CN113655784A - Double-diesel outboard engine control device and method for measuring unmanned ship - Google Patents
Double-diesel outboard engine control device and method for measuring unmanned ship Download PDFInfo
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Abstract
The invention relates to a double-diesel outboard engine control device and a method thereof for measuring unmanned ships, which achieve the effect of switching manual ship starting and unmanned autonomous control navigation by controlling the on-off of a relay; the steering of the two diesel outboard engines is controlled by controlling the forward transmission and the reverse rotation of one direct-current brushless motor; the gear and the throttle of two diesel outboard cranes are controlled by controlling the forward transmission and the reverse rotation of one direct current brushless motor, wherein the gear and the throttle of the two diesel outboard cranes are synchronously switched and synchronously controlled by a mechanical structure method; the control instruction of a boat end main control unit is received through a double-outboard-mounted control device on the marine surveying unmanned boat through a serial port RS422, and the control instruction is converted into forward rotation and reverse rotation for controlling 2 direct current brushless motors, so that the course, the speed and the gear of the marine surveying unmanned boat are controlled, the autonomous control and high-precision track tracking control effects of the marine surveying unmanned boat of a double-diesel outboard-mounted type are achieved, and the autonomous navigation of the unmanned boat is finally achieved.
Description
Technical Field
The invention belongs to the technical field of unmanned ship control, and particularly relates to a double-diesel outboard engine control device and method for measuring unmanned ships.
Background
The sea conditions near the island are complex and the landform is suddenly changed, so that a large measuring ship, a manned island reef measuring boat or a local fishing boat provided with a single-beam depth sounder, a multi-beam depth sounding system, a magnetometer and a gravimeter have great potential safety hazard when going to the sea area for measurement and surveying, and the submarine topography information near the island reef is difficult to obtain. In order to solve the problems of surveying and mapping of island sea areas, the double-diesel outboard-mounted type ocean surveying unmanned ship is developed, and the power requirement that the surveying unmanned ship carries various surveying operation loads is met. Adopt high-power diesel oil outboard motor, power is sufficient, and the security is high, has security, the functional demand that satisfies large-scale mother's ship and carries on that the unmanned ship of ocean survey goes to appointed sea area and carry out the measurement task more.
The double-diesel outboard engine is used as power of the ocean surveying unmanned ship, the problem that course, speed and gear switching cannot be synchronously and accurately controlled exists, high-precision track tracking control is difficult to achieve, and influence is caused on ocean surveying tasks.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a double-diesel outboard engine control device and a method thereof for measuring unmanned ships, has reasonable system design, high feasibility, reasonable cost-effectiveness ratio and strong safety, and can quickly improve the informatization, integration and generalization levels of navigation equipment.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides a two diesel oil outboard engine controlling means for measuring unmanned ship, including first DC brushless motor, second DC brushless motor, the throttle is acted as go-between, the gear is acted as go-between and control module, the throttle is acted as go-between and is installed the throttle that is used for the two outboard engines of simultaneous control in the middle of the throttle of two outboard engines, the gear is acted as go-between and is installed the gear that is used for the two outboard engines of simultaneous control in the middle of two gears, control module connects first DC brushless motor and second DC brushless motor respectively, first DC brushless motor passes through the mechanical type handle of gear connection two outboard engines, the mechanical type steering wheel of second DC brushless motor through gear connection two outboard engines.
And a connecting rod is arranged in the middle of the double-hanging machine, so that the first direct current brushless motor drives the mechanical handle of the double-hanging machine to rotate, and the second direct current brushless motor drives the mechanical steering wheel of the double-hanging machine to rotate simultaneously.
Moreover, the control module includes: the wireless communication equipment, the unmanned boat end main control computer unit STM32F767, the double-hanging control unit and the manned/unmanned control switching module are connected, the wireless communication equipment is connected with the unmanned boat end main control computer unit, the unmanned boat end main control computer unit is connected with the double-hanging control unit through an RS422 serial port, and the double-hanging control unit is respectively connected with the first direct current brushless motor, the second direct current brushless motor and the manned/unmanned control switching module.
