CN113772062A - Force feedback type closed-loop control underwater propeller - Google Patents
Force feedback type closed-loop control underwater propeller Download PDFInfo
- Publication number
- CN113772062A CN113772062A CN202111275415.6A CN202111275415A CN113772062A CN 113772062 A CN113772062 A CN 113772062A CN 202111275415 A CN202111275415 A CN 202111275415A CN 113772062 A CN113772062 A CN 113772062A
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- China
- Prior art keywords
- thrust
- propeller
- shell
- controller
- direct current
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Abstract
The invention discloses a force feedback type closed-loop control underwater propeller which comprises a shell, wherein a controller and a brushless direct current motor are arranged in the shell, a transmission shaft of the brushless direct current motor penetrates out of one end of the shell to be used for fixing a propeller positioned outside the shell, a flow guide cover is arranged outside a propeller blade, and a Hall position sensor is arranged at a rotor of the brushless direct current motor; the thrust sensor is fixed on the shell, the thrust sensor and the Hall position sensor are in communication connection with the controller, and after the controller receives a thrust control signal, the brushless direct current motor is driven to drive the transmission shaft to rotate so as to drive the propeller to rotate and generate thrust. The force feedback type closed-loop control underwater propeller has the advantages of accurate thrust output, self-adaption anti-interference, small overall dependence, sensitive response, reliable work and the like, is good in assembly on various kinds of UUV, ROV, ships, drilling platforms and other marine equipment, and reduces the overall integration and control difficulty of control.
Description
Technical Field
The invention relates to the field of underwater robot equipment, in particular to a force feedback type closed-loop control underwater propeller.
Background
In order to realize high-precision pose control, an underwater robot generally adopts a mode of vector layout of a plurality of propellers to generate control force and moment on each degree of freedom. Traditionally, a motor and propeller transmission mechanism and an open-loop control mode are adopted for a propeller, and due to the working characteristics of the propeller, the propeller is easily influenced by external environments such as the structural layout of the propeller on an underwater robot, the mutual interference between the propeller and the propeller, the thrust loss caused by ocean currents in different directions, the thrust loss caused by waves and the like, so that the thrust generated at the same rotating speed has great difference. Meanwhile, in the same propeller batch, the rotating speed is also deviated under the same control signal due to factors such as motor performance and manufacturing/assembling deviation, so that the consistency of the thrust is poor. Therefore, the prior art cannot realize accurate and stable control of thrust under a complex flow field environment, and becomes a key point for restricting the power positioning control precision of the underwater robot.
Disclosure of Invention
The invention aims to provide a force feedback type closed-loop control underwater propeller to solve the problems of large thrust output fluctuation under the same force control signal under flow field disturbance, poor consistency of thrust of the same propeller batch caused by manufacturing/assembling deviation and the like.
The object of the invention is achieved in the following way:
a force feedback type closed-loop control underwater propeller comprises a shell, wherein a controller and a brushless direct current motor are arranged in the shell, a transmission shaft of the brushless direct current motor penetrates out of one end of the shell to be used for fixing a propeller positioned outside the shell, a flow guide cover is arranged outside blades of the propeller, and a Hall position sensor is arranged at a rotor of the brushless direct current motor; the shell is fixedly provided with a thrust sensor, the thrust sensor and the Hall position sensor are both in communication connection with the controller, the controller drives the brushless direct current motor to drive the transmission shaft to rotate after receiving a thrust control signal, and further drives the propeller to rotate to generate thrust, and the thrust sensor feeds back collected thrust data to the controller to form an outer annular force ring; after receiving the thrust control signal, the controller drives the brushless direct current motor to drive the transmission shaft to rotate, and the Hall position sensor feeds back the detected actual rotating speed information of the rotor to the controller to form an intermediate ring speed ring; after the controller receives the thrust control signal, the brushless direct current motor is driven to drive the transmission shaft to rotate, and the current detection circuit on the controller feeds back the detected armature current to the controller to form an inner loop current loop.
Brushless DC motor installs at the casing middle part, and the stator and the laminating of shells inner wall of motor, electric motor rotor and transmission shaft interference fit.
And two groups of thrust bearings are respectively arranged at two sides of a transmission shaft of a rotor of the motor.
The thrust sensor is sealed in a watertight manner, the lower end of the thrust sensor is provided with a fixing ring of a hollow structure, and the fixing ring is sleeved on the shell.
The shell is made of nonmagnetic and corrosion-resistant materials and comprises titanium alloy or stainless steel.
