CN114285346B - 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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- CN114285346B CN114285346B CN202111590745.4A CN202111590745A CN114285346B CN 114285346 B CN114285346 B CN 114285346B CN 202111590745 A CN202111590745 A CN 202111590745A CN 114285346 B CN114285346 B CN 114285346B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004804 winding Methods 0.000 claims description 8
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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 driving unit; the control unit is electrically connected with the driving unit; the control unit is used for controlling the driving unit to operate forward with the first preset power or the second preset power when the received control command signal is a forward command; and the control unit is also used for controlling the driving unit to reversely operate with a third preset power when the received control command signal is a backward command, so that compared with the mode of controlling the driving unit by adopting sliding speed regulation in the prior art, the driving unit has single operation 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 existing water vehicles, such as surfboards, standing paddles, etc., control devices are typically provided to control the operational status of the vehicle. In particular, the aquatic carrier may comprise a paddle and a propeller arranged 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 running speed of the driving unit is controlled through the sliding speed regulator, so that the driving unit is controlled to be in a stepless speed regulation state. However, under control by the sliding speed governor, the rotational speed of the drive unit is changed more complicated and complicated, which increases the difficulty of control.
Disclosure of Invention
In order to solve the technical problems, the present disclosure provides a control device and a control method for a water carrying device, and the water carrying device.
In a first aspect, the present disclosure provides a control device for a water carrier, 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 command signal; the control unit is electrically connected with the energy supply unit, and the control unit is also electrically connected with the driving unit.
The control unit is used for controlling the driving unit to operate forward with the first preset power or the second preset power when the received control command signal is a forward command;
the control unit is also used for controlling the driving unit to reversely operate with a third preset power when the received control command signal is a backward command, wherein the first preset power is larger 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 forward with a first preset power when the received control command signal is a first forward command;
the control unit is used for controlling the driving unit to operate forward with a second preset power when the received control command signal is a second forward command; or alternatively
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 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 used for adjusting the product of the actual power supply voltage and the actual power supply current to be the first preset power or the second preset power or the third preset power according to the control command signal so that the driving unit operates at the first preset power or 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 power supply unit is less than a preset voltage threshold.
Optionally, the control unit is further configured to control the driving unit to operate at the second preset power when the driving unit operates at the first preset power and the rotational speed of the driving unit is less than the rotational speed threshold.
Optionally, the control unit further comprises a phase current sensor electrically connected to the control unit, the phase current sensor being 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 larger than a current threshold value; and/or
The control unit is used for controlling the driving unit to stop running when the rotating speed of the driving unit is smaller than the preset rotating speed and the phase current of the driving unit is larger than the preset current;
the driving unit works under the first preset power, the second preset power or the third preset power, and when the propeller of the water carrying device is free of windings, 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 control command signals;
the receiving unit is electrically connected with the control unit and is used for receiving a 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 the 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 through 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-200bps.
In a second aspect, the present disclosure provides a water carrier.
In a third aspect, the present disclosure provides a method for controlling a water-borne carrier, including:
receiving a control command signal;
when the received control command signal is a forward command, the driving unit in the water carrying device is driven to forward operate at a first preset power or a second preset power;
when the received control command signal is a backward command, the driving unit is reversely operated with a third preset power;
wherein the first preset power is greater than the second preset power.
Optionally, the water carrying device comprises an energy supply unit for supplying power to the drive unit;
the step of operating the driving unit in the water carrying device in the forward direction with the first preset power or the second preset power or operating the driving unit in the reverse direction with the 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 a first preset power or 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 or the second preset power or the third preset power respectively.
Optionally, the control method of the water carrying device further comprises:
and when the actual power supply voltage is smaller than a preset voltage threshold value, stopping the driving unit.
Optionally, the forward command includes a first forward command and a second forward command, and when the received control command signal is the forward command, the step of enabling the driving unit in the water carrying device to operate forward with a first preset power or a second preset power specifically includes;
when the received control command signal is a first forward command, the driving unit is driven to operate forward with a first preset power;
when the received control command signal is a second forward command, the driving unit is driven to operate forward with a second preset power.
Optionally, the step of forward operating the driving unit in the water carrying device with the first preset power specifically includes:
and judging whether the rotating speed of the driving unit is smaller than a rotating speed threshold value, and if so, enabling the driving unit to operate at a second preset power.
