CN111645842B - Control method and control device of water jet propulsion system - Google Patents
Control method and control device of water jet propulsion system Download PDFInfo
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- CN111645842B CN111645842B CN202010263589.XA CN202010263589A CN111645842B CN 111645842 B CN111645842 B CN 111645842B CN 202010263589 A CN202010263589 A CN 202010263589A CN 111645842 B CN111645842 B CN 111645842B
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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
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
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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
- B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
Abstract
The present disclosure provides a control method and a control device for a water jet propulsion system, comprising: acquiring a first signal value, a second signal value and a third signal value output by a course control handle, wherein the first signal value and the second signal value are signal values in two different directions output by the course control handle when rotating on a horizontal plane, and the third signal value is a signal value output by the course control handle when rotating; determining a lateral translation included angle of the ship according to the first signal value and the second signal value; determining a scoop control signal value based on a ship lateral translation included angle; determining a nozzle control signal value based on the ship lateral translation included angle and the third signal value; controlling the bucket to act according to the bucket control signal value, and controlling the nozzle to act according to the nozzle control signal value. This openly can reduce technical staff's complex operation degree when boats and ships have a plurality of water jet propulsion unit, and the navigation of control boats and ships is simple and fast ground.
Description
Technical Field
The disclosure relates to the technical field of water jet propulsion, and in particular relates to a control method and a control device of a water jet propulsion system.
Background
The water jet propulsion is a common propulsion mode, has the characteristics of high efficiency, good air resistance and the like, and is widely applied to a ship propulsion system. The ship water jet propulsion device is provided with a nozzle and a reverse bucket, wherein the nozzle can rotate in the horizontal direction to change the jet direction of water flow sprayed out of the nozzle so as to control the steering of a ship; the reverse navigation scoop is arranged at the nozzle and is rotated in the vertical direction by controlling the reverse navigation scoop to change the direction of water flow sprayed by the nozzle so as to control the advancing and retreating of the ship.
In the related art, a water jet propulsion system for controlling a water jet propulsion device adjusts the rotation of a reverse bucket in the vertical direction by controlling a reverse handle, and adjusts the rotation of a nozzle in the horizontal direction by controlling a steering wheel.
However, when the ship has 2 or more water jet propulsion devices, if the control method of the related art is adopted, a technician needs to simultaneously operate a plurality of reverse sailing handles and steering wheels, which increases the complexity of the operation of the technician.
Disclosure of Invention
The embodiment of the disclosure provides a control method of a water jet propulsion system, which can reduce the complex operation degree of technicians and simply and quickly control the ship to sail when a ship is provided with a plurality of water jet propulsion devices. The technical scheme is as follows:
the embodiment of the disclosure provides a control method of a water jet propulsion system, which comprises the following steps: acquiring a first signal value, a second signal value and a third signal value output by a course control handle, wherein the first signal value and the second signal value are signal values in two different directions output when the course control handle rotates on a horizontal plane, and the third signal value is a signal value output when the course control handle rotates; determining a lateral translation included angle of the ship according to the first signal value and the second signal value; determining a scoop control signal value based on the ship lateral translation included angle; determining a nozzle control signal value based on the vessel lateral translation included angle and the third signal value; controlling the bucket to act according to the bucket control signal value, and controlling the nozzle to act according to the nozzle control signal value.
In an implementation manner of the embodiment of the present disclosure, the determining a lateral translation included angle of a ship according to the first signal value and the second signal value includes: if the second signal value is larger than the first set value, determining a numerical value obtained by multiplying the absolute value of the ratio of the second signal value to the first signal value by 100 as a calculated included angle value; if the second signal value is less than or equal to the first set value, determining the calculated included angle value as zero; if the second signal value is larger than a second set value, determining the calculated value of the included angle as the second set value, wherein the second set value is larger than the first set value; and determining the ship lateral translation included angle according to the included angle calculated value, wherein the tangent of the ship lateral translation included angle is equal to the included angle calculated value.
In an implementation manner of the embodiment of the present disclosure, determining a scoop control signal value based on the ship lateral translation included angle includes: acquiring a first correlation relation between the lateral translation included angle of the ship and a bucket control signal value; and determining the bucket control signal value according to the first correlation relation and the ship lateral translation included angle.
In one implementation of the embodiment of the present disclosure, the determining a nozzle control signal value based on the ship lateral translation angle and the third signal value includes: acquiring a second correlation relation between the lateral translation included angle of the ship and a nozzle control signal value; determining an initial nozzle control signal value according to the second correlation relation and the ship lateral translation included angle; determining a sum of the initial nozzle control signal value and the third signal value as the nozzle control signal value.