Moreover, the control module includes: the double-hanging-machine control unit comprises an isolation operational amplifier, a high-power operational amplifier, an IRF2110 driving chip, an A/D converter, a current detector and a rotating speed detector, the unmanned boat end main control computer unit STM32F767 is connected with the isolation operational amplifier in series, the high-power operational amplifier and the IRF2110 driving chip, the output end of the IRF2110 driving chip is connected with a first direct current brushless motor and a second direct current brushless motor, the first direct current brushless motor and the second direct current brushless motor are respectively connected with the current detector and the rotating speed detector, the output end of the current detector is connected with the A/D converter, and the output end of the A/D converter and the output end of the rotating speed detector are connected with the unmanned boat end main control computer unit STM32F 767.
And the manned/unmanned control switching module comprises a manned/unmanned control key circuit and an automatic switching manned/unmanned control circuit.
Moreover, the manned/unmanned key circuit includes an even isolator TLP281-4, a resistor R47, a resistor R48, a resistor R51, a resistor R52, a resistor R65, a resistor R66, a resistor R67, a resistor R68, a capacitor C32, a capacitor C33, a capacitor C34, a capacitor C35, a first pin connecting resistor R51 of the even isolator TLP281-4, a third pin connecting resistor R47 of the even isolator TLP281-4, a fifth pin connecting resistor R48 of the even isolator TLP281-4, a seventh pin connecting resistor R52 of the even isolator TLP281-4, a second pin, a fourth pin, a sixth pin, an eighth pin, a tenth pin, a twelfth pin, a fourteenth pin, a sixteenth pin TLP, a ninth pin of the even isolator TLP-4 are connected to the resistor R6 and the capacitor C32, an eleventh pin of the even isolator TLP 27-C27 and the capacitor C66 are respectively connected to one end of the even isolator TLP281-4, a thirteenth pin of the optocoupler isolator TLP281-4 is connected to one end of a resistor R67 and one end of a capacitor C34, a fifteenth pin of the optocoupler isolator TLP281-4 is connected to one end of a resistor R68 and one end of a capacitor C35, the other ends of the resistor R65, the resistor R66, the resistor R67 and the resistor R68 are connected to a 3.3V power supply, and the other ends of the capacitor C32, the capacitor C33, the capacitor C34 and the capacitor C35 are grounded.
Moreover, the automatic switching manned/unmanned control circuit includes a pair of isolators TLP281-4, a resistor R63, a resistor R64, a resistor R73, a resistor R73, a first pin connection resistor R74 of the pair of isolators TLP281-4, a third pin connection resistor R74 of the pair of isolators TLP281-4, a fifth pin connection resistor R64 of the pair of isolators TLP281-4, and a seventh pin connection resistor R63 of the pair of isolators TLP 281-4.
Moreover, the specific circuit of the control module comprises: the unmanned ship boat end main control computer unit STM32F767 comprises a direct current power supply, a power supply filtering module, a three-phase inverter bridge, a brushless direct current motor, a three-phase inductor, a current detection module and a digital controller, wherein the anode of the direct current power supply is connected with one end of a filter inductor, the other end of the filter inductor is respectively connected with a filter capacitor and the three-phase inverter bridge, the other end of the filter capacitor is connected with the cathode of the direct current power supply and the other end of the three-phase inverter bridge, the three-phase inverter bridge comprises six bridge arms, and each bridge arm consists of a switching tube and a diode; each diode is connected in parallel at the two ends of the collector and the emitter of the corresponding switch tube in an inverted manner; the three-phase inverter bridge is connected with a three-phase winding of the brushless direct current motor through a three-phase inductor in series connection, the current detection module comprises two Hall current sensors, the Hall sensors are connected with the brushless direct current motor winding in series, the digital controller is respectively connected with the brushless direct current motor and the current detection module, three-phase Hall signals HA, HB and HC of the brushless direct current motor and two-phase current signals ia and ib of the current detection module, starting signals and rotating speed reference signals are collected and transmitted to the unmanned boat terminal main control computer unit STM32F767, and the unmanned boat terminal main control computer unit STM32F767 outputs six PWM wave signals to the three-phase inverter bridge.
