CN114670994B - Manned submersible safety operation control device and method - Google Patents
Manned submersible safety operation control device and method Download PDFInfo
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- CN114670994B CN114670994B CN202011546155.7A CN202011546155A CN114670994B CN 114670994 B CN114670994 B CN 114670994B CN 202011546155 A CN202011546155 A CN 202011546155A CN 114670994 B CN114670994 B CN 114670994B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention relates to a manned submersible safety operation control device, in particular to a manned submersible safety operation control device and a manned submersible safety operation control method. The method comprises the following steps: the device comprises an extra-cabin unit, a main control component, a portable control component, a communication and logic control module, a main control unit, a power supply module and an interaction unit, wherein the main control component, the portable control component, the communication and logic control module, the main control unit, the power supply module and the interaction unit are arranged in a submersible cabin unit; the communication and logic control module is respectively connected with the main control part, the portable control part and the power supply module, and the main control part or the portable control part sends a control signal for controlling the movement of the submersible to the main control unit and is also directly communicated with the extravehicular emergency module; the main control unit is communicated with the extravehicular unit; the core detection circuit of the invention is independently designed and researched, the selected devices have low cost, ingenious design and simple circuit structure, and the invention is convenient for later maintenance and upgrade.
Description
Technical Field
The invention relates to a manned submersible safety operation control device, in particular to a manned submersible safety operation control device and a manned submersible safety operation control method.
Background
The submersible comprises a manned submersible and an unmanned submersible, wherein the manned submersible is used for realizing the work of manned navigation, scientific investigation, exploration operation and the like under water, and the manned submersible is not connected with a mother ship when working under water. The underwater vehicle is controlled and controlled by an underwater vehicle in a manned cabin, a plurality of sensors are arranged outside the underwater vehicle for signal detection, a plurality of propellers for power output and a plurality of node units for signal processing, and the multi-freedom-degree motion control of the underwater vehicle is mainly realized by the logic combination control of the plurality of propellers so as to ensure that the underwater vehicle sails freely in water.
Due to the particularity of the application environment of the manned submersible, under the deep sea environment, the pressure borne by the submersible is increased along with the increase of the submergence depth, and meanwhile, under the deep sea condition, the environment is complex, and the risk factors faced by the submersible are correspondingly increased. The submersible can complete tasks such as operation and scientific investigation under water, mainly depends on flexible motion control, realizes tasks such as multi-point sampling, terrain scanning, target searching and fixed-point operation, and has the characteristics of safety, reliability and stability aiming at a manned submersible system. As the submersible system has a complex structure and a plurality of mutual coupling relations among the systems, various faults can be avoided in the underwater operation process. In the aspect of submersible motion control, if a navigation control system cannot control a propeller due to failure and a corresponding emergency control scheme is not available, the submersible loses power and cannot continue to operate, at the moment, the submersible must return to the water surface for fault repair, the operation efficiency is reduced, the safety of the submersible is threatened in an underwater unpowered state, and even the personal safety of a diver in a manned cabin is threatened, so that the submersible cannot meet the navigation operation requirements of high reliability and safety of the manned submersible in order to ensure the equipment and personnel safety.
Disclosure of Invention
In order to overcome the above problems, the present invention provides a submersible safety operation control device having a simple structure, which can realize multiple safety operations of a manned submersible and improve the convenience of the operation of the submersible.
