CN111776190B - Digital rudder angle feedback indicating system and control method - Google Patents
Digital rudder angle feedback indicating system and control method Download PDFInfo
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- CN111776190B CN111776190B CN202010572761.XA CN202010572761A CN111776190B CN 111776190 B CN111776190 B CN 111776190B CN 202010572761 A CN202010572761 A CN 202010572761A CN 111776190 B CN111776190 B CN 111776190B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/36—Rudder-position indicators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
Abstract
A digital rudder angle feedback indicating system and a control method. Aiming at the problem that the existing rudder angle feedback indication is affected by the surrounding environment and has low precision, a digital rudder angle feedback indication system and a control method are provided. The device comprises a rudder angle transmitter, a junction box, a rudder angle receiver, an independent dimmer and an indicator consisting of the receiver. The transmitter collects signals of the high-precision encoder, simultaneously takes compass feedback signals as observation data of the transmitter, adopts a chi-square test method to carry out robust control, transmits data information to a field bus through data processing, and an automatic steering device and other steering angle indicators formed by connecting the receivers complete corresponding control and steering angle indication. The invention finally realizes rudder angle feedback indication with simple operation, high precision and strong robustness, and effectively reduces the design cost.
Description
Technical Field
The invention relates to a marine rudder angle feedback indicating system, in particular to a digital rudder angle feedback indicating system and a control method.
Background
With the demand of China on ocean development, the overall product design and manufacture of ocean engineering equipment are developing towards digitalization, networking and intellectualization. The rudder angle feedback indicating system is an indispensable navigation device on modern ships, and has the main functions of automatically outputting the current rudder angle direction of the ship at high precision and transmitting data information to an automatic steering instrument and other rudder angle indicating devices so as to ensure the safe navigation of the ship at ordinary times and the accurate navigation in severe environment. Therefore, the performance of the rudder angle feedback indicating system is directly related to the safety of the ship in navigation and directly influences the vitality of the ship.
The traditional rudder angle feedback indicating system mainly comprises an autosyn type synchronous tracking system and a potentiometer type rudder angle indication system, and the traditional rudder angle feedback indicating system has relative defects of flexibility, controllability, stability and the like. The connection of the synchro indication system of the synchro-rectification machine is relatively complex, and the synchro-rectification machine mainly comprises a small asynchronous motor of a single-phase excitation winding, a connecting cable, an instrument and the like; the stator and rotor coils of the self-angle machine adopt micro-traveling slip rings, so that poor contact is easily caused, and an indicating instrument uses an electromagnetic device, is easily interfered by external environment and often needs to be zeroed; considering the economy of the product, the design cost is high.
The existing rudder angle feedback indicating system is difficult to meet the actual requirements of the automatic ship in terms of control precision, reliability and maintainability. The existing rudder angle feedback is only applied to a ship automatic steering instrument by a system, or the output stability is not enough, and the automatic steering instrument can drift after being used for a long time, so that the sailing track of a ship is deviated. Or the transmission speed is not enough, the automatic driving of the ship can be out of control, and the ship can not sail. Or the steering angle feedback system is interfered by the environment, and the field value of the transmission information occurs, so that the automatic steering device is operated by mistake. The function of the system is difficult to expand, and the control requirements of various ships cannot be met.
Disclosure of Invention
The invention provides a technical scheme of a rudder angle feedback indicating system and a control method, which are high in manufacturing accuracy, strong in robustness and good in reliability and expansibility, and aims to solve the problems of the existing rudder angle feedback indicating system.
In order to achieve the purpose, the invention adopts the technical scheme that:
a digitalized rudder angle feedback indication control method is characterized by comprising the following steps:
1) checking: a rudder angle transmitter (105) is checked, a switch is turned on, the steering engine is sequentially driven to a left set degree, a zero degree and a right set degree, and a check button is pressed at a corresponding angle to complete the check, so that the step length of the high-precision encoder is linearly corresponding to the rotation position of the steering engine;
2) signal acquisition: a rudder angle transmitter (105) acquires rudder blade angle data and compass feedback data of the steering engine through an encoder data acquisition module;
3) signal processing: carrying out weighted average processing on rudder blade angle data, observing by collecting compass feedback data, normalizing measurement information, and carrying out robust control by a chi-square detection method; if the noise obeys Gaussian distribution at the moment, the default noise is 0 mean value, and the variance R is 1; if the detection angle information has a sudden change wild value, the state at the moment is defaulted to be the state at the last moment;
4) and (3) signal output: and outputting the processed digital signals to a steering wheel controller and a rudder angle receiver in an indicator through a serial port.
