CN1430044A - Steering engine automatic operation apparatus - Google Patents
Steering engine automatic operation apparatus Download PDFInfo
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- CN1430044A CN1430044A CN 01145712 CN01145712A CN1430044A CN 1430044 A CN1430044 A CN 1430044A CN 01145712 CN01145712 CN 01145712 CN 01145712 A CN01145712 A CN 01145712A CN 1430044 A CN1430044 A CN 1430044A
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- helm
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Abstract
An automatic manipulator for helm gear is composed of a computerized main controller, an actual course input unit for inputting the signals from digital compass to CPU in main controller via serial port, a pointed course input unit for inputting the signals from keyboard to CPU via interface, and a helm angle feedback input unit for feeding the signls of helm angle from sensor to CPU via A/D converter. Its advantages are high precision and response speed, and easy operation.
Description
Technical field
The present invention relates to a kind of use and on the boats and ships in navigation field, steering wheel is carried out the numeral steering engine automatic operation apparatus of control automatically with computer.
Background technology
At present, can promptly make up pilot for the autopilot that uses on the ship, mostly be mechanical type, forceful electric power infrastructure product, the simulating signal running in course is provided by gyro compass, both equipment manufacturing cost costlinesses, and can not be used with the compass of other pattern, the gyro compass that the combination pilot is equipped with needs the forceful electric power source, the high rotating speed of gyro compass rudder sieve, mechanical wear is big, and fault is more, because the combination pilot is to provide the simulating signal of course, rudder angle to operate by gyro compass and mechanical rudder angle indicator, precision is low, and speed is slow.
Summary of the invention
The objective of the invention is in order to overcome the shortcoming of prior art, reduce equipment cost, and a kind of heavy mental and physical efforts, manual labor that can alleviate the steersman can be provided, and make the corresponding robotization of more ship steering engines and the steering engine automatic operation apparatus that designs.
Technical scheme of the present invention is achieved like this, be characterized in, it comprises main control part, the actual heading importation, specify the importation, course, rudder angle feedback importation, main control part adopts CPU, the actual heading importation is gathered the floating-point serial digital signal that the digital Luo Jing by 99226960.1 patent manufacturings sends here and is connected with CPU through serial line interface, specify the importation, course to be connected with CPU by the input expansion interface by panel and keypad, rudder angle feedback importation inputs to CPU by the rudder angle simulating signal that rotation angle sensor records through the A/D conversion, by the actual heading input signal, the command heading input signal, the rudder angle feedback input signal is exported left rudder by contactless switch to steering wheel through the CPU functional operation, right standard rudder, operation, the output contact control steering wheel operation of reporting to the police.
The working procedure of steering engine automatic operation apparatus is:
A, through the actual heading data of keyboard input instruction course data and digital Luo Jing input to CPU,
B, enter 0 degree according to input instruction course data and actual heading data and connect program with the contactlesses of 360 degree, be divided into two groups of subroutines through functional operation, a. determines that left rudder still is that right standard rudder enters left and right rudder affirmation system; B. determine the angle of ship turning according to input instruction course data and actual heading data difference;
C, five active section programs selecting automatically according to the angle of the difference ship turning between actual heading and actual heading;
D, according to boats and ships size, dead weight capacity, the ship speed trace routine of easing the helm automatically, control steering wheel feedback time reaches the purpose of easing the helm automatically;
E, break down when system, promptly start automatic alert program as the true steering wheel operation of steering wheel poor direction no response, operation stops, reverting to manually.
Because it is digital control that this instrument carries out with computer, reaction velocity is fast, and the precision height can be used with multiple digital Luo Jing, and is simple to operate.Solved transition problem and trackings of easing the helm automatically between 360 degree and 0 degree, in the program run that goes as course, corrected driftage automatically, kept the boats and ships left-right deviation in case go off course greater than the correction immediately of 0.5 degree.