A control method for measuring a dual diesel outboard propulsion system of an unmanned boat, comprising the steps of:
step 1, receiving control instruction information transmitted by a shore-based control center or a mother ship control center through a wireless communication device by an unmanned ship end main control unit, judging whether unmanned control is performed, if so, performing step 2, otherwise, repeating the step 1;
step 3, the double-on-hook control unit outputs a low-level signal, and a relay connected with the manned/unmanned control button in parallel is controlled to be closed through a light couple isolator TLP281-4, so that the remote switching of the manned/unmanned control authority is realized;
and 4, respectively controlling the first direct-current brushless motor and the second direct-current brushless motor to execute corresponding actions by the double-hanging control unit according to the received control instruction information output by the unmanned boat end main control unit, so that the rotating speed, the steering direction and the gear of the double-diesel hanging unit of the unmanned boat are controlled, and finally, the speed, the course and the gear of the unmanned boat are controlled to achieve the high-precision track control of the unmanned boat.
The invention has the advantages and positive effects that:
1. according to the marine unmanned ship autonomous control system, the control instructions (remote control instructions and autonomous navigation instructions) of the ship end main control unit are received by the double-outboard control device on the marine unmanned ship through the serial port RS422, and the control instructions are converted into forward rotation and reverse rotation for controlling 2 direct current brushless motors, so that the course, the navigation speed and the gear of the marine unmanned ship are controlled, the effects of autonomous control and high-precision track tracking control of the marine unmanned ship with double diesel outboard motors are achieved, and the autonomous navigation of the unmanned ship is finally achieved.
2. The invention achieves the effect of switching between manual ship starting and unmanned autonomous control navigation by controlling the on-off of the relay.
3. The steering of the two diesel outboard motors is controlled by controlling the forward rotation and the reverse rotation of one direct-current brushless motor; the gear and the throttle of the two diesel outboard cranes are controlled by controlling the forward transmission and the reverse rotation of one direct current brushless motor, wherein the gear and the throttle of the two diesel outboard cranes are synchronously switched and synchronously controlled by a mechanical structure method.
Drawings
FIG. 1 is a schematic view of the connection of the apparatus of the present invention;
FIG. 2 is a block diagram of a dual-trailer operated one-to-two machine according to the present invention;
FIG. 3 is a connection diagram of a dual hook of the present invention;
FIG. 4 is a block diagram of the present invention;
FIG. 5 is a circuit diagram of the switching button with/without human operation according to the present invention;
FIG. 6 is a circuit diagram of the present invention for automatically switching the operation function with/without human;
FIG. 7 is a diagram of the operating unit of the double flower season of the present invention;
fig. 8 is a circuit diagram of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The utility model provides a two diesel oil outboard engine operating devices for measuring unmanned ship, as shown in fig. 1 and fig. 3, including first direct current brushless motor, second direct current brushless motor, the throttle is acted as go-between, the gear is acted as go-between and control module, the throttle is acted as go-between and is installed the throttle that is used for controlling two engines simultaneously in the middle of the throttle of two engines, the gear is acted as go-between and is installed the gear that is used for controlling two engines simultaneously in the middle of two gears, control module connects first direct current brushless motor and second direct current brushless motor respectively (lead to the connecting rod between two engines and keep turning to unanimously), first direct current brushless motor passes through the mechanical type handle of gear connection two engines, the mechanical type steering wheel of second direct current motor through gear connection two engines. As shown in fig. 2, a connecting rod is arranged in the middle of the double-hanging machine, so that the first dc brushless motor drives the mechanical handle of the double-hanging machine to rotate, and the second dc brushless motor drives the mechanical steering wheel of the double-hanging machine to rotate simultaneously. The gear accelerator handle realizes that 1 pull wire controls the gear of the double-hanging machine or 1 pull wire controls the accelerator opening of the double-hanging machine through a mechanical structure. The steering, the accelerator opening and the gear of the diesel engine-on-hook are controlled and changed by driving a steering wheel and a gear accelerator handle to execute actions through the forward rotation and the reverse rotation of the direct current brushless motor.