The technical scheme adopted by the invention for realizing the purpose is as follows: a manned submersible safety maneuver control apparatus, comprising: the device comprises an extra-cabin unit, a main control component, a portable control component, a communication and logic control module, a main control unit, a power supply module and an interaction unit, wherein the main control component, the portable control component, the communication and logic control module, the main control unit, the power supply module and the interaction unit are arranged in a submersible cabin unit;
the communication and logic control module is respectively connected with the main control component, the portable control component and the power supply module and is used for realizing the functions of line switching and power-off self-switching when the control modes between the main control component and the portable control component are switched;
the master control component is used for sending a control signal for controlling the movement of the submersible to the master control unit when switching to a master control mode so as to realize the movement control of the submersible; the main control component is also in direct communication with the extravehicular emergency module;
the portable control component is connected with the main control unit through a signal cable and used for sending a control signal for controlling the movement of the submersible vehicle to the main control unit when the portable operation mode is switched; the portable operating component is also in direct communication with the extra-cabin emergency module;
the main control unit is communicated with the extravehicular unit and is used for receiving an operation signal from the main operation part or the portable operation part, converting the operation signal into a network signal and sending the network signal to the extravehicular unit for driving and outputting;
the interaction unit comprises an operation mode selector switch and a program-controlled emergency switch, the operation mode selector switch is connected with the communication and logic control module and used for switching and selecting a main operation component or a portable operation component to operate the submersible vehicle, and the main operation component and the portable operation component can execute program-controlled operation control and emergency operation control; the program-controlled emergency switch is connected with an extra-cabin emergency unit;
the communication and logic control module comprises: the power-off switching module and the enabling switching module are connected with the power-off switching module;
the input end of the power-off switching module is connected with the power supply module, and the output end of the power-off switching module is connected with the enabling switching module so as to supply power to the enabling switching module;
the input end of the enabling switching module is also connected with an operation switch of the interactive system, and voltage signals are sent to the main operation component or the portable operation component according to the command of the operation mode switching switch so as to realize switching.
The enabling switching module is of an interlocking structure and only enables the main control component or the portable control component.
The main manipulation part includes: the main control signal acquisition card is connected with the enabling switching module to receive a voltage signal of the communication and logic control module;
the main control lever or the auxiliary control lever takes the control voltage output by the main signal acquisition card as an analog quantity, the signal acquisition board card acquires the analog quantity, and the acquired analog quantity is transmitted to the main control unit in a serial port bus mode after being digitally processed by the signal acquisition board card.
The portable operating component is a mobile operating component and comprises: the portable signal acquisition board card comprises a portable operating lever, a fixed plate, a portable signal acquisition board card and a control box; the portable signal acquisition board card is arranged in the control box, a through hole is formed in the fixed plate, the bottom end of the portable operating rod is embedded into the through hole and connected with the portable signal acquisition board card, a signal output hole is formed in the control box, and the portable signal acquisition board card in the control box is connected with the main control unit through a cable.
The main control unit comprises: a serial port/network module and a main control module;
the serial port/network module is respectively connected with the main signal acquisition board card and the portable signal acquisition board card and is used for converting the control signal of the main control component or the portable control component into a network signal and transmitting the network signal to the main control module;
and the main control module is used for receiving the network signal of the operation signal converted by the serial port/network module, distributing the control quantity of the propeller and transmitting the control quantity to the extravehicular unit through the Ethernet.
The extravehicular unit comprising: the emergency module is connected with the driving module;
the driving module is connected with the main control unit and is used for analyzing the propeller execution control quantity of the main control unit and carrying out digital quantity/analog quantity conversion to be used as the submersible terminal control quantity;
the input end of the emergency module is connected with the main signal acquisition card, the portable signal acquisition card and the program-controlled emergency switch of the interactive system through serial ports respectively, the output end of the emergency module is connected with the ROV propeller, the emergency mode is selected through the program-controlled emergency switch, the main control component or the portable control component directly transmits the control signal to the emergency module, and the emergency module converts the serial port signal of the control component into propeller control voltage so as to control the propeller.
A manned submersible safety operation control method comprises the following steps:
1) After the system runs, the main control component or the portable control component is selected and enabled through an operation switch of the interactive system;
2) When the enabling switching module sends a voltage signal to the main control component or the portable control component, the power supply module supplies power, the control voltage output by the control lever of the main control component or the portable control component is analog, and the main signal acquisition board card carries out digital processing on the acquired analog and transmits the analog to a serial/network module in the main control unit in a serial bus mode;
3) A serial port/network module in the main control unit converts a control signal of the main control component or the portable control component into a network signal through the serial port/network module to form a control command, and the control command is transmitted to the main control module through the Ethernet;
4) The main control module acquires the control command of the main control component or the portable control component, distributes the control quantity of the propeller according to the thrust distribution matrix of the submersible, and transmits the control quantity to the rear-end driving module through the Ethernet;
5) The driving module analyzes the propeller execution control quantity of the main control unit, performs digital quantity/analog quantity conversion to be used as submersible terminal control quantity, and realizes the control of the submersible;
6) When the control signal transmission link fails to transmit the control signal, the control mode is switched to the emergency control mode through the program-controlled emergency switch of the interaction unit, so that emergency treatment is realized.