Description of drawings
Fig. 1 is a steering engine automatic operation apparatus line principle block diagram,
Fig. 2 is the steering engine automatic operation apparatus flow chart;
Fig. 3 is that 0 degree connects procedure chart with the contactless of 360 degree;
Fig. 4 is five active section option program figure in course for a change;
Fig. 5 is the procedure chart of easing the helm automatically;
Fig. 6 is a steering wheel feedback fraction wiring diagram.
Embodiment
By shown in Figure 1, it comprises main control part 1, actual heading importation 2, command heading importation 3, rudder angle feedback importation 4, main control part CPU adopts the W87E52B chip, the floating-point serial digital signal sent here by digital Luo Jing is gathered through MC1488 in the actual heading importation, the MC1489 serial line interface is connected with CPU, the command heading importation is connected with CPU by input expansion interface 8155 chips by panel and keypad, the rudder angle simulating signal that rudder angle feedback importation is recorded as rotation angle sensor by potentiometer W1 inputs to CPU through interface SN74F157A again via the A/D conversion of chip IC L7135, by the actual heading input signal, the command heading input signal, the rudder angle feedback input signal is exported left rudder by contactless switch to steering wheel through the CPU functional operation, right standard rudder, operation, the output contact control steering wheel operation of reporting to the police.By Fig. 1, shown in Figure 6, rudder angle feedback importation 4 comprises rudder angle feedback potentiometer, electric bridge, A/D converter and output interface thereof, rudder angle feedback potentiometer W1 output is connected with A/D converter ICL7135 through the bridge diagram that W2-W7 forms, the output one tunnel of A/D converter is connected with CPU through interface chip SN74F157, to participate in computing, another road is connected with charactron through decoding scheme MC14513, to show the actual rudder angle data.
By shown in Figure 2, the working procedure of steering engine automatic operation apparatus is:
A, through the actual heading data of keyboard input instruction course data and digital Luo Jing input to CPU,
B, enter 0 degree according to input instruction course data and actual heading data and connect program with the contactlesses of 360 degree, be divided into two groups of subroutines through functional operation, a. determines that left rudder still is that right standard rudder enters left and right rudder affirmation system; B. determine the angle of ship turning according to input instruction course data and actual heading data difference;
C, five active section programs selecting automatically according to the angle of the difference ship turning between command heading and actual heading;
D, according to boats and ships size, dead weight capacity, the ship speed trace routine of easing the helm automatically, control steering wheel feedback time reaches the purpose of easing the helm automatically;
E, break down when system, promptly start automatic alert program as the true steering wheel operation of steering wheel poor direction no response, operation stops, reverting to manually.
By shown in Figure 3,0 degree connects subroutine with the contactless of 360 degree and is:
A. command heading X and the computing of actual heading Y rudder angle data difference;
B. judge its difference Z be＞+180 ° or＜-180 °;
C. (Z)＞+180 °, then Z-360 °, (Z)＜-180 °, (Z)+360 ° then make (Z)≤+ 180 ° or (Z) 〉=-180 °;
D. when (Z)≤+ 180 °, (1) determines that (Z) is positive number, enters the right standard rudder working routine,
(2) be sent to five active section subroutines of selection,
When (Z) 〉=-180 °, (1) determines that (Z) is negative, enters the left rudder working routine,
(2) removing negative sign becomes (Z)≤+ 180 and ° enters and to select five
The active section subroutine.
