.

Optionally, the adjusting unit comprises: the servo oil pump motor driving module comprises a hydraulic oil pump, receives the instruction of the processing unit and controls the course of the unmanned ship in a PWM (pulse-width modulation) control mode; and the rudder angle sensor acquisition module acquires data of the resistance-type rudder angle sensor and acquires the course of the unmanned ship.

Optionally, the CAN communication module acquires data of the diesel engine and performs digital signal control.

Optionally, the RS422 communication module obtains and transmits data of the diesel engine to a main control computer, and receives an instruction from the main control computer to control the diesel engine to operate.

Optionally, the FPGA core board employs a 5CEBA7F27C7N chip. The invention has the beneficial effects that: the driving system is compatible with two diesel engine control modes of digital signal control and analog signal control, automatic control of the unmanned ship is realized through the driving system, the diesel engine data is acquired and transmitted through the communication unit, meanwhile, the defect of data loss is overcome, and the receiving and sending of the data on a communication circuit and the anti-interference capability are ensured; the processing unit analyzes and sends an instruction to the adjusting unit, so that the real-time performance of the driving system is improved, and a hardware basis is laid for the real-time control of the diesel engine; FPGA parallel computation, data acquisition and processing speed is high; the FPGA is provided with a phase-locked loop, so that a precise clock is provided, the real-time performance is good, the rapid response can be realized in an emergency, and the safety of the unmanned ship is ensured; the adjusting unit controls the diesel engine to work according to the instruction, so that the operation posture of the unmanned ship is controlled, and the driving system can realize the free switching function of automatic control and manual control of the unmanned ship and the emergency stop function of the diesel engine.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:

FIG. 1 is a block diagram of a drive system for an unmanned marine diesel engine provided in accordance with an embodiment of the present disclosure;

FIG. 2 is another block diagram of a drive system for a diesel engine of an unmanned ship provided by an embodiment of the present disclosure;

FIG. 3 is a circuit layout diagram of a drive system provided by an embodiment of the present disclosure;

fig. 4 is a frame diagram of the CAN communication module provided in the embodiment of the present disclosure;

fig. 5 is a circuit diagram of an RS422 bus communication module provided by an example of the present disclosure;

fig. 6 is a circuit diagram of the start-stop control module provided by an example of the present disclosure;

FIG. 7 is a circuit diagram of the range control module provided by the disclosed embodiment;

FIG. 8 is a circuit diagram of the speed control module provided by the embodiments of the present disclosure;

fig. 9 is a circuit diagram of the rudder angle collecting module provided in the embodiment of the present disclosure.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

as shown in fig. 1 to 9, the driving system for a diesel engine of an unmanned ship of the present embodiment includes: a communication unit 10 including a CAN communication module and an RS422 communication module configured to acquire and transmit data of the diesel engine; the processing unit 20 comprises an FPGA core board, is connected with the communication unit, receives and analyzes the data acquired by the communication unit, and sends an instruction; and the adjusting unit 30 receives the instruction of the processing unit and controls the diesel engine to work.

By adopting the embodiment, the driving system is compatible with two diesel engine control modes of digital signal control and analog signal control, the automatic control of the unmanned ship is realized through the driving system, the diesel engine data is acquired and transmitted through the communication unit, the defect of data loss is overcome, and the receiving and sending of the data on the communication circuit and the anti-interference capability are ensured; the processing unit analyzes and sends an instruction to the adjusting unit, so that the real-time performance of the driving system is improved, and a hardware basis is laid for the real-time control of the diesel engine; FPGA parallel computation, data acquisition and processing speed is high; the FPGA is provided with a phase-locked loop, so that a precise clock is provided, the real-time performance is good, the rapid response can be realized in an emergency, and the safety of the unmanned ship is ensured; the adjusting unit controls the diesel engine to work according to the instruction, so that the operation posture of the unmanned ship is controlled, and the driving system can realize the free switching function of automatic control and manual control of the unmanned ship and the emergency stop function of the diesel engine.

