CN112141312B - Steering engine control method capable of reaching underwater robot laying position - Google Patents
Steering engine control method capable of reaching underwater robot laying position Download PDFInfo
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- CN112141312B CN112141312B CN202011022247.5A CN202011022247A CN112141312B CN 112141312 B CN112141312 B CN 112141312B CN 202011022247 A CN202011022247 A CN 202011022247A CN 112141312 B CN112141312 B CN 112141312B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
- B63H25/28—Steering engines of fluid type
- B63H25/30—Steering engines of fluid type hydraulic
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Abstract
The invention relates to a steering engine control method capable of accurately and quickly reaching the laying position of an underwater robot, which utilizes a controller to perform corner adjustment, displacement adjustment and combination of the corner adjustment and the displacement adjustment to control a first oil pump and/or a second oil pump, so that the steering engine can be adjusted in an accurate manner, the problems of large steering engine adjustment error and excessively slow adjustment and adjustment speed in the prior art are solved, and the steering engine control method has the advantages of simple system structure, accurate adjustment and fast steering engine reaction. By the aid of the steering engine control method, a ship carrying the underwater robot can quickly and accurately arrive at a designated water area to lay the underwater robot, laying and operation of the underwater robot are completed, and the steering engine control method has a good application prospect.
Description
Technical Field
The invention relates to a steering engine control method, in particular to a steering engine control method capable of reaching a laying position of an underwater robot.
Background
A ship is used as a main mounting platform of an on-water robot, and when the underwater robot needs to perform underwater operation in a specified water area, the ship is often required to be transported to the specified water area. When a ship navigates in a river or on the sea, the course of the ship needs to be controlled, and the ship steering engine is used as a ship steering system component, is the most important component of the ship except for a main engine, and is very important for ensuring the safe navigation of the ship. In recent years, with the improvement of navigation conditions of inland waterway and the continuous acceleration and development of construction in each region, the tonnage of ships is larger and larger, the quantity of the ships is larger and larger, and the safety, reliability and controllability of the steering engine are not only related to the navigation performance and safety of the ships, but also related to the navigation safety of other ships in the whole waterway.
Steering engines are one of the important machines of ships, whose function is to change and maintain the ship heading. The steering engine directly relates to the navigation safety of the ship, and the steering engine has the function of ensuring that the rudder blade of the ship can be quickly and reliably turned to and kept at the specified rudder angle according to the requirement. The rudder mainly comprises rudder blades, a rudder stock, a steering engine and the like. The rudder changes the direction of the rudder when receiving the instruction of a driver mainly by means of driving rudder blades by a steering engine.
The existing steering engine mainly adopts an electric steering engine which adopts a motor to drive an oil pump, so that the steering engine is called as the electric steering engine, hydraulic oil is conveyed by the steering engine through the oil pump, mechanical energy is converted into pressure energy of the oil, then the pressure energy is converted into the mechanical energy through a steering mechanism, and further the steering action on a rudder is realized. A complete set of rudder equipment generally comprises a rudder blade, a steering engine, a rudder angle indicator, a steering engine transmission device, a rudder angle control device and the like.
However, in the existing steering engine hydraulic system, due to the density change of hydraulic oil under different pressure conditions, the volume of the hydraulic oil is affected by temperature change, and the mechanical idle stroke error of an action part in the hydraulic system, in the steering engine operation process, the phenomenon that a rudder blade does not rotate often occurs at the initial stage of the hydraulic oil pump for pumping the hydraulic oil, the process of the hydraulic system has larger error compared with the return process, and meanwhile, the steering engine has slower speed in the return process and the recovery process, which has larger adverse effect on the accurate control and the quick operation of the steering engine.
In response to the above problems, there has been an effort in the art to improve steering engines for marine vessels.