A thrust sensor mounting flange is machined on the outer portion of the shell, and through holes are symmetrically and uniformly formed in the flange.
Two screw holes are formed in the tail of the shell and used for installing two watertight sockets, one watertight socket is used for power supply and control signal transmission of the propeller, and the other watertight socket is used for receiving a feedback thrust signal.
The invention has the beneficial effects that: the force feedback type closed-loop control underwater propeller has the advantages of accurate thrust output, self-adaption anti-interference, small overall dependence, sensitive response, reliable work and the like, can be applied to the occasions of underwater dynamic balance operation, underwater vector propulsion and the like, has good suitability on various marine equipment such as UUV, ROV, ships, drilling platforms and the like, reduces the overall integration and control difficulty, has wide application prospect, and has higher economic and social benefits.
Drawings
Fig. 1 is a structural schematic diagram of a force feedback type closed loop control underwater propeller.
Fig. 2 is a schematic diagram of closed loop control.
The system comprises a propeller, a propeller fixing piece, a thrust sensor watertight cable assembly, a watertight socket, a casing, a controller, a thrust bearing set, a transmission shaft, a brushless direct current motor, a thrust sensor fixing piece, a propeller, a guide cover and a propeller fixing seat, wherein the propeller fixing piece is 1-the propeller fixing piece, the thrust sensor is 2-the thrust sensor, the thrust sensor watertight cable assembly is 3-the thrust sensor watertight cable assembly, the watertight socket is 4-the casing, the controller is 6-the thrust bearing set is 7-the transmission shaft, the brushless direct current motor is 9-the thrust sensor fixing piece, the propeller is 11-the propeller, the guide cover is 12-the propeller fixing piece and the propeller fixing seat is 13-the propeller fixing piece.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
As shown in fig. 1, a force feedback type closed-loop control underwater propeller comprises a housing, wherein a controller and a brushless direct current motor are arranged in the housing, a transmission shaft of the brushless direct current motor penetrates out of one end of the housing to be used for fixing a propeller positioned outside the housing, a flow guide cover is arranged outside blades of the propeller, the brushless direct current motor detects the position of a rotor by means of 3 hall position sensors which are annularly arranged at 120 degrees and fixedly installed, and the rotating speed is obtained through detection and operation of a trigger signal; the shell is fixedly provided with a thrust sensor, the thrust sensor and the Hall position sensor are both in communication connection with the controller, the controller drives the brushless direct current motor to drive the transmission shaft to rotate after receiving a thrust control signal, and further drives the propeller to rotate to generate thrust, and the thrust sensor feeds back collected thrust data to the controller to form an outer annular force ring; after receiving the thrust control signal, the controller drives the brushless direct current motor to drive the transmission shaft to rotate, and the Hall position sensor feeds back the detected actual rotating speed of the motor to the controller to form an intermediate ring; and after receiving the thrust control signal, the controller drives the brushless direct current motor to drive the transmission shaft to rotate, and feeds back the detected armature current to the controller to form a current loop.
The whole shell 5 is made of nonmagnetic and corrosion-resistant materials such as titanium alloy or stainless steel and the like, so that the requirements of magnetic coupling transmission and marine environment are met. The shell is a pressure-bearing part of the propeller, a cavity and a boss structure are processed inside the shell and used for mounting parts such as a motor and a driver, a thrust sensor mounting flange is processed outside the shell, and through holes are symmetrically and uniformly formed in the flange. Two screw holes are formed in the tail of the shell and used for installing two watertight sockets, one watertight socket is used for power supply and control signal transmission of the propeller, and the other watertight socket is used for receiving a feedback thrust signal.
The brushless direct current motor 9 is arranged in the middle of the propeller, and has the advantages of compact structure, long service life, convenient speed regulation, easy control and the like. A Hall position sensor is used as a position sensor for detecting the position of a magnetic pole of a rotor, providing correct commutation information for a logic switch circuit and calculating the actual rotating speed of the motor. The stator of motor and the laminating of propeller casing inner wall, electric motor rotor and transmission shaft interference fit respectively arrange a set of thrust bearing in the transmission shaft both sides position of installation electric motor rotor, rely on thrust bearing group to guarantee that the axis is in when the rotor rotates at a high speed to bear the axial force that produces when screw corotation or reversal, guarantee that rotor and transmission shaft can not the front and back axial float. The transmission shaft drives the propeller to rotate in a magnetic coupling mode, and the propeller and the air guide sleeve are combined for use, so that underwater propulsion efficiency can be effectively improved.
