CN114261497A - Ship rudder angle feedback device and rudder angle calibration method - Google Patents
Ship rudder angle feedback device and rudder angle calibration method Download PDFInfo
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Abstract
The invention relates to a ship rudder angle feedback device and a rudder angle calibration method, wherein the rudder angle feedback device comprises a connecting rod, a potentiometer and two rudder angle acquisition and sending plates, the connecting rod reflects an actual rudder angle of a ship in real time and is connected with the potentiometer, the connecting rod drives the potentiometer to rotate to output a voltage value of the actual rudder angle in real time, the two rudder angle acquisition and sending plates respectively acquire the voltage value of the rudder angle and convert the voltage value of an analog signal into an actual rudder angle value of a digital signal, the two rudder angle acquisition and sending plates are mutually dual-redundant thermal backup, and each rudder angle acquisition and sending plate simultaneously has a CAN signal and a serial port signal interface; and the method also relates to a rudder angle calibration method, and calibration parameters are respectively obtained by fitting according to the left rudder and the right rudder. The invention realizes double redundancy function through two same acquisition and sending boards, enhances the reliability of the equipment, has simple structure and easy realization, and more importantly, can output a rudder angle value with very high precision through the calibration method provided by the invention.
Description
Technical Field
The invention relates to the field of ship instrument equipment, in particular to a ship rudder angle feedback device and a rudder angle calibration method.
Background
In the field of modern ship navigation, the requirement on ship control is higher and higher, new course control algorithms and track control algorithms emerge continuously, and the advantages of the control algorithms are exerted depending on accurate feedback rudder angle values. The traditional rudder angle acquisition method transmits in a current or voltage mode, is easy to interfere, has poor compatibility and high cost, has an error within +/-1 degree, cannot meet the current steering requirement, and cannot keep up with the existing increasingly developed hardware technology and control algorithm. Meanwhile, the rudder angle value also relates to the navigation safety of the ship, and no rudder angle value or wrong rudder angle value can endanger the navigation of the ship, even cause serious accidents of the ship and relate to the safety of life and property.
In the prior art, chinese patent 201510955940.0 discloses a digitized rudder angle detecting device for an autonomous underwater vehicle and a rudder angle calibrating method, where the digitized rudder angle detecting device includes a vertical rudder reference module, a vertical rudder measurement module, a horizontal rudder reference module, a horizontal rudder measurement module, and a data processing module, the vertical rudder reference module, the vertical rudder measurement module, the horizontal rudder reference module, and the horizontal rudder measurement module are all formed with an MPU9250 as a core and are respectively connected with the data processing module through an RS485 serial port, and the data processing module is formed with an AVR single chip microcomputer as a core and is connected with a control system, i.e., an upper computer, through an RS232 serial port. Chinese patent 201110030225.8 discloses a rudder angle collecting method, device and system. The rudder angle acquisition method comprises the following steps: determining the minimum precision allowed in a ship steering control system; determining the corresponding relation between the calibration voltage of the potentiometer and the calibration angle of the rudder angle according to the maximum angle range and the minimum precision of the rudder angle; detecting the voltage of the potentiometer; and obtaining the angle value of the rudder angle according to the voltage of the potentiometer and the corresponding relation. The prior art has the defects of insufficient calibration precision and incapability of working in fault.
Disclosure of Invention
In view of the above problems in the prior art, the present invention provides a rudder angle feedback device for a ship and a rudder angle calibration method. The ship rudder angle feedback device and the rudder angle calibration method can obtain rudder angle digital information in real time with high precision, can work alternatively when in failure, and have simple structures and easy realization.
In order to achieve the purpose of the invention, the technical scheme provided by the invention patent is as follows:
a ship rudder angle feedback device is characterized in that the rudder angle feedback device comprises a connecting rod, a potentiometer and a rudder angle acquisition and sending plate, wherein the potentiometer is connected with the other end of the connecting rod, the output end of the potentiometer is respectively connected to the two same rudder angle acquisition and sending plates to form dual redundancy backup, the potentiometer is driven to rotate to generate different voltage signals when the connecting rod rotates, and the voltage signals are simultaneously and respectively input into the two rudder angle acquisition and sending plates;
the rudder angle acquisition and sending board on be equipped with analog quantity acquisition module, analog signal conversion module and digital output module, analog quantity acquisition module connect and receive the analog signal of potentiometre output, the analog signal input of collection extremely analog signal conversion module be equipped with processing unit in the analog signal conversion module, digital output module receive analog signal conversion module's digital signal, serial ports signal interface and CAN signal interface output rudder angle value digital signal to different external equipment that contains through digital output module.