In an implementation manner of the embodiment of the present disclosure, before controlling the motion of the scoop according to the scoop control signal value and controlling the motion of the nozzle according to the nozzle control signal value, the method includes: acquiring a scoop control signal value of the current position of the ship and a nozzle control signal value of the current position of the ship; if the difference between the bucket control signal value of the current position of the ship and the determined bucket control signal value is within a set range, controlling the bucket not to act; if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is in a set range, controlling the nozzle not to act; if the difference between the scoop control signal value of the current position of the ship and the determined scoop control signal value is not within the set range, controlling the scoop to act according to the determined scoop control signal value; and if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is within a set range, controlling the nozzle to act according to the determined nozzle control signal value.
The disclosed embodiment provides a control device of a water jet propulsion system, the control device includes: the acquisition module is used for acquiring a first signal value, a second signal value and a third signal value output by the course control handle, wherein the first signal value and the second signal value are signal values in two different directions output when the course control handle rotates on a horizontal plane, and the third signal value is a signal value output when the course control handle rotates; the first determining module is used for determining a lateral translation included angle of the ship according to the first signal value and the second signal value; the second determining module is used for determining a scoop control signal value based on the ship lateral translation included angle; a third determination module for determining a nozzle control signal value based on the vessel lateral translation angle and the third signal value; and the control module is used for controlling the bucket to act according to the bucket control signal value and controlling the nozzle to act according to the nozzle control signal value.
In an implementation manner of the embodiment of the present disclosure, the first determining module includes: the first determining submodule is used for determining a numerical value obtained by multiplying an absolute value of a ratio of the second signal value to the first signal value by 100 as an included angle calculation value if the second signal value is larger than a first set value; the second determining submodule is used for determining the calculated value of the included angle as zero if the second signal value is less than or equal to the first set value; a third determining submodule, configured to determine the calculated included angle value as a second set value if the second signal value is greater than the second set value, where the second set value is greater than the first set value; and the fourth determining submodule is used for determining the ship lateral translation included angle according to the included angle calculated value, and the tangent of the ship lateral translation included angle is equal to the included angle calculated value.
In an implementation manner of the embodiment of the present disclosure, the second determining module includes: the first acquisition submodule is used for acquiring a first correlation between the lateral translation included angle of the ship and a control signal value of the scoop; and the fifth determining submodule is used for determining the scoop control signal value according to the first correlation relationship and the ship lateral translation included angle.
In an implementation manner of the embodiment of the present disclosure, the third determining module includes: the second acquisition submodule is used for acquiring a second correlation relation between the ship lateral translation included angle and the nozzle control signal value; a sixth determining submodule, configured to determine an initial nozzle control signal value according to the second correlation relationship and the ship lateral translation included angle; a seventh determining submodule for determining a sum of the initial nozzle control signal value and the third signal value as the nozzle control signal value.
In one implementation manner of the embodiment of the present disclosure, the control module includes: the second acquisition submodule is used for acquiring a scoop control signal value of the current position of the ship and a nozzle control signal value of the current position of the ship; the first control submodule is used for controlling the scoop not to act if the difference between the scoop control signal value of the current position of the ship and the determined scoop control signal value is within a set range; the second control submodule is used for controlling the nozzle to stop working if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is in a set range; the third control sub-module is used for controlling the bucket to act according to the determined bucket control signal value if the difference between the bucket control signal value of the current position of the ship and the determined bucket control signal value is not within a set range; and the fourth control submodule is used for controlling the nozzle to act according to the determined nozzle control signal value if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is within a set range.
The beneficial effects brought by the technical scheme provided by the embodiment of the disclosure at least comprise:
the embodiment of the disclosure outputs a first signal value, a second signal value and a third signal value by obtaining the course control handle, wherein the first signal value and the second signal value are two signal values in different directions output by the course control handle when the course control handle rotates on a horizontal plane, so that a ship lateral translation included angle can be determined according to the first signal value and the second signal value, in the embodiment of the disclosure, the ship lateral translation included angle is used for indicating a deflection angle of the navigation of a ship, so that a bucket control signal value can be determined based on the ship lateral translation included angle, a nozzle control signal value is determined based on the ship lateral translation included angle and the third signal value, so that the bucket action is controlled according to the bucket control signal value to control the forward navigation or backward navigation of the ship, and a nozzle action is controlled according to the nozzle control signal value to control the steering of the ship, even if the ship has a plurality of water jet propulsion devices, this kind of nozzle control signal value through acquireing control nozzle action and the fill spoon control signal value of control fill spoon action to the realization is to boats and ships navigation automatic control's mode, can swiftly realize controlling the purpose of boats and ships navigation, with reduction technical staff's complex operation degree.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of a method of controlling a waterjet propulsion system provided by an embodiment of the present disclosure;
FIG. 2 is a flow chart of another method of controlling a waterjet propulsion system provided by embodiments of the present disclosure;
FIG. 3 is a calibration graph of a heading control handle provided by an embodiment of the disclosure;
FIG. 4 is a diagram illustrating a relationship between a lateral translation included angle of a ship and a calculated value of the included angle, according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating a relationship between a lateral translation included angle of a ship and a control signal value of a scoop according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram illustrating a relationship between a lateral translation included angle of another ship and a control signal value of a scoop according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram illustrating a relationship between a lateral translation angle of a ship and a nozzle control signal value according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram illustrating a relationship between a lateral translation angle of another vessel and a nozzle control signal value according to an embodiment of the present disclosure;
FIG. 9 is a control schematic diagram of a machine side control mode provided by an embodiment of the disclosure;
FIG. 10 is a schematic illustration of a control arrangement for a waterjet propulsion system provided by an embodiment of the present disclosure;
FIG. 11 is a schematic illustration of control of another waterjet propulsion system provided by embodiments of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
FIG. 1 is a flow chart of a control method of a water jet propulsion system provided by an embodiment of the present disclosure. As shown in fig. 1, the control method is executed by an upper computer, and includes:
step 101: and acquiring a first signal value, a second signal value and a third signal value output by the course control handle.
