CN114655417A - Steering engine real rudder angle redundancy judgment device, steering engine and wave glider - Google Patents
Steering engine real rudder angle redundancy judgment device, steering engine and wave glider Download PDFInfo
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- CN114655417A CN114655417A CN202210577831.XA CN202210577831A CN114655417A CN 114655417 A CN114655417 A CN 114655417A CN 202210577831 A CN202210577831 A CN 202210577831A CN 114655417 A CN114655417 A CN 114655417A
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- steering engine
- gear
- rack
- wave glider
- rudder angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses a redundant judgment device for a true rudder angle of a steering engine, the steering engine and a wave glider, and relates to the technical field of the wave glider. The invention can accurately judge the real rudder angle of the steering engine and ensure the accuracy of course control of the wave glider.
Description
Technical Field
The invention relates to the technical field of wave gliders, in particular to a steering engine, a steering engine and a wave glider, wherein the steering engine is provided with a steering angle redundancy judgment device.
Background
The wave glider is an autonomous navigation unmanned surface vessel which utilizes wave energy as main driving force and adopts solar energy for power generation, has the functions of satellite communication, global positioning, autonomous navigation and position maintenance, and can realize large-scale and long-distance environmental parameters such as sea surface hydrology, sea surface meteorology and the like.
The wave glider steering engine needs to operate in the sea reliably for a long time, so that non-contact magnetic coupling transmission is adopted, but the traditional non-contact magnetic coupling transmission is difficult to judge the true rudder angle and is easy to generate errors, and course control errors can be caused after the true rudder angle is judged to generate errors.
Disclosure of Invention
The invention aims to provide a steering engine real rudder angle redundancy judgment device, a steering engine and a wave glider, which are used for solving the problems in the prior art, accurately judging the real rudder angle of the steering engine and ensuring the course control accuracy of the wave glider.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a wave glider steering engine true rudder angle redundancy judgment device which comprises a linear displacement sensor, trigger switches, a follow-up trigger and a controller, wherein the linear displacement sensor, the trigger switches, the follow-up trigger and the controller are arranged in a steering engine shell, the steering engine drives a rack to do reciprocating linear motion through a linear motor, the rack drives a gear to rotate, the gear is in magnetic coupling transmission connection with an output shaft of the steering engine to realize control of a rudder angle, the linear displacement sensor is used for measuring displacement of the rack to obtain a rotation angle of the gear, the follow-up trigger is arranged on the rack, two sides of the follow-up trigger are respectively provided with one trigger switch, when the rack respectively moves to two limit positions, the follow-up trigger respectively triggers the two trigger switches to be closed, and the linear displacement sensor and each trigger switch are electrically connected with the controller.
Preferably, still include feedback magnet and hall subassembly, hall subassembly is fixed to be set up in turning to steering gear casing and be located the gear end face center outside, feedback magnet installs in the output shaft that turns to the steering wheel and is close to hall subassembly's one end center, hall subassembly is used for measuring the output shaft turned angle who turns to the steering wheel, hall subassembly with the controller electricity is connected.
Preferably, the hall assembly includes four hall elements uniformly distributed in a circumferential direction, and the four hall elements are located on one side of the feedback magnet.
Preferably, after the trigger switch is closed, the controller controls the linear motor to be powered off and shut down.
The invention also provides a steering engine of the wave glider, which comprises a steering engine shell, a linear motor, a rack, a gear, an output shaft and the redundancy judgment device for the true rudder angle of the steering engine of the wave glider, wherein the linear motor, the rack and the gear are all arranged in the steering engine shell, the linear motor is connected with the rack and used for driving the rack to do reciprocating linear motion, the gear is rotationally connected in the steering engine shell and meshed with the rack, the gear is in magnetic coupling transmission connection with the output shaft, and the gear rotates to drive the output shaft to rotate so as to drive a rudder plate.
The invention also provides a wave glider, which comprises the wave glider steering engine, wherein the wave glider steering engine is arranged at the tail part of the underwater tractor.