The marine surveying unmanned ship has manned control/unmanned control functions, can meet the manned ship-driving mode requirement, adopts manual rotation of a steering wheel to rotate forward and backward to control the ship course to move left and right, and adopts a single manual control handle to shift gears and control the throttle opening; when the unmanned autonomous navigation is required to be switched, a person can directly press a switch button for manned control/unmanned autonomous control on-off on the ship, and the chip in the control device acquires the change of the on-off state, so that the unmanned autonomous navigation state is switched. The control command can be sent to the control device, and the control device informs the on-off of the relay to switch the manned control mode or the unmanned control mode; the forward transmission and the reverse rotation of a direct current brushless motor are controlled to control the steering of the diesel hanging machine so as to achieve the effect of controlling the course control function of the unmanned ship; the forward transmission and the reverse rotation of the other direct current brushless motor are controlled to control the gear switching of the diesel on-hook and the opening of the accelerator to control the advancing, the retreating and the speed of the unmanned ship. Meanwhile, a course instruction, a navigational speed instruction and a gear instruction of the unmanned ship main controller are received through the serial port, and autonomous control navigation is achieved.
As shown in fig. 4, the control module includes: the wireless communication equipment, the unmanned boat end main control computer unit STM32F767, the double-hanging control unit and the manned/unmanned control switching module are connected, the wireless communication equipment is connected with the unmanned boat end main control computer unit, the unmanned boat end main control computer unit is connected with the double-hanging control unit through an RS422 serial port, and the double-hanging control unit is respectively connected with the first direct current brushless motor, the second direct current brushless motor and the manned/unmanned control switching module.
The double-on-hook control device on the oceanographic survey unmanned ship receives control instructions (remote control instructions and autonomous navigation instructions) of the ship end main control unit through the serial port RS422, and the control instructions are converted into forward rotation and reverse rotation for controlling the 2 direct current brushless motors, so that the course, the navigation speed and the gear of the oceanographic survey unmanned ship are controlled, and finally autonomous navigation of the unmanned ship is realized.
As shown in fig. 7, the control module includes: the double-hanging-machine control unit comprises an isolation operational amplifier, a high-power operational amplifier, an IRF2110 driving chip, an A/D converter, a current detector and a rotating speed detector, the unmanned boat end main control computer unit STM32F767 is connected with the isolation operational amplifier in series, the high-power operational amplifier and the IRF2110 driving chip, the output end of the IRF2110 driving chip is connected with a first direct current brushless motor and a second direct current brushless motor, the first direct current brushless motor and the second direct current brushless motor are respectively connected with the current detector and the rotating speed detector, the output end of the current detector is connected with the A/D converter, and the output end of the A/D converter and the output end of the rotating speed detector are connected with the unmanned boat end main control computer unit STM32F 767. The current detection module adopts a non-contact Hall current sensor to detect currents of two phases, and the current of the third phase can be obtained by calculation. The IRF2110 chip is used for overcurrent and overvoltage protection, plays a good role in protecting current overcurrent which possibly occurs when the DC brushless motor operates, and can achieve double protection of hardware and software for overcurrent protection. The pwm wave of the operational amplifier is used as the input of an IRS2110 driving chip, and the chip outputs six driving signals to control the on-off of the switching tube.
