CN115180105A - Pitch control system and method for distance-adjusting type lateral thruster - Google Patents
Pitch control system and method for distance-adjusting type lateral thruster Download PDFInfo
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- B63H3/00—Propeller-blade pitch changing
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The invention discloses a pitch control system of a pitch-adjusting lateral propeller, which comprises a control handle signal calibration module, a pitch sensor signal calibration module, a pitch closed-loop control module and a control method of the pitch closed-loop control system.
Description
Technical Field
The invention belongs to the technical field of ship power systems, and particularly relates to a pitch control system and a pitch control method of a pitch-adjustable lateral propeller.
Background
With the continuous improvement of the maneuverability requirement of ships and ocean engineering platforms, the lateral propeller is widely applied to cargo ships, engineering ships, oil tankers and special working platforms. The lateral thruster provides lateral thrust as required, and the transverse maneuverability of the ship is improved.
The lateral thruster is divided into a fixed-distance type and a distance-adjusting type, the fixed-distance type lateral thruster adopts fixed blades, and the direction and the size of thrust can be adjusted by controlling the steering and the rotating speed of a propulsion motor. The distance-adjusting lateral propeller is driven by a constant-rotating-speed motor, and the angle of the blades is controlled by controlling the flow direction and the flow of hydraulic oil flowing through the hub oil cylinder, so that the thrust direction and the thrust size can be adjusted in a constant-rotating-speed mode.
The fixed-distance lateral thruster needs to adopt a frequency converter and variable frequency motor mode to realize adjustable thrust. A fixed-distance lateral thruster system is complex, a frequency converter needs water cooling, and a cooling system is introduced; harmonic waves are easy to generate, and interference is caused to a whole ship power system; the price is expensive, and the cost of the whole system is about 2 to 3 times of that of the distance-adjusting type lateral thruster with the same power.
Common distance-adjusting lateral thrusters adopt open-loop control, and the blade angle is adjusted by controlling a switch-type hydraulic valve, so that the thrust is controlled. The control method has the advantages of poor control precision, frequent action and large thrust fluctuation. The thrust handle is calibrated by adopting a screw pitch, the thrust handle is linearly corresponding to the screw pitch of the side thrust device and has a cubic relation with the generated thrust, and the overload of a thrust motor is easily caused.
Disclosure of Invention
One of the purposes of the invention is to provide a pitch control system of a pitch-adjusting type lateral thruster, aiming at improving control precision, thrust response and control smoothness.
The technical scheme adopted by the invention for solving the technical problem is as follows: a pitch control system of a pitch-adjusting lateral thruster comprises a control handle signal calibration module, a pitch sensor signal calibration module and a pitch closed-loop control module; the control handle signal calibration module is used for calibrating a signal of the thrust handle according to the thrust of the lateral thruster so that the thrust generated by the lateral thruster linearly changes within the control range of the thrust handle; the pitch sensor signal calibration module is used for calibrating signals of the pitch sensor, so that the electrical signals output by the pitch sensor correspond to the pitches in a linear relation one to one; the pitch closed-loop control module is used for calculating the deviation between the pitch control command and the pitch feedback command, determining the action direction of the pitch according to the positive/negative deviation and determining the following speed of the pitch according to the absolute value of the deviation.
The invention also provides a control method of the pitch control system of the distance-adjusting type lateral thruster, which comprises the following steps:
(1) The control handle signal calibration module controls a thrust handle to output a current signal with a signal of 4-20mA, wherein a lowest stop gear output signal is 4mA, a zero scale output signal is 12mA, a highest stop gear output signal is 20mA, thrust generated by a maximum pitch on a port side of a blade corresponds to a 4mA signal, zero thrust corresponds to a 12mA signal, thrust generated by a maximum pitch on a starboard side of the blade corresponds to 20mA for linear transformation, and a pitch theta corresponding to a control thrust handle is controlled by a formula
Calculated, in which theta is the pitch, T S For water-flow test thrust, V S The hydrostatic speed of the ship at the position of the lateral propeller, w is a wake coefficient, rho is the density of fluid, n is the rotating speed of the propeller, D is the diameter of the blade, eta is the hydrostatic speed of the ship T Is the slip efficiency of the blade;
(2) The pitch sensor signal calibration module enables the maximum pitch of the blade port to correspond to the lowest position of a signal of the pitch sensor, enables the zero pitch of the blade port to correspond to the signal zero position of the pitch sensor, and enables the maximum pitch of the blade starboard to correspond to the highest position of the signal of the pitch sensor;
(3) The pitch closed-loop control module compares the pitch control command with the pitch feedback command: when positive deviation occurs, the starboard electromagnetic valve is controlled to move towards the starboard direction at a higher speed, when the deviation reaches a fine adjustment set value k1, the starboard electromagnetic valve acts in a pulse mode, and the screw pitch slowly approaches to a command value until the starboard electromagnetic valve stops acting within an allowable error range; when the negative deviation occurs, the port electromagnetic valve is controlled to move towards the port direction at a higher speed, when the deviation reaches a fine adjustment set value k2, the port electromagnetic valve acts in a pulse mode, and the screw pitch slowly approaches to a command value until the operation is stopped within an allowable error range.