By shown in Figure 4, five active section option programs are:
(1) first selects section to be the active section that goes as course, (Z)≤+ 180 ° data to the first that connected the subroutine input by 0 ° of contactless with 360 ° select section＞0.5 degree＜5 degree to assert, control rudder angle 2 degree, at＜0.5 degree, or＞when 0.5 degree＜5 is spent, this section was not returned in showing interest in when stormy waves was arranged, EOP (end of program);＞5 degree enter next and select section;
The section of going as course when (2) second selection sections are moved for stormy waves is arranged, according to first select section＞data of 5 degree assert that through this section＞5 degree＜10 spend working ranges, control rudder angle 5 degree, steering wheel is returned as automatically and returns, allow time of return to control, select section when＞10 degree enter next by automatic backspace subroutine;
(3) according to the 3rd select section＞data of 10 degree assert＞10 degree＜30 degree working ranges through this section, control rudder angle 10 degree, steering wheel is returned as automatically and returns, and allows time of return control by automatic backspace subroutine, when＞30 degree enter next selection section;
(4) according to the 4th select section＞data of 30 degree assert that through this section＞30 degree＜60 spend working ranges, control rudder angle 20 degree are pressed rudder 5 degree when steering wheel returns, steering wheel is eased the helm to easing the helm automatically, time is selected section by the subroutine control of easing the helm automatically when＞60 degree enter next;
(5) according to the 5th select section＞data of 60 degree assert the working ranges of＞60 degree through this section, press rudder 5 degree when control rudder angle 30 degree steering wheels return, steering wheel is eased the helm to easing the helm automatically, the time is controlled by the subroutine of easing the helm automatically.By shown in Figure 5, the trace routine of easing the helm is:
(1) the rudder angle data of the rudder angle of command heading and actual heading are carried out the difference computing, and both differences are Z;
(2) the rudder angle data of the rudder angle of command heading and actual heading calculate fixedly difference W after being transferred to new address and blockade;
(3) according to W-Z=T, selected control rudder angle boats and ships anglec of rotation T;
(4) difference Z and difference T compare, and error sends command signal for when ± 0.5 spends selected active section;
(5) according to Z and T relatively after, error sends the inverted running that command signal starts steering wheel for selected active section when ± 0.5 spends, the trace routine of easing the helm finishes.
Claims (6)
1, steering engine automatic operation apparatus, it is characterized in that, it comprises main control part, the actual heading importation, specify the importation, course, rudder angle feedback importation, main control part adopts CPU, the actual heading importation is gathered the floating-point serial digital signal of being sent here by digital Luo Jing and is connected with CPU through serial line interface, specify the importation, course to be connected with CPU by the input expansion interface by panel and keypad, rudder angle feedback importation inputs to CPU by the rudder angle simulating signal that rotation angle sensor records through the A/D conversion, by the actual heading input signal, the command heading input signal, the rudder angle feedback input signal is exported left rudder by contactless switch to steering wheel through the CPU functional operation, right standard rudder, operation, the output contact control steering wheel operation of reporting to the police.
2, steering engine automatic operation apparatus according to claim 1 is characterized in that, the working procedure of steering engine automatic operation apparatus is:
A, through the actual heading data of keyboard input instruction course data and digital Luo Jing input to CPU,
B, enter 0 degree according to input instruction course data and actual heading data and connect program with 360 contactlesses of spending;
C, five active section programs selecting automatically according to the angle of the difference ship turning between command heading and actual heading;
D, according to boats and ships size, dead weight capacity, the ship speed trace routine of easing the helm automatically, control steering wheel feedback time reaches the purpose of easing the helm automatically;
E, break down when system, promptly start automatic alert program as the true steering wheel operation of steering wheel poor direction no response, operation stops, reverting to manually.
3, steering engine automatic operation apparatus according to claim 1, it is characterized in that, described rudder angle feedback importation 4 comprises rudder angle feedback potentiometer, electric bridge, A/D converter and output interface thereof, rudder angle feedback potentiometer W1 output is connected with A/D converter ICL7135 through the bridge diagram that W2-W7 forms, the output one tunnel of A/D converter is connected with CPU through interface chip SN74F157, to participate in computing, another road is connected with digital through decoding scheme MC14513, to show the actual rudder angle data.
