CN114285346A - Control device and control method of water carrying device and water carrying device - Google Patents
Control device and control method of water carrying device and water carrying device Download PDFInfo
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- CN114285346A CN114285346A CN202111590745.4A CN202111590745A CN114285346A CN 114285346 A CN114285346 A CN 114285346A CN 202111590745 A CN202111590745 A CN 202111590745A CN 114285346 A CN114285346 A CN 114285346A
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Abstract
The disclosure relates to a control device and a control method of a water carrying device and the water carrying device. The control device of the water carrying device comprises: a control unit and a drive unit; the control unit is electrically connected with the driving unit; the control unit is used for controlling the driving unit to operate positively at a first preset power or a second preset power when the received control instruction signal is a forward instruction; the control unit is also used for controlling the driving unit to reversely rotate at a third preset power when the received control instruction signal is a backward instruction, and compared with a mode of controlling the driving unit by adopting sliding speed regulation in the prior art, the control unit has the advantages of single running state and simpler control.
Description
Technical Field
The disclosure relates to the technical field of water carrying equipment, in particular to a control device and a control method of a water carrying device and the water carrying device.
Background
In the existing water carrying device, such as surfboard, standing paddle board, etc., a control device is generally provided to control the operation state of the carrying device. In particular, the water vehicle may comprise a paddle and a propeller disposed at the bottom of the paddle. The propeller is generally provided with a driving unit, and the control device is electrically connected with the driving unit and changes the running state of the water carrying device by controlling the working state of the driving unit. The control device is generally internally provided with a sliding speed regulator, and the sliding speed regulator is used for controlling the running speed of the driving unit and controlling the driving unit to be in a stepless speed regulating state. However, with the control by the slide governor, the change of the rotational speed of the drive unit is complicated and cumbersome, which increases the difficulty of the control.
Disclosure of Invention
In order to solve the technical problem, the present disclosure provides a control device and a control method for a water carrying device, and a water carrying device.
In a first aspect, the present disclosure provides a control device for a water vehicle, comprising: the device comprises a control unit, a driving unit and an energy supply unit; the control unit is used for controlling the running state of the driving unit according to the received control instruction signal; the control unit is electrically connected with the energy supply unit and is also electrically connected with the driving unit.
The control unit is used for controlling the driving unit to operate positively at a first preset power or a second preset power when the received control instruction signal is a forward instruction;
the control unit is further configured to control the driving unit to reversely operate at a third preset power when the received control instruction signal is a backward instruction, wherein the first preset power is greater than the second preset power.
Optionally, the forward instruction includes a first forward instruction and a second forward instruction;
the control unit is used for controlling the driving unit to operate positively at a first preset power when the received control instruction signal is a first forward instruction;
the control unit is used for controlling the driving unit to operate positively at a second preset power when the received control instruction signal is a second forward instruction; or
The control unit is used for controlling the driving unit to stop running when the received control command signal is stopped.
Optionally, the control device further comprises a voltage sensor and a current sensor electrically connected to the control unit; the voltage sensor is used for detecting the actual power supply voltage of the energy supply unit, and the current sensor is used for detecting the actual power supply current of the energy supply unit;
the control unit is used for adjusting the product of the actual power supply voltage and the actual power supply current to be first preset power, second preset power or third preset power according to the control instruction signal so as to enable the driving unit to operate at the first preset power, the second preset power or the third preset power respectively.
Optionally, the control unit is further configured to control the driving unit to stop operating when the power supply voltage of the energy supply unit is less than a preset voltage threshold.
Optionally, the control unit is further configured to control the driving unit to operate at a second preset power when the driving unit operates at the first preset power and the rotation speed of the driving unit is less than the rotation speed threshold.
Optionally, the control unit further includes a phase current sensor electrically connected to the control unit, and the phase current sensor is configured to detect a phase current of the driving unit;
the control unit is also used for controlling the driving unit to stop running when the phase current of the driving unit is greater than the current threshold; and/or
The control unit is used for controlling the driving unit to stop running when the rotating speed of the driving unit is less than the preset rotating speed and the phase current of the driving unit is greater than the preset current;
the driving unit works under a first preset power, a second preset power or a third preset power, and when the propeller of the water carrying device is not wound, the rotating speed of the driving unit is a preset rotating speed, and the phase current of the driving unit is a preset current.