The step 6) is specifically as follows:
the input signals of the emergency module comprise an operation signal output by the driving module in the program control mode and an operation signal directly transmitted by the operation component in the emergency mode;
under the program control mode, the emergency module directly transmits the output signal of the driving module to the propeller for control, and under the emergency mode, the emergency module carries out isolation, thrust distribution and conversion processing on the serial port signal of the main control component and finally converts the serial port signal into the control voltage of the propeller for controlling the propeller.
The invention has the following beneficial effects and advantages:
1. simple structure and convenient maintenance. The core detection circuit is independently designed and researched, the selected devices are low in cost, ingenious in design and simple in circuit structure, and later maintenance and upgrading are facilitated.
2. High reliability and high safety. The circuit of the invention has the functions of power supply and automatic logic protection, ensures the continuous, reliable and stable work of the system, and ensures the safety of the submersible and the personnel through various operation modes.
3. The universality is strong. The invention can be applied not only to manned submersible, but also to unmanned submersible and other equipment requiring control.
Drawings
FIG. 1 is a schematic view of the arrangement within a cabin of the present invention;
FIG. 2 is a schematic diagram of the operation of the present invention;
fig. 3 is a schematic view of a portable operating component of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms than those specifically described herein, and it will be apparent to those skilled in the art that many more modifications are possible without departing from the inventive concepts herein, and it is therefore intended that this invention not be limited to the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The invention relates to a manned submersible safety operation control device which is distributed and arranged in a manned cabin and a pressure-resistant tank outside the manned cabin and consists of a main operation part, a main operation information acquisition board card, a portable operation part, a portable operation information acquisition board card, a power supply module, a communication and logic control module, a driving module, an emergency module and an auxiliary circuit.
The driving module and the emergency module form an extravehicular unit which is arranged in a manned extravehicular sealed pressure-resistant tank body and is responsible for driving and controlling a propeller, the main control part and the main control information acquisition board card, the portable control part and the portable control information acquisition board card, the power supply module, the communication and logic control module and the main control unit form an intravehicular unit which is responsible for controlling signal output, power supply management, logic control and control switching functions. The extravehicular unit and the intravehicular unit transmit control signals in two modes of Ethernet and serial port communication. The man-machine interaction interface in the cabin can be used for switching and selecting the main control component or the portable control component to control the submersible vehicle, each control component can execute program control and emergency control, and the operation mode is switched through the man-machine interface. Under the program control operation mode, the cabin interior unit and the cabin exterior unit use Ethernet as communication media, and under the emergency operation mode, a serial port bus mode is used as the communication media. The invention has simple structure, high reliability and strong anti-interference performance.
The invention relates to a manned submersible safety operation control device, which comprises: the device comprises an extra-cabin unit, a main control component, a portable control component, a communication and logic control module, a main control unit, a power supply module and an interaction unit, wherein the main control component, the portable control component, the communication and logic control module, the main control unit, the power supply module and the interaction unit are arranged in a submersible cabin unit;
the communication and logic control module is respectively connected with the main control component, the portable control component and the power supply module and is used for realizing the functions of line switching and power-off self-switching when the control modes between the main control component and the portable control component are switched;
a master control part for sending a control signal for controlling the movement of the vehicle to the master control unit when switching to a master control mode to realize the movement control of the vehicle; the main control component is also directly communicated with the extravehicular emergency module;
the portable control component is connected with the main control unit through a signal cable and used for sending a control signal for controlling the movement of the submersible to the main control unit when the portable operation mode is switched; the portable operating component is also in direct communication with the extra-cabin emergency module;
the main control unit is communicated with the extravehicular unit and is used for receiving an operation signal from the main operation part or the portable operation part, converting the operation signal into a network signal and sending the network signal to the extravehicular unit for driving and outputting;
and the interaction unit comprises an operation mode selector switch and a program-controlled emergency switch, the operation mode selector switch is connected with the communication and logic control module, the program-controlled emergency switch is connected with the extravehicular emergency unit and used for switching and selecting the main operation component or the portable operation component to operate the submersible, and the main operation component and the portable operation component can execute program-controlled operation control and emergency operation control.