The first signal value and the second signal value are signal values in two different directions output when the course control handle rotates on the horizontal plane, and the third signal value is a signal value output when the course control handle rotates.
Step 102: and determining the lateral translation included angle of the ship according to the first signal value and the second signal value.
Step 103: and determining a scoop control signal value based on the lateral translation included angle of the ship.
Step 104: and determining a nozzle control signal value based on the ship lateral translation included angle and the third signal value.
Step 105: controlling the bucket to act according to the bucket control signal value, and controlling the nozzle to act according to the nozzle control signal value.
The embodiment of the disclosure outputs a first signal value, a second signal value and a third signal value by obtaining the course control handle, wherein the first signal value and the second signal value are two signal values in different directions output by the course control handle when the course control handle rotates on a horizontal plane, so that a ship lateral translation included angle can be determined according to the first signal value and the second signal value, in the embodiment of the disclosure, the ship lateral translation included angle is used for indicating a deflection angle of the navigation of a ship, so that a bucket control signal value can be determined based on the ship lateral translation included angle, a nozzle control signal value is determined based on the ship lateral translation included angle and the third signal value, so that the bucket action is controlled according to the bucket control signal value to control the forward navigation or backward navigation of the ship, and a nozzle action is controlled according to the nozzle control signal value to control the steering of the ship, even if the ship has a plurality of water jet propulsion devices, this kind of nozzle control signal value through acquireing control nozzle action and the fill spoon control signal value of control fill spoon action to the realization is to boats and ships navigation automatic control's mode, can swiftly realize controlling the purpose of boats and ships navigation, with reduction technical staff's complex operation degree.
FIG. 2 is a flow chart of another method of controlling a waterjet propulsion system provided by embodiments of the present disclosure. As shown in fig. 2, the control method is executed by an upper computer, and includes:
step 201: and acquiring a first signal value, a second signal value and a third signal value output by the course control handle.
The first signal value and the second signal value are signal values in two different directions output when the course control handle rotates on the horizontal plane, and the third signal value is a signal value output when the course control handle rotates.
In the embodiment of the disclosure, the course control handle of the water jet propulsion system is a three-degree-of-freedom handle, and the course control handle can be pushed in any direction of a horizontal plane to output X, Y direction control signals, namely signal values in two different directions on the horizontal plane; meanwhile, the course control handle can rotate, namely, the course control handle rotates by taking the handle central axis of the course control handle as a rotation center to output a Z-direction control signal, namely, a signal value output when the course control handle rotates.
Wherein, the input signal of the course control handle is a 5V voltage signal, 3 paths of output signals of the course control handle respectively correspond to X, Y, Z three directions, and the magnitude of the output signal is 0-5V.
The obtaining of the first signal value, the second signal value and the third signal value in step 201 may specifically be as follows.
First, a voltage signal of 5V is input to the heading control handle to activate the heading control handle. In order to improve the control signal precision of the course control handle, a Programmable Logic Controller (PLC) may be used to output a 5V input voltage to the course control handle.
In the control process, a technician can push the course control handle to rotate in a horizontal plane or twist the course control handle to rotate, so that X, Y, Z three-direction 0-5V voltage signals output by the course control handle are recorded as Ux, Uy and Uz respectively. Meanwhile, after the upper computer receives the voltage signal output by the course control handle, the voltage signal output by the course control handle can be calibrated for one time to obtain a first signal value, a second signal value and a third signal value.
FIG. 3 is a calibration graph of a heading control handle according to an embodiment of the disclosure. As shown in fig. 3, the lower limit value of the output signal is-300, the upper limit value of the output signal is 300, the minimum disconnection value is set to be 200 or more smaller than the input minimum value, the maximum disconnection value is 200 or more larger than the input maximum value, and the dead zone value is set to be 50. When the PLC inputs 0-5V signals, the course control handle can convert the output voltage signals into corresponding digital quantity, and the numeric value range of the digital quantity is 0-13824.