The manned/unmanned control switching module comprises a manned/unmanned control key circuit and an automatic switching manned/unmanned control circuit. As shown in fig. 5, the manned/unmanned key circuit includes an even isolator TLP281-4, a resistor R47, a resistor R48, a resistor R51, a resistor R52, a resistor R65, a resistor R66, a resistor R67, a resistor R68, a capacitor C32, a capacitor C33, a capacitor C34, a capacitor C35, a first pin connecting resistor R51 of the even isolator TLP281-4, a third pin connecting resistor R47 of the even isolator TLP281-4, a fifth pin connecting resistor R48 of the even isolator TLP281-4, a seventh pin connecting resistor R8 of the even isolator TLP281-4, a second pin, a fourth pin, a sixth pin, an eighth pin, a tenth pin, a twelfth pin, a fourteenth pin, a sixteenth pin, a TLP pin, a ninth pin of the even isolator TLP281-4, a ninth pin R356 and a ninth pin of the even isolator TLP-4 are respectively connected to a first end of the resistor R6342, a capacitor C27-C27 and a second end of the capacitor C27, a thirteenth pin of the optocoupler isolator TLP281-4 is connected to one end of a resistor R67 and one end of a capacitor C34, a fifteenth pin of the optocoupler isolator TLP281-4 is connected to one end of a resistor R68 and one end of a capacitor C35, the other ends of the resistor R65, the resistor R66, the resistor R67 and the resistor R68 are connected to a 3.3V power supply, and the other ends of the capacitor C32, the capacitor C33, the capacitor C34 and the capacitor C35 are grounded.
The manned/unmanned control key circuit mainly utilizes a TLP281-4 optocoupler to collect manned/unmanned switching keys on an unmanned ship, 4 transistor output optocouplers are arranged in the TLP281-4 optocouplers, namely 4 channels, so that one TLP281-4 optocoupler can collect states of 4 switches, the switching switch is a switch powered by 24V, the switch is connected with the optocoupler, and the switching value output by the switch can be collected.
As shown in fig. 6, the automatic switching manned/unmanned control circuit includes a pair of isolators TLP281-4, a resistor R63, a resistor R64, a resistor R73, a resistor R73, a first pin connection resistor R74 of the pair of isolators TLP281-4, a third pin connection resistor R74 of the pair of isolators TLP281-4, a fifth pin connection resistor R64 of the pair of isolators TLP281-4, and a seventh pin connection resistor R63 of the pair of isolators TLP 281-4. The automatic switching manned/unmanned control circuit mainly utilizes the optocoupler TLP281-4 to output switching value and control the relay to be switched on and off. When the marine surveying unmanned boat end main control unit receives the manned/unmanned switching command sent by the shore-based control center, the boat end main control unit sends the control command to the on-hook control unit through the serial port RS 4222. After the on-hook control unit receives the instruction, the STM32F767 chip pin outputs a low level signal, the relay connected with the manned/unmanned control button in parallel is controlled to be closed through the optical coupler, and the remote switching of the manned/unmanned control permission is realized.