In a rudder angle feedback device for a ship of the present invention, the following operations are performed in the processing unit:
the method comprises the steps that pre-calibrated parameters are stored in a main control chip of a processing unit, and when collected potentiometer analog voltage signals are received, whether the current rudder is a left rudder or a right rudder is judged through the positive and negative of analog voltage so as to determine whether a left rudder coefficient or a right rudder coefficient is used; then using the formula:
y＝a1x+a0+y1wherein, y1In order to fit the residuals for the first order,
y1＝b4x4+b3x3+b2x2+b1x+b0will y is1Substituting the formula yields:
y＝a1x+a0+b4x4+b3x3+b2x2+b1x+b0，
finally obtaining a y value which is a rudder angle value digital quantity obtained by calculation;
in the rudder angle feedback device of a ship of the present invention, the pre-calibrated parameters include:
left rudder parameters: a is1＝0.3558，a0＝0.4676，b4＝-0.000000092，b3＝-0.00001515，b2＝-0.0006905，b1＝-0.0074，b0＝0.00087068；
Parameters of a right rudder: a is1＝0.3477，a0＝0.6062，b4＝0.0000000305，b3＝-0.0000101，b2＝0.00095789，b1＝-0.0277，b0＝0.0991。
A rudder angle calibration method is used in a ship rudder angle feedback device, the rudder angle feedback device comprises a potentiometer and a rudder angle acquisition and transmission plate, the output end of the potentiometer is respectively connected to two same rudder angle acquisition and transmission plates to form dual redundancy backup, and is a method for obtaining parameters calibrated in the rudder angle acquisition and transmission plates in advance, the voltage value acquired by the rudder angle acquisition and transmission plate and the actual rudder angle value are in a first-order function relationship at a left rudder (-35-0 DEG) and a right rudder (0-35 DEG) respectively, and are fitted by the following functions:
y＝a1x+a0，
and simultaneously, carrying out nonlinear fitting on the fitted residual error again, wherein the nonlinear fitting function is as follows:
y 1＝b4x4+b3x3+b2x2+b1x+b0。
in the rudder angle calibration method of the invention, the function fitting method in the calibration process comprises the following steps:
collecting analog voltage values once every 5 degrees from 35 degrees of the left rudder to 35 degrees of the right rudder, and obtaining the voltage values by a least square method:
on the left rudder, a1＝0.3558，a0＝0.4676，b4＝-0.000000092，b3＝-0.00001515，b2＝-0.0006905，b1＝-0.0074，b0＝0.00087068；
At the time of right rudder, a1＝0.3477，a0＝0.6062，b4＝0.0000000305，b3＝-0.0000101，b2＝0.00095789，b1＝-0.0277，b0＝0.0991。
In the rudder angle calibration method, the error of the calibrated rudder angle value is within +/-0.1 degree.
Based on the technical scheme, compared with the prior art, the invention has the following technical advantages:
1. the rudder angle feedback device provided by the invention adopts digital signal transmission, is not easy to be interfered, and has the advantages of simple structure, easy realization and low cost.
2. The rudder angle feedback device provided by the invention has high reliability, two same acquisition and transmission plates are adopted, the voltage of the potentiometer is acquired simultaneously, dual redundancy heat backup is realized mutually, and when one plate fails, a ship can still safely sail.
3. The rudder angle feedback device provided by the invention has good compatibility, and the acquisition and transmission board simultaneously has a CAN signal interface and a serial port signal interface, so that the rudder angle feedback device CAN adapt to different equipment interface requirements.
4. The rudder angle calibration method provided by the invention overcomes the problem of left-right asymmetry of potentiometer voltage by respectively fitting the left rudder and the right rudder, and simultaneously carries out nonlinear fitting on residual errors again after linear fitting, so that the final actual error is within +/-0.1 degree, and the calibration precision is very high.