As shown in fig. 1, fig. 1 is a block diagram of a driving system of a diesel engine of an unmanned ship, and the main function is that the driving system collects state data of the diesel engine and sends the state data to a main control computer in real time; the driving system receives the command for changing the engine state transmitted by the main control computer, analyzes and synthesizes the command to control the starting, the shutdown, the accelerator (rotating speed), the stern engine (steering), the gear and the like of the diesel engine, thereby intelligently controlling the running attitude of the diesel engine; the driving system realizes the expansion of the function requirements of the unmanned ship, such as emergency stop function in emergency, manual driving and automatic driving switching function, and other standby expansion functions.

Optionally, the FPGA core board employs a 5CEBA7F27C7N chip.

Fig. 3 shows a circuit diagram of a drive system, which is compatible with two diesel engine control schemes, namely pure digital signal control (control through a CAN bus) and a control mode combining digital signals and analog signals (the CAN bus is used for monitoring the state of a diesel engine, and the analog quantity of each module controls multiple states of the diesel engine). Fig. 3 depicts an implementation and main chips used by the various modules included in the communication unit, the processing unit and the adjustment unit in the embodiment of the present disclosure.

The function realization of the driving system of the unmanned ship diesel engine comprises the following steps:

the CAN communication module in the communication unit in the embodiment of the disclosure comprises a CAN controller and a CAN transceiver, wherein the CAN controller adopts an independent CAN controller SAJ1000 developed by NXP semiconductor company, the controller supports two working modes of BasicCAN and PeliCAN, and simultaneously supports 11-bit and 29-bit identification codes, so that hardware support is provided for data transmission of a software application layer, meanwhile, the transmission bit rate of SJA1000 CAN reach 1Mbit/s, the transmission requirement of a diesel engine driving system is met, the CAN transceiver chip adopts PCA82C251 and is isolated by an HCPL-0600 chip, and the receiving and sending of data on a communication circuit and the anti-interference capability are ensured.

As shown in fig. 4, when receiving a message, data from the CAN bus 201 sequentially passes through the CAN transceiver 202, the CAN core module 203, the acceptance filter 204, the reception FIFO205, and the interface management logic 206, then is stored in the reception queue 207, and when the NIOS processor 209 is idle, the buffered data is fetched and processed by the queue fetching 208 program. On the contrary, when transmitting a message, the NIOS processor 209 first stores the message in the transmission queue 210, and after the queue fetching program fetches data through the interface management logic 206 to the transmission buffer 211 of the SJA1000, the data is transmitted to the CAN bus 201 through the CAN core module 203 and finally the CAN transceiver 202. The sizes of the receive queue and the transmit queue may be modified according to the actual situation. By adopting the mechanism, the problem of CAN data packet loss CAN be effectively improved, and the performance of a driving system is enhanced.

The CAN communication module CAN use an application layer protocol: the SAE J1939 protocol or the NEMA2000 protocol determines the signal type (rotating speed, cooling liquid, temperature and the like) by defining the ID part in the CAN data frame, and the CAN data sent by the engine driving system to a certain node is used for testing the correctness of the CAN data.

The RS422 bus communication module in the communication unit in the embodiment of the present disclosure is a communication bridge between the main control computer and the driving system, and the circuit diagram thereof is shown in fig. 2, and the RS422 bus is a full-duplex, differential signal transmission mode, has higher transmission efficiency and good anti-interference capability, and is suitable for long-distance data transmission in unmanned ships. The transmission protocol of data can adopt a Modbus protocol, which adopts a response transmission mode and can transmit data on various media, such as twisted pair, optical fiber and the like.

Optionally, the adjusting unit comprises a start-stop control module, which receives the instruction of the processing unit and controls the start or stop of the diesel engine. As shown in fig. 6, which is a circuit diagram of the start-stop control module, the switching value sent by the I/O of the FPGA controls the on/off of the solid-state relay, thereby controlling the start or stop of the diesel engine. The selected solid-state relay is a direct-current control flow SDI40100 solid-state relay, is contactless, has long service time, can pass 10A current to the maximum extent, simultaneously considers the current state at the moment of starting or stopping the engine, adds a freewheeling diode to protect circuits at two ends, and is suitable for starting or stopping control schemes of most diesel engines.