The output signal of the heading control handle in a certain direction is taken as an example for explanation.
Illustratively, the value of the output voltage of the course control handle in a certain direction is 0.25-4.75V, and the signal of the course control handle in the middle position is 2.5V. When the value of the output voltage is 0.25-4.75V, the output voltage is converted into corresponding digital quantity 691-.
The course control handle can output different output voltages in real time in the action process.
If the digital quantity of the current input voltage is less than or equal to 491 (the lowest value of the broken line), the output course control handle has the broken line fault.
If the digital quantity of the input voltage is within 491 (minimum disconnection value) to 691 (minimum input value), the digital quantity of the output voltage of the heading control handle is calibrated to be-300;
and if the digital quantity of the input voltage is within 691 (minimum disconnection value) to 6862 (lower dead zone limit value), the digital quantity of the output voltage of the calibrated heading control handle is equal to-300 times (6862-digital quantity of the input voltage)/6171, and the value is rounded.
If the digital quantity of the input voltage is between 6862 (dead zone lower limit value) and 6962 (dead zone upper limit value), the digital quantity of the output voltage of the calibrated heading control handle is 0.
If the digital quantity of the input voltage is between 6962 (dead zone upper limit value) and 13131 (input maximum value), the digital quantity of the output voltage of the calibrated heading control handle is 300 times (13131-digital quantity of the input voltage)/6169, and the value is rounded.
If the digital quantity of the input voltage is between 13131 (input maximum) and 13331 (disconnection maximum), the digital quantity of the output voltage of the calibrated heading control handle is 300.
If the digital quantity of the input voltage is larger than or equal to 13331 (the highest value of the broken line), the broken line fault of the output heading control handle occurs. When the course control handle breaks, the water jet propulsion system locks the current positions of the bucket and the nozzle.
Step 202: and determining the lateral translation included angle of the ship according to the first signal value and the second signal value.
Step 202 may include two steps, wherein a first step is used to determine a calculated angle and a second step is used to determine a lateral translation angle of the vessel based on the determined calculated angle.
Wherein, the first step can include the following three cases.
In the first type, if the second signal value is greater than the first set value, the value obtained by multiplying the absolute value of the ratio of the second signal value to the first signal value by 100 is determined as the calculated angle.
The first setting value may be a dead zone value, for example, a dead zone lower limit 6862 and a dead zone upper limit 6962.
After the calibration of the steps, the digital quantities of the output signals of the three directions (X, Y, Z) of the heading control handle are determined to be Xa (first signal value), Ya (second signal value) and Za (third signal value). The upper dead band limit is determined to be a first set value, denoted as idedband.
If the second signal value | Ya | > ideeadband, the calculated angle Ra is 30 × | Ya/Xa |.
And in the second class, if the second signal value is less than or equal to the first set value, the calculation value of the included angle is determined to be zero.
If the second signal value | Ya | ≦ ideeadband, the calculated angle Ra is 0.
And in the third class, if the second signal value is greater than the second set value, determining the calculation value of the included angle as the second set value, wherein the second set value is greater than the first set value.
Wherein the second set value may be 3000. That is, if the calculated angle Ra is greater than 3000, the calculated angle Ra is 3000.
The second step may include: and determining a ship lateral translation included angle according to the calculated included angle value, wherein the tangent of the ship lateral translation included angle is equal to the calculated included angle value.
Illustratively, the vessel lateral translation angle θ a is determined according to the following relationship. Tan θ a ═ Ra.
In the embodiment of the disclosure, the ship lateral translation included angle θ a can be determined in a graph mode. Fig. 4 is a relationship diagram between a lateral translation included angle of a ship and a calculated included angle value according to an embodiment of the present disclosure. As shown in fig. 4, the abscissa is the calculated angle Ra, and the ordinate is the ship lateral translation angle θ a.
After the ship lateral translation included angle theta a is determined, a quadrant where the ship lateral translation included angle theta a is located needs to be further determined according to the first signal value and the second signal value so as to determine a specific ship navigation lateral translation included angle theta.
If Ya > ideeadband and Xa > ideeadband, then in quadrant 1, the lateral translation angle θ is 90 — the ship lateral translation angle θ a.
If Ya > ideal and Xa < -1 × ideal, then in quadrant 2, the included angle θ of lateral translation is 90+ the included angle θ a of lateral translation of the ship.
If Ya < -1 × idedband Xa < -1 × idedband is in quadrant 3, the lateral translation angle theta is 270-the lateral translation angle theta a.
If Ya < -1 × idedband Xa > idedband is in quadrant 4, the included angle theta of lateral translation is 270+ the included angle theta of lateral translation.