Disclosure of Invention
In order to solve the technical problem, the invention provides a steering engine control method capable of accurately and quickly reaching the laying position of an underwater robot, wherein the steering engine comprises a rudder stock which is connected with a rudder blade and drives the rudder blade to rotate, and two end parts of the rudder stock are respectively provided with a rudder stock driving part; the steering engine further comprises a first oil pump, a first oil pump motor, a first driving oil cylinder, a second oil pump motor, a second driving oil cylinder and an oil tank, wherein the first oil pump and the second oil pump adopt plunger pumps with a pressure maintaining function, an inlet of the first oil pump is connected with the oil tank and used for sucking hydraulic oil from the oil tank, an outlet of the first oil pump is connected with the first driving oil cylinder and used for conveying the hydraulic oil sucked from the oil tank into the first driving oil cylinder and driving a first piston in the first driving oil cylinder to move, and the first piston is provided with a first piston rod; the second oil pump inlet is connected with the oil tank and used for sucking hydraulic oil from the oil tank, the second oil pump outlet is connected with the second driving oil cylinder, the hydraulic oil sucked from the oil tank is conveyed into the second driving oil cylinder, a second piston in the second driving oil cylinder is driven to move, and the second piston is provided with a second piston rod; a first elastic component is arranged between the end part of the first piston rod and one tiller driving part, one end of the first elastic component is fixedly hinged at a hinged point, the other end of the first elastic component is abutted against the end part of the first piston rod, and the tiller driving part is abutted against the middle part of the first elastic component; a second elastic component is arranged between the end part of the second piston rod and the other tiller driving part, one end of the second elastic component is fixedly hinged at a hinged point, the other end of the second elastic component is abutted against the end part of the second piston rod, and the other tiller driving part is abutted against the middle part of the second elastic component; the first elastic component and the second elastic component are arranged between the end of the first piston rod and one rudder stock driving part and between the end of the second piston rod and the other rudder stock driving part in a precompressed mode, and in the rotating range of the rudder stock, the first elastic component and the second elastic component are always in a compressed state; the steering engine further comprises a controller, a first piston displacement sensor for sensing a first piston displacement value is arranged on the first driving oil cylinder, a second piston displacement sensor for sensing a second piston displacement value is arranged on the second driving oil cylinder, a first oil pump corner sensor for sensing the rotating angle of the first oil pump is arranged on the first oil pump, a second oil pump corner sensor for sensing the rotating angle of the second oil pump is arranged on the second oil pump, and the first piston displacement sensor, the second piston displacement sensor, the first oil pump corner sensor, the second oil pump corner sensor, the first oil pump motor and the second oil pump motor are connected to the controller; the first driving oil cylinder is further provided with a first driving oil cylinder pressure sensor used for sensing the hydraulic oil pressure in the first driving oil cylinder, the second driving oil cylinder is further provided with a second driving oil cylinder pressure sensor used for sensing the hydraulic oil pressure in the second driving oil cylinder, and the first driving oil cylinder pressure sensor and the second driving oil cylinder pressure sensor are connected to the controller.
The control method comprises the following steps:
step 1: establishing a corresponding relation between a hydraulic pressure difference value generated by a first oil pump and a second oil pump and a rotation angle of the tiller on the basis of characteristic curves of a first elastic component and a second elastic component and a driving mechanical structure of the tiller, and storing the corresponding relation in a storage unit in a controller;
step 2: the controller receives an instruction of rotating the steering engine;
and step 3: the controller detects the pressure values of the hydraulic oil of the first driving oil cylinder and the second driving oil cylinder in the current state to obtain a hydraulic pressure difference value in the current state, and the current angle value of the steering engine is obtained by calling data in the storage unit;
and 4, step 4: the controller controls the first oil pump and/or the second oil pump to drive the tiller to enable the steering engine to rotate to a target angle required by the instruction.
Further, the command for rotating the steering engine in step 2 is a target angle value, an increase angle command or a decrease angle command, wherein the minimum step angle of the increase angle command and the decrease angle command is 1 °.
Further, the step 4 of controlling the first oil pump and/or the second oil pump by the controller includes the steps of:
step 4.1: comparing the received instruction for rotating the steering engine with the current angle value of the steering engine to judge the rotating adjustment direction of the steering engine;
step 4.2: the controller selects the adjustment mode of the first oil pump and/or the second oil pump by reading data in the storage unit and determining a target hydraulic pressure difference value according to a received command of the rotary steering engine;
step 4.3: after the adjustment mode of the first oil pump and/or the second oil pump is determined, the controller respectively reads the current hydraulic pressure values of the first driving oil cylinder and the second driving oil cylinder:
if the current hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is larger than a first threshold value, and the target hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is larger than the current hydraulic pressure value, the controller controls the first oil pump or the second oil pump by taking the piston displacement value in the first driving oil cylinder or the second driving oil cylinder as an adjustment quantity;
if the current hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is smaller than a second threshold value, the second threshold value is smaller than the first threshold value, and the target hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is smaller than the current hydraulic pressure value, the controller controls the first oil pump or the second oil pump by taking the rotation angle of the first oil pump or the second oil pump as an adjustment quantity;
if the adjustment of the hydraulic oil pressure of the first driving oil cylinder or the second driving oil cylinder is between the first threshold value and the second threshold value, the controller simultaneously controls the first oil pump or the second oil pump by using the displacement value of the piston in the first driving oil cylinder or the second driving oil cylinder and the rotation angle of the first oil pump or the second oil pump as the adjustment quantity.