The control method of the pitch control system of the pitch-adjusting lateral thruster comprises the following steps of (3): when the absolute value of the deviation is larger than the absolute value of the fine adjustment set value, the starboard/port electromagnetic valve is continuously opened, hydraulic oil continuously enters the propeller hub, and the screw pitch continuously moves to the starboard/port; when the absolute value of the deviation is smaller than the absolute value of the fine adjustment set value, the function generator outputs a pulse command, namely the electromagnetic valve is intermittently connected and slowly approaches to a starboard/a port.
Further, the speed control switching value is 10 degrees, and when the positive deviation is larger than 10 degrees or the negative deviation is smaller than-10 degrees, the electromagnetic valve is continuously switched on; when the positive deviation is less than 10 ° or the negative deviation is greater than-10 °, the solenoid valve is pulsed on until the error is within the allowable range.
The control method of the pitch control system of the pitch-adjusting lateral thruster comprises the following steps of (3): defining the motion error of the zero pitch towards the starboard/port maximum pitch direction as an allowable error C1, defining the motion error of the starboard/port maximum pitch towards the zero pitch direction as an allowable error C2, wherein C1 is less than C2, and adjusting the zero pitch towards the starboard/port maximum pitch direction until the deviation reaches the allowable error C1, and stopping adjusting the pitch; the pitch-adjusting type lateral thruster hydraulic system has inevitable internal leakage, so that the pitch can be enlarged towards the direction of zero pitch, and when the deviation is enlarged continuously and the adjustment error of the maximum starboard/port pitch towards the direction of zero pitch is larger than C2, the control system is adjusted to the position of C1 continuously. When the parameters are set, C1 is less than C2, an allowable deviation interval C2-C1 caused by leakage exists, and repeated adjustment of the paddle is avoided.
Further, the function generator outputs a forward command to the forward solenoid valve: the starboard fine adjustment is set to be k1, the negative error is C1, the positive error is C2, the function generator outputs a continuous full-open instruction to the positive solenoid valve when the delta U is larger than or equal to k1, outputs a pulse opening instruction to the positive solenoid valve when the delta U is smaller than k1, the negative error is larger than or equal to C1 and the positive error is larger than or equal to C2, and outputs a closing instruction to the positive solenoid valve under other conditions; the function generator outputs a reverse command to the reverse solenoid valve: and the port fine adjustment is set to be k2, the negative error is C3, the positive error is C4, the function generator outputs a continuous full-open instruction to the reverse electromagnetic valve when the delta U is less than or equal to k2, outputs a pulse opening instruction to the reverse electromagnetic valve when the delta U is more than or equal to k2, the negative error is less than or equal to C3 and the positive error is less than or equal to C4, and outputs a closing instruction to the reverse electromagnetic valve under other conditions.
The invention has the following advantages and positive effects:
the control handle of the present invention calibrates the thrust of the side-to-side propeller rather than the linear pitch signal, thus allowing the propulsion motor load to be uniformly varied.
The invention allows error difference control, sets the upper allowable deviation and the lower allowable deviation as a difference value according to the working principle of adjusting the distance of the lateral thruster, and reduces the adjusting frequency of the screw pitch.
And 3, aiming at a switch valve adopted by a hydraulic system of the distance-adjusting type lateral thruster, in order to ensure the timeliness of response and the accuracy of control, the invention adopts a sectional control method, adopts rapid approach when the difference value is large, and adopts controllable pulse approach when the difference value is close to a target value.
4, the invention has good adaptability, and can change control parameters to realize different responses according to actual needs.
Drawings
FIG. 1 is a schematic diagram of the control of the pitch of the lateral thruster of the present invention;
FIG. 2 is a pitch-thrust curve of the control system of the present invention;
FIG. 3 is a flow chart of the present invention for closed loop control of pitch;
FIG. 4 is a diagram of control accuracy distribution according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following examples and figures.