If | Ya | is less than or equal to ideal and | Xa | is less than or equal to ideal, Neutral control of the heading control handle in the middle position is true.
If | Ya | ≦ ideeadband and Xa > ideeadband, then the lateral translation angle θ is 0.
If Ya > ideeadband and | Xa | ≦ ideeadband, then the lateral translation angle θ is 90.
If | Ya | ≦ ideeadband and Xa < -1 × ideeadband, then the lateral translation angle θ is 180.
If Ya < -1 × idedband | Xa | ≦ idedband, then the lateral translation angle θ is 270.
Step 203: and acquiring a first correlation between the lateral translation included angle of the ship and the control signal value of the scoop.
Step 204: and determining a scoop control signal value according to the first correlation relation and the lateral translation included angle.
In an embodiment of the disclosure, the vessel is provided with two water jet propulsion devices, i.e. the vessel has two sets of scoop, port and starboard.
The first correlation relationship between the ship lateral translation included angle and the scoop control signal value can be represented by a chart. Fig. 5 is a schematic diagram illustrating a relationship between a ship lateral translation included angle and a scoop control signal value provided in the present disclosure, and fig. 6 is a schematic diagram illustrating a relationship between another ship lateral translation included angle and a scoop control signal value provided in the present disclosure. As shown in fig. 5 and 6, the lateral translation included angle θ a of the ship is determined as a lateral translation included angle θ (abscissa) of a specific ship navigation, and the value range is 0 to 360 °, and the value of the control signal of the scoop is a ordinate and the value range is-300 to 300. Fig. 5 shows a first correlation between a control signal value of the port scoop and a lateral translation angle, and fig. 6 shows a first correlation between a control signal value of the starboard scoop and a lateral translation angle. Thus, according to the first correlation, the bucket control signal values corresponding to the lateral translation included angles theta in a one-to-one mode can be determined.
Step 205: and acquiring a second correlation relationship between the lateral translation included angle and the nozzle control signal value.
Step 206: and determining an initial nozzle control signal value according to the second correlation relation and the lateral translation included angle.
Step 207: the sum of the initial nozzle control signal value and the third signal value is determined as the nozzle control signal value.
In the disclosed embodiment the vessel is equipped with two waterjet propulsion devices, i.e. the vessel has two sets of nozzles, port and starboard nozzles respectively.
And the second correlation relationship between the ship lateral translation included angle and the nozzle control signal value can be represented by a graph. Fig. 7 is a schematic diagram illustrating a relationship between a ship lateral translation included angle and a nozzle control signal value according to an embodiment of the present disclosure, and fig. 8 is a schematic diagram illustrating a relationship between another ship lateral translation included angle and a nozzle control signal value according to an embodiment of the present disclosure. As shown in fig. 7 and 8, the lateral translation angle θ a of the ship is determined as a lateral translation angle θ (abscissa) of a specific ship navigation, and the range of the lateral translation angle θ is 0 to 360 °, and the value of the nozzle control signal is a ordinate and the range of the nozzle control signal is-300 to 300. FIG. 7 illustrates a second correlation between port nozzle control signal values and lateral translation angle, and FIG. 8 illustrates a second correlation between starboard nozzle control signal values and lateral translation angle. Thus, according to the second correlation, the nozzle control signal values corresponding to the lateral translation included angles θ one to one can be determined.
The above-mentioned way of determining the nozzle control signal value is the case that the course control handle does not output the third signal value, that is, the case that the course control handle only outputs the first signal value and the second signal value.
When the first signal value, the second signal value, and the third signal value are simultaneously output by the course control handle, the disclosed embodiment also determines the nozzle control signal value by combining the second correlation relationship and the third signal value.
The specific process may be that an initial nozzle control signal value is determined according to the second correlation shown in fig. 7 and 8 and the determined lateral translation included angle, and then the sum of the initial nozzle control signal value and the third signal value is determined as the nozzle control signal value.
Exemplarily, referring to fig. 7 and 8, the port nozzle control command is the initial nozzle control signal value + Za, and takes a value of (-300 to 300); and (4) taking the starboard nozzle control command as an initial nozzle control signal value + Za and taking the value as (-300).
Step 208: controlling the bucket to act according to the bucket control signal value, and controlling the nozzle to act according to the nozzle control signal value.
Step 208 may include: acquiring a scoop control signal value of the current position of the ship and a nozzle control signal value of the current position of the ship; if the difference between the bucket control signal value of the current position of the ship and the determined bucket control signal value is within a set range, controlling the bucket not to act; if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is in a set range, controlling the nozzle not to act; if the difference between the scoop control signal value of the current position of the ship and the determined scoop control signal value is not within the set range, controlling the scoop to act according to the determined scoop control signal value; and if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is within a set range, controlling the nozzle to act according to the determined nozzle control signal value.