Further, the maximum hydraulic pressure of the steering engine is 15MPa, the first threshold value is 3.3MPa, and the second threshold value is 2.7 MPa.
Further, the intelligent control method further comprises the following steps:
and 5: when the pressure of the hydraulic oil in the first driving oil cylinder or the second driving oil cylinder is lower than the preset pressure corresponding to the current state by a preset threshold value, the controller controls the first oil pump or the second oil pump to compensate the low pressure of the hydraulic oil in the first driving oil cylinder or the second driving oil cylinder.
Further, the steering engine also comprises a rudder blade angle sensor, and the intelligent control method also comprises the following steps:
step 6: and (3) the controller acquires the data of the rudder blade angle sensor, checks the current angle value in the step (3) and the target in the step (4) by using the data of the rudder blade angle sensor, and modifies and corrects the corresponding relation between the hydraulic pressure difference value in the storage unit and the rotation angle of the rudder stock when the deviation exceeds a preset limit value.
The implementation of the invention has the following beneficial effects: by using the steering engine and the steering engine control method thereof, a large number of complicated hydraulic pipelines and valves of the steering engine in the prior art are not needed, and the first oil pump and the second oil pump are controlled to drive the tiller, so that the system structure is greatly simplified; meanwhile, an elastic component is arranged between the piston rod and the tiller, and the elastic component is in a compression state in all working rotation angle ranges of the tiller, so that mechanical idle stroke and errors of all components in the steering engine can be weakened or eliminated to a certain extent; aiming at different characteristics of the steering engine in different states, the controller adopts an intelligent control method of corner adjustment, displacement adjustment and combination thereof to control the first oil pump and/or the second oil pump, so that the steering engine can be adjusted in an accurate mode, the problems of large steering engine adjustment error and excessively low adjustment and adjustment speed in the prior art are solved, and the steering engine control system has the advantages of simple system structure, accurate adjustment and fast steering engine reaction.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a structural diagram of a steering engine for a ship according to the present invention.
Fig. 2 is a relation curve of the rotation angle of an oil pump motor in the steering engine for the ship and the hydraulic pressure of hydraulic oil in a hydraulic system.
Fig. 3 is a relation curve of the stroke of a piston in a driving oil cylinder in the steering engine for the ship and the hydraulic pressure of hydraulic oil in a hydraulic system.
Fig. 4 shows a method for controlling a steering engine for a ship according to the present invention.
Wherein: 1. a tiller; 2. a tiller driving unit; 3. a first elastic member and a second elastic member; 4. a hinge point; 5. a first drive cylinder; 6. a first oil pump; 7. a first oil pump motor; 8. a second driving oil cylinder; 9. a second oil pump; 10. a second oil pump motor; 11. an oil tank; 12. a controller; 13. a second piston displacement sensor; 14. a first piston displacement sensor; 15. a second oil pump rotation angle sensor; 16. first oil pump angle of rotation sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
As shown in fig. 1, the invention provides a steering engine control method capable of accurately and quickly reaching a deployment position of an underwater robot, wherein the steering engine comprises a rudder handle 1 which is connected with a rudder blade (not shown in the figure) and drives the rudder blade to rotate, and two end parts of the rudder handle 1 are respectively provided with a rudder handle driving part 2. The steering engine further comprises a first oil pump 6, a first driving oil cylinder 5, a second oil pump 9, a second driving oil cylinder 8 and an oil tank 11. Specifically, the first oil pump 6 has a first oil pump motor 7, and the first oil pump motor 7 drives the first oil pump 6; the second oil pump 9 has a second oil pump motor 10, and the second oil pump motor 10 drives the second oil pump 9.
The import of first oil pump 6 links to each other with oil tank 11 for absorb hydraulic fluid from oil tank 11, the export of first oil pump 6 links to each other with first drive hydro-cylinder 5, will carry the hydraulic fluid of absorbing from oil tank 11 to first drive hydro-cylinder 5 in, the drive is located the first piston removal in first drive hydro-cylinder 5, first piston is provided with first piston rod. The import of second oil pump 9 links to each other with oil tank 11 for draw hydraulic fluid in the oil tank 11, the export of second oil pump 9 links to each other with second drive hydro-cylinder 8, will carry the second drive hydro-cylinder 8 from the hydraulic fluid that draws in the oil tank 11 in, the drive is located the second piston removal in the second drive hydro-cylinder 8, the second piston is provided with the second piston rod.