Optionally, the control method of the water carrying device 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, if so, controlling the driving unit to stop running; and/or
When the rotating speed of the driving unit is smaller than the preset rotating speed and the phase current of the driving unit is larger than the 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 the propeller of the water carrying device is free of windings, 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, the control method and the water carrying device, which are provided by the disclosure, the control unit enables the driving unit to operate with three different powers according to different control command signals sent by a user, 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 control device is simpler, and accurate and rapid adjustment can be realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural view of a control device of a water carrying device according to an embodiment of the disclosure;
fig. 2 is a block diagram of a receiving unit and a control unit in a control device of a water-borne vehicle according to an embodiment of the present disclosure;
fig. 3 is a flow chart of a control method of the water-borne carrier according to an embodiment of the disclosure.
Wherein, 100, the controlling device of the water carrying device; 10. a control unit; 11. a second control chip; 12. a signal processing circuit; 13. a driving circuit; 20. a driving unit; 30. an energy supply unit; 40. a remote controller; 50. a receiving unit; 51. a decoding chip; 52. a first control chip; 60. and a propeller.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
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 otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
Examples
Fig. 1 is a schematic structural diagram of a control device of a water-borne vehicle according to an embodiment of the disclosure, and fig. 2 is a block structural diagram of a receiving unit and a control unit in the control device of the water-borne vehicle according to the embodiment of the disclosure.
Referring to fig. 1 and 2, the present embodiment provides a control device 100 for a water-borne vehicle, including: a control unit 10 and a driving unit 20; the control unit 10 is used for controlling the operation state of the driving unit 20 according to the received control command 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 forward at the first preset power or the second preset power when the received control command signal is a forward command;
the control unit 10 is further configured to control the driving unit 20 to operate reversely at a third preset power when the received control command signal is a reverse command, wherein the first preset power is greater than the second preset power. And 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 case that the third preset power is smaller than the second preset power is taken as an example for explanation, and the other cases are similar to the case, and the description thereof will be omitted.
In the above scheme, the control unit 10 makes the driving unit 20 operate with three different powers according to 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 simpler, and accurate and rapid adjustment can be realized. In this embodiment, the driving unit 20 is exemplified by a driving motor, and other examples of the driving unit 20 are similar to the driving motor, and will not be described in detail.
When the driving unit 20 is operated forward with the first preset power or the second preset power, the first forward gear and the second forward gear of the water carrying device can be respectively corresponding, 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 is operated in the reverse direction with the third preset power, the water carrying device can be backed up at a speed slower than the forward second gear corresponding to the reverse gear, and the water carrying device can be used in a scene of assisting in backing up.
As described above, the control unit 10 is further configured to control the driving unit 20 to operate reversely at the third preset power when the received control command signal is a reverse command.
Wherein the control unit 10 may obtain the control command signal transmitted by the user in various manners, and the control device 100 of the water carrying device may further include a receiving unit 50 and a remote controller 40 that may wirelessly transmit 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 command signal sent by the remote controller 40 and send the control command signal to the control unit 10. The remote controller 40 may transmit the control command signal wirelessly. After receiving the control command signal sent from the remote controller 40, the receiving unit 50 may perform a certain process on the control command signal, for example, perform a decoding process, and then send the control command signal to the control unit 10.
In this way, in the actual control process, the remote controller 40 can realize the free switching of the gear when the water carrying device operates.
In addition, in order to prevent signal interference, the receiving unit 50 and the communication control unit 10 may be connected through a communication line wrapped with a shielding layer. Alternatively, given that the interfering signal is typically a high frequency signal, this may be achieved 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 200bps.
Illustratively, the receiving unit 50 may include: the decoding chip 51 and the first control chip 52, which 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 used for decoding the control command signal sent by the remote controller 40, and the decoding chip 51 may be an RF433 wireless module or a radio frequency module of other frequency bands, or may also be 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 transmit a control instruction signal transmitted from the first control chip 52 to the driving circuit 13 to control the operation state of the driving unit 20.
The control procedures described in this embodiment are all implemented based on the aforementioned control device.