In the step 3), a chi-square test method is adopted, chi-square distribution is used for detecting the mutation outlier, and the method specifically comprises the following steps:
3.1) initialization: taking rudder blade angle data as system data XkTaking compass feedback data as observation data Yk(ii) a By passing
Calculating to obtain the state quantity of k time
Where M is 100ms sampling rate, by
YiDetermining the observed quantity at that time according to the epsilon (-pi, pi)
3.2) fault-tolerant control: calculating to obtain a residual error and a variance, and taking the residual error and the variance as detection quantity of chi-square distribution; residual error is
Wherein rho is an adjusting factor; variance Ck＝HPk-1HT+ R, where H is the system state coefficient, Pk-1The variance at the previous moment, T is transposition;
3.3) construction based on residual error rkThe chi-square detection quantity is
3.4) by comparison of lambdakAnd a set threshold value TDAnd judging whether the wild value is contained: if λk＞TDIf the wild value is: if λk≤TDIf the number of the cells is not the same as the number of the cells, the cells do not contain wild values;
the mutation outliers are caused by interference, and the detected data characteristics are abnormal points outside of +/-99.74%.
In said step 3.4), λkNeed to satisfy
Wherein
Is the cumulative probability density of the chi-squared.
The T isDIs 9; when lambda iskWhen the detection quantity is less than or equal to 9, no mutation outlier exists in the detection quantity, data transmission is carried out, and a standard RS485 signal is sent to a field bus; when lambda iskWhen the observed quantity is greater than 9, the observed quantity contains a bumpChanging the wild value, stopping updating the data at the moment k, and outputting the data at the moment k-1.
One end of a parallelogram connecting rod (104) is connected with a steering engine (102), the other end of the parallelogram connecting rod is connected with a rudder angle transmitter (105), and the control system comprises the rudder angle transmitter (105), a junction box (106), an indicator and an independent dimmer (111);
the transmitter (105) comprises a transmitter control module (202); the signal input end of the transmitter control module (202) is connected with an encoder data acquisition module through an encoder interface (210), and is connected with an electric compass through a compass interface (211), and rudder blade angle data and compass feedback data are acquired; the signal output end of the transmitter control module (202) transmits the processed data to a field bus through serial communication modules (205, 206 and 207), and transmits the processed data to an indicator through a transmitter interface (209);
a rudder angle receiver is arranged in the indicator, the rudder angle receiver comprises a receiver control module (302), and a signal input end of the receiver control module (302) receives a digital signal sent by a transmitter (105) through a receiver interface (308); and the signal output end of the receiver control module (302) outputs a pulse signal of a stepping motor through a stepping motor interface (309).
Independent dimmer (111) including independent dimmer control module (402), independent dimmer control module (402) is connected with the display module in the system through independent dimmer interface (406), is equipped with independent dimmer button module (403) on independent dimmer control module (402), independent dimmer button module (403) including rising light button and light-down button.
The beneficial effects created by the invention are as follows:
1. the rudder angle transmitter acquires angle signals with 64 circles of absolute value high-precision encoders through the data acquisition module according to a standard modbus RTU protocol, so that rudder angle information is acquired, and the real-time performance and the accuracy of the system can be effectively improved.
2. The rudder angle transmitter is used for calibrating the 0 degree, the left full rudder and the right full rudder respectively, rudder angle errors caused by installation on site are solved through software, and meanwhile, the field debugging is facilitated.
3. The rudder angle transmitter can still accurately calibrate the accuracy of the position of the rudder blade after long-time use, and the drift of equipment caused by long-time use is solved.