Because in the steering engine, there are gaps and errors in the installation and matching among various components, and there are often air or gaps in the hydraulic system, when hydraulic oil is gradually pressurized in the hydraulic system, and pushes mechanical components to act, there often exists a "lost motion problem".
In order to reduce or eliminate the backlash problem, in the steering engine of the present invention, a first elastic member 3 is provided between an end of a first piston rod and one of the steering handle driving portions 2, one end of the first elastic member 3 is fixedly hinged to one hinge point 4, the other end of the first elastic member 3 abuts against the end of the first piston rod, and the one of the steering handle driving portions 2 abuts against a middle portion of the first elastic member. A second elastic member 3 is provided between the end of the second piston rod and the other tiller driving part 2, one end of the second elastic member 3 is fixedly hinged at a hinge point 4, the other end of the second elastic member 3 abuts against the end of the second piston rod, and the other tiller driving part 2 abuts against the middle part of the second elastic member 3. Further, in order to ensure the accuracy of control, the tiller driving part 2 is selected to be wedge-shaped or conical, thereby reducing the influence of the contact area of the tiller driving part 2 with the first elastic member 3 and the second elastic member 3 on the control.
In order to be able to attenuate or even eliminate the backlash, the first and second elastic members 3, 3 are arranged in a pre-compressed state between the ends of the first and second piston rods and the tiller drive 2, and the first and second elastic members 3, 3 are always in a compressed state throughout the entire rotation range of the tiller 1. That is to say the first elastic element 3 and the second elastic element 3 exert a force on the tiller 1 and the piston rod in any state, which force can act on the tiller part and the part of the drive cylinder and the oil pump, respectively. For the tiller part, this applied force can mechanically eliminate the backlash problem at the connection position of the tiller to the pivot part, the rudder blade to the tiller or the pivot part due to play or looseness, so that the backlash problem is significantly reduced and minimized during the whole rotation of the tiller. And for the hydraulic part using hydraulic oil as a working medium, the applied force can push the first piston and the second piston to move towards a return direction or have a movement tendency, and the first piston and the second piston can push the hydraulic oil to be kept at a certain pressure in the system, so that the idle stroke problem caused by the change of the state or space of the hydraulic oil in the system in the hydraulic system is reduced.
In particular, in the present invention, since devices such as a hydraulic valve and an accumulator, which are widely used in a conventional steering engine, are omitted, in order to maintain pressure in a hydraulic system, plunger pumps with a pressure maintaining function, more preferably, plunger pumps with a variable flow rate and a pressure maintaining function are used as the first oil pump 5 and the second oil pump 8.
Further, the first elastic member 3 and the second elastic member 3 are leaf springs or diaphragm springs, but not limited thereto, and the first elastic member 3 and the second elastic member 3 may be any other suitable elastic elements. Both the leaf spring and the diaphragm spring have a certain characteristic curve, namely a stroke and pressure characteristic curve, so that the stroke of the hydraulic system applied to the tiller 1 and causing the tiller 1 to rotate can be controlled deterministically on the basis of the problem of damping the lost motion of the first elastic member 3 and the second elastic member 3. Since the relative mechanical relationship of the piston rod, the resilient member 3 and the tiller 1 can be determined, the force applied by the resilient member 3 to the tiller 1 and the angle by which the tiller is turned 1, i.e. the turning angle of the rudder blade, can be determined by controlling the displacement of the piston rod.
Further, on the first elastic member 3 and the second elastic member 3, the ratio of the distance between the hinge point 4 and the tiller driving part 2 to the distance between the tiller driving part 2 and the end of the first and second piston rods can be adjusted to be adjusted according to the actual stroke condition of the piston rods and the requirement of the rotation angle of the rudder blade, preferably, the ratio is taken from the range of 1: 1-1: 3.