Example 1
Referring to fig. 1, the invention discloses a pitch control system of a controllable pitch lateral thruster, which is characterized in that: comprises that
And the control handle signal calibration module is used for calibrating the signal of the thrust handle according to the thrust of the lateral thruster so that the thrust generated by the lateral thruster linearly changes within the control range of the thrust handle.
And the pitch sensor signal calibration module is used for calibrating the pitch sensor signals to enable the electrical signals output by the pitch sensor to correspond to the pitches in a linear relation one to one.
And the pitch closed-loop control module is used for calculating the deviation between the pitch control instruction and the pitch feedback instruction, determining the action direction of the pitch according to the positive/negative deviation and determining the following speed of the pitch according to the absolute value of the deviation. Finally, the output signals of the control handles correspond to the screw pitches one by one, the thrust generated by the lateral propeller is linearly increased along with the control handles, and exponential change of motor load due to uniform change of the angle of the blades is reduced.
Example 2
Referring to fig. 2, the invention discloses a control method of a pitch control system of a controllable pitch lateral thruster, which comprises the following steps:
(1) The control handle signal calibration module controls the output signal of the thrust handle to be a current signal of 4-20mA, the output signal of the lowest stop gear is 4mA, the output signal of zero scale is 12mA, the output signal of the highest stop gear is 20mA, wherein the thrust generated by the maximum pitch on the port side of the blade corresponds to a 4mA signal, the zero thrust corresponds to a 12mA signal, the thrust generated by the maximum pitch on the starboard side of the blade corresponds to 20mA for linear transformation, and the pitch theta corresponding to the displacement of the control thrust handle is represented by a formula
Calculated, in which theta is the pitch, T S Thrust for water-flowing test, V S The hydrostatic speed of the ship at the position of the lateral propeller, w is the wake coefficient, rho is the density of the fluid, n is the rotating speed of the propeller, D is the diameter of the blade, eta is T Is the slip efficiency of the blade.
(2) The pitch sensor signal calibration module enables the maximum pitch of the left side of the blade to correspond to the lowest position of a signal of the pitch sensor, enables the zero pitch of the left side of the blade to correspond to the zero position of the signal of the pitch sensor, and enables the maximum pitch of the right side of the blade to correspond to the highest position of the signal of the pitch sensor.
(3) The pitch closed-loop control module compares the pitch control command with the pitch feedback command: when positive deviation occurs, the starboard solenoid valve is controlled to move towards the starboard direction at a higher speed, when the deviation reaches a fine adjustment set value k1, the starboard solenoid valve acts in a pulse mode, and the screw pitch slowly approaches to a command value until the action is stopped within an allowable error range; when the negative deviation occurs, the port electromagnetic valve is controlled to move towards the port direction at a higher speed, when the deviation reaches a fine adjustment set value k2, the port electromagnetic valve acts in a pulse mode, and the screw pitch slowly approaches to a command value until the operation is stopped within an allowable error range.
Wherein the speed control specifically comprises: when the absolute value of the deviation is larger than the fine adjustment set value, the starboard/port electromagnetic valve is continuously opened, the hydraulic oil continuously enters the propeller hub, and the screw pitch continuously moves towards the starboard/port; when the absolute value of the error/deviation is smaller than the fine adjustment set value, the function generator outputs a pulse instruction, namely the electromagnetic valve is intermittently connected and slowly approaches to a starboard/a port;
the precision control specifically comprises: defining the motion error of the zero pitch towards the maximum starboard/port pitch direction as an allowable error C1, defining the maximum starboard/port pitch direction as an allowable error C2, wherein C1 is less than C2, and adjusting the zero pitch towards the maximum starboard/port pitch direction until the deviation reaches the allowable error C1; and when the adjustment error of the maximum starboard/port pitch in the zero pitch direction is larger than C2, the control system continues to adjust to the position C1.
The invention inputs the signal of the thrust handle and feeds back the signal of the pitch sensor, and the two signals are used for PID control, thereby having good adaptability and being capable of changing control parameters according to actual requirements to realize different responses.
Example 3
A certain multipurpose working ship is provided with bow/stern lateral thrusters which are all adjustable-pitch lateral thrusters. A700 KW three-type asynchronous motor is adopted for bow thrust, the rated rotating speed is 1500r/min, the hydrostatic transverse speed is designed to be 6kn, the diameter of a blade of a lateral propeller is 1200mm, the wake flow coefficient is 0.246, the slip loss rate is 0.891, the maximum screw pitch of a port is 50 degrees, and the maximum screw pitch of a starboard is 50 degrees.
(1) The control handle is calibrated, and the calibration method comprises the following steps:
the 4-20mA signal output by the control handle is linearly transformed to-100-0-100.