When the control signal value of the scoop at the current position of the ship and the control signal value of the nozzle at the current position of the ship are respectively detected by the scoop position sensor and the nozzle position sensor, the signal value of the current position of the scoop and the current position of the nozzle is detected, and the signal value is a voltage value. Then, the bucket control signal value of the current position of the ship and the nozzle control signal value of the current position of the ship can be determined based on the voltage value by adopting the calibration mode.
The embodiment of the disclosure compares the scoop control signal value of the current position of the ship with the scoop control signal value which is determined through the previous steps and needs to be adjusted, and compares the difference value between the nozzle control signal value of the current position of the ship and the nozzle control signal value which is determined through the previous steps and needs to be adjusted, so as to determine whether the current positions of the scoop and the nozzle are the positions where the scoop and the nozzle need to be adjusted. If the difference value between the two is in the set range, the current positions of the bucket spoon and the nozzle are overlapped with the positions of the bucket spoon and the nozzle needing to be adjusted, adjustment is not needed, and therefore the actions of the bucket spoon and the nozzle are not controlled. If the difference value between the two exceeds the set range, the current positions of the bucket and the nozzle are not coincident with the positions of the bucket and the nozzle needing to be adjusted, at the moment, the bucket is controlled to act according to the bucket control signal value, and the nozzle is controlled to act according to the nozzle control signal value.
Illustratively, the setting range is set according to specific control accuracy requirements, for example, the setting range is smaller than the control accuracy/steering stroke x the calibration value range, for example, the control accuracy is ± 1 °, the steering stroke is-30 ° to 30 °, the calibration value range is 2000, the setting range is less than 66.7, and 50 is generally desirable.
In some embodiments of the present disclosure, in addition to controlling the water jet propulsion system by using the above control method, a machine-side control mode may be used, wherein the machine-side control mode controls the ship to sail through a machine-side control box, and the machine-side control box may output 4 sailing control commands of up, down, left, and right.
Fig. 9 is a control schematic diagram of a machine-side control mode according to an embodiment of the disclosure. As shown in fig. 9, when the first relay K1 in the machine side control box is powered off and the second relay K2 is powered on, the machine side control box outputs an upward navigation control instruction, and the proportional valve coil a of the backward navigation forward vehicle is powered on, and the voltage is 5V; and the machine side control box outputs a downward navigation control instruction, and the reverse navigation reversing proportional valve coil B is electrified and the voltage is 5V. When the other-side control box keeps outputting an upward or downward navigation control instruction, the scoop can rotate towards the direction of forward driving or reversing. Similarly, the other-side control box outputs a left or right navigation control command, and then the nozzle can be controlled to rotate left or right.
FIG. 10 is a schematic diagram of a control device of a water jet propulsion system provided by an embodiment of the disclosure. As shown in fig. 10, the control device 300 includes: an acquisition module 301, a first determination module 302, a second determination module 303, a third determination module 304, and a control module 305.
The acquisition module 301 is configured to acquire a first signal value, a second signal value, and a third signal value output by the heading control handle, where the first signal value and the second signal value are two signal values output in different directions when the heading control handle rotates on a horizontal plane, and the third signal value is a signal value output when the heading control handle rotates; the first determining module 302 is configured to determine a lateral translation included angle of the ship according to the first signal value and the second signal value; the second determining module 303 is configured to determine a scoop control signal value based on the ship lateral translation included angle; a third determination module 304 for determining a nozzle control signal value based on the vessel lateral translation angle and the third signal value; and the control module 305 is configured to control the bucket to act according to the bucket control signal value, and control the nozzle to act according to the nozzle control signal value.
Optionally, the first determining module 302 includes: a first determining submodule 3021 configured to determine, if the second signal value is greater than the first set value, a value obtained by multiplying an absolute value of a ratio of the second signal value to the first signal value by 100 as an included angle calculation value; a second determining submodule 3022, configured to determine the calculated included angle value as zero if the second signal value is less than or equal to the first set value; a third determining submodule 3023, configured to determine the calculated included angle value as a second set value if the second signal value is greater than the second set value, where the second set value is greater than the first set value; and the fourth determining submodule 3024 is configured to determine a ship lateral translation included angle according to the included angle calculated value, and the tangent of the ship lateral translation included angle is equal to the included angle calculated value.
Optionally, the second determining module 303 includes: the first obtaining submodule 3031 is used for obtaining a first correlation between a lateral translation included angle of a ship and a control signal value of a bucket; and a fifth determining submodule 3032, configured to determine a scoop control signal value according to the first correlation relationship and the ship lateral translation included angle.
Optionally, the third determining module 304 includes: a second obtaining submodule 3041, configured to obtain a second correlation between a ship lateral translation included angle and a nozzle control signal value; a sixth determining submodule 3042, configured to determine an initial nozzle control signal value according to the second correlation relationship and the ship lateral translation included angle; a seventh determining submodule 3043 for determining a sum of the initial nozzle control signal value and the third signal value as the nozzle control signal value.