As shown in fig. 8, the specific circuit of the control module includes: the unmanned ship boat end main control computer unit STM32F767, a direct current power supply, a power supply filtering module, a three-phase inverter bridge, a trapezoidal wave counter electromotive force brushless direct current motor, a three-phase inductor, a current detection module and a digital controller, wherein the direct current power supply is used for providing stable voltage for a system; the power supply filtering module is used for filtering clutter brought by a power supply and comprises a filtering inductor and a filtering capacitor, the positive electrode of the direct-current power supply is connected with one end of the filtering inductor, the other end of the filtering inductor is respectively connected with the filtering capacitor and a three-phase inverter bridge, the other end of the filtering capacitor is connected with the negative electrode of the direct-current power supply and the other end of the three-phase inverter bridge, the three-phase inverter bridge comprises six bridge arms, and each bridge arm consists of a switching tube and a diode; each diode is connected in parallel at the two ends of the collector and the emitter of the corresponding switch tube in an inverted manner; the three-phase inverter bridge is connected with a three-phase winding of the trapezoidal wave counter electromotive force brushless direct current motor through a series connection three-phase inductor and is used for increasing the equivalent inductance of a system and playing a buffer role on the current at the phase inversion moment, the current detection module comprises two Hall current sensors which are connected with the trapezoidal wave counter electromotive force brushless direct current motor winding in series and are used for detecting the current, the digital controller is respectively connected with the trapezoidal wave counter electromotive force brushless direct current motor and the current detection module and is used for collecting three-phase Hall signals HA, HB and HC of the trapezoidal wave counter electromotive force brushless direct current motor, two-phase current signals ia and ib of the current detection module, a starting signal and a rotating speed reference signal and transmitting the signals to the unmanned boat end main control computer unit STM32F767, the unmanned boat end main control computer unit STM32F767 outputs six PWM wave signals to the three-phase inverter bridge for controlling the opening and closing of six switching tubes, the forward rotation and the reverse rotation of the direct current brushless motor are controlled to control the steering, the accelerator and the gear of the diesel on-hook. The direct current brushless motor has the characteristics of long service life, direct current power supply, high safety, high reliability and the like, and can stably work for a long time under the condition of violent ship vibration under severe sea conditions.
The method for controlling the double diesel engines on the unmanned ocean surveying boat is characterized in that gears, an accelerator and steering of the engines are controlled by pull wires, the gears and the accelerator are integrally controlled on the boat to control the accelerator pull wire and the gear pull wire of the engines, and a mechanical steering wheel is used for controlling the steering pull wire of the engines. As shown in fig. 1, 2 dc brushless motors are respectively connected with a mechanical handle and a mechanical steering wheel through gears, so that the 2 dc brushless motors drive the manual mechanical handle and steering wheel, thereby realizing electric control. The double diesel main engines realize that one steering pull wire drives two diesel engines to steer through a middle connecting rod, and when a steering wheel is manually rotated or a direct current brushless motor drives the steering wheel to rotate, the on-board steering is realized, so that the steering of a control boat (ship) is realized; the manual mechanical handle greatly controls the switching gear and the accelerator opening through stroke control, and the handle is in a neutral gear and has zero accelerator opening at the middle position. When the handle is manually pushed forward, the initial stroke (the handle is heard to click) is that the gear is switched to the forward gear, and the throttle opening is controlled by continuously pushing the handle. When the handle is pulled backwards manually, the initial stroke (the handle is pushed to a click sound) is that the gear is switched to a reverse gear, and the throttle opening is controlled by continuously pushing the handle. As shown in fig. 2, the mechanical structure is adopted to realize 1 accelerator pull wire to synchronously control the accelerator opening of 2 diesel hangers and realize 1 gear pull wire to synchronously control the gear switching of 2 diesel hangers, and a specific implementation mode schematic diagram of the control of the double diesel hangers is shown in fig. 3. As shown in fig. 4, the functional block diagram of the diesel outboard on-board control device is shown, the dual on-board control device on the marine survey unmanned ship receives control instructions (remote control instructions and autonomous navigation instructions) of the main control unit on the ship through a serial port, and converts the control instructions into forward rotation and reverse rotation for controlling 2 direct current brushless motors, so that the course, the navigation speed and the gear of the marine survey unmanned ship are controlled, and finally autonomous navigation of the unmanned ship is realized.