The communication and logic control module includes: the power-off switching module and the enabling switching module are connected with the power-off switching module;
the input end of the power-off switching module is connected with the power supply module, and the output end of the power-off switching module is connected with the enabling switching module so as to supply power to the enabling switching module;
the input end of the enabling switching module is also connected with an operation switch of the interactive system, and a voltage signal is sent to the main operation component or the portable operation component according to the command of the operation mode switching switch so as to realize switching.
The enabling switching module is in an interlocking structure, and only the main control component or the portable control component can be enabled.
A master steering component comprising: the main control signal acquisition card is connected with the enabling switching module to receive a voltage signal of the communication and logic control module;
the main control lever or the auxiliary control lever takes the control voltage output by the main signal acquisition card as an analog quantity, the signal acquisition board card acquires the analog quantity, and the signal acquisition board card transmits the acquired analog quantity to the main control unit in a serial port bus mode after carrying out digital processing on the acquired analog quantity.
The portable manipulating part, which is a mobile manipulating part, as shown in fig. 3, includes: the portable signal acquisition board card comprises a portable operating lever, a fixed plate, a portable signal acquisition board card and a control box; the portable signal acquisition board card is arranged in the control box, a through hole is formed in the fixed plate, the bottom end of the portable operating rod is embedded into the through hole and connected with the portable signal acquisition board card, a signal output hole is formed in the control box, and the portable signal acquisition board card in the control box is connected with the main control unit through a cable.
A master control unit comprising: the serial port/network module and the main control module;
the serial port/network module is respectively connected with the main signal acquisition board card and the portable signal acquisition board card and is used for converting the control signal of the main control component or the portable control component into a network signal and transmitting the network signal to the main control module;
and the main control module is used for receiving the network signal of the operation signal converted by the serial port/network module, distributing the control quantity of the propeller and transmitting the control quantity to the extravehicular unit through the Ethernet.
An outboard unit comprising: the emergency module is connected with the driving module;
the driving module is connected with the main control unit and used for analyzing the propeller execution control quantity of the main control unit and carrying out digital quantity/analog quantity conversion to be used as the submersible terminal control quantity;
the input end of the emergency module is connected with the main signal acquisition card, the portable signal acquisition card and the program-controlled emergency switch of the interactive system through serial ports respectively, the output end of the emergency module is connected with the ROV propeller, the emergency mode is selected through the program-controlled emergency switch, the main control component or the portable control component directly transmits a control signal to the emergency module, and the emergency module converts the serial port signal of the control component into a propeller control voltage so as to control the propeller.
The invention relates to a manned submersible safety operation control method, which comprises the following steps:
1) After the system runs, the main control component or the portable control component is selected and enabled through an operation switch of the interactive system;
2) When the enabling switching module sends a voltage signal to the main control component or the portable control component, the power supply module supplies power, the control voltage output by the control lever of the main control component is analog quantity, and the main signal acquisition board card carries out digital processing on the acquired analog quantity and transmits the analog quantity to a serial port/network module in the main control unit in a serial port bus mode;
3) A serial port/network module in the main control unit converts the control signal of the main control component or the portable control component into a network signal through the serial port/network module to form a control command, and the control command is transmitted to the main control module through the Ethernet;
4) The main control module collects the operation command of the main operation component or the portable operation component, distributes the propeller control quantity according to the thrust distribution matrix of the submersible, and transmits the propeller control quantity to the rear-end driving module through the Ethernet;
5) The driving module analyzes the propeller execution control quantity of the main control unit, performs digital quantity/analog quantity conversion and serves as submersible terminal control quantity to realize control of the submersible;
6) When the control signal transmission link fails to transmit the control signal, the control mode is switched to the emergency control mode through the program-controlled emergency switch of the interaction unit, so that emergency treatment is realized.
The specific implementation method adopted by the invention is as follows:
the working principle of the device is shown in figure 2.
The manned submersible is a cableless submersible, the power source of the control system is a 24V storage battery pack carried by diving, the power source of the storage battery pack is non-isolated electricity G1, for safety and stability, power supply in the manned cabin is isolated and stabilized through DC/DC, the isolated power source is isolated electricity G3, and the non-isolated electricity G1 is introduced into the control system due to the control requirement of the device.