Compared with the prior art, the invention has the following technical effects:
the invention provides a redundant judgment device for the true rudder angle of a steering engine, the steering engine and a wave glider, wherein the displacement of a rack is measured by a linear displacement sensor to obtain the rotation angle of a gear, so as to obtain the true rudder angle of the steering engine, the limit positions in the operation stroke of a linear motor can be defined by arranging trigger switches at the two limit positions of the rack, the rotation angle of the gear can be accurately measured under the condition of no feedback, so as to obtain the true rudder angle of the steering engine, the measurement accuracy of the linear displacement sensor can be judged according to the true rudder angle of the limit positions, when the measurement error of the linear displacement sensor is larger, the judgment of the linear displacement sensor on the position can be abandoned, the zero position of the linear motor is calibrated by the limit positions of the rack, the problem of inaccurate positioning in the operation of the linear motor is eliminated, and the accurate positioning of the operation process of the linear motor is ensured, and then can accurately control the true rudder angle, guarantee the accuracy of wave glider course control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a steering engine of a wave glider according to the present invention;
FIG. 2 is a schematic view of the internal structure of a steering engine for a wave glider according to the present invention;
FIG. 3 is a schematic perspective view of the wave glider steering engine provided by the present invention, showing the structural connection after the steering engine housing and the rudder plate are omitted;
FIG. 4 is a schematic diagram of a main structure of the structure of FIG. 3;
FIG. 5 is a schematic view of the cross-sectional structure A-A in FIG. 4;
FIG. 6 is an exploded view of the gear, spacer sleeve and output shaft of the present invention;
FIG. 7 is an exploded view of the gear and the internal mount of the present invention;
FIG. 8 is a schematic diagram of an explosion structure of an output shaft, a rotating ring, an external fixing frame, an anti-abrasion bottom plug and a feedback magnet according to the present invention;
FIG. 9 is a schematic view of the magnetic coupling drive of the wave glider steering engine provided by the present invention;
FIG. 10 is a radial relative position relationship diagram of a feedback magnet and a Hall assembly in a wave glider steering engine provided by the present invention;
FIG. 11 is a schematic view of the wave glider control process provided by the present invention;
FIG. 12 is a schematic view of the position of a wave glider steering actuator in the wave glider according to the present invention;
in the figure: 100-wave glider, 200-wave glider steering engine, 1-trigger switch, 2-follow-up trigger, 3-linear motor, 4-rack, 5-gear, 6-output shaft, 7-feedback magnet, 8-Hall assembly, 9-Hall element, 10-underwater tractor, 11-inner magnet assembly, 12-outer magnet assembly, 13-isolation sleeve, 14-steering engine shell, 15-rudder plate, 16-controller, 17-linear displacement sensor, 18-inner fixing frame, 19-outer fixing frame, 20-rotating ring, 21-anti-abrasion bottom plug, 22-mounting hole, 23-first inner magnet, 24-second inner magnet, 25-holding groove, 26-first outer magnet, 27-second outer magnet.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a steering engine real rudder angle redundancy judgment device, a steering engine and a wave glider, which are used for solving the problems in the prior art, accurately judging the real rudder angle of the steering engine and ensuring the course control accuracy of the wave glider.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1 to 11, the present embodiment provides a redundant determination apparatus for a true rudder angle of a steering engine of a wave glider, comprising a linear displacement sensor 17, a trigger switch 1, a follower trigger 2 and a controller 16, which are arranged inside a steering engine housing 14, wherein the steering engine drives a rack 4 to reciprocate linearly through a linear motor 3, the rack 4 drives a gear 5 to rotate, the gear 5 is magnetically coupled with an output shaft 6 of the steering engine for controlling the rudder angle, the linear displacement sensor 17 is used for measuring the displacement of the rack 4 to obtain the rotation angle of the gear 5, the follower trigger 2 is arranged on the rack 4, two sides of the follower trigger 2 are respectively provided with one trigger switch 1, and when the rack 4 moves to two limit positions, the follow-up trigger 2 respectively triggers the two trigger switches 1 to be closed, and the linear displacement sensor 17 and each trigger switch 1 are electrically connected with the controller 16.
During the use, through the displacement of linear displacement sensor 17 measurement rack 4 in order to obtain the turned angle of gear 5 to obtain the true rudder angle that turns to the steering wheel, through set up trigger switch 1 at two extreme position of rack 4, can make clear and determine the extreme position in the linear electric motor 3 operation stroke, can survey the turned angle of gear 5 more accurately under the condition of no feedback, and then obtain the true rudder angle that turns to the steering wheel, the setting of two trigger switch 1 still can be judged straight linear displacement sensor 17 trouble, drift, specifically as follows: supposing that m pulses are needed when the linear motor 3 (stepping motor) moves from the limit position of one end to the limit position of the other end, the problem of losing steps is easy to occur when the pulses are input, and the error of the positioning position of the motor is increased when the system running time is long, so that the heading control has an error, and the two trigger switches 1 at the limit positions can effectively solve the problem: firstly, can judge linear displacement sensor 17's the measurement accuracy effectively through extreme position trigger switch (judge the degree of accuracy of linear displacement sensor 17 measured true rudder angle according to extreme position's true rudder angle), secondly when linear displacement sensor 17 error is great, can abandon linear displacement sensor 17 to the judgement of position, the zero-bit of linear electric motor 3 is calibrated to the extreme position through rack 4, return to zero linear electric motor 3 when rack 4 reaches extreme position department, eliminate the inaccurate problem of location in the linear electric motor 3 operation, guarantee the accurate location of linear electric motor 3 operation process, and then can accurately control true rudder angle, guarantee the accuracy of wave glider course control.