A control method for measuring a dual diesel outboard propulsion system of an unmanned boat, comprising the steps of:
step 1, receiving control instruction information transmitted by a shore-based control center or a mother ship control center through a wireless communication device by an unmanned ship end main control unit, judging whether unmanned control is performed, if so, performing step 2, otherwise, repeating the step 1;
step 3, the double-on-hook control unit outputs a low-level signal, and a relay connected with the manned/unmanned control button in parallel is controlled to be closed through a light couple isolator TLP281-4, so that the remote switching of the manned/unmanned control authority is realized;
and 4, respectively controlling the first direct-current brushless motor and the second direct-current brushless motor to execute corresponding actions by the double-hanging control unit according to the received control instruction information output by the unmanned boat end main control unit, so that the rotating speed, the steering direction and the gear of the double-diesel hanging unit of the unmanned boat are controlled, and finally, the speed, the course and the gear of the unmanned boat are controlled to achieve the high-precision track control of the unmanned boat.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (9)
1. The utility model provides a two diesel oil outboard engine controlling means for measuring unmanned ship which characterized in that: the accelerator pull wire is installed in the middle of an accelerator of the double-hanging machine and used for simultaneously controlling the accelerator of the double-hanging machine, the gear pull wire is installed in the middle of the double-gear and used for simultaneously controlling gears of the double-hanging machine, the control module is respectively connected with the first direct current brushless motor and the second direct current brushless motor, the first direct current brushless motor is connected with a mechanical handle of the double-hanging machine through a gear, and the second direct current brushless motor is connected with a mechanical steering wheel of the double-hanging machine through a gear.
2. A dual diesel outboard propulsion system for measuring unmanned boats of claim 1, wherein: the connecting rod is arranged in the middle of the double-hanging machine, so that the first direct-current brushless motor drives the mechanical handle of the double-hanging machine to rotate, and the second direct-current brushless motor drives the mechanical steering wheel of the double-hanging machine to rotate simultaneously.
3. A dual diesel outboard propulsion system for measuring unmanned boats of claim 1, wherein: the control module includes: the wireless communication equipment, the unmanned boat end main control computer unit STM32F767, the double-hanging control unit and the manned/unmanned control switching module are connected, the wireless communication equipment is connected with the unmanned boat end main control computer unit, the unmanned boat end main control computer unit is connected with the double-hanging control unit through an RS422 serial port, and the double-hanging control unit is respectively connected with the first direct current brushless motor, the second direct current brushless motor and the manned/unmanned control switching module.
4. A dual diesel outboard propulsion system for measuring unmanned boats of claim 3, wherein: the control module includes: the double-hanging-machine control unit comprises an isolation operational amplifier, a high-power operational amplifier, an IRF2110 driving chip, an A/D converter, a current detector and a rotating speed detector, the unmanned boat end main control computer unit STM32F767 is connected with the isolation operational amplifier in series, the high-power operational amplifier and the IRF2110 driving chip, the output end of the IRF2110 driving chip is connected with a first direct current brushless motor and a second direct current brushless motor, the first direct current brushless motor and the second direct current brushless motor are respectively connected with the current detector and the rotating speed detector, the output end of the current detector is connected with the A/D converter, and the output end of the A/D converter and the output end of the rotating speed detector are connected with the unmanned boat end main control computer unit STM32F 767.
5. A dual diesel outboard propulsion system for measuring unmanned boats of claim 3, wherein: the manned/unmanned control switching module comprises a manned/unmanned control key circuit and an automatic switching manned/unmanned control circuit.