Illustratively, the forward command may include a first forward command and a second forward command, the first forward command may be, for example, a fast forward command, which corresponds to the driving unit 20 operating at a higher 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 particular, when the received control command signal is a first forward command, the control unit 10 is configured to control the driving unit 20 to operate forward at a first preset power; the control unit 10 is configured to control the driving unit 20 to operate forward 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 configured to control the drive unit 20 to stop operating when the received control command signal is a stop, thereby stopping the operation of the propeller.
It should be noted that the above-described control process is a constant-power control, that is, when the first advance command is received, the control unit 10 controls the driving unit 20 to operate at the first preset power constant power. Upon receiving the second advance command, the control unit 10 controls the driving unit 20 to operate at the second preset power constant power. Upon receiving the reverse instruction, the control unit 10 controls the driving unit 20 to operate at the third preset power constant power.
In particular, the control device further comprises an energy supply unit 30 for supplying power to the drive unit 20, the energy supply unit 30 being electrically connectable to the control unit 10 and supplying power to the drive unit 20 via the control unit 10. In addition, the control device further comprises a voltage sensor and a current sensor electrically connected with the control unit 10; the voltage sensor is used for detecting the actual supply voltage of the energy supply unit 30, i.e. the voltage across the positive and negative ends of the bus bar in fig. 1, and the current sensor is used for detecting the actual supply current of the energy supply unit 30.
In particular, the current sensor may comprise a resistor connected in series on the bus loop, and the bus current may be obtained by collecting the voltage drop across the resistor, and by the formula i=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 characteristic curve of the magnetic loop may be used to calculate the bus current.
In addition, since the power consumption of the drive circuit 13 is small, the actual output power of the power supply unit 30 is approximately equal to the operating power of the drive unit 20 in the case of neglect.
The control unit 10 is configured to adjust the product of the actual power supply voltage and the actual power supply current (i.e. the actual output power of the energy supply unit 30) to the first preset power or the second preset power or the third preset power according to the control command signal, so that the driving unit operates at the first preset power or 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, so that the drive unit 20 can be operated with a first or a second or a third preset power, respectively.
In addition, in the running process of the water carrying device, the driving unit 20 is easy to be blocked, overflowed, undervoltage and the like.
For example, to avoid the under-voltage condition, the control unit 10 is further configured to control the driving unit 20 to stop operating when the power supply voltage of the power supply unit 30 is less than the preset voltage threshold. The preset voltage threshold may be determined from a voltage value at which the charge of the energy supply unit 30, for example, a battery, approaches depletion.
In order to avoid an overcurrent or stall condition of the driving unit 20, the control device 100 further comprises a phase current sensor electrically connected to the control unit 10 for detecting a phase current of the driving unit 20.
In a specific implementation, the phase current sensor may include a phase resistor connected in series on the phase winding loop, and the phase current of the driving unit may be obtained by acquiring a voltage drop across the phase resistor and by the formula I ' =v '/R '.
Wherein I ' is phase current, V ' is voltage drop at two ends of phase resistor, and R ' is resistance of phase resistor.
In other examples, the phase current sensor may also include a magnetic loop, and the characteristic curve of the magnetic loop may be used to calculate the phase current of the drive unit.
In addition, it is understood that the rotation speed of the driving unit 20 may be obtained by detecting the counter electromotive force or the electric angular frequency at which the driving unit 20 operates, or may be obtained by providing a rotation speed sensor on the driving unit 20, which is not limited thereto in the present 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 rotational speed of the driving unit 20 is less than a preset rotational speed and the phase current of the driving unit 20 is greater than a preset current.
The current threshold value may be set according to the maximum current that the MOS power transistor in the driving circuit 13 can withstand.
When the driving unit 20 works at the first preset power, the second preset power or the third preset power, and the propeller 60 of the water carrying device has no winding, 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 device may also control the water carrier to downshift. 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 is operated at the first preset power and the rotational speed of the driving unit 20 is less than the rotational speed threshold, so that the downshift operation is performed.
Wherein the rotational speed of the drive unit 20 is the load rotational speed of the drive unit 20 when the drive unit 20 is operated at a first preset power and the propeller 60 of the watercraft is free of windings, the rotational speed threshold here may be, for example, 10% of the load rotational speed of the drive unit 20.