In this embodiment, still include feedback magnet 7 and hall subassembly 8, hall subassembly 8 is fixed to be set up in turning to steering wheel casing 14 inside and be located the gear 5 terminal surface center outside, and feedback magnet 7 is installed in the output shaft 6 that turns to the steering wheel and is close to the one end center of hall subassembly 8, and hall subassembly 8 is used for measuring the output shaft 6 turned angle who turns to the steering wheel, and hall subassembly 8 is connected with controller 16 electricity. The feedback magnet 7 rotates along with the output shaft 6, the Hall assembly 8 can sense the position of the feedback magnet 7, the rotating angle of the output shaft 6 is accurately measured, the true rudder angle of the steering engine is obtained and fed back to the controller 16 (control circuit board), and complete closed-loop control is achieved. The real rudder angle of the steering engine can be independently measured by the linear displacement sensor 17, the Hall assembly 8 and the trigger switch 1, the control system can cooperatively play a role when the three are normal, and the control system can also play a role independently when the three are abnormal, so that the system can be prevented from being broken down, and a specific flow diagram is shown in fig. 11.
In this embodiment, the hall element 8 includes four hall elements 9 uniformly distributed in the circumferential direction, and the four hall elements 9 are located on the side of the feedback magnet 7 so that the rotation angle of the output shaft 6 is measured by the hall elements 9.
In this embodiment, after the trigger switch 1 is closed, the controller 16 controls the linear motor 3 to power off and stop, and the rack 4 is protected at the limit position to prevent the rack 4 from moving beyond the limit position, thereby ensuring the normal operation of the system.
Example two
As shown in fig. 1-12, the present embodiment provides a wave glider steering engine 200, which includes a steering engine housing 14, a linear motor 3, a rack 4, a gear 5, an output shaft 6, and a device for redundantly determining a true rudder angle of the wave glider steering engine described above, wherein the linear motor 3, the rack 4, and the gear 5 are all disposed in the steering engine housing 14, the linear motor 3 is connected to the rack 4 and is used for driving the rack 4 to perform a reciprocating linear motion, the gear 5 is rotatably connected to the steering engine housing 14 and is engaged with the rack 4, the gear 5 is in magnetic coupling transmission connection with the output shaft 6, and the gear 5 rotates to drive the output shaft 6 to rotate so as to drive a rudder plate 15. Wherein, the magnetic coupling transmission is as shown in fig. 4-9, the gear 5 is fixedly connected with an inner fixing frame 18, the outer surface of the inner fixing frame 18 is uniformly provided with a plurality of holding grooves 25 along the circumferential direction, each holding groove 25 is internally provided with an inner magnet group 11 formed by stacking a first inner magnet 23 and a second inner magnet 24, the magnetic pole directions of the first inner magnet 23 and the second inner magnet 24 in the same inner magnet group 11 are the same and are arranged along the radial direction, each inner magnet group 11 is uniformly distributed along the circumferential direction of the inner fixing frame 18, the magnetic pole directions of each inner magnet group 11 are arranged along the radial direction, the magnetic pole directions of two adjacent inner magnet groups 11 are opposite, each inner magnet group 11 rotates synchronously with the gear 5, the inner fixing frame 18 is internally provided with an isolation sleeve 13, the isolation sleeve 13 is internally provided with an output shaft 6, the output shaft 6 is internally provided with an outer fixing frame 19, the outer fixing frame 19, The output shaft 6, the isolation sleeve 13, the inner fixing frame 18 and the gear 5 are coaxially arranged, the outer surface of the outer fixing frame 19 is uniformly provided with a plurality of outer magnet groups 12 formed by overlapping a first outer magnet 26 and a second outer magnet 27 along the circumferential direction, the magnetic pole directions of the first outer magnet 26 and the second outer magnet 27 in the same outer magnet group 12 are the same and are arranged along the radial direction, each outer magnet group 12 corresponds to each inner magnet group 11 respectively, the magnetic pole directions of each corresponding pair of outer magnet groups 12 and inner magnet groups 11 are the same, each outer magnet group 12 rotates synchronously with the output shaft 6, the outer fixing frame 19 and the outer magnet groups 12 are integrally assembled inside the output shaft 6 and are sealed and fixed through pouring sealant, one end of the isolation sleeve 13 extending into the steering engine shell 14 is a closed end, the other end is communicated with the outside, the isolation sleeve 13 is in threaded connection with the steering engine shell 14, and a sealing washer is arranged between the isolation sleeve 13 and the steering engine shell 14, the isolation sleeve 13 isolates the inner magnet group 11 and the outer magnet group 12 from each other, and isolates the output shaft 6 outside the steering engine shell 14, water is prevented from entering the steering engine shell 14, an internal electrical system is prevented from being damaged when encountering water, non-contact transmission of the gear 5 and the output shaft 6 is realized through the magnetic attraction effect of the inner magnet group 11 and the outer magnet group 12, and in fig. 9 and 10, the directions of arrows in the inner magnet group 11, the outer magnet group 12 and the feedback magnet 7 represent the magnetic pole directions. The outer sleeve of the output shaft 6 is provided with a rotating ring 20 which has a wear-resisting effect, and the rotating ring 20 is in contact with the inner surface of the isolation sleeve 13, so that the friction loss between the output shaft 6 and the inner wall of the isolation sleeve 13 is avoided; the end part of the output shaft 6 extending into the isolation sleeve 13 is fixedly connected with an anti-abrasion bottom plug 21, the feedback magnet 7 is fixedly arranged in a mounting hole 22 in the anti-abrasion bottom plug 21, and the Hall assembly 8 is positioned on the outer side of the closed end of the isolation sleeve 13.