4. The transmitter control program adopts compass feedback information as observed quantity, constructs a new information sequence, is visual and credible, and is convenient for correcting rudder angle feedback data.
5. The control program of the transmitter adopts a chi-square fault detection method of an innovation sequence, and the rudder angle data is subjected to robust control, so that the environmental interference can be effectively prevented, the wild value is filtered, and the accuracy of the automatic steering device for receiving information is ensured.
6. The system does not influence the information display of other indicating devices when a certain path of indicating device breaks down in an RS485 parallel field bus mode, and the normal operation of the system is protected.
7. The system can expand any number of rudder angle indicating units formed by receivers in a RS485 parallel field bus mode, and accords with IEC61162 international standard interfaces, so that the expansibility of the system is improved.
8. The rudder angle receiver converts received data into pulse signals, the stepping motor driving module drives the motor to rotate, and the stepping motor 32 is divided into walking modes, so that the pointer rotates more stably, and the observability is strong.
9. The receiver control program adopts an information checking method, so that the validity of the received data is ensured.
10. The system adopts the independent light modulator with communication function to adjust the brightness of the indicating unit, is convenient to install, and can be installed at different positions according to user requirements or actual operation conditions.
11. The system has low noise and low design cost.
Drawings
FIG. 1 is a block diagram of the system hardware architecture of the present invention.
Fig. 2 is a diagram of a transmitter interface connection of the present invention.
Fig. 3 is a connection diagram of a receiver interface according to the present invention.
Fig. 4 is a diagram of a stand-alone dimmer interface of the present invention.
Fig. 5 is a flow chart of a transmitter control procedure of the present invention.
FIG. 6 is a flowchart of the fault-tolerant mechanism control process of the present invention.
FIG. 7 is a flowchart of a receiver control procedure according to the present invention.
Fig. 8 is a flowchart of the control procedure of the independent dimmer of the present invention.
FIG. 9 is a diagram of a sailing trajectory of a ship according to the present invention.
Fig. 10 is a comparative rudder angle diagram of the present invention.
Detailed Description
A digitalized rudder angle feedback indication control method is characterized by comprising the following steps:
1) checking: and (3) checking the rudder angle transmitter (105), turning on a switch, sequentially turning on the steering engine to a left set angle, a zero degree and a right set angle, and pressing a checking button at a corresponding angle to complete checking so that the step length of the high-precision encoder is linearly corresponding to the rotation position of the steering engine.
2) Signal acquisition: the rudder angle transmitter (105) acquires rudder blade angle data and compass feedback data of the steering engine through the encoder data acquisition module.
3) Signal processing: carrying out weighted average processing on rudder blade angle data, observing by collecting compass feedback data, normalizing measurement information, and carrying out robust control by a chi-square detection method; if the noise obeys Gaussian distribution at the moment, the default noise is 0 mean value, and the variance R is 1; if the detection angle information has a sudden change wild value, the state at the moment is defaulted to be the state at the last moment;
the chi-square detection method is adopted, chi-square distribution is utilized to detect the mutation outlier, and the method specifically comprises the following steps:
3.1) initialization: taking rudder blade angle data as system data XkTaking compass feedback data as observation data Yk(ii) a By passing
Calculating the state of k timeMeasurement of
Where M is 100ms sampling rate, by
YiDetermining the observed quantity at that time according to the epsilon (-pi, pi)
3.2) fault-tolerant control: calculating to obtain a residual error and a variance, and taking the residual error and the variance as detection quantity of chi-square distribution; residual error is
Wherein rho is an adjusting factor; variance Ck＝HPk-1HT+ R, where H is the system state coefficient, Pk-1The variance at the previous moment, T is transposition;
3.3) construction based on residual error rkThe chi-square detection quantity is
3.4) by comparison of lambdakAnd a set threshold value TDAnd judging whether the wild value is contained: if λk＞TDIf the wild value is: if λk≤TDIf the number of the cells is not the same as the number of the cells, the cells do not contain wild values;
the mutation outlier is caused by interference, and the detection data characteristic is abnormal points outside +/-99.74%;
said lambdakNeed to satisfy
Wherein
The cumulative probability density of chi-squared; the T isDIs 9; when lambda iskWhen the detection quantity is less than or equal to 9, no mutation outlier exists in the detection quantity, data transmission is carried out, and the data are sent to the site by standard RS485 signalsOn the bus; when lambda iskIf it is greater than 9, the observation value contains a mutation field value, the data update at the current time k is stopped, and the data at the time k-1 is output.