Optionally, the control device further comprises a receiving unit and a remote controller capable of wirelessly sending the control instruction signal;
the receiving unit is electrically connected with the control unit and is used for receiving the control instruction signal sent by the remote controller and sending the control instruction signal to the control unit.
Optionally, the receiving unit includes: the decoding chip and the first control chip are electrically connected with each other, and the first control chip is electrically connected with the control unit;
the decoding chip is used for decoding a control instruction signal sent by the remote controller;
the first control chip is used for sending the decoded control instruction signal to the control unit.
Optionally, the receiving unit and the control unit are connected by a communication line wrapped with a shielding layer; and/or
The signal baud rate of the control command signal sent by the remote controller is 100bps-200 bps.
In a second aspect, the present disclosure provides a water vehicle.
In a third aspect, the present disclosure provides a method of controlling a water craft, comprising:
receiving a control instruction signal;
when the received control instruction signal is a forward instruction, the driving unit in the water carrying device is enabled to operate positively at a first preset power or a second preset power;
when the received control instruction signal is a backward instruction, the driving unit is enabled to reversely run at a third preset power;
the first preset power is larger than the second preset power.
Optionally, the water vehicle comprises an energy supply unit for supplying power to the drive unit;
the step of enabling the driving unit in the water carrying device to operate positively at a first preset power or a second preset power, or enabling the driving unit to operate reversely at a third preset power specifically comprises the following steps:
acquiring actual power supply voltage and actual power supply current of an energy supply unit;
and adjusting the product of the actual power supply voltage and the actual power supply current to be first preset power, second preset power or third preset power according to the control command signal so as to enable the driving unit to operate at the first preset power, the second preset power or the third preset power respectively.
Optionally, the method for controlling the water vehicle further comprises:
and when the actual power supply voltage is smaller than the preset voltage threshold value, stopping the driving unit.
Optionally, the forward command includes a first forward command and a second forward command, and the step of making the driving unit in the water carrying device forward run at a first preset power or a second preset power when the received control command signal is the forward command specifically includes;
when the received control instruction signal is a first forward instruction, the driving unit is enabled to operate positively at a first preset power;
and when the received control command signal is a second forward command, enabling the driving unit to operate positively at a second preset power.
Optionally, the step of enabling the driving unit in the water carrying device to operate positively at the first preset power specifically includes:
and judging whether the rotating speed of the driving unit is less than a rotating speed threshold value or not, and if so, enabling the driving unit to operate at a second preset power.
Optionally, the method for controlling the water vehicle further comprises:
acquiring phase current of a driving unit and rotating speed of the driving unit;
judging whether the phase current of the driving unit is larger than a current threshold value or not, and controlling the driving unit to stop running if the phase current of the driving unit is larger than the current threshold value; and/or
When the rotating speed of the driving unit is less than the preset rotating speed and the phase current of the driving unit is greater than the preset current, controlling the driving unit to stop running;
the driving unit works under a first preset power, a second preset power or a third preset power, and when the propeller of the water carrying device is not wound, the rotating speed of the driving unit is a preset rotating speed, and the phase current of the driving unit is a preset current.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
according to the control device and the control method of the water carrying device and the water carrying device, the control unit enables the driving unit to operate at three different powers according to different control command signals sent by a user, compared with a mode that the driving unit is controlled by adopting sliding speed regulation in the prior art, the sliding speed regulation is difficult to adjust to a required range, the difficulty of speed control is high, the control is simple, and accurate and rapid adjustment can be achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic structural view of a control device for a water vehicle according to an embodiment of the present disclosure;
FIG. 2 is a block diagram of a receiving unit and a control unit of a control device of a water vehicle according to an embodiment of the disclosure;
fig. 3 is a schematic flow chart illustrating a control method of the water vehicle according to the embodiment of the present disclosure.
100, a control device of the water carrying device; 10. a control unit; 11. a second control chip; 12. a signal processing circuit; 13. a drive circuit; 20. a drive unit; 30. an energy supply unit; 40. a remote controller; 50. a receiving unit; 51. a decoding chip; 52. a first control chip; 60. a propeller.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Examples
Fig. 1 is a schematic structural diagram of a control device of a water vehicle according to an embodiment of the present disclosure, and fig. 2 is a block structural diagram of a receiving unit and a control unit in the control device of the water vehicle according to the embodiment of the present disclosure.