Optionally, the adjusting unit comprises a gear control module, which receives the instruction of the processing unit and controls the forward rotation, the reverse rotation or the idling of the diesel engine. Therefore, the 24V switching signal is sent to control the advancing or retreating of the unmanned ship, and the operation of the unmanned ship is intelligently controlled. As shown in fig. 7, the circuit diagram of the gear control module is shown, and two field effect transistors are designed into a switching signal control circuit, wherein one field effect transistor is IRF5120, so that the maximum continuous current during conduction is 38A, and the source is connected to a 24V power supply, so that the power requirement required by gear change is ensured, and the forward rotation, the reverse rotation or the idle rotation of the diesel engine of the engine is controlled.

Optionally, the regulating unit comprises a rotational speed control module, which receives the instruction of the processing unit and controls the rotational speed of the diesel engine. Accurate change of the rotating speed of the diesel engine is achieved through fine control of the output 4-20 mA signal current, and the speed of the unmanned ship is changed. As shown in fig. 8, which is a circuit diagram of the rotation speed control module, 4-20 mA signal current is generated by a digital-to-analog conversion chip DAC8551 and a 2-wire current loop emission chip XTR1116, the non-linear error is 0.003%, the selected DAC8551 is a 16-bit digital-to-analog conversion chip, the SPI interface is adopted for control, the control precision can reach 1/65536, and the rotation speed of the diesel engine of the engine is controlled, so that the speed of the unmanned ship is controlled. Optionally, the adjusting unit comprises a steering control module and a rudder angle acquisition module, so that the control of the hydraulic steering engine and the feedback of a rudder angle can be realized, and the steering control module adopts a PWM control mode to control the rotation direction and the speed of the oil pump motor, so as to control the rotation direction of the stern machine and control the course of the unmanned ship.

The circuit diagram of the rudder angle acquisition module is shown in fig. 9, and a resistance signal transmitted by the rudder angle sensor is converted into a measurable voltage signal through a U-IR formula, and is converted into a digital signal through an analog-to-digital conversion chip, and the digital signal reaches the FPGA to complete measurement. The analog-to-digital conversion chip adopts 2-channel and 10-bit ADC102S021, so that the rudder angle can be divided into 1024 parts, and accurate measurement can be carried out.

The steering engine is controlled in a PWM mode, and the rotating speed of the steering engine can be changed by changing the space-occupying ratio; the rudder angle is measured based on a resistance-type sensor, resistance changed by the resistance-type sensor is converted into voltage through voltage division and is converted into a digital signal through an analog-to-digital conversion chip, the FPGA measures the voltage through an SPI (serial peripheral interface), and the rotating angle is calculated according to the obtained voltage.

Optionally, as shown in fig. 3, two CAN communication modules are shown: the first CAN communication module is used for acquiring information such as the steering, speed, coolant temperature, residual oil quantity and the like of the engine diesel engine and transmitting signals to the processing unit; and the second path of CAN communication module is used as an optional item, namely is used for detecting the state of the engine diesel engine and also implements pure digital signal control on the engine diesel engine. Optionally, the system further comprises a standby UART serial port communication module configured as a unified interface to transmit information. The standby UART serial port communication module comprises an RS232 communication module, an RS485 communication module and an RS422 communication module. The system is suitable for various serial port communication protocols, so that the unmanned ship diesel engine driving system can realize good expansibility and can meet various functional requirements. The transmission protocol of the data can adopt a Modbus protocol, and the Modbus protocol adopts a response/corresponding transmission mode.

Optionally, the diesel engine driving system according to the present invention further includes a multi-way switching signal input module, and the functions that can be realized by this module include: emergency stop function, manual/automatic switching function.