In the control device 100 of the water carrying device provided in 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 the required range, the difficulty of speed control is high, the control of the present disclosure is simpler, accurate and rapid adjustment can be realized, and the control process is simpler.
The present embodiment also provides a water carrying device, which includes the control device 100, and the control device can control the water carrying device to operate in a first forward gear, a second forward gear, a reverse gear, or a stop mode. In addition, the specific structure, functions, etc. of the control device 100 of the water-borne apparatus have been described in detail above, and will not be described here again.
Fig. 3 is a flow chart of a control method of the water-borne carrier according to an embodiment of the disclosure.
Referring to fig. 3, an embodiment of the present disclosure further provides a method for controlling a water-borne carrier, where the method is applied to the water-borne carrier.
The control method of the water carrying device of the embodiment comprises the following steps:
s10, receiving a control instruction signal;
s20, when the received control instruction signal is an advance instruction, enabling a driving unit in the water carrying device to operate forward at a first preset power or a second preset power;
s30, when the received control command signal is a backward command, the driving unit is reversely operated with a third preset power;
wherein the first preset power is greater than the second preset power. And 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 case that the third preset power is smaller than the second preset power is taken as an example for explanation, and the other cases are similar to the case, and the description thereof will be omitted.
In the control scheme, according to the difference of control command signals sent by a user, the driving unit is operated with three different powers, 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 speed control difficulty is high, and the control of the sliding speed regulation device is simpler, so that accurate and rapid regulation can be realized.
As described above, the reception of the control command signal can be achieved by receiving the control command signal wirelessly transmitted from the remote controller 40.
In an embodiment of the disclosure, the step of operating the driving unit in the water carrying device forward with the first preset power or the second preset power or operating the driving unit in the reverse direction with the third preset power specifically includes:
the actual supply voltage and the actual supply current of the power supply unit are obtained, which can be detected by a voltage sensor and a current pick-up, respectively, as described above.
And adjusting the product of the actual power supply voltage and the actual power supply current to be a first preset power or 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 or the second preset power or the third preset power respectively.
The product of the actual power supply voltage and the actual power supply current is the actual output power of the power supply unit 30, and this is because the power consumption of the driving circuit is small, and the actual output power of the power supply unit is approximately equal to the operating power of the driving unit in the case of neglecting.
For example, to avoid the under-voltage 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.
The forward command may include a first forward command and a second forward command, the first forward command may be, for example, a fast forward command, which corresponds to the driving unit operating at a higher first preset power; 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.
When the received control command signal is a forward command, the step of enabling the driving unit in the water carrying device to operate forward with the first preset power or the second preset power specifically comprises the following steps of;
when the received control command signal is a first forward command, the driving unit is driven to operate forward with a first preset power; when the received control command signal is a second forward command, the driving unit is driven to operate forward with a second preset power. Therefore, the forward instruction of the water carrying device can be divided into two gears of fast forward and slow forward, and the control process of the control unit can be simpler;
in addition, the method of the present embodiment further includes a downshift control, and the step of causing the drive unit in the water carrier to operate forward at the first preset power specifically includes:
and judging whether the rotating speed of the driving unit is smaller than a rotating speed threshold value, 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 is over-current or blocked, 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 judging whether the phase current of the driving unit is greater than a current threshold value, and if so, controlling the driving unit to stop running.
Optionally, when the rotation speed of the driving unit is less than the preset rotation 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 the first preset power, the second preset power or the third preset power, and when the propeller of the water carrying device is free of windings, 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 should be noted that in this document, relational terms such as "first" and "second" and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the 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 and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (14)
1. A control device for a watercraft, comprising: a control unit and a driving unit; the driving unit is electrically connected with the control unit;
the control unit is used for controlling the driving unit to operate forward with a first preset power or a second preset power when the received control command signal is a forward command;
the control unit is further configured to control the driving unit to operate in a reverse direction with a third preset power when the received control command signal is a reverse command, where the first preset power is greater than the second preset power, and the third preset power is less than the second preset power;
the control device of the water carrying device further comprises an energy supply unit, and the energy supply unit is electrically connected with the control unit;
the control device of the water carrying device further 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 used for adjusting the product of the actual power supply voltage and the actual power supply current to be the first preset power or the second preset power or the third preset power according to the control command signal so that the driving unit operates at the first preset power or the second preset power or the third preset power respectively.