4) And (3) signal output: and outputting the processed digital signals to a steering wheel controller and a rudder angle receiver in an indicator through a serial port.
A digital rudder angle feedback indicating system is shown in figure 1.
The hardware structure block diagram mainly comprises rudder engine oil cylinders 101 and 103; a steering engine 102; a parallelogram link 104; a rudder angle transmitter 105; a junction box 106; a field bus 107; a three-sided rudder angle indicator 108, an embedded rudder angle indicator 109, a wall-mounted rudder angle indicator 110, which are comprised of receivers; an independent dimmer 111; a plurality of extension indication units 112. The instrument is AC electric, a rudder angle transmitter 105 is arranged in a rudder cabin and is connected with a steering engine 102 through a parallelogram connecting rod 104, and the operation is convenient, flexible and reliable. The rudder angle transmitter 105 is a transmitter controller 202 which is a STC series single chip microcomputer, collects high-precision encoder angle information with 64 circles of absolute values through an encoder interface 210 by using a standard modbus RTU protocol, receives compass feedback information through a compass interface 211 as observed quantity of a system, performs robust control by adopting a chi-square test method, transmits angle signals to a junction box 106 in a digital signal form through self fault-tolerant mechanism and other program processing, and transmits rudder blade position information to a three-sided rudder angle indicator 108, an embedded rudder angle indicator 109, a wall-mounted rudder angle indicator 110 and a plurality of extended display units 112 through a field bus. In order to enable uploaded data to be timely and effectively transmitted to each rudder angle receiver, an information parallel sending mode is adopted at the position of the junction box 106, even if a certain communication link goes wrong, information communication of other rudder angle receivers cannot be influenced, the reliability of the system is greatly improved, and the risk of the system is reduced. When steering is needed, a steering person can observe data information of the three-surface steering angle indicator 108, the embedded steering angle indicator 109 and the wall-mounted steering angle indicator 110 which are composed of receivers, so as to obtain the scale position of the current steering engine 102. The three-surface rudder angle indicator 108, the embedded rudder angle indicator 109 and the wall-mounted rudder angle indicator 110 which are composed of rudder angle receivers are equipment units which restore position data information of the steering engine into indication information, are units with the largest number in the system and are human-computer interaction interfaces, and angle indication is completed by driving the pointers by adopting a stepping motor. In order to better meet the use habit of users, the stepping motor adopts a 32-subdivision mode, so that the damping time of the pointer is short. In addition, the matching factor of the rotating speed of the steering engine and the rotating speed of the pointer of the stepping motor is also considered, and the rotating speed of the pointer is enabled to rotate stably by adopting a rudder angle pointer rotating speed intelligent matching technology, so that the reading is facilitated. The triple rudder angle indicator 108, the embedded rudder angle indicator 109, and the wall mounted rudder angle indicator 110 have internal lighting, and the independent dimmer 111 may be mounted on the indicators or may be independently arranged. The dial illumination clearly reads the indication value at a distance of 1.5 meters from the dial in the case of full black.