Optionally, the control module 305 comprises: the second obtaining submodule 3051 is configured to obtain a scoop control signal value of the current position of the ship and a nozzle control signal value of the current position of the ship; the first control submodule 3052 is used for controlling the scoop not to act if the difference between the scoop control signal value of the current position of the ship and the determined scoop control signal value is within a set range; a second control submodule 3053, configured to control the nozzle not to operate if a difference between a nozzle control signal value of the current position of the ship and the determined nozzle control signal value is within a set range; a third control sub-module 3054, configured to, if a difference between a scoop control signal value of the current position of the ship and the determined scoop control signal value is not within a set range, control a scoop according to the determined scoop control signal value; and a fourth control submodule 3055 for controlling the nozzle operation according to the determined nozzle control signal value if a difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is within a set range.
FIG. 11 is a schematic illustration of control of another waterjet propulsion system provided by embodiments of the present disclosure. As shown in fig. 11, the control device 600 of the waterjet propulsion system may be a computer or the like.
Generally, the control device 600 of the water jet propulsion system comprises: a processor 601 and a memory 602.
The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 601 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 601 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.
The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 602 is used to store at least one instruction for execution by the processor 601 to implement the control method of the water jet propulsion system provided by the method embodiments herein.
In some embodiments, the control device 600 of the water jet propulsion system may further comprise: a peripheral interface 603 and at least one peripheral. The processor 601, memory 602, and peripheral interface 603 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 603 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 604, a touch screen display 605, a camera 606, an audio circuit 607, a positioning component 608, and a power supply 609.
The peripheral interface 603 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 601 and the memory 602. In some embodiments, the processor 601, memory 602, and peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 601, the memory 602, and the peripheral interface 603 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The display 605 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 605 is a touch display screen, the display screen 605 also has the ability to capture touch signals on or over the surface of the display screen 605. The touch signal may be input to the processor 601 as a control signal for processing. At this point, the display 605 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 605 may be one, providing the front panel of the control device 600 of the waterjet propulsion system; in other embodiments, the display 605 may be at least two, respectively disposed on different surfaces of the control device 600 of the water jet propulsion system or in a folded design; in still other embodiments, the display 605 may be a flexible display disposed on a curved surface or a folded surface of the control device 600 of the water jet propulsion system. Even more, the display 605 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The Display 605 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 609 is used to power the various components in the control device 600 of the water jet propulsion system. The power supply 609 may be ac, dc, disposable or rechargeable. When the power supply 609 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
It will be appreciated by those skilled in the art that the configuration shown in FIG. 11 does not constitute a limitation of the control device 600 of the water jet propulsion system, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be employed.
The disclosed embodiments also provide a non-transitory computer readable storage medium having instructions therein which, when executed by a processor of a control of a water jet propulsion system, enable the control of the water jet propulsion system to perform the control method of the water jet propulsion system provided in the embodiments of fig. 1 or fig. 2.
A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of controlling a water jet propulsion system as provided in the embodiments of fig. 1 or fig. 2 described above.
The above description is meant to be illustrative of the principles of the present disclosure and not to be taken in a limiting sense, and any modifications, equivalents, improvements and the like that are within the spirit and scope of the present disclosure are intended to be included therein.
Claims (8)
1. A control method of a water jet propulsion system, characterized in that the control method comprises:
acquiring a first signal value, a second signal value and a third signal value output by a course control handle, wherein the first signal value and the second signal value are signal values in two different directions output when the course control handle rotates on a horizontal plane, and the third signal value is a signal value output when the course control handle rotates;
if the second signal value is larger than the first set value, determining a numerical value obtained by multiplying the absolute value of the ratio of the second signal value to the first signal value by 100 as a calculated included angle value;
if the second signal value is less than or equal to the first set value, determining the calculated included angle value as zero;
if the second signal value is larger than a second set value, determining the calculated value of the included angle as the second set value, wherein the second set value is larger than the first set value;
determining a lateral translation included angle of the ship according to the calculated included angle value, wherein the tangent of the lateral translation included angle of the ship is equal to the calculated included angle value;
determining a scoop control signal value based on the ship lateral translation included angle;
determining a nozzle control signal value based on the vessel lateral translation angle and the third signal value;
controlling the bucket to act according to the bucket control signal value, and controlling the nozzle to act according to the nozzle control signal value.
2. The method of controlling a water jet propulsion system as claimed in claim 1, wherein said determining a scoop control signal value based on said vessel lateral translation angle comprises:
acquiring a first correlation between the lateral translation included angle of the ship and a control signal value of the scoop;
and determining the bucket control signal value according to the first correlation relation and the ship lateral translation included angle.