Calculating the thrust under the rated rotating speed according to the starboard pitch of the blades at 50 degrees, wherein the corresponding starboard thrust is 293.86kN; the port thrust corresponding to a port thread pitch of 50 ° is 293.86kN.
Linearly corresponding the thrust of a port board to 293.86kN-0kN to a control handle to-100-0; starboard thrust of 0kN-293.86kN corresponds linearly to 0-100.
And calculating the screw pitch theta corresponding to the displacement of the control handle from-100 to 0 to 100 according to a thrust-screw pitch function formula.
In the formula T S For water-flow test thrust, V S The hydrostatic speed of the ship at the position of the lateral propeller, w is the wake coefficient, rho is the density of the fluid, n is the rotating speed of the propeller, D is the diameter of the blade, eta is T Is the slip efficiency of the blade.
(2) And calibrating the signal of the pitch sensor. The pitch sensor senses the change of the pitch through a mechanical device, and the detection range of the sensor is from a port maximum position to a starboard maximum position. The pitch sensor is connected with the blades through connecting rods, the pitch and the electric signal output of the sensor are in a linear relation, 4mA corresponds to the maximum port blade angle, 12mA corresponds to the zero pitch, and 20mA corresponds to the maximum starboard pitch. For convenience of universality, the port maximum paddle angle, the zero position and the starboard maximum paddle angle are enlarged to be-100-0-100 in equal proportion. Setting the filtering period of the pitch sensor signal to be 50Hz, and linearly changing the port maximum pitch-zero pitch-the starboard maximum pitch within-100-0-100 to calculate the pitch feedback signal.
(3) Writing software according to the model of fig. 3, wherein the forward command corresponds to a forward solenoid valve: starboard fine adjustment is set to be k1, the negative error is C1, and the positive error is C2; when the delta U is larger than or equal to k1, the function generator outputs a continuous full-open instruction to the forward electromagnetic valve; when the delta U is less than k1, the negative error is more than or equal to C1, and the positive error is more than or equal to C2, a pulse opening instruction is output to the positive electromagnetic valve; and otherwise, outputting a closing command to the forward solenoid valve. The reverse command corresponds to a reverse solenoid valve: the port fine adjustment is set to be k2, the negative error is C3, and the positive error is C4; when the delta U is less than or equal to k2, the function generator outputs a continuous full-open instruction to the reverse electromagnetic valve; outputting a pulse opening instruction to the reverse electromagnetic valve when the delta U is more than k2, the negative error is less than or equal to C3 and the positive error is less than or equal to C4; and outputting a closing command to the reverse solenoid valve in other conditions.
The control speed switching value is set to be 10 degrees, when the positive deviation is larger than 10 degrees or the negative deviation is smaller than-10 degrees, the switch valve is continuously switched on, the hydraulic oil continuously enters the propeller hub, and the screw pitch continuously changes. When the positive deviation is less than 10 deg. or the negative deviation is greater than-10 deg., the switch electromagnetic valve is pulse-connected. The action frequency of the switch valve is set to be 2Hz, the duty ratio is 50 percent, and the solenoid valve receives square waves with the period of 0.5 s. Wherein, the high level time is 0.25s, the solenoid valve is switched on every 0.25s at intervals of 0.25s until the control error is within the allowable error range. The setting tolerance C1 is 1 °, and C2 is 3 °.
Through the actual navigation, the control error is sampled 100 times, and the error distribution is shown in FIG. 4: the average control error value is 0.59 degrees, and the average control error values are all less than 1.0 degree. According to the navigation discovery of the lateral thruster, the thrust response is stable, the response is timely, and the control precision is high.
The foregoing embodiments are merely illustrative and explanatory of the present invention, and it is intended that those skilled in the art, who have the benefit of the present disclosure, make various modifications, additions and substitutions to the specific embodiments described, without departing from the spirit of the invention or exceeding the scope of the present claims.
Claims (6)
1. The utility model provides a roll adjustment type lateral thruster pitch control system which characterized in that: comprises that
The control handle signal calibration module is used for calibrating a signal of the thrust handle according to the thrust of the lateral thruster so that the thrust generated by the lateral thruster linearly changes within the control range of the thrust handle;
the pitch sensor signal calibration module is used for calibrating a pitch sensor signal to enable an electric signal output by the pitch sensor to correspond to a pitch;
and the pitch closed-loop control module is used for calculating the deviation between the pitch control instruction and the pitch feedback instruction, determining the action direction of the pitch according to the positive/negative deviation and determining the following speed of the pitch according to the absolute value of the deviation.