The transmitter is shown in fig. 2. The rudder angle transmitter 105 mainly comprises a single-chip microcomputer control module 202, a key module 203, an indicator light module 201, a transmitter serial port 1 communication module 205, a transmitter serial port 2 communication module 206, a transmitter serial port 3 communication module 207 and a data storage module 204. The external interfaces mainly include a transmitter power interface 208, a transmitter interface 209, an encoder interface 210, and a compass interface 211. The position information of the rudder angle transmitter 105 is derived from the signal of the absolute encoder interface 210, the absolute encoder can convert the mechanical angle position signal into a digital signal and transmit the digital signal to the rudder angle transmitter 105 through the serial port, and when the rudder angle transmitter 105 correctly receives the information, the encoder indicator lamp in the transmitter indicator lamp module 201 is turned on. The rudder angle transmitter 105 has a calibration function, and 4 keys, namely a dial switch, a left rudder setting key, a right rudder setting key and a zero setting key, are arranged in the transmitter key module 203. When the device needs to be set, the setting switch is switched to the on position, the steering engine is respectively switched to the left 40-degree, zero-degree and right 40-degree positions, and the corresponding keys are pressed to finish calibration. If the zero position is to be set, the steering engine 102 is firstly enabled to walk to the zero position of the mechanical scale, the switch arranged in the transmitter button module 203 is turned to the on position, the indicator lamp arranged in the transmitter indicator lamp module 201 is turned on, the zero indicator lamp flickers, the zero position setting button is pressed, and the zero indicator lamp is flat and smooth, which represents that the setting is successful. The CPU stores the set parameters into the data storage module 204, and sends out the data information after the data information is processed by the fault tolerance mechanism and the data.
The junction box control circuit includes: a power supply module, a serial port expansion module and an external interface module,
the receiver is shown in figure 3. The rudder angle receiver mainly comprises a receiver control module 302, a receiver key module 303, an indicator light module 301, a receiver serial port communication module 304, a stepping motor driving module 305 and a dimming control module 306. The external interfaces mainly include a receiver power supply interface 307, a receiver interface 308, a stepper motor interface 309, and an independent dimmer interface 310. The three-surface rudder angle indicator 108, the embedded rudder angle indicator 109 and the wall-mounted rudder angle indicator 110 which are composed of receivers adopt a stepping motor with pointers to complete angle indication. The three-sided rudder angle indicator 108, the embedded rudder angle indicator 109 and the wall-mounted rudder angle indicator 110 are mainly composed of a control board, a stepping motor, a gear and a toothed belt. The control board converts the received angle signal into a pulse signal of the stepping motor, the pulse signal is amplified by the stepping motor driver and then drives the stepping motor to rotate, and the stepping motor drives the pointer or drives the pointer through a gear and a toothed belt to complete the task of angle indication. In order to better accord with the use habit of a user, the rotation of the stepping motor must be stable, the phenomenon of blocking cannot occur, and the intelligent matching of the rotating speed of the steering engine and the rotating speed of the pointer of the stepping motor is realized, so that the self-adaptive speed matching design is a key technology for designing the indicator. In order to solve the problem, the rudder angle indicator adopts a walking mode of subdividing by a stepping motor 32, so that the indicator can rotate smoothly. In addition, the matching factor of the rotating speed of the steering engine and the rotating speed of the pointer of the stepping motor is also considered, and the rotating speed intelligent matching technology of the pointer of the rudder angle is adopted to enable the pointer to rotate more stably, so that the reading is convenient.
A stand-alone dimmer is shown in fig. 4. The independent dimmer 111 is mainly composed of an independent dimmer control module 402, an independent dimmer key module 403, an independent dimmer indicator light module 401, and an independent dimmer serial port communication module 404. The external interfaces primarily include an independent dimmer power interface 405, an independent dimmer interface 406. The individual dimmers 111, the three-sided rudder angle indicator 108, the embedded rudder angle indicator 109, the wall-mounted rudder angle indicator 110, indicate the lights on and off through the up and down keys in the individual dimmer key modules 403, and the indicator light modules 401 in the individual dimmers 111 flash corresponding to the up and down light indicators. The independent light modulator 111 can be independently arranged at any place of the driving console according to the operation requirements of users, and is convenient to use.
The software part of the rudder angle feedback indicating system mainly comprises rudder angle transmitter software, rudder angle receiver software and independent dimmer software. And rudder angle transmitter software, rudder angle receiver software and independent dimmer software all exchange data in an RS-485 field bus communication mode to finish the function of the system.