The power supply of the operation part firstly passes through the power-off switching module, the input of the module is G1 and G3, G3 is used as the control power of the module, under the normal condition, the module outputs G3 to the next module, when G3 in the cabin fails, the output is automatically switched to G1 to supply power to the operation part continuously, manual switching is not needed, and the power supply continuity of the operation part is kept.
After the system runs, in order to prevent misoperation, the main control component and the portable control component are in a non-enabled state and have no control output, the main control component or the portable control component can be selectively enabled through a main control/portable enable switch of a human-computer interaction interface, and in order to prevent control logic confusion caused by the fact that control signals are output simultaneously by main control and portable control, the enabling module has an interlocking structure, and only a single control component can be enabled at the same time.
When the main control component is enabled, the power is supplied by G3 by default, the main control component is of a split structure, the main control lever and the auxiliary control lever are installed on two sides of a cab in a cabin, as shown in figure 1, the installation position is set according to human engineering, the control voltage output by the control lever is analog quantity, the analog quantity is collected by a signal collection board card installed in the cab, the collected analog quantity is subjected to digital processing by the signal collection board card, the analog quantity is transmitted to a serial port/network module in a serial port bus mode according to a control communication protocol format, and external signal interference can be effectively inhibited through transmission in the serial port bus mode.
When the portable control component is enabled, the G3 is used for supplying power by default, the portable control component is of an integrated structure, as shown in fig. 3, the main control rod, the auxiliary control rod and the control rod signal acquisition board form a handheld control component, an underwater vehicle can carry out underwater vehicle motion control by holding the component by an underwater vehicle, the underwater vehicle can be conveniently operated by the underwater vehicle when the underwater vehicle carries out external observation on the near observation window, and meanwhile, different underwater vehicles can select the control component according to own control habits. The control voltage output by the control lever is analog quantity, the signal acquisition board card acquires the analog quantity, and the signal acquisition board card transmits the acquired analog quantity to the serial port/network module in a serial port bus mode after carrying out digital processing on the acquired analog quantity. Besides the operation function of the submersible, the portable operation component integrates the trigger function of the automatic control function of the submersible, thereby being convenient for operation.
The main control unit comprises a serial port/network module and a main control module. The main control module collects the control command of the control component, distributes the control quantity of the propeller according to the thrust distribution matrix of the submersible, and transmits the control quantity to the rear end driving execution module through the Ethernet so as to realize the submersible control with five degrees of freedom, such as forward/backward, left/right turn, floating/submerging, forward/backward tilt, left/backward tilt, etc.
The driving module analyzes the propeller execution control quantity of the main control unit, and performs reverse digital quantity/analog quantity conversion to be used as the submersible terminal control quantity.
The operation control of the main operation part and the portable operation part is the operation control under the program control mode, except the program control mode, the main operation and the portable operation can carry out the operation in the emergency mode, and the submersible still has the movement operation function under the abnormal state.
The emergency mode switching comprises manual switching and automatic switching, and is suitable for a main control component and a portable control component.
Under the program control mode, when the control signal transmission link fails to transmit the control signal, the control mode can be switched to the emergency control mode through a program control/emergency switch in the human-computer interaction interface. In addition, when the power supply signal G3 of the operating component is powered off due to a fault, the power-off switching module can automatically switch to G1 to supply power to the operating component continuously, so that the normal operation of the operating component is ensured. In the emergency mode, the propeller operation signal of the operation part is directly transmitted to the emergency module in a serial port bus mode through the cabin.
The input signals of the emergency module comprise an operation signal output by the driving module in the program control mode and an operation signal directly transmitted by the operation component in the emergency mode. Under the program control mode, the emergency module directly transmits the output signal of the driving module to the propeller for control, and under the emergency mode, the emergency module carries out processing such as isolation, thrust distribution and conversion on the serial port signal of the control component, and finally converts the serial port signal into the propeller control voltage for controlling the propeller.
The emergency module is an embedded module, and when the propeller is controlled, the control quantity distribution calculation of the propeller is also required according to the thrust distribution matrix, so that the multi-degree-of-freedom flexible control of the submersible is ensured, and a simple direct control mode is not adopted. When the control electricity G3 in the manned cabin loses electricity due to a fault, the emergency module automatically switches the operation mode to the emergency mode, and the operation control function of the propeller is ensured to be normal.