Drawings
Fig. 1 is a schematic view of the internal structure of the rudder angle feedback device of the present invention.
Fig. 2 is a flow chart of a rudder angle collecting and transmitting plate in the rudder angle feedback device of the present invention.
Fig. 3 is a left rudder fitting curve and a true value diagram in the rudder angle calibration method of the present invention.
Fig. 4 is a final angle error diagram of the left rudder in the rudder angle calibration method of the present invention.
FIG. 5 is a graph of a right rudder fitting curve and a true value in the rudder angle calibration method of the present invention.
FIG. 6 is a final angle error diagram of the right rudder in the rudder angle calibration method of the present invention.
Detailed Description
The invention will be further described in detail with reference to the drawings and specific examples, so as to clearly understand the invention, but the scope of the invention should not be limited thereby.
As shown in fig. 1, the invention firstly provides a rudder angle feedback device for a ship, wherein a steering engine is arranged on the ship and drives a rudder blade to rotate, the rudder blade is connected with one end of a connecting rod through a parallelogram structure, and when the rudder blade rotates, the parallelogram structure drives the connecting rod to rotate to an angle the same as an actual rudder angle.
The rudder angle collecting and sending board is provided with an analog quantity collecting module, an analog signal converting module and a digital quantity output module, the analog quantity collecting module is connected with and receives an analog quantity signal output by the potentiometer, the collected analog quantity signal is input to the analog signal converting module, a processing unit is arranged in the analog signal converting module, the digital quantity output module receives a digital signal of the analog signal converting module, and rudder angle value digital signals are output to different external equipment through a serial port signal interface and a CAN signal interface which are contained in the digital quantity output module.
The two rudder angle collecting and transmitting boards respectively collect the analog quantity of the potentiometer and convert the voltage value of the analog signal into the actual rudder angle value of the digital signal.
Performing the following operations in the processing unit: the method comprises the steps that pre-calibrated parameters are stored in a main control chip of a processing unit, and when collected potentiometer analog voltage signals are received, whether the current rudder is a left rudder or a right rudder is judged through the positive and negative of analog voltage so as to determine whether a left rudder coefficient or a right rudder coefficient is used; then using the formula:
y＝a1x+a0+y1wherein, y1In order to fit the residuals for the first order,
y1＝b4x4+b3x3+b2x2+b1x+b0will y is1Substituting the formula yields:
y＝a1x+a0+b4x4+b3x3+b2x2+b1x+b0，
and finally obtaining a y value which is a rudder angle value digital quantity obtained by calculation.
As shown in fig. 2, the working process of the ship rudder angle feedback device of the present invention is that after the device is powered on, firstly, the pre-calibrated parameters stored in the main control chip EEPROM of the processing unit are read, then the analog voltage signals of the potentiometer are collected, and whether the current rudder is a left rudder or a right rudder is judged by the positive and negative of the analog voltage, so as to determine whether the left rudder coefficient or the right rudder coefficient is used; then using the formula:
y＝a1x+a0+b4x4+b3x3+b2x2+b1x+b0，
and finally, the rudder angle digital quantity obtained by calculation is sent to external equipment through the CAN and the serial port interface. When the digital signal value of the rudder angle is output, the CAN interface CAN be selected to output, or the serial interface CAN be selected to output, or the two structures CAN be respectively and simultaneously output. If the output is abnormal in the output process, returning to the analog quantity acquisition link of the potentiometer, and carrying out the processes of analog quantity acquisition and digital quantity conversion calculation again until the output is normal to the external equipment.
The main control chip eeprom (electrically Erasable Programmable read only memory) of the processing unit is an electrically Erasable Programmable read only memory (eeprom), which is a memory chip with no data loss after power failure, and the EPROM can erase existing information on a computer or a special device and reprogram the information. And the calibrated pre-calibration parameters are stored in the main control chip EEPROM.