In order to adjust and control the steering engine, the steering engine further comprises a controller 12, a first piston displacement sensor 14 for sensing a first piston displacement value is arranged on the first driving oil cylinder 5, a second piston displacement sensor 13 for sensing a second piston displacement value is arranged on the second driving oil cylinder 8, a first oil pump corner sensor 16 for sensing a rotating angle of the first oil pump is arranged on the first oil pump 6, a second oil pump corner sensor 15 for sensing a rotating angle of the second oil pump is arranged on the second oil pump 9, and the first piston displacement sensor 14, the second piston displacement sensor 13, the first oil pump corner sensor 16, the second oil pump corner sensor 15, the first oil pump 6 and the second oil pump 9 are connected to the controller 12.
Further, the first driving oil cylinder 5 is further provided with a first driving oil cylinder pressure sensor (not shown in the figure) for sensing the hydraulic oil pressure in the first driving oil cylinder 5, the second driving oil cylinder 8 is further provided with a second driving oil cylinder pressure sensor (not shown in the figure) for sensing the hydraulic oil pressure in the second driving oil cylinder 8, and the first driving oil cylinder pressure sensor and the second driving oil cylinder pressure sensor are connected to the controller 12.
The controller 12 receives data of the first piston displacement sensor 14, the second piston displacement sensor 13, the first oil pump rotational angle sensor 16, the second oil pump rotational angle sensor 15, the first driving cylinder pressure sensor, and the second driving cylinder pressure sensor, and controls the operations of the first oil pump motor 7 and the second oil pump motor 10 to control the operation and adjustment of the hydraulic system.
The control of the steering engine by the controller 12 will be described below:
due to the characteristics of the first elastic member 3 and the second elastic member 3, the problem of mechanical idle stroke and hydraulic idle stroke in the steering engine, and the pressure starting characteristic of the hydraulic system, during the initial pressure starting operation of the hydraulic system, as shown in fig. 2, it shows the relationship curve between the rotation angle of the first oil pump 6 and the second oil pump 9 and the pressure of the hydraulic oil in the hydraulic system, although the first oil pump 6 and the second oil pump 9 start to rotate, the pressure starting of the hydraulic system has a slow upward trend, and only after the first oil pump 6 and the second oil pump 9 rotate to a certain angle, the rotation angle of the first oil pump 6 and the second oil pump 9 and the pressure of the hydraulic oil in the hydraulic system start to have an almost linear relationship. And also during the initial pressure-starting operation of the hydraulic system, as shown in fig. 3, which shows the relationship curve between the strokes of the first and second driving cylinders 5 and 8 and the pressure of the hydraulic oil in the hydraulic system, because the initial pressure of the elastic component 3 to the hydraulic system exists, when the first and second oil pumps 6 and 9 start to rotate by an angle and the hydraulic system starts to slowly start to press, only when the pressure in the hydraulic system exceeds a certain value, the hydraulic system has enough pressure to overcome the reaction force of the elastic component at the rear end and the resistance of the tiller and the rudder blade, and at this time, the first and second driving cylinders 5 and 8 start to generate obvious strokes and push the tiller.
Therefore, in the initial pressure starting stage of the hydraulic system, the controller 12 controls the first oil pump 6 and the second oil pump 9 in a corner adjusting mode, and in this stage, as shown in fig. 2, the corner adjustment has more adjustability and adjusting space, and the pressure adjustment precision is higher. And when the hydraulic pressure of steering wheel reached a definite value, the displacement was adjusted and is had more regulation nature and controllability beginning, and its precision of adjusting is also higher.
After receiving the instruction for adjusting the tiller, the controller 12 first receives data of the first and second drive cylinder pressure sensors to determine whether the data is greater than the specific value, and then the controller 12 selects a different control method.
In the steering engine of the present invention, the maximum pressure of the hydraulic oil is 15MPa, and the specific value is 3 MPa. When the hydraulic pressure is less than or equal to 3MPa, the controller 12 controls the first oil pump 6 and the second oil pump 9 in a manner of angle adjustment. The rotational angle adjustment is to control the first oil pump 6 and the second oil pump 9 by using the angle through which the first oil pump 6 and the second oil pump 7 rotate as a control amount.
And when the hydraulic pressure is more than 3MPa, the controller controls the first oil pump 6 and the second oil pump 9 in a displacement adjusting mode. The displacement adjustment controls the first oil pump 6 and the second oil pump 9 by taking the strokes of the first drive cylinder 5 and the second drive cylinder 8 as control amounts.