EXAMPLE III
As shown in fig. 12, the present embodiment provides a wave glider 100, which comprises the above-mentioned wave glider steering engine 200, and the wave glider steering engine 200 is installed at the tail of the underwater tractor 10.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. The utility model provides a redundant device of judging of wave glider steering wheel true rudder angle which characterized in that: including setting up in the inside linear displacement sensor of steering gear casing, trigger switch, follow-up trigger and controller, the steering gear passes through linear electric motor drive rack reciprocating linear motion, and the rack drives the gear revolve, and the gear is connected in order to realize the control of rudder angle with the output shaft magnetic coupling transmission that turns to the steering gear, linear displacement sensor is used for measuring the displacement of rack in order to obtain the turned angle of gear, follow-up trigger sets up on the rack, follow-up trigger both sides respectively are equipped with one when the trigger switch, rack move respectively to two extreme positions, follow-up trigger triggers two respectively trigger switch is closed, linear displacement sensor and each trigger switch all with the controller electricity is connected.
2. The device for redundantly judging the true rudder angle of the steering engine of the wave glider according to claim 1, characterized in that: the steering engine is characterized by further comprising a feedback magnet and a Hall assembly, wherein the Hall assembly is fixedly arranged inside the steering engine shell and located outside the center of the end face of the gear, the feedback magnet is arranged at the center of one end, close to the Hall assembly, of an output shaft of the steering engine, the Hall assembly is used for measuring the rotation angle of the output shaft of the steering engine, and the Hall assembly is electrically connected with the controller.
3. The device for redundantly judging the true rudder angle of the steering engine of the wave glider according to claim 2, characterized in that: the Hall assembly comprises four Hall elements which are uniformly distributed along the circumferential direction, and the four Hall elements are positioned on one side of the feedback magnet.
4. The device for redundantly judging the true rudder angle of the steering engine of the wave glider according to claim 1, characterized in that: and after the trigger switch is switched on, the controller controls the linear motor to be powered off and shut down.
5. The utility model provides a wave glider turns to steering wheel which characterized in that: the device comprises a steering engine shell, a linear motor, a rack, a gear, an output shaft and the redundancy judgment device for the true rudder angle of the steering engine of the wave glider as claimed in any one of claims 1-4, wherein the linear motor, the rack and the gear are arranged in the steering engine shell, the linear motor is connected with the rack and used for driving the rack to perform reciprocating linear motion, the gear is rotatably connected into the steering engine shell and meshed with the rack, the gear is in magnetic coupling transmission connection with the output shaft, and the gear rotates to drive the output shaft to rotate so as to drive a rudder plate.
6. A wave glider, its characterized in that: the wave glider steering engine comprises the wave glider steering engine in claim 5, and the wave glider steering engine is installed at the tail of an underwater tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210577831.XA CN114655417A (en) | 2022-05-26 | 2022-05-26 | Steering engine real rudder angle redundancy judgment device, steering engine and wave glider |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210577831.XA CN114655417A (en) | 2022-05-26 | 2022-05-26 | Steering engine real rudder angle redundancy judgment device, steering engine and wave glider |
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| CN114655417A true CN114655417A (en) | 2022-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210577831.XA Pending CN114655417A (en) | 2022-05-26 | 2022-05-26 | Steering engine real rudder angle redundancy judgment device, steering engine and wave glider |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117985209A (en) * | 2024-04-07 | 2024-05-07 | 青岛海舟科技有限公司 | Propeller system for wave glider |
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Application publication date: 20220624 |