Referring to fig. 1 and 2, the present embodiment provides a control device 100 for a water vehicle, including: a control unit 10 and a drive unit 20; the control unit 10 is used for controlling the operation state of the driving unit 20 according to the received control instruction signal; the control unit 10 is electrically connected with the driving unit 20;
the control unit 10 is configured to control the driving unit 20 to operate in a forward direction at a first preset power or a second preset power when the received control instruction signal is a forward instruction;
the control unit 10 is further configured to control the driving unit 20 to reversely operate at a third preset power when the received control instruction signal is a back-off instruction, where the first preset power is greater than the second preset power. For the third preset power, the third preset power may be smaller than the second preset power, or the third preset power may be larger than the first preset power, or the third preset power may be between the first preset power and the second preset power. In this embodiment, the third predetermined power is smaller than the second predetermined power, which is similar to the first predetermined power and will not be described again.
In the above scheme, the control unit 10 makes the driving unit 20 operate with three different powers according to the difference of the received control command signals, and compared with the mode of controlling the driving unit by adopting sliding speed regulation in the prior art, the sliding speed regulation is difficult to adjust to a required range, the difficulty of speed control is high, the control of the present disclosure is simple, and accurate and rapid adjustment can be realized. In this embodiment, the driving unit 20 is exemplified as a driving motor, and the driving unit 20 is exemplified in other forms similar to the driving motor, which will not be described below.
When the driving unit 20 is operated in the forward direction with the first predetermined power or the second predetermined power, the driving unit may respectively correspond to a first forward gear and a second forward gear of the marine vehicle, and the forward speed of the first forward gear is greater than the forward speed of the second forward gear. When the driving unit 20 runs reversely with the third preset power, corresponding to the backward gear, the marine vehicle can backward with a speed slower than the forward second gear, and the marine vehicle is used in a scene of assisting landing of the marine vehicle.
As mentioned above, the control unit 10 is further configured to control the driving unit 20 to reversely operate at the third preset power when the received control command signal is the backward command.
The control unit 10 may obtain the control command signal sent by the user in various ways, and for example, the control device 100 of the water vehicle may further include a receiving unit 50 and a remote controller 40 capable of wirelessly sending the control command signal;
the receiving unit 50 is electrically connected to the control unit 10, and the receiving unit 50 is configured to receive a control instruction signal sent by the remote controller 40 and send the control instruction signal to the control unit 10. The remote controller 40 here may transmit the control command signal in a wireless manner. The receiving unit 50 may receive the control command signal from the remote controller 40, perform a certain process on the control command signal, for example, perform a decoding process, and then transmit the control command signal to the control unit 10.
In this way, during the actual control process, the gear can be freely switched by the remote controller 40 when the water vehicle runs.
In addition, in order to prevent signal interference, the receiving unit 50 and the communication control unit 10 may be connected by a communication line wrapped with a shield layer. Alternatively, since the interfering signal is typically a high frequency signal, this may be accomplished by reducing the rate of signal transmission in the remote control 40. Illustratively, the signal baud rate of the control command signal transmitted by the remote controller 40 may be 100bps to 200 bps.
Illustratively, the receiving unit 50 may include: the decoding chip 51 and the first control chip 52 are electrically connected to each other, and the first control chip 52 and the control unit 10 are electrically connected.
The decoding chip 51 is configured to decode a control instruction signal sent by the remote controller 40, for example, the decoding chip 51 may employ an RF433 wireless module or a radio frequency module in another frequency band, or may also employ a bluetooth radio frequency module to implement wireless communication with the remote controller 40.
In addition, the first control chip 52 is configured to send the decoded control instruction signal to the control unit 10.
The structure of the control unit 10 is explained below.
Referring to fig. 2, the control unit 10 includes a second control chip 11 and a driving circuit 13, and the driving circuit 13 is electrically connected to the second control chip 11 and the driving unit 20, respectively.
In the control unit 10, the second control chip 11 may send the control instruction signal sent by the first control chip 52 to the driving circuit 13 to control the operation state of the driving unit 20.
The control processes described in this embodiment are all realized based on the aforementioned control device.
For example, the forward command may include a first forward command and a second forward command, and the first forward command may be, for example, a fast forward command, which corresponds to the driving unit 20 operating at a first preset power; the second forward command may be, for example, a slow forward command, which corresponds to the drive unit 20 operating at a second, lower preset power.
In specific implementation, the control unit 10 is configured to control the driving unit 20 to operate in the forward direction at a first preset power when the received control instruction signal is a first forward instruction; the control unit 10 is configured to control the driving unit 20 to operate in the forward direction at a second preset power when the received control command signal is a second forward command.