Optionally, the main chip of the processing unit selects an FPGA (field programmable gate array), so that the driving system can be ensured to improve flexibility, be programmable, be easy to maintain, be convenient to upgrade or expand functions, and be configured according to requirements. In addition, the parallel computation of the FGPA control board allows for faster speed and higher bandwidth of the drive system. A plurality of phase-locked loops in the FPGA control panel bring accurate clock control to the driving system, improve the real-time performance of the driving system and lay a hardware foundation for the real-time control of the diesel engine. In order to reduce the error rate and debugging difficulty of a circuit board, a modularized thought is adopted, a hardware circuit of a driving system of a diesel engine of an unmanned ship is divided into an FPGA core board and a bottom board, and in the selection of a main chip of the FPGA core board, in order to miniaturize the whole product, realize low cost and low power consumption, is convenient to carry and place, reduces the maintenance cost, is more suitable for marine environment, adopts a mature cycle V series 5CEBA7F27C7N chip issued by Altera company, and is provided with 2 SDRAM, a power supply circuit, a crystal oscillator circuit and an EPCS circuit, and I/O pins of the FPGA are all led out through pins, so that the resources of the FPGA control board are fully utilized, and the minimum system for normal operation of the FPGA core board is realized. And each functional module of the communication unit and the adjusting unit is realized on the bottom plate.

The embodiment of the disclosure can utilize Nios II soft core processor programming, the interface familiar to programmers, and the realization mode of the function is more flexible, the development time is shortened, and the later system upgrading is also facilitated. And a hardware description language can be used for pure logic programming, so that the stability of the system can be greatly improved.

The embodiment of the present disclosure provides that the processing unit of the driving system further includes a processor (processor) and a memory (memory). Optionally, the driving system may further include a Communication Interface (Communication Interface) and a bus. The processor, the communication interface and the memory can complete mutual communication through the bus. The communication interface may be used for information transfer. The processor may invoke logic instructions in the memory to perform the drive for the unmanned ship diesel engine of the above-described embodiments. Wherein, the processor is a NiosII soft core processor.

In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product.

The memory, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor executes the functional applications and data processing by executing the program instructions/modules stored in the memory, i.e., implementing the drives for the unmanned ship diesel engine in the above embodiments.

The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory.

The disclosed embodiments provide a computer-readable storage medium having stored thereon computer-executable instructions configured to perform the above-described drive for a drone diesel engine.

The disclosed embodiments provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the above-described drive for an unmanned marine diesel engine.

The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.

The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.

Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by the skilled person that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be merely a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between the different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Claims

1. A drive system for a diesel engine of an unmanned ship, comprising:

the communication unit comprises a CAN communication module and an RS422 communication module and is configured to acquire and transmit data of the diesel engine;

the processing unit comprises an FPGA core board, is connected with the communication unit, receives and analyzes the data acquired by the communication unit and sends an instruction;

and the adjusting unit receives the instruction of the processing unit and controls the diesel engine to work.

2. The drive system for a diesel engine of an unmanned ship according to claim 1, characterized in that: the adjusting unit comprises a start-stop control module which receives the instruction of the processing unit and sends out a passive switch signal to control the start or stop of the diesel engine.

3. The drive system for a diesel engine of an unmanned ship according to claim 1, characterized in that: the adjusting unit comprises a gear control module which receives the instruction of the processing unit, sends out a 24V switch output signal and controls the forward rotation, the reverse rotation or the idling of the diesel engine.

4. The drive system for a diesel engine of an unmanned ship according to claim 1, characterized in that: the adjusting unit comprises a rotating speed control module which receives the instruction of the processing unit and sends a 4-20 mA current signal to control the rotating speed of the diesel engine.

5. The drive system for a diesel engine of an unmanned ship according to claim 1, characterized in that: the adjusting unit includes:

the servo oil pump motor driving module comprises a hydraulic oil pump, receives the instruction of the processing unit and controls the course of the unmanned ship in a PWM (pulse-width modulation) control mode;

and the rudder angle sensor acquisition module acquires data of the resistance-type rudder angle sensor and acquires the course of the unmanned ship.

6. The drive system for a diesel engine of an unmanned ship according to claim 1, characterized in that: and the CAN communication module acquires the data of the diesel engine and performs digital signal control.

7. The drive system for a diesel engine of an unmanned ship according to claim 1, characterized in that: and the RS422 communication module acquires and transmits the data of the diesel engine to a main control computer, and receives the instruction of the main control computer to control the action of the diesel engine.

8. The drive system for a diesel engine of an unmanned ship according to any one of claims 1 to 7, characterized in that: the FPGA core board adopts a 5CEBA7F27C7N chip.