Since at this particular value, the controller 12 needs to switch the control mode. In the prior art, in order to prevent the output adjustment error, it is common to stop the control method using the rotation angle adjustment, and then start the control method using the displacement adjustment after an interval time elapses. Even if this interval is short, the first oil pump 6 and the second oil pump 9 are stopped during this interval, which causes the control mode switching process to adversely fluctuate and affect the control of the steering engine. In order to solve the problem, the invention proposes to set a switching interval, preferably 3 ± 0.3MPa, in the area around the specific value, during which the rotation angle adjustment has not been stopped, and simultaneously start the displacement adjustment, that is, during which the controller 12 simultaneously adopts a mode of overlapping the rotation angle adjustment and the displacement adjustment, so that there is no adverse effect caused by the switching mode of the prior art, and the dynamics of the adjustment process is improved.
Further, in the control and adjustment of the tiller, one of the first oil pump 6 and the second oil pump 9 may be used for control; the first oil pump 6 and the second oil pump 9 can be controlled to run simultaneously, different pressure differences are generated to control the tiller by controlling the working states of the first oil pump 6 and the second oil pump 9, different control characteristics are generated, and the tiller has the effects of adjustable adjusting speed, accurate and stable maintenance of characteristic angles and more accurate adjustment at a low speed.
Specifically, the steering engine control method is as shown in fig. 4:
step 1: and establishing a corresponding relation between the hydraulic pressure difference generated by the first oil pump and the second oil pump and the rotation angle of the tiller on the basis of the characteristic curves of the first elastic component and the second elastic component and the driving mechanical structure of the tiller, and storing the corresponding relation in a storage unit in the controller.
Step 2: the controller receives an instruction to rotate the steering engine.
And step 3: the controller detects the pressure values of the hydraulic oil of the first driving oil cylinder and the second driving oil cylinder in the current state to obtain a hydraulic pressure difference value in the current state, and the current angle value of the steering engine is obtained by calling data in the storage unit.
And 4, step 4: the controller controls the first oil pump and/or the second oil pump to drive the tiller to enable the steering engine to rotate to a target angle required by the instruction.
Further, the command for rotating the steering engine in step 2 is a target angle value, an increase angle command or a decrease angle command, wherein the minimum step angle of the increase angle command and the decrease angle command is 1 °.
Further, based on the structure and control logic of the steering engine of the present invention, the step 4 of controlling the first oil pump and/or the second oil pump by the controller includes the following steps:
step 4.1: and comparing the received command for rotating the steering engine with the current angle value of the steering engine to judge the rotating adjustment direction of the steering engine.
Step 4.2: the controller selects the adjustment mode of the first oil pump and/or the second oil pump by reading data in the storage unit and determining a target hydraulic pressure difference value according to a received command of the rotary steering engine.
Step 4.3: after the adjustment mode of the first oil pump and/or the second oil pump is determined, the controller respectively reads the current hydraulic pressure values of the first driving oil cylinder and the second driving oil cylinder.
And according to the current hydraulic pressure values and the target hydraulic pressure values of the first driving oil cylinder and the second driving oil cylinder:
1. if the current hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is larger than a first threshold value, and the target hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is larger than the current hydraulic pressure value, the controller controls the first oil pump or the second oil pump by taking the piston displacement value in the first driving oil cylinder or the second driving oil cylinder as an adjustment quantity;
2. if the current hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is smaller than a second threshold value, the second threshold value is smaller than the first threshold value, and the target hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is smaller than the current hydraulic pressure value, the controller controls the first oil pump or the second oil pump by taking the rotation angle of the first oil pump or the second oil pump as an adjustment quantity;
3. if the adjustment of the hydraulic oil pressure of the first driving oil cylinder or the second driving oil cylinder is between the first threshold value and the second threshold value, the controller simultaneously controls the first oil pump or the second oil pump by using the displacement value of the piston in the first driving oil cylinder or the second driving oil cylinder and the rotation angle of the first oil pump or the second oil pump as the adjustment quantity.
Further, the maximum hydraulic pressure of the steering engine is 15MPa, the first threshold value is 3.3MPa, and the second threshold value is 2.7 MPa.
Further, after the steering wheel is in certain angle certain time, because the influence of factors such as the leakage of system, the pressure of the hydraulic fluid in first drive cylinder or the second drive cylinder will reduce, and this current state that can directly influence the steering wheel. In order to solve the problem, the intelligent control method further includes:
and 5: when the pressure of the hydraulic oil in the first driving oil cylinder or the second driving oil cylinder is lower than the preset pressure corresponding to the current state by a preset threshold value, the controller controls the first oil pump or the second oil pump to compensate the low pressure of the hydraulic oil in the first driving oil cylinder or the second driving oil cylinder.