Before the ship rudder angle feedback device is used, a rudder angle value needs to be calibrated to obtain a pre-calibrated parameter, and the specific calibration method comprises the following steps:
from 35 degrees of the left rudder to 35 degrees of the right rudder, analog voltage values are collected every 5 degrees, and specific values are shown in table 1. According to the data in table 1, curve fitting is performed on the left rudder and the right rudder respectively, and the left rudder (-35-0 °) and the right rudder (0-35 °) are in a first-order function relationship and are fitted by the following functions: a is1x+a0And simultaneously carrying out nonlinear fitting on the fitted residual error again, wherein the nonlinear fitting function is as follows: y is1＝b4x4+b3x3+b2x2+b1x+b0。
By using MATLAB software, other similar software can be adopted, and the method belongs to the conventional function selection of the existing software, and comprises the following steps of: a ═ xTx)-1xTy and b ═ xTx)-1xTy1Obtaining a first order function coefficient a and a nonlinear fitting coefficient b, and finally calculating a when a is left rudder1＝0.3558，a0＝0.4676，b4＝-0.000000092，b3＝-0.00001515，b2＝-0.0006905，b1＝-0.0074，b00.00087068; when the right rudder is a1＝0.3477，a0＝0.6062，b4＝0.0000000305，b3＝-0.0000101，b2＝0.00095789，b1＝-0.0277，b0＝0.0991。
And writing the 14 coefficients calculated by the MATLAB software into an EEPROM of a main control chip of the acquisition and transmission board as pre-calibrated parameters, and ending the calibration process.
Fig. 3 shows the actual value of the rudder angle (broken line) for the left rudder and the rudder angle value (real line) calculated by the method of the present invention, in which the abscissa is the analog voltage value and the ordinate is the rudder angle value. Fig. 4 shows the error between the rudder angle value calculated by the method of the present invention and the true value of the rudder angle when the rudder is left.
Fig. 5 shows the true value (broken line) of the rudder angle at the time of the right rudder and the rudder angle value (solid line) calculated by the method of the present invention, in which the abscissa is the analog voltage value and the ordinate is the rudder angle value. Fig. 6 shows the error between the rudder angle value calculated by the method of the present invention and the true value of the rudder angle when the rudder is right.
As can be seen from the graphs in FIGS. 4 and 6, the errors of the rudder angle value and the real rudder angle value calculated by the method provided by the invention are within +/-0.1 degree, and the method has very high calibration precision.
The invention relates to a ship rudder angle feedback device and a rudder angle calibration method, wherein two rudder angle collecting and sending boards are adopted to respectively collect voltage values of rudder angles, and convert the voltage values of analog signals into actual rudder angle values of digital signals according to coefficients stored in a chip EEPROM (electrically erasable programmable read-only memory), the two rudder angle collecting and sending boards are dual-redundancy hot backup, and each rudder angle collecting and sending board simultaneously has a CAN (controller area network) signal and a serial port signal interface, so that the rudder angle collecting and sending boards CAN be conveniently connected into different devices. And the rudder angle calibration method respectively carries out linear fitting through least squares according to a left rudder (negative direction) and a right rudder (positive direction), and simultaneously carries out nonlinear fitting on the fitted residual error again. The invention realizes double redundancy function by two same acquisition and sending boards, and enhances the reliability of the equipment. Meanwhile, the equipment is simple in structure and easy to realize, and more importantly, the rudder angle value with high precision can be output by the calibration method provided by the invention.
The present invention is further explained and not limited by the embodiments, and those skilled in the art can make various modifications as necessary after reading the present specification, but all the embodiments are protected by the patent law within the scope of the claims.
Claims (6)
1. A ship rudder angle feedback device is characterized in that the rudder angle feedback device comprises a connecting rod, a potentiometer and a rudder angle acquisition and sending plate, wherein the potentiometer is connected with the other end of the connecting rod, the output end of the potentiometer is respectively connected to the two same rudder angle acquisition and sending plates to form dual redundancy backup, the potentiometer is driven to rotate to generate different voltage signals when the connecting rod rotates, and the voltage signals are simultaneously and respectively input into the two rudder angle acquisition and sending plates;
the rudder angle acquisition and sending board on be equipped with analog quantity acquisition module, analog signal conversion module and digital output module, analog quantity acquisition module connect and receive the analog signal of potentiometre output, the analog signal input of collection extremely analog signal conversion module be equipped with processing unit in the analog signal conversion module, digital output module receive analog signal conversion module's digital signal, serial ports signal interface and CAN signal interface output rudder angle value digital signal to different external equipment that contains through digital output module.