A digitalized rudder angle feedback indicating system and a control method thereof are disclosed, and as shown in figure 5, a transmitter control flow chart is provided. After the system is powered on, the actual mode of the system can be set by judging the actual position of the dial switch. When the system is in a setting mode, the corresponding setting indicator lamp is normally on. The system starts to collect the encoder information, and if the encoder lamp is in fault, the encoder lamp flashes, and then a fault alarm is sent out. After the mechanical rudder or rudder angle transmitter is adjusted to the zero position, the zero-position key is correspondingly pressed down, and the zero-position indicator lamp is set to be normally on from flickering. And after the mechanical rudder or rudder angle transmitter is adjusted to the left/right full rudder, the left/right full rudder key is pressed down, and after the left/right full rudder key is set, the corresponding indicator lamp is changed from flickering to normally on. If the system requirements are not met, information can be set from the new reset switch. When the system is in a normal working mode, data acquisition is mainly carried out, data processing is carried out through a fault-tolerant mechanism, and data information is sent to an RS-485 field bus.
When in specific use:
and the rudder angle receiver reads the numerical value of the rudder angle from the RS-485 bus, drives the motor to operate in time according to the received data and follows the position of the rudder blade when the indicated ship sails. The rudder angle transmitter control flowchart is shown in fig. 5. When the receiver is powered on, zero detection is firstly carried out, and if the zero is not detected, the receiver stops working. When the receiver detects the zero position, the stepping motor rotates, the zero position detection sensor works, the pointer is driven to indicate the position of the scale of 0, and the zero position indicator light is flat. If the zero position is not detected, the zero position indicator lamp flickers. When the receiver detects the zero position, the rudder blade can rotate according to the angle information sent by the transmitter to indicate the position of the rudder blade. If the correct information of the transmitter is not received, the receiver stops at the zero position, the communication indicator light flickers, and if the correct information is received, the communication indicator light is flat. When the mechanical indicator needs to be directed to zero, a zero setting key is pressed, the stepping motor returns to the zero position, the zero position indicator lamp is flat and smooth at the moment, the communication indicator lamp is turned off, when the key is pressed again, communication is recovered, the communication indicator lamp is turned on, if the transmitter is at the zero position at the moment, the zero position indicator lamp is turned on, and otherwise, the zero position indicator lamp is turned off.
The control procedure of the independent dimmer is described in the flow chart. The invention is provided with 5 gears for controlling the ascending and descending light, when the system detects the ascending key, the panel ascending light indicator lights flash, and mark the ascending position in the communication data, and send to each receiver. When the system detects the light-reducing key, the panel light-reducing indicator lights flicker, marks the light-reducing position in the communication data and sends the light-reducing position to each receiver.
The semi-physical simulation platform consists of a steering engine motion simulation device and a detection cabinet. The steering engine motion simulator drives a steering angle driving shaft through a stepping motor, a gear and a connecting rod and is fixedly connected with an input shaft of a feedback driving mechanism, so that a steering instrument feedback mechanism obtains a feedback steering angle. And comparing and analyzing the calculation effect of the rudder angle feedback indicator by taking a set of high-precision rudder angle feedback device as reference. The experimental requirements mainly include: the ship type is medium; coefficient of gyration 0.11 second; the helm coefficient is 15 seconds; steering time is 20 seconds; delaying the steering engine for 0 second; an initial rudder angle is 0 degree; the speed of the ship is 15 knots and the ship sails for 1840 seconds. In order to verify the effectiveness of the rudder angle feedback indicating system and the control method, a semi-physical simulation platform is adopted to simulate a ship sailing experiment, and as shown in fig. 9, the ship sailing track is shown. In order to simulate the real ship operating environment, the system adds different interferences at the moments of 500s, 1000s and 1500s of ship navigation, and the rudder angle comparison schematic diagram shows that the rudder angle feedback indicating system and the control method effectively inhibit the interference of sudden change field values. Within the error range required by the China Ship-level society standard, the system can well track the real-time rudder blade information, and the effectiveness of the system is verified.