The implementation of the invention has the following beneficial effects: by using the steering engine and the control method thereof, a large amount of complicated hydraulic pipelines and valves of the steering engine in the prior art are not needed, and the first oil pump and the second oil pump are controlled to drive the tiller, so that the system structure is greatly simplified; meanwhile, an elastic component is arranged between the piston rod and the tiller, and the elastic component is in a compression state in all working rotation angle ranges of the tiller, so that mechanical idle stroke and errors of all components in the steering engine can be weakened or eliminated to a certain extent; aiming at different characteristics of the steering engine in different states, the controller controls the first oil pump and/or the second oil pump by adopting a mode of corner adjustment, displacement adjustment and combination thereof, so that the steering engine can be adjusted in an accurate mode, the problems of large steering engine adjustment error and excessively low adjustment and adjustment speed in the prior art are solved, and the steering engine control system has the advantages of simple structure, accurate adjustment and fast steering engine reaction.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (6)
1. A steering engine control method capable of reaching a laying position of an underwater robot is disclosed, wherein the steering engine comprises a rudder stock which is connected with a rudder blade and drives the rudder blade to rotate, and two end parts of the rudder stock are respectively provided with a rudder stock driving part; the steering engine further comprises a first oil pump, a first oil pump motor, a first driving oil cylinder, a second oil pump motor, a second driving oil cylinder and an oil tank, wherein the first oil pump and the second oil pump adopt plunger pumps with a pressure maintaining function, an inlet of the first oil pump is connected with the oil tank and used for sucking hydraulic oil from the oil tank, an outlet of the first oil pump is connected with the first driving oil cylinder and used for conveying the hydraulic oil sucked from the oil tank into the first driving oil cylinder and driving a first piston in the first driving oil cylinder to move, and the first piston is provided with a first piston rod; the second oil pump inlet is connected with the oil tank and used for sucking hydraulic oil from the oil tank, the second oil pump outlet is connected with the second driving oil cylinder, the hydraulic oil sucked from the oil tank is conveyed into the second driving oil cylinder, a second piston in the second driving oil cylinder is driven to move, and the second piston is provided with a second piston rod; a first elastic component is arranged between the end part of the first piston rod and one tiller driving part, one end of the first elastic component is fixedly hinged at a hinged point, the other end of the first elastic component is abutted against the end part of the first piston rod, and the tiller driving part is abutted against the middle part of the first elastic component; a second elastic component is arranged between the end part of the second piston rod and the other tiller driving part, one end of the second elastic component is fixedly hinged at a hinged point, the other end of the second elastic component is abutted against the end part of the second piston rod, and the other tiller driving part is abutted against the middle part of the second elastic component; the first elastic component and the second elastic component are arranged between the end of the first piston rod and one rudder stock driving part and between the end of the second piston rod and the other rudder stock driving part in a precompressed mode, and in the rotating range of the rudder stock, the first elastic component and the second elastic component are always in a compressed state; the steering engine further comprises a controller, a first piston displacement sensor for sensing a first piston displacement value is arranged on the first driving oil cylinder, a second piston displacement sensor for sensing a second piston displacement value is arranged on the second driving oil cylinder, a first oil pump corner sensor for sensing the rotating angle of the first oil pump is arranged on the first oil pump, a second oil pump corner sensor for sensing the rotating angle of the second oil pump is arranged on the second oil pump, and the first piston displacement sensor, the second piston displacement sensor, the first oil pump corner sensor, the second oil pump corner sensor, the first oil pump motor and the second oil pump motor are connected to the controller; the first driving oil cylinder is also provided with a first driving oil cylinder pressure sensor for sensing the hydraulic oil pressure in the first driving oil cylinder, the second driving oil cylinder is also provided with a second driving oil cylinder pressure sensor for sensing the hydraulic oil pressure in the second driving oil cylinder, and the first driving oil cylinder pressure sensor and the second driving oil cylinder pressure sensor are connected to the controller; the steering engine control method comprises the following steps: step 1: establishing a corresponding relation between a hydraulic pressure difference value generated by a first oil pump and a second oil pump and a rotation angle of the tiller on the basis of characteristic curves of a first elastic component and a second elastic component and a driving mechanical structure of the tiller, and storing the corresponding relation in a storage unit in a controller; step 2: the controller receives an instruction of rotating the steering engine; and step 3: the controller detects the pressure values of the hydraulic oil of the first driving oil cylinder and the second driving oil cylinder in the current state to obtain a hydraulic pressure difference value in the current state, and the current angle value of the steering engine is obtained by calling data in the storage unit; and 4, step 4: the controller controls the first oil pump and/or the second oil pump to drive the tiller to enable the steering engine to rotate to a target angle required by the instruction.