In the above scheme, the forward command of the water carrying device is divided into two gears of fast forward and slow forward, so that the control process of the control unit 10 is simpler.
It will be appreciated that the control unit 10 is also adapted to control the drive unit 20 to stop operation, and thus stop operation of the propeller, when the received control command signal is stop.
It should be noted that the above-mentioned control process is a constant power control, that is, when the first forward command is received, the control unit 10 controls the driving unit 20 to operate at a constant power with a first preset power. When receiving the second forward command, the control unit 10 controls the driving unit 20 to operate at the second preset power constant power. Upon receiving the back-up command, the control unit 10 controls the driving unit 20 to operate at a third preset power constant.
In a specific implementation, the control device further includes an energy supply unit 30 for supplying power to the driving unit 20, and the energy supply unit 30 may be electrically connected to the control unit 10 and supply power to the driving unit 20 through the control unit 10. In addition, the control device further includes a voltage sensor and a current sensor electrically connected to the control unit 10; the voltage sensor is used to detect the actual supply voltage of the power supply unit 30, i.e. the voltage across the positive and negative terminals of the bus in fig. 1, and the current sensor is used to detect the actual supply current of the power supply unit 30.
In specific implementation, the current sensor may include a resistor connected in series to the bus loop, and the bus current may be obtained by collecting a voltage drop across the resistor and using the formula I as V/R.
Wherein I is bus current, V is voltage drop at two ends of the resistor, and R is resistance of the resistor.
In other examples, the current sensor may also include a magnetic loop, and the bus current may be calculated using a characteristic curve of the magnetic loop.
In addition, since the power consumption of the driving circuit 13 is small, the actual output power of the power supply unit 30 is substantially equal to the operating power of the driving unit 20 in a negligible manner.
The control unit 10 is configured to adjust a product of the actual supply voltage and the actual supply current (i.e., the actual output power of the energy supply unit 30) to a first preset power, a second preset power, or a third preset power according to the control command signal, so that the driving unit operates at the first preset power, the second preset power, or the third preset power, respectively.
For example, the control unit 10 controls the product of the actual supply voltage and the actual supply current, i.e. the actual power value of the energy supply unit, by PI proportional-integral, in order to enable the drive unit 20 to operate at the first preset power or the second preset power or the third preset power, respectively.
In addition, in the process of the operation of the water carrying device, the situations of the blocking rotation, the overflow, the under-pressure and the like of the driving unit 20 are easy to occur.
For example, to avoid an undervoltage condition, the control unit 10 is further configured to control the driving unit 20 to stop operating when the supply voltage of the energy supply unit 30 is less than a preset voltage threshold. The preset voltage threshold may be determined according to a voltage value when the power supply unit 30, for example, a battery, is nearly exhausted.
In order to avoid an overcurrent or stalling condition of the driving unit 20, the control device 100 further comprises a phase current sensor electrically connected to the control unit 10, the phase current sensor being configured to detect a phase current of the driving unit 20.
In a specific implementation, the phase current sensor may include a phase resistor connected in series to the phase winding loop, and the phase current of the driving unit may be obtained by collecting a voltage drop across the phase resistor according to a formula I ═ V '/R'.
Wherein I ' is the phase current, V ' is the voltage drop across the phase resistor, and R ' is the resistance of the phase resistor.
In some other examples, the phase current sensor may also include a magnetic loop, and the phase current of the driving unit may be calculated using a characteristic curve of the magnetic loop.
In addition, it is understood that the rotation speed of the driving unit 20 may be obtained by detecting the back electromotive force or the electrical angular frequency of the operation of the driving unit 20, or may be obtained by providing a rotation speed sensor on the driving unit 20, which is not limited in this embodiment.
The control unit 10 is further configured to control the driving unit 20 to stop operating when the phase current of the driving unit 20 is greater than the current threshold. Alternatively, the control unit 10 is further configured to control the driving unit 20 to stop operating when the rotation speed of the driving unit 20 is less than the preset rotation speed and the phase current of the driving unit 20 is greater than the preset current.
The current threshold here may be set according to the maximum current that can be borne by the MOS power transistor in the driving circuit 13.
When the driving unit 20 operates at the first preset power, the second preset power or the third preset power and the propeller 60 of the marine vehicle has no entanglement, the rotation speed of the driving unit 20 is a preset rotation speed, and the phase current of the driving unit 20 is a preset current.