In summary, the manned submersible safety operation control device comprises a main operation part and a portable operation part, which can be backed up with each other and have respective characteristics, comprises a program control mode and an emergency mode in a working mode and has an automatic switching function, so that the manned submersible safety operation control device realizes four submersible operation modes, can be applied to both a manned submersible and an unmanned submersible and equipment needing operation control, and fully ensures the operation reliability, stability and safety of the equipment.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. A manned submersible safety maneuver control apparatus, comprising: the device comprises an extra-cabin unit, a main control component, a portable control component, a communication and logic control module, a main control unit, a power supply module and an interaction unit, wherein the main control component, the portable control component, the communication and logic control module, the main control unit, the power supply module and the interaction unit are arranged in a submersible cabin unit;
the communication and logic control module is respectively connected with the main control component, the portable control component and the power supply module and is used for realizing the functions of line switching and power-off self-switching when the control modes between the main control component and the portable control component are switched;
the main control component is used for sending a control signal for controlling the movement of the submersible to the main control unit when switching to a main control mode so as to realize the movement control of the submersible; the main control component is also in direct communication with the extravehicular emergency module;
the portable control component is connected with the main control unit through a signal cable and used for sending a control signal for controlling the movement of the submersible to the main control unit when the portable operation mode is switched; the portable operating component also communicates directly with an extra-cabin emergency module;
the portable manipulating part is a mobile manipulating part, including: the portable signal acquisition board card comprises a portable operating lever, a fixed plate, a portable signal acquisition board card and a control box; the portable signal acquisition board card in the control box is connected with the main control unit through a cable;
the main control unit is communicated with the extravehicular unit and used for receiving an operation signal from the main operation part or the portable operation part, converting the operation signal into a network signal and sending the network signal to the extravehicular unit for driving and outputting;
the interaction unit comprises an operation mode selector switch and a program-controlled emergency switch, wherein the operation mode selector switch is connected with the communication and logic control module and is used for switching and selecting a main operation component or a portable operation component to operate the submersible vehicle, and the main operation component and the portable operation component can execute program-controlled operation control and emergency operation control; the program-controlled emergency switch is connected with an extra-cabin emergency unit;
the communication and logic control module comprises: the power-off switching module and the enabling switching module are connected with the power-off switching module;
the input end of the power-off switching module is connected with the power supply module, and the output end of the power-off switching module is connected with the enabling switching module so as to supply power to the enabling switching module;
the input end of the enabling switching module is also connected with an operation switch of the interactive system, and voltage signals are sent to the main operation component or the portable operation component according to the command of the operation mode switching switch so as to realize switching.
2. The manned submersible safety maneuver control device of claim 1, wherein the enable switch module is an interlocking configuration and enables only either the main maneuver or the portable maneuver.
3. The manned submersible safety maneuver control apparatus according to claim 1, wherein the main maneuver component comprises: the main control signal acquisition card is connected with the enabling switching module to receive a voltage signal of the communication and logic control module;
the main control lever or the auxiliary control lever takes the control voltage output by the main signal acquisition card as an analog quantity, the signal acquisition board card acquires the analog quantity, and the acquired analog quantity is transmitted to the main control unit in a serial port bus mode after being digitally processed by the signal acquisition board card.
4. The manned submersible safety maneuver control apparatus according to claim 1, wherein the master control unit comprises: a serial port/network module and a main control module;
the serial port/network module is respectively connected with the main signal acquisition board card and the portable signal acquisition board card, and is used for converting an operation signal of the main operation component or the portable operation component into a network signal and sending the network signal to the main control module;
and the main control module is used for receiving the network signal of the operation signal converted by the serial port/network module, distributing the control quantity of the propeller and transmitting the control quantity to the extravehicular unit through the Ethernet.
5. The manned submersible safety maneuver control device of claim 1, wherein the overboard unit comprises: the emergency module is connected with the driving module;
the driving module is connected with the main control unit and is used for analyzing the propeller execution control quantity of the main control unit and carrying out digital quantity/analog quantity conversion to be used as the submersible terminal control quantity;
the input end of the emergency module is connected with the main signal acquisition card, the portable signal acquisition card and the program-controlled emergency switch of the interactive system through serial ports respectively, the output end of the emergency module is connected with the ROV propeller, the emergency mode is selected through the program-controlled emergency switch, the main control component or the portable control component directly transmits the control signal to the emergency module, and the emergency module converts the serial port signal of the control component into propeller control voltage so as to control the propeller.