Rely on propeller fastener 1 to be connected between 2 upper ends of thrust sensor and the propeller fixing base 13 on the underwater robot, the lower extreme is the cavity formula structure, is convenient for embolia from the propeller, uses the thrust sensor fastener to be connected as an organic whole with the flange on the propeller casing with thrust sensor. The thrust sensor adopts high-precision force-sensitive elements and is sealed in a watertight way, the protection grade is not lower than the IP68 grade, the thrust sensor can bear the pulling/pressure generated when the propeller rotates forwards and backwards, the measuring range and the precision are matched with the performance parameters of the propeller, and the best measuring effect can be obtained. During the use, thrust sensor detects pressure signal, converts voltage signal and digital signal through AD conversion through the amplifier, transmits to the controller through thrust sensor watertight cable subassembly.
Taking an ROV adopting a multi-propeller vector layout as an example, the ROV motion control calculates the force/moment required on each degree of freedom according to the operation instruction and the current state, and then the set thrust of each propeller is given through a thrust distribution algorithm. The thrust control signal is transmitted to the controller 6 through the watertight socket 4, the controller 6 executes a control strategy to drive the brushless direct current motor 9 to drive the transmission shaft 8 to rotate, and further drive the propeller 11 to rotate, and water flows through the propeller 11 and the air guide sleeve 12 to generate initial thrust. The thrust bearing group 7 limits the transmission shaft 8, and the front and back movement is avoided. Simultaneously, thrust sensor fastener 10, propeller fastener 1 guarantee between casing 5, thrust sensor 2 and the propeller fixing base three closely laminate, do not have not become flexible or warp for thrust can accurate transmission. After the thrust sensor 2 is pressed or pulled, a pressure signal is rapidly generated, converted into a voltage signal through an amplifier and converted into a digital signal through A/D (analog/digital) and transmitted to the controller 6 through the thrust sensor watertight cable assembly 3. The controller 6 adopts three-loop control and consists of an outer loop force loop, an intermediate loop speed loop and an inner loop current loop, wherein in the outer loop, a feedback actual measurement thrust value is compared with a set value, a difference value is processed by a thrust control algorithm, an operation result is taken as a rotating speed setting, in the intermediate loop, the main functions are to stabilize the rotating speed and resist load disturbance, a Hall position sensor signal is processed by a circuit to obtain a feedback rotating speed, the feedback rotating speed is compared with the set rotating speed, and the difference value is processed by a rotating speed control algorithm, and then the calculation result is output and taken as a current setting; in the current ring, the given current is compared with the detected armature current, and the difference value is processed by a current control algorithm and then is output and drives the brushless direct current motor to drive the propeller to rotate, so that the stable control of the output thrust and the set thrust can be realized no matter how the flow field environment around the propeller changes, and the dynamic positioning precision of the underwater robot is ensured. The thrust control algorithm, the rotating speed control algorithm and the current control algorithm all adopt a PID algorithm or a sliding mode variable structure and the like in the prior art.
The force feedback type closed-loop control underwater propeller has the advantages of accurate thrust output, self-adaption anti-interference, small overall dependence, sensitive response, reliable work and the like, can be applied to the occasions of underwater dynamic balance operation, underwater vector propulsion and the like, has good suitability on various marine equipment such as UUV, ROV, ships, drilling platforms and the like, reduces the overall integration and control difficulty, has wide application prospect, and has higher economic and social benefits.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (7)
1. A force feedback type closed loop control underwater propeller comprising a housing, characterized in that: a controller and a brushless direct current motor are arranged in the shell, a transmission shaft of the brushless direct current motor penetrates out of one end of the shell to be used for fixing a propeller positioned outside the shell, a flow guide cover is arranged outside a propeller blade, and a Hall position sensor is arranged at a rotor of the brushless direct current motor; the shell is fixedly provided with a thrust sensor, the thrust sensor and the Hall position sensor are both in communication connection with the controller, the controller drives the brushless direct current motor to drive the transmission shaft to rotate after receiving a thrust control signal, and further drives the propeller to rotate to generate thrust, and the thrust sensor feeds back collected thrust data to the controller to form an outer annular force ring; after receiving the thrust control signal, the controller drives the brushless direct current motor to drive the transmission shaft to rotate, and the Hall position sensor feeds back the detected actual rotating speed information of the rotor to the controller to form an intermediate ring speed ring; after the controller receives the thrust control signal, the brushless direct current motor is driven to drive the transmission shaft to rotate, and the current detection circuit on the controller feeds back the detected armature current to the controller to form an inner loop current loop.