In this embodiment, the control means may also control the marine vehicle to downshift. Illustratively, the control unit 10 is further configured to control the driving unit 20 to operate at a second preset power when the driving unit 20 operates at a first preset power and the rotation speed of the driving unit 20 is less than the rotation speed threshold value, so as to realize the downshift operation.
Where the drive unit 20 is operating at the first predetermined power and the propeller 60 of the water vehicle is free of entanglement, the rotational speed of the drive unit 20 is the rotational speed of the drive unit 20, and the threshold rotational speed may be 10% of the rotational speed of the drive unit 20.
In the control device 100 of the water carrying device provided by this embodiment, the control unit 10 makes the driving unit 20 operate with three different powers according to the difference of the control command signals sent by the user, and compared with the mode of controlling the driving unit 20 by adopting sliding speed regulation in the prior art, the sliding speed regulation is difficult to adjust to a required range, the difficulty of speed control is high, the control of the present disclosure is simple, accurate and fast adjustment can be realized, and the control process is simple.
The present embodiment further provides a marine vehicle, which includes the above-mentioned control device 100, and the control device can control the marine vehicle to operate in a forward first gear, a forward second gear, a reverse gear, or a stop mode. The specific structure, function, and the like of the control device 100 for a water vehicle have been described in detail above, and will not be described again here.
Fig. 3 is a schematic flow chart illustrating a control method of the water vehicle according to the embodiment of the present disclosure.
Referring to fig. 3, an embodiment of the present disclosure further provides a control method of the water vehicle, which is applied to the water vehicle.
The control method of the water carrying device comprises the following steps:
s10, receiving a control instruction signal;
s20, when the received control command signal is a forward command, enabling a driving unit in the water carrying device to operate positively at a first preset power or a second preset power;
s30, when the received control command signal is a back command, the driving unit is reversely operated at a third preset power;
the first preset power is larger than the second preset power. For the third preset power, the third preset power may be smaller than the second preset power, or the third preset power may be larger than the first preset power, or the third preset power may be between the first preset power and the second preset power. In this embodiment, the third predetermined power is smaller than the second predetermined power, which is similar to the first predetermined power and will not be described again.
In the control scheme, the driving unit is operated at three different powers according to different control command signals sent by a user, and compared with a mode of controlling the driving unit by adopting sliding speed regulation in the prior art, the sliding speed regulation is difficult to adjust to a required range, the difficulty of speed control is high, the control of the control method is simpler, and accurate and quick adjustment can be realized.
As described above, the reception of the control command signal can be realized by receiving the control command signal wirelessly transmitted from the remote controller 40.
In an embodiment of the present disclosure, the step of enabling the driving unit in the water carrying device to operate in a forward direction with the first preset power or the second preset power, or enabling the driving unit to operate in a reverse direction with the third preset power specifically includes:
the actual supply voltage and the actual supply current of the energy supply unit are acquired, which can be detected by the voltage sensor and the current pickup, respectively, as described above.
And adjusting the product of the actual power supply voltage and the actual power supply current to be first preset power, second preset power or third preset power according to the control command signal so as to enable the driving unit to operate at the first preset power, the second preset power or the third preset power respectively.
It should be noted that the product of the actual supply voltage and the actual supply current is the actual output power of the power supply unit 30, because the power consumption of the driving circuit is relatively small, and the actual output power of the power supply unit is approximately equal to the operating power of the driving unit in a negligible condition.
For example, to avoid the undervoltage condition, the control method of the present embodiment further includes: and when the actual power supply voltage is smaller than the preset voltage threshold value, stopping the driving unit.
Illustratively, the forward command includes a first forward command and a second forward command, and the first forward command may be, for example, a fast forward command, which corresponds to the drive unit operating at a first preset power that is higher; the second forward command may be, for example, a slow forward command, which corresponds to the drive unit operating at a second, lower preset power.
In the concrete implementation, when the received control command signal is a forward command, the step of enabling the driving unit in the water carrying device to operate positively at a first preset power or a second preset power specifically comprises;
when the received control instruction signal is a first forward instruction, the driving unit is enabled to operate positively at a first preset power; and when the received control command signal is a second forward command, enabling the driving unit to operate positively at a second preset power. Therefore, the advancing command of the water carrying device can be divided into two gears of fast advancing and slow advancing, and the control process of the control unit can be simpler
In addition, the method of the embodiment further includes a downshift control, and the step of operating the drive unit in the water vehicle in the forward direction at the first preset power specifically includes:
and judging whether the rotating speed of the driving unit is less than a rotating speed threshold value or not, and if so, enabling the driving unit to operate at a second preset power.