Claims (7)
1. A digitalized rudder angle feedback indication control method is characterized by comprising the following steps:
1) checking: a rudder angle transmitter (105) is checked, a switch is turned on, the steering engine is sequentially driven to a left set degree, a zero degree and a right set degree, and a check button is pressed at a corresponding angle to complete the check, so that the step length of the high-precision encoder is linearly corresponding to the rotation position of the steering engine;
2) signal acquisition: a rudder angle transmitter (105) acquires rudder blade angle data and compass feedback data of the steering engine through an encoder data acquisition module;
3) signal processing: carrying out weighted average processing on rudder blade angle data, observing by collecting compass feedback data, normalizing measurement information, and carrying out robust control by a chi-square detection method; if the noise obeys Gaussian distribution at the moment, the default noise is 0 mean value, and the variance R is 1; if the detection angle information has a sudden change wild value, the state at the moment is defaulted to be the state at the last moment;
4) and (3) signal output: outputting the processed digital signals to a steering wheel controller and a rudder angle receiver in an indicator through a serial port;
in the step 3), a chi-square test method is adopted, chi-square distribution is used for detecting the mutation outlier, and the method specifically comprises the following steps:
3.1) initialization: taking rudder blade angle data as system data XkTaking compass feedback data as observation data Yk(ii) a By passing
Calculating to obtain the state quantity at the k moment
Where M is 100ms sampling rate, by
YiDetermining the observed quantity at that time according to the epsilon (-pi, pi)
3.2) fault-tolerant control: calculating to obtain a residual error and a variance, and taking the residual error and the variance as detection quantity of chi-square distribution; residual error is
Wherein rho is an adjusting factor; variance Ck＝HPk-1HT+ R, where H is the system state coefficient, Pk-1The variance at the previous moment, T is transposition;
3.3) construction based on residual error rkThe chi-square detection quantity is
3.4) by comparison of lambdakAnd a set threshold value TDAnd judging whether the wild value is contained: if λk＞TDIf the wild value is: if λk≤TDAnd no outlier is contained.
2. The method as claimed in claim 1, wherein the abrupt change outlier is caused by disturbance, and the detected data characteristic is abnormal point out of ± 99.74%.
3. The method for controlling the feedback indication of the rudder angle based on the digitization of the claim 1, wherein in the step 3.4), λ iskNeed to satisfy
Wherein
Is the cumulative probability density of the chi-squared.
4. The method as claimed in claim 1, wherein T is the angle of rudder angle feedback indication controlDIs 9; when lambda iskWhen the detection quantity is less than or equal to 9, no mutation outlier exists in the detection quantity, data transmission is carried out, and a standard RS485 signal is sent to a field bus; when lambda iskIf it is greater than 9, the observation value contains a mutation field value, the data update at the current time k is stopped, and the data at the time k-1 is output.
5. A control system for use in a control method according to claim 1, a parallelogram linkage (104) having one end connected to the steering engine (102) and the other end connected to the rudder angle transmitter (105), characterized in that: the control system comprises a rudder angle transmitter (105), a junction box (106), an indicator and an independent dimmer (111);
the transmitter (105) comprises a transmitter control module (202); the signal input end of the transmitter control module (202) is connected with an encoder data acquisition module through an encoder interface (210), and is connected with an electric compass through a compass interface (211), and rudder blade angle data and compass feedback data are acquired; the signal output end of the transmitter control module (202) transmits the processed data to a field bus through serial communication modules (205, 206 and 207), and transmits the processed data to an indicator through a transmitter interface (209);
a rudder angle receiver is arranged in the indicator, the rudder angle receiver comprises a receiver control module (302), and a signal input end of the receiver control module (302) receives a digital signal sent by a transmitter (105) through a receiver interface (308); and the signal output end of the receiver control module (302) outputs a pulse signal of a stepping motor through a stepping motor interface (309).
6. The control system of claim 5, wherein: independent dimmer (111) including independent dimmer control module (402), independent dimmer control module (402) is connected with the display module in the system through independent dimmer interface (406), is equipped with independent dimmer button module (403) on independent dimmer control module (402), independent dimmer button module (403) including rising light button and light-down button.
7. The control system of claim 5, wherein: the encoder data acquisition module acquires an angle signal of a high-precision encoder with 64 circles of absolute values according to a standard modbus RTU protocol.
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