6. The dual diesel outboard propulsion system for measuring unmanned boats of claim 5, wherein: the manned/unmanned control key circuit comprises an optical pair isolator TLP281-4, a resistor R47, a resistor R48, a resistor R51, a resistor R52, a resistor R65, a resistor R66, a resistor R67, a resistor R68, a capacitor C32, a capacitor C33, a capacitor C34, a capacitor C35, a first pin connecting resistor R51 of the optical pair isolator TLP281-4, a third pin connecting resistor R47 of the optical pair isolator TLP281-4, a fifth pin connecting resistor R48 of the optical pair isolator TLP281-4, a seventh pin connecting resistor R52 of the optical pair isolator TLP281-4, a second pin, a fourth pin, a sixth pin, an eighth pin, a tenth pin, a twelfth pin, a fourteenth pin, a sixteenth pin, a sixth pin, a ninth pin TLP, a eleventh pin and a capacitor C73727 of the optical pair isolator TLP281-4, a thirteenth pin of the optocoupler isolator TLP281-4 is connected to one end of a resistor R67 and one end of a capacitor C34, a fifteenth pin of the optocoupler isolator TLP281-4 is connected to one end of a resistor R68 and one end of a capacitor C35, the other ends of the resistor R65, the resistor R66, the resistor R67 and the resistor R68 are connected to a 3.3V power supply, and the other ends of the capacitor C32, the capacitor C33, the capacitor C34 and the capacitor C35 are grounded.
7. The dual diesel outboard propulsion system for measuring unmanned boats of claim 5, wherein: the automatic switching manned/unmanned control circuit comprises a light couple isolator TLP281-4, a resistor R63, a resistor R64, a resistor R73 and a resistor R73, a first pin connection resistor R74 of the light couple isolator TLP281-4, a third pin connection resistor R74 of the light couple isolator TLP281-4, a fifth pin connection resistor R64 of the light couple isolator TLP281-4 and a seventh pin connection resistor R63 of the light couple isolator TLP 281-4.
8. The dual diesel outboard propulsion system for measuring unmanned boats of claim 4, wherein: the specific circuit of the control module comprises: the unmanned ship boat end main control computer unit STM32F767 comprises a direct current power supply, a power supply filtering module, a three-phase inverter bridge, a brushless direct current motor, a three-phase inductor, a current detection module and a digital controller, wherein the anode of the direct current power supply is connected with one end of a filter inductor, the other end of the filter inductor is respectively connected with a filter capacitor and the three-phase inverter bridge, the other end of the filter capacitor is connected with the cathode of the direct current power supply and the other end of the three-phase inverter bridge, the three-phase inverter bridge comprises six bridge arms, and each bridge arm consists of a switching tube and a diode; each diode is connected in parallel at the two ends of the collector and the emitter of the corresponding switch tube in an inverted manner; the three-phase inverter bridge is connected with a three-phase winding of the brushless direct current motor through a three-phase inductor in series connection, the current detection module comprises two Hall current sensors, the Hall sensors are connected with the brushless direct current motor winding in series, the digital controller is respectively connected with the brushless direct current motor and the current detection module, three-phase Hall signals HA, HB and HC of the brushless direct current motor and two-phase current signals ia and ib of the current detection module, starting signals and rotating speed reference signals are collected and transmitted to the unmanned boat terminal main control computer unit STM32F767, and the unmanned boat terminal main control computer unit STM32F767 outputs six PWM wave signals to the three-phase inverter bridge.
9. A control method for measuring a dual diesel outboard propulsion system of an unmanned boat, comprising the steps of:
step 1, receiving control instruction information transmitted by a shore-based control center or a mother ship control center through a wireless communication device by an unmanned ship end main control unit, judging whether unmanned control is performed, if so, performing step 2, otherwise, repeating the step 1;
step 2, the unmanned boat end main control unit sends a control instruction to the double-hanging-machine control unit through a serial port RS 4222;
step 3, the double-on-hook control unit outputs a low-level signal, and a relay connected with the manned/unmanned control button in parallel is controlled to be closed through a light couple isolator TLP281-4, so that the remote switching of the manned/unmanned control authority is realized;
and 4, respectively controlling the first direct-current brushless motor and the second direct-current brushless motor to execute corresponding actions by the double-hanging control unit according to the received control instruction information output by the unmanned boat end main control unit, so that the rotating speed, the steering direction and the gear of the double-diesel hanging unit of the unmanned boat are controlled, and finally, the speed, the course and the gear of the unmanned boat are controlled to achieve the high-precision track control of the unmanned boat.
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