In this embodiment, in order to avoid the situation that the driving unit overflows or blocks the rotation, the control method of the water carrying device may further include:
acquiring phase current of a driving unit and rotating speed of the driving unit;
and when judging whether the phase current of the driving unit is larger than the current threshold, if so, controlling the driving unit to stop running.
Optionally, when the rotating speed of the driving unit is less than the preset rotating speed and the phase current of the driving unit is greater than the preset current, controlling the driving unit to stop operating;
the driving unit works under a first preset power, a second preset power or a third preset power, and when the propeller of the water carrying device is not wound, the rotating speed of the driving unit is a preset rotating speed, and the phase current of the driving unit is a preset current.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (16)
1. A control device for a water craft comprising: a control unit and a drive unit; the driving unit is electrically connected with the control unit;
the control unit is used for controlling the driving unit to operate positively at a first preset power or a second preset power when the received control instruction signal is a forward instruction;
the control unit is further configured to control the driving unit to reversely operate at a third preset power when the received control instruction signal is a backward instruction, wherein the first preset power is greater than the second preset power.
2. The water vehicle control device of claim 1, further comprising an energy supply unit electrically connected to the control unit;
the control device of the water carrying device also comprises a voltage sensor and a current sensor which are electrically connected with the control unit; the voltage sensor is used for detecting the actual power supply voltage of the energy supply unit, and the current sensor is used for detecting the actual power supply current of the energy supply unit;
the control unit is configured to adjust a product of the actual power supply voltage and the actual power supply current to the first preset power, the second preset power, or the third preset power according to the control instruction signal, so that the driving unit operates at the first preset power, the second preset power, or the third preset power, respectively.
3. The control device of claim 2, wherein the control unit is further configured to control the drive unit to stop operating when the supply voltage of the power supply unit is less than a preset voltage threshold.
4. The control apparatus of claim 1, wherein the forward command comprises a first forward command and a second forward command;
the control unit is used for controlling the driving unit to operate positively at a first preset power when the received control instruction signal is a first forward instruction;
the control unit is used for controlling the driving unit to operate positively at a second preset power when the received control instruction signal is a second forward instruction; or
And the control unit is used for controlling the driving unit to stop running when the received control command signal is stopped.
5. A control apparatus for a water vehicle according to any one of claims 1 to 4, wherein the control unit is further configured to control the drive unit to operate at a second predetermined power when the drive unit is operating at a first predetermined power and the rotational speed of the drive unit is less than a threshold rotational speed.
6. The control device of claim 1, wherein the control unit further comprises a phase current sensor electrically connected to the control unit, the phase current sensor for detecting phase currents of the drive unit;
the control unit is also used for controlling the driving unit to stop running when the phase current of the driving unit is larger than a current threshold; and/or
The control unit is also used for controlling the driving unit to stop running when the rotating speed of the driving unit is less than a preset rotating speed and the phase current of the driving unit is greater than a preset current;
the driving unit works under the first preset power, the second preset power or the third preset power, and when a propeller of the water carrying device does not have a winding object, the rotating speed of the driving unit is a preset rotating speed, and the phase current of the driving unit is a preset current.
7. A control apparatus for a water craft according to any of claims 1 to 4 wherein said control apparatus further includes a receiving unit and a remote controller capable of wirelessly transmitting control command signals;
the receiving unit is electrically connected with the control unit and used for receiving the control instruction signal sent by the remote controller and sending the control instruction signal to the control unit.
8. The control device of claim 7, wherein the receiving unit comprises: the decoding chip and the first control chip are electrically connected with each other, and the first control chip is electrically connected with the control unit;
the decoding chip is used for decoding a control instruction signal sent by the remote controller;
the first control chip is used for sending the decoded control instruction signal to the control unit.
9. The control device of claim 7, wherein the receiving unit and the control unit are connected by a communication line that is wrapped with a shielding layer; and/or
The signal baud rate of the control command signal sent by the remote controller is 100bps-200 bps.