2. The force feedback closed loop controlled underwater propeller of claim 1, wherein: brushless DC motor installs at the casing middle part, and the stator and the laminating of shells inner wall of motor, electric motor rotor and transmission shaft interference fit.
3. The force feedback closed loop controlled underwater propeller of claim 1, wherein: and two groups of thrust bearings are respectively arranged at two sides of a transmission shaft of a rotor of the motor.
4. The force feedback closed loop controlled underwater propeller of claim 1, wherein: the thrust sensor is sealed in a watertight manner, the lower end of the thrust sensor is provided with a fixing ring of a hollow structure, and the fixing ring is sleeved on the shell.
5. The force feedback closed loop controlled underwater propeller of claim 1, wherein: the shell is made of nonmagnetic and corrosion-resistant materials and comprises titanium alloy or stainless steel.
6. The force feedback closed loop controlled underwater propeller of claim 1, wherein: a thrust sensor mounting flange is machined on the outer portion of the shell, and through holes are symmetrically and uniformly formed in the flange.
7. The force feedback closed loop controlled underwater propeller of claim 1, wherein: two screw holes are formed in the tail of the shell and used for installing two watertight sockets, one watertight socket is used for power supply and control signal transmission of the propeller, and the other watertight socket is used for receiving a feedback thrust signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111275415.6A CN113772062A (en) | 2021-10-29 | 2021-10-29 | Force feedback type closed-loop control underwater propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111275415.6A CN113772062A (en) | 2021-10-29 | 2021-10-29 | Force feedback type closed-loop control underwater propeller |
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| Publication Number | Publication Date |
|---|---|
| CN113772062A true CN113772062A (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111275415.6A Pending CN113772062A (en) | 2021-10-29 | 2021-10-29 | Force feedback type closed-loop control underwater propeller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092373A (en) * | 2022-05-27 | 2022-09-23 | 广东逸动科技有限公司 | Power device, control method thereof, marine propeller and ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090222155A1 (en) * | 2008-02-15 | 2009-09-03 | Glacier Bay, Inc. | Propulsion system |
| CN103112573A (en) * | 2013-03-07 | 2013-05-22 | 武汉劳雷绿湾船舶科技有限公司 | Underwater power plant propeller |
| CN103213666A (en) * | 2013-05-06 | 2013-07-24 | 西北工业大学 | Power-driven steering engine device based on reversing of position ring and control method |
| CN206278250U (en) * | 2016-12-07 | 2017-06-27 | 石恒硕 | A kind of integrated underwater propeller |
| CN108153204A (en) * | 2018-01-29 | 2018-06-12 | 深圳飞马机器人科技有限公司 | Unmanned plane dynamic test device and system |
| CN209852551U (en) * | 2019-04-01 | 2019-12-27 | 蚌埠学院 | Unmanned remote control submersible propeller |
| CN111669084A (en) * | 2020-06-02 | 2020-09-15 | 深圳市投资控股有限公司 | Underwater driving method for wave glider and motor driver |
| CN112572746A (en) * | 2020-11-27 | 2021-03-30 | 江苏科技大学 | Unmanned double-oar ship propulsion controller suitable for brushless DC motor |
-
2021
- 2021-10-29 CN CN202111275415.6A patent/CN113772062A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090222155A1 (en) * | 2008-02-15 | 2009-09-03 | Glacier Bay, Inc. | Propulsion system |
| CN103112573A (en) * | 2013-03-07 | 2013-05-22 | 武汉劳雷绿湾船舶科技有限公司 | Underwater power plant propeller |
| CN103213666A (en) * | 2013-05-06 | 2013-07-24 | 西北工业大学 | Power-driven steering engine device based on reversing of position ring and control method |
| CN206278250U (en) * | 2016-12-07 | 2017-06-27 | 石恒硕 | A kind of integrated underwater propeller |
| CN108153204A (en) * | 2018-01-29 | 2018-06-12 | 深圳飞马机器人科技有限公司 | Unmanned plane dynamic test device and system |
| CN209852551U (en) * | 2019-04-01 | 2019-12-27 | 蚌埠学院 | Unmanned remote control submersible propeller |
| CN111669084A (en) * | 2020-06-02 | 2020-09-15 | 深圳市投资控股有限公司 | Underwater driving method for wave glider and motor driver |
| CN112572746A (en) * | 2020-11-27 | 2021-03-30 | 江苏科技大学 | Unmanned double-oar ship propulsion controller suitable for brushless DC motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092373A (en) * | 2022-05-27 | 2022-09-23 | 广东逸动科技有限公司 | Power device, control method thereof, marine propeller and ship |
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