6. The method of claim 1, comprising the steps of:
1) After the system runs, the main control component or the portable control component is selected and enabled through an operation switch of the interactive system;
2) When the enabling switching module sends a voltage signal to the main control component or the portable control component, the power supply module supplies power, the control voltage output by the control lever of the main control component or the portable control component is an analog quantity, and the main signal acquisition board card carries out digital processing on the acquired analog quantity and transmits the analog quantity to a serial port/network module in the main control unit in a serial port bus mode;
3) A serial port/network module in the main control unit converts the control signal of the main control component or the portable control component into a network signal through the serial port/network module to form a control command, and the control command is transmitted to the main control module through the Ethernet;
4) The main control module collects the operation command of the main operation component or the portable operation component, distributes the propeller control quantity according to the thrust distribution matrix of the submersible, and transmits the propeller control quantity to the rear-end driving module through the Ethernet;
5) The driving module analyzes the propeller execution control quantity of the main control unit, performs digital quantity/analog quantity conversion to be used as submersible terminal control quantity, and realizes the control of the submersible;
6) When the control signal transmission link fails to transmit the control signal, the control mode is switched to the emergency control mode through the program-controlled emergency switch of the interaction unit, so that emergency treatment is realized;
the power source of the control device is a 24V storage battery pack, the power source of the storage battery pack is non-isolated electricity G1, power supply in the manned cabin is isolated and stabilized through DC/DC, the isolated power source is isolated electricity G3, and the non-isolated electricity G1 is introduced into the control system according to the requirement of the control device;
the power supply of the control component firstly passes through a power-off switching module, the input of the module is G1 and G3, G3 is used as the control power of the module, under the normal condition, the module outputs G3 to the next module, when the G3 in the cabin fails, the output is automatically switched to G1 to supply power continuously to the control component, manual switching is not needed, and the power supply continuity of the control component is maintained;
after the system runs, in order to prevent misoperation, the main control component and the portable control component are in a non-enabling state and have no control output, the main control component or the portable control component is selectively enabled through an enabling switch of a human-computer interaction interface, an enabling switching module has an interlocking structure, and only a single control component can be enabled at the same time;
when the main control component is enabled, the G3 is used for supplying power by default, the control voltage output by the control lever is analog quantity, the analog quantity is collected by a signal collecting board card arranged in the driving platform, the signal collecting board card is used for carrying out digital processing on the collected analog quantity, and the analog quantity is transmitted to a serial port/network module in a serial port bus mode according to a control communication protocol format;
when the portable operating component is enabled, the G3 is used for supplying power by default, the portable operating component is of an integrated structure, operating voltage output by the operating rod is analog, the signal acquisition board card is used for acquiring, and the acquired analog is transmitted to the serial port/network module in a serial port bus mode after being subjected to digital processing by the signal acquisition board card.
7. The control method of a manned submersible safety maneuver control device according to claim 6, wherein the step 6) is embodied as:
the input signals of the emergency module comprise an operation signal output by the driving module in the program control mode and an operation signal directly transmitted by the operation component in the emergency mode;
under the program control mode, the emergency module directly transmits the output signal of the driving module to the propeller for control, and under the emergency mode, the emergency module carries out isolation, thrust distribution and conversion processing on the serial port signal of the main control component, and finally converts the serial port signal into propeller control voltage for propeller control.
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| JP3019984B2 (en) * | 1989-07-29 | 2000-03-15 | 三信工業株式会社 | Ship propulsion control system |
| WO1991016235A2 (en) * | 1990-04-14 | 1991-10-31 | Zahnradfabrik Friedrichshafen Ag | Control system for operating a ship's motive installation |
| AU6582301A (en) * | 2000-06-21 | 2002-01-02 | Submerge Aps | Submarine system for sea-bed work |
| JP4311751B2 (en) * | 2006-07-24 | 2009-08-12 | ヤマハ発動機株式会社 | Inboard network system |
| JP5351611B2 (en) * | 2009-05-29 | 2013-11-27 | ヤマハ発動機株式会社 | Ship control system, ship propulsion system and ship |
| CN202624620U (en) * | 2012-05-07 | 2012-12-26 | 上海融德机电工程设备有限公司 | Electric propulsion system of ship |
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