10. A water vehicle comprising a control device of the water vehicle as claimed in any one of claims 1 to 9.
11. A method of controlling a water craft, the method comprising:
receiving a control instruction signal;
when the received control instruction signal is a forward instruction, enabling a driving unit in the water carrying device to positively run at a first preset power or a second preset power;
when the received control instruction signal is a back-off instruction, the driving unit is enabled to reversely run at a third preset power;
wherein the first preset power is greater than the second preset power.
12. The method of claim 11, wherein the water vehicle comprises an energy supply unit for supplying power to the drive unit;
the step of enabling the driving unit in the water carrying device to operate positively at a first preset power or a second preset power, or enabling the driving unit to operate reversely at a third preset power specifically comprises the following steps:
acquiring actual power supply voltage and actual power supply current of the power supply unit;
and adjusting the product of the actual power supply voltage and the actual power supply current to the first preset power, the second preset power or the third preset power according to the control instruction signal, so that the driving unit operates at the first preset power, the second preset power or the third preset power respectively.
13. The method of controlling a water vehicle of claim 12, further comprising:
and when the actual power supply voltage is smaller than a preset voltage threshold value, stopping the driving unit.
14. The method of claim 11, wherein the forward command comprises a first forward command and a second forward command, and the step of operating the drive unit of the marine vehicle forward at the first predetermined power or the second predetermined power when the received control command signal is the forward command comprises the steps of;
when the received control instruction signal is a first forward instruction, enabling the driving unit to operate positively at a first preset power;
and when the received control command signal is a second forward command, enabling the driving unit to operate positively at a second preset power.
15. The method of controlling a water vehicle according to any one of claims 11 to 14,
the step of operating the driving unit of the water vehicle in the forward direction with the first preset power specifically comprises:
and judging whether the rotating speed of the driving unit is less than a rotating speed threshold value, if so, enabling the driving unit to operate at a second preset power.
16. The method of controlling a water vehicle of claim 11, further comprising:
acquiring phase current of the driving unit and rotating speed of the driving unit;
judging whether the phase current of the driving unit is larger than a current threshold value or not, and if so, controlling the driving unit to stop running; and/or
When the rotating speed of the driving unit is less than a preset rotating speed and the phase current of the driving unit is greater than a preset current, controlling the driving unit to stop running;
the driving unit works under the first preset power, the second preset power or the third preset power, and when a propeller of the water carrying device does not have a winding object, the rotating speed of the driving unit is a preset rotating speed, and the phase current of the driving unit is a preset current.
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| CN202111590745.4A CN114285346B (en) | 2021-12-23 | 2021-12-23 | Control device and control method of water carrying device and water carrying device |
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| CN202111590745.4A CN114285346B (en) | 2021-12-23 | 2021-12-23 | Control device and control method of water carrying device and water carrying device |
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| US20080081521A1 (en) * | 2006-09-12 | 2008-04-03 | Yamaha Marine Kabushiki Kaisha | Watercraft propulsion system and operating method |
| CN102530219A (en) * | 2010-12-08 | 2012-07-04 | 永济新时速电机电器有限责任公司 | Electric propulsion system |
| CN108974307A (en) * | 2018-07-20 | 2018-12-11 | 深圳市吉影科技有限公司 | A kind of underwater propeller circuit |
| CN109591992A (en) * | 2018-12-28 | 2019-04-09 | 东莞亿动智能科技有限公司 | Marine electric propeller control system and method, electric plating propulsion and electric ship |
| CN109888870A (en) * | 2019-03-08 | 2019-06-14 | 东莞亿动智能科技有限公司 | A kind of motor drive control device and control method |
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|---|---|---|---|---|
| US20080081521A1 (en) * | 2006-09-12 | 2008-04-03 | Yamaha Marine Kabushiki Kaisha | Watercraft propulsion system and operating method |
| CN102530219A (en) * | 2010-12-08 | 2012-07-04 | 永济新时速电机电器有限责任公司 | Electric propulsion system |
| CN108974307A (en) * | 2018-07-20 | 2018-12-11 | 深圳市吉影科技有限公司 | A kind of underwater propeller circuit |
| CN109591992A (en) * | 2018-12-28 | 2019-04-09 | 东莞亿动智能科技有限公司 | Marine electric propeller control system and method, electric plating propulsion and electric ship |
| CN109888870A (en) * | 2019-03-08 | 2019-06-14 | 东莞亿动智能科技有限公司 | A kind of motor drive control device and control method |
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| CN114285346B (en) | 2024-04-09 |
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