2. Rudder angle feedback device for a ship according to claim 1, characterised in that the following operations are performed in the processing unit:
the method comprises the steps that pre-calibrated parameters are stored in a main control chip of a processing unit, and when collected potentiometer analog voltage signals are received, whether the current rudder is a left rudder or a right rudder is judged through the positive and negative of analog voltage so as to determine whether a left rudder coefficient or a right rudder coefficient is used; then using the formula:
y＝a1x+a0+y1wherein, y1In order to fit the residuals for the first order,
y1＝b4x4+b3x3+b2x2+b1x+b0will y is1Substituting the formula yields:
y＝a1x+a0+b4x4+b3x3+b2x2+b1x+b0，
and finally obtaining a y value which is a rudder angle value digital quantity obtained by calculation.
3. The rudder angle feedback device for a ship according to claim 2, wherein the pre-calibrated parameters include:
left rudder parameters: a is1＝0.3558，a0＝0.4676，b4＝-0.000000092，b3＝-0.00001515，b2＝-0.0006905，b1＝-0.0074，b0＝0.00087068；
Parameters of a right rudder: a is1＝0.3477，a0＝0.6062，b4＝0.0000000305，b3＝-0.0000101，b2＝0.00095789，b1＝-0.0277，b0＝0.0991。
4. A rudder angle calibration method is characterized in that the method is used in a ship rudder angle feedback device, the rudder angle feedback device comprises a potentiometer and a rudder angle acquisition and transmission plate, the output end of the potentiometer is respectively connected to two same rudder angle acquisition and transmission plates to form dual redundancy backup, and is a method for obtaining parameters calibrated in the rudder angle acquisition and transmission plates in advance, the voltage value acquired by the rudder angle acquisition and transmission plate and the actual rudder angle value are respectively in a first-order function relationship at a left rudder (-35 degrees to 0 degrees) and a right rudder (0 degrees to 35 degrees), and the first-order function relationship is fitted by the following functions:
y＝a1x+a0，
and simultaneously, carrying out nonlinear fitting on the fitted residual error again, wherein the nonlinear fitting function is as follows:
y1＝b4x4+b3x3+b2x2+b1x+b0。
5. a rudder angle calibrating method according to claim 4, wherein the function fitting method in the calibrating process is as follows:
collecting analog voltage values once every 5 degrees from 35 degrees of the left rudder to 35 degrees of the right rudder, and obtaining the voltage values by a least square method:
on the left rudder, a1＝0.3558，a0＝0.4676，b4＝-0.000000092，b3＝-0.00001515，b2＝-0.0006905，b1＝-0.0074，b0＝0.00087068；
At the time of right rudder, a1＝0.3477，a0＝0.6062，b4＝0.0000000305，b3＝-0.0000101，b2＝0.00095789，b1＝-0.0277，b0＝0.0991。
6. A rudder angle calibrating method according to claim 4, wherein the error of the calibrated rudder angle value is within ± 0.1 degree.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126547A (en) * | 2011-01-26 | 2011-07-20 | 北京海兰信数据科技股份有限公司 | Rudder angle acquisition method, device and system |
| CN102602526A (en) * | 2012-02-27 | 2012-07-25 | 上海斯密富实业有限公司 | Digital rudder angle indication system |
| CN105043367A (en) * | 2015-09-09 | 2015-11-11 | 中船航海科技有限责任公司 | Steering compass display device with alarming function based on dual-redundancy CAN |
| JP2016016777A (en) * | 2014-07-09 | 2016-02-01 | 株式会社ケイセブン | Steering device |
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- 2021-12-01 CN CN202111459011.2A patent/CN114261497A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126547A (en) * | 2011-01-26 | 2011-07-20 | 北京海兰信数据科技股份有限公司 | Rudder angle acquisition method, device and system |
| CN102602526A (en) * | 2012-02-27 | 2012-07-25 | 上海斯密富实业有限公司 | Digital rudder angle indication system |
| JP2016016777A (en) * | 2014-07-09 | 2016-02-01 | 株式会社ケイセブン | Steering device |
| CN105043367A (en) * | 2015-09-09 | 2015-11-11 | 中船航海科技有限责任公司 | Steering compass display device with alarming function based on dual-redundancy CAN |
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