3. The method of controlling a water jet propulsion system of claim 1, wherein determining a nozzle control signal value based on the vessel lateral translation angle and the third signal value comprises:
acquiring a second correlation relation between the lateral translation included angle of the ship and a nozzle control signal value;
determining an initial nozzle control signal value according to the second correlation relation and the ship lateral translation included angle;
determining a sum of the initial nozzle control signal value and the third signal value as the nozzle control signal value.
4. A method of controlling a water jet propulsion system as claimed in any one of claims 1 to 3, wherein controlling scoop actuation in response to the scoop control signal value and prior to controlling nozzle actuation in response to the nozzle control signal value comprises:
acquiring a scoop control signal value of the current position of the ship and a nozzle control signal value of the current position of the ship;
if the difference between the bucket control signal value of the current position of the ship and the determined bucket control signal value is within a set range, controlling the bucket not to act;
if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is in a set range, controlling the nozzle not to act;
if the difference between the scoop control signal value of the current position of the ship and the determined scoop control signal value is not within the set range, controlling the scoop to act according to the determined scoop control signal value;
and if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is within a set range, controlling the nozzle to act according to the determined nozzle control signal value.
5. A control arrangement for a water jet propulsion system, characterized in that the control arrangement comprises:
the acquisition module is used for acquiring a first signal value, a second signal value and a third signal value output by the course control handle, wherein the first signal value and the second signal value are signal values in two different directions output when the course control handle rotates on a horizontal plane, and the third signal value is a signal value output when the course control handle rotates;
the first determining module includes: the first determining submodule is used for determining a numerical value obtained by multiplying the absolute value of the ratio of the second signal value to the first signal value by 100 as an included angle calculation value if the second signal value is larger than a first set value; the second determining submodule is used for determining the calculated value of the included angle as zero if the second signal value is less than or equal to the first set value; a third determining submodule, configured to determine the calculated included angle value as a second set value if the second signal value is greater than the second set value, where the second set value is greater than the first set value; the fourth determining submodule is used for determining a ship lateral translation included angle according to the included angle calculated value, and the tangent of the ship lateral translation included angle is equal to the included angle calculated value;
the second determining module is used for determining a scoop control signal value based on the ship lateral translation included angle;
a third determination module for determining a nozzle control signal value based on the vessel lateral translation angle and the third signal value;
and the control module is used for controlling the bucket to act according to the bucket control signal value and controlling the nozzle to act according to the nozzle control signal value.
6. The control device of a water jet propulsion system as claimed in claim 5, characterized in that said second determination module comprises:
the first acquisition submodule is used for acquiring a first correlation between the lateral translation included angle of the ship and a control signal value of the scoop;
and the fifth determining submodule is used for determining the scoop control signal value according to the first correlation relation and the ship lateral translation included angle.
7. The control device of a water jet propulsion system as claimed in claim 5, characterized in that said third determination module comprises:
the second acquisition submodule is used for acquiring a second correlation relation between the ship lateral translation included angle and the nozzle control signal value;
a sixth determining submodule, configured to determine an initial nozzle control signal value according to the second correlation relationship and the ship lateral translation included angle;
a seventh determining submodule for determining a sum of the initial nozzle control signal value and the third signal value as the nozzle control signal value.
8. Control arrangement of a water jet propulsion system according to any of the claims 5-7, characterised in that the control module comprises:
the second acquisition submodule is used for acquiring a scoop control signal value of the current position of the ship and a nozzle control signal value of the current position of the ship;
the first control submodule is used for controlling the scoop not to act if the difference between the scoop control signal value of the current position of the ship and the determined scoop control signal value is within a set range;
the second control submodule is used for controlling the nozzle to stop working if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is in a set range;
the third control sub-module is used for controlling the bucket to act according to the determined bucket control signal value if the difference between the bucket control signal value of the current position of the ship and the determined bucket control signal value is not within a set range;
and the fourth control submodule is used for controlling the nozzle to act according to the determined nozzle control signal value if the difference between the nozzle control signal value of the current position of the ship and the determined nozzle control signal value is within a set range.
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| JPH06135377A (en) * | 1992-10-24 | 1994-05-17 | Sanshin Ind Co Ltd | Compact jet propulsion boat |
| JP3396381B2 (en) * | 1996-08-07 | 2003-04-14 | 独立行政法人海上技術安全研究所 | Predicted position display device with joystick control |
| CN104648645B (en) * | 2015-03-04 | 2017-03-22 | 武汉理工大学 | Jet-propelled boat capable of realizing boat motion vector control |
| CN108482631B (en) * | 2018-01-31 | 2020-01-31 | 武汉船用机械有限责任公司 | Control system and control method for multiple full-turning rudder propellers |
| CN108762263B (en) * | 2018-05-22 | 2021-07-23 | 中国船舶工业集团公司第七0八研究所 | Vector motion control method for double-engine double-water-jet propulsion boat |
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