2. The steering engine control method according to claim 1, wherein the command to rotate the steering engine in step 2 is a target angle value, an increase angle command, or a decrease angle command, wherein the minimum step angle of the increase angle command and the decrease angle command is 1 °.
3. The steering engine control method according to claim 1, wherein the step 4 of controlling the first oil pump and/or the second oil pump by the controller comprises the steps of: step 4.1: comparing the received instruction for rotating the steering engine with the current angle value of the steering engine to judge the rotating adjustment direction of the steering engine; step 4.2: the controller selects the adjustment mode of the first oil pump and/or the second oil pump by reading data in the storage unit and determining a target hydraulic pressure difference value according to a received command of the rotary steering engine; step 4.3: after the adjustment mode of the first oil pump and/or the second oil pump is determined, the controller respectively reads the current hydraulic pressure values of the first driving oil cylinder and the second driving oil cylinder: if the current hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is larger than a first threshold value, and the target hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is larger than the current hydraulic pressure value, the controller controls the first oil pump or the second oil pump by taking the piston displacement value in the first driving oil cylinder or the second driving oil cylinder as an adjustment quantity; if the current hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is smaller than a second threshold value, the second threshold value is smaller than the first threshold value, and the target hydraulic pressure value of the first driving oil cylinder or the second driving oil cylinder is smaller than the current hydraulic pressure value, the controller controls the first oil pump or the second oil pump by taking the rotation angle of the first oil pump or the second oil pump as an adjustment quantity; if the adjustment of the hydraulic oil pressure of the first driving oil cylinder or the second driving oil cylinder is between the first threshold value and the second threshold value, the controller simultaneously controls the first oil pump or the second oil pump by using the displacement value of the piston in the first driving oil cylinder or the second driving oil cylinder and the rotation angle of the first oil pump or the second oil pump as the adjustment quantity.
4. The steering engine control method according to claim 3, wherein the maximum hydraulic pressure of the steering engine is 15MPa, the first threshold value is 3.3MPa, and the second threshold value is 2.7 MPa.
5. The steering engine control method according to claim 1, further comprising the step of 5: when the pressure of the hydraulic oil in the first driving oil cylinder or the second driving oil cylinder is lower than the preset pressure corresponding to the current state by a preset threshold value, the controller controls the first oil pump or the second oil pump to compensate the low pressure of the hydraulic oil in the first driving oil cylinder or the second driving oil cylinder.
6. The steering engine control method according to claim 1, wherein the steering engine further includes a rudder blade angle sensor, and the steering engine control method further includes step 6: and (3) the controller acquires the data of the rudder blade angle sensor, checks the current angle value in the step (3) and the target in the step (4) by using the data of the rudder blade angle sensor, and modifies and corrects the corresponding relation between the hydraulic pressure difference value in the storage unit and the rotation angle of the rudder stock when the deviation exceeds a preset limit value.
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| CN102700701A (en) * | 2012-06-02 | 2012-10-03 | 西北工业大学 | Vector propulsion system applied to small-size underwater unmanned aircraft |
| JP2017043195A (en) * | 2015-08-26 | 2017-03-02 | 三菱重工業株式会社 | Steering apparatus and sailing body |
| CN109538558A (en) * | 2018-12-11 | 2019-03-29 | 山东交通学院 | A kind of symmetrical hydraulic cylinder series connection propulsion system of shield excavation machine double piston-rod |
| CN109665079A (en) * | 2019-01-15 | 2019-04-23 | 西安交通大学 | A kind of underwater robot of jet pump and steering engine combination drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102700701A (en) * | 2012-06-02 | 2012-10-03 | 西北工业大学 | Vector propulsion system applied to small-size underwater unmanned aircraft |
| JP2017043195A (en) * | 2015-08-26 | 2017-03-02 | 三菱重工業株式会社 | Steering apparatus and sailing body |
| CN109538558A (en) * | 2018-12-11 | 2019-03-29 | 山东交通学院 | A kind of symmetrical hydraulic cylinder series connection propulsion system of shield excavation machine double piston-rod |
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