2. The control device of the water carrier according to claim 1, wherein the control unit is further configured to control the driving unit to stop operating when the power supply voltage of the power supply unit is less than a preset voltage threshold.
3. The control device of a water carrier according to claim 1, wherein the advance command includes a first advance command and a second advance command;
the control unit is used for controlling the driving unit to operate forward with a first preset power when the received control command signal is a first forward command;
the control unit is used for controlling the driving unit to operate forward with a second preset power when the received control command signal is a second forward command; or alternatively
And the control unit is used for controlling the driving unit to stop running when the received control command signal is stopped.
4. A control device for a water borne vehicle according to any one of claims 1 to 3, wherein the control unit is further adapted to control the drive unit to operate at a second preset power when the drive unit is operating at a first preset power and the rotational speed of the drive unit is less than a rotational speed threshold.
5. The control device of a water carrier according to claim 1, wherein the control unit further comprises a phase current sensor electrically connected to the control unit for detecting a phase current 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 value; and/or
The control unit is further used for controlling the driving unit to stop running when the rotating speed of the driving unit is smaller than a preset rotating speed and the phase current of the driving unit is larger than a preset current;
the driving unit works under the first preset power, the second preset power or the third preset power, and when the propeller of the water carrying device is free of windings, the rotating speed of the driving unit is a preset rotating speed, and the phase current of the driving unit is a preset current.
6. A control device for a water-borne vehicle according to any one of claims 1 to 3, characterized in that the control device further comprises a receiving unit and a remote control which can transmit control command signals wirelessly;
the receiving unit is electrically connected with the control unit and is used for receiving a control instruction signal sent by the remote controller and sending the control instruction signal to the control unit.
7. The control device of a water carrier according to claim 6, 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 the 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.
8. The control device of the water carrier according to claim 6, wherein 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-200bps.
9. A water carrying device comprising a control device of a water carrying device according to any one of claims 1 to 8.
10. A method of controlling a watercraft, the method comprising:
receiving a control command signal;
when the received control command signal is a forward command, enabling a driving unit in the water carrying device to operate forward with a first preset power or a second preset power, wherein the first preset power is larger than the second preset power;
when the received control instruction signal is a backward instruction, the driving unit reversely operates at a third preset power, wherein the third preset power is smaller than the second preset power;
wherein the water carrying device comprises an energy supply unit for supplying power to the driving unit;
the step of operating the drive unit in the water carrying device in the forward direction with the first preset power or the second preset power or operating the drive unit in the reverse direction with the third preset power specifically comprises the following steps:
acquiring the actual power supply voltage and the actual power supply current of the energy supply unit;
and adjusting the product of the actual power supply voltage and the actual power supply current to be the first preset power or the second preset power or the third preset power according to the control command signal so that the driving unit operates at the first preset power or the second preset power or the third preset power respectively.
11. The method of controlling a water carrier according to claim 10, further comprising:
and stopping the driving unit when the actual power supply voltage is smaller than a preset voltage threshold value.
12. The method according to claim 10, wherein the forward command includes a first forward command and a second forward command, and the step of causing the driving unit in the water carrier to operate forward at the first preset power or the second preset power when the received control command signal is the forward command specifically includes;
when the received control command signal is a first forward command, the driving unit is made to operate forward with a first preset power;
and when the received control command signal is a second forward command, enabling the driving unit to operate forward at a second preset power.
13. The method of controlling a water carrier according to any one of claims 10 to 12, wherein,
the step of enabling the driving unit in the water carrying device to operate forward with the first preset power specifically comprises the following steps:
judging whether the rotating speed of the driving unit is smaller than a rotating speed threshold value, and if so, enabling the driving unit to operate at a second preset power.
14. The method of controlling a water carrier according to claim 10, 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, if so, controlling the driving unit to stop running; and/or
When the rotating speed of the driving unit is smaller than a preset rotating speed and the phase current of the driving unit is larger 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 the propeller of the water carrying device is free of windings, 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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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008069646A (en) * | 2006-09-12 | 2008-03-27 | Yamaha Marine Co Ltd | Ship propulsion unit and its operating method |
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2021
- 2021-12-23 CN CN202111590745.4A patent/CN114285346B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| CN114285346A (en) | 2022-04-05 |
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