2. A method of controlling a pitch control system of a pitch regulated lateral thruster according to claim 1, comprising the steps of:
(1) The control handle signal calibration module controls the thrust handle to output 4-20mA current signals, wherein the lowest gear position outputs 4mA, the zero scale outputs 12mA, the highest gear position outputs 20mA, the thrust generated by the maximum pitch of the left side of the blade corresponds to 4mA, the zero thrust corresponds to 12mA, the thrust generated by the maximum pitch of the right side of the blade corresponds to 20mA, and the pitch theta corresponding to the control thrust handle is calculated by the following formula:
in the formula T S Thrust for water-flowing test, V S The hydrostatic speed of the ship at the position of the lateral propeller, w is a wake coefficient, rho is the density of fluid, n is the rotating speed of the propeller, D is the diameter of the blade, eta is the hydrostatic speed of the ship T Is the slip efficiency of the blade;
(2) The pitch sensor signal calibration module enables the maximum pitch of the left side of the blade to correspond to the lowest position of a signal of the pitch sensor, enables the zero pitch of the left side of the blade to correspond to the zero position of the signal of the pitch sensor, and enables the maximum pitch of the right side of the blade to correspond to the highest position of the signal of the pitch sensor;
(3) The pitch closed-loop control module compares the pitch control command with the pitch feedback command: when positive deviation occurs, the starboard electromagnetic valve is controlled to move towards the starboard direction, when the deviation reaches a fine adjustment set value, the starboard electromagnetic valve acts in a pulse mode, and the screw pitch slowly approaches to a command value until the action is stopped within an allowable error range; when the deviation reaches a fine adjustment set value, the port electromagnetic valve acts in a pulse mode, and the thread pitch slowly approaches to a command value until the operation is stopped within an allowable error range.
3. The control method of a pitch control system of a controllable lateral thruster according to claim 2, wherein the speed control step in step (3) is: when the absolute value of the error is larger than the absolute value of the fine adjustment set value, the starboard/port electromagnetic valve is continuously opened, and the screw pitch continuously moves towards the starboard/port; when the absolute value of the error is smaller than the absolute value of the fine-tuning set value, the function generator outputs a pulse command, the electromagnetic valve is intermittently connected, and the electromagnetic valve slowly approaches to a starboard/a port.
4. A control method of a pitch control system of a controllable lateral thruster according to claim 3, characterized in that the speed control switch value is 10 °, when the positive deviation is larger than 10 ° or the negative deviation is smaller than-10 °, the solenoid valve is continuously switched on; when the positive deviation is less than 10 deg. or the negative deviation is greater than-10 deg., the solenoid valve is pulsed on until the error is within the allowable range.
5. The control method of the pitch control system of the controllable-pitch lateral thruster, as claimed in claim 2, wherein the precision control step in the step (3) is: and defining the motion error of the zero pitch towards the starboard/port maximum pitch direction as an allowable error C1, defining the motion error of the zero pitch towards the starboard/port maximum pitch direction as an allowable error C2, wherein C1 is less than C2, adjusting the zero pitch towards the starboard/port maximum pitch direction until the deviation reaches the allowable error C1, and continuously adjusting the zero pitch to the position C1 when the adjustment error of the starboard/port maximum pitch direction is more than C2.
6. The control method of the pitch control system of the controllable-pitch lateral thruster of claim 5, wherein the function generator outputs a forward command to the forward solenoid valve: the starboard fine adjustment is set to be k1, the negative error is C1, the positive error is C2, the function generator outputs a continuous full-open instruction to the positive electromagnetic valve when the delta U is larger than or equal to k1, outputs a pulse opening instruction to the positive electromagnetic valve when the delta U is smaller than k1, the negative error is larger than or equal to C1 and the positive error is larger than or equal to C2, and outputs a closing instruction to the positive electromagnetic valve under other conditions; the function generator outputs a reverse instruction to the reverse solenoid valve: and the port fine adjustment is set to be k2, the negative error is C3, the positive error is C4, the function generator outputs a continuous full-open instruction to the reverse electromagnetic valve when the delta U is less than or equal to k2, outputs a pulse opening instruction to the reverse electromagnetic valve when the delta U is more than or equal to k2, the negative error is less than or equal to C3 and the positive error is less than or equal to C4, and outputs a closing instruction to the reverse electromagnetic valve under other conditions.
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| CN202210794934.1A CN115180105B (en) | 2022-07-05 | Pitch control system and method for distance-adjusting type lateral propeller |
Applications Claiming Priority (1)
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| CN202210794934.1A CN115180105B (en) | 2022-07-05 | Pitch control system and method for distance-adjusting type lateral propeller |
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| CN115180105B CN115180105B (en) | 2024-07-05 |
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