According to steering engine automatic operation apparatus according to claim 2, it is characterized in that 4, described 0 degree connects subroutine with the contactless of 360 degree and is:
A. command heading X and the computing of actual heading Y rudder angle data difference;
B. judge its difference Z be＞+180 ° or＜-180 °;
C. (Z)＞+180 °, then Z-360 °, (Z)＜-180 °, (Z)+360 ° then,
Make (Z)≤+ 180 ° or (Z) 〉=-180 °;
D. when (Z)≤+ 180 °, (1) determines that (Z) is positive number, enters the right standard rudder working routine,
(2) be sent to five active section subroutines of selection,
When (Z) 〉=-180 °, (1) determines that (Z) is negative, enters the left rudder working routine,
(2) removing negative sign becomes (Z)≤+ 180 and ° enters and to select five
The active section subroutine;
According to steering engine automatic operation apparatus according to claim 2, it is characterized in that 5, described five active section option programs are:
(1) first selects section to be the active section that goes as course, (Z)≤+ 180 ° data to the first that connected the subroutine input by 0 ° of contactless with 360 ° select section＞0.5 degree＜5 degree to assert, control rudder angle 2 degree, at＜0.5 degree, or＞when 0.5 degree＜5 is spent, this section was not returned in showing interest in when stormy waves was arranged, EOP (end of program);＞5 degree enter next and select section;
The section of going as course when (2) second selection sections are moved for stormy waves is arranged, according to first select section＞data of 5 degree assert that through this section＞5 degree＜10 spend working ranges, control rudder angle 5 degree, steering wheel is returned as automatically and returns, allow time of return to control, select section when＞10 degree enter next by automatic backspace subroutine;
(3) according to second select section＞data of 10 degree assert＞10 degree＜30 degree working ranges through this section, control rudder angle 10 degree, steering wheel is returned as automatically and returns, and allows time of return control by automatic backspace subroutine, when＞30 degree enter next selection section;
(4) according to the 3rd select section＞data of 30 degree assert that through this section＞30 degree＜60 spend working ranges, control rudder angle 20 degree are pressed rudder 5 degree when steering wheel returns, steering wheel is eased the helm to easing the helm automatically, time is selected section by the subroutine control of easing the helm automatically when＞60 degree enter next;
(5) according to the 4th select section＞data of 60 degree assert the working ranges of＞60 degree through this section, press rudder 5 degree when control rudder angle 30 degree steering wheels return, steering wheel is eased the helm to easing the helm automatically, the time is controlled by the subroutine of easing the helm automatically;
According to steering engine automatic operation apparatus according to claim 2, it is characterized in that 6, the described trace routine of easing the helm is:
(1) the rudder angle data of the rudder angle of command heading and actual heading are carried out the difference computing, and both differences are Z;
(2) the rudder angle data of the rudder angle of command heading and actual heading calculate fixedly difference W after being transferred to new address and blockade;
(3) according to W-Z=T, selected control rudder angle boats and ships anglec of rotation T;
(4) difference Z and difference T compare, and error sends command signal for when ± 0.5 spends selected active section;
(5) according to Z and T relatively after, error sends the inverted running that command signal starts steering wheel for selected active section when ± 0.5 spends, the trace routine of easing the helm finishes;
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01145712 CN1430044A (en) | 2001-12-30 | 2001-12-30 | Steering engine automatic operation apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01145712 CN1430044A (en) | 2001-12-30 | 2001-12-30 | Steering engine automatic operation apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1430044A true CN1430044A (en) | 2003-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01145712 Pending CN1430044A (en) | 2001-12-30 | 2001-12-30 | Steering engine automatic operation apparatus |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100491915C (en) * | 2004-12-30 | 2009-05-27 | 中国科学院自动化研究所 | Autopilot course control system and method thereof |
| CN100494898C (en) * | 2004-12-30 | 2009-06-03 | 中国科学院自动化研究所 | Track autopilot control system and method thereof |
| CN102126547A (en) * | 2011-01-26 | 2011-07-20 | 北京海兰信数据科技股份有限公司 | Rudder angle acquisition method, device and system |
| CN104407625A (en) * | 2014-09-26 | 2015-03-11 | 北京博创尚和科技有限公司 | Digital steering engine |
| CN105122166A (en) * | 2013-01-31 | 2015-12-02 | 菲力尔系统公司 | Stabilized directional control systems and methods |
| CN105129065A (en) * | 2015-08-12 | 2015-12-09 | 中电科（宁波）海洋电子研究院有限公司 | Autopilot system based on electric steering wheel |
-
2001
- 2001-12-30 CN CN 01145712 patent/CN1430044A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100491915C (en) * | 2004-12-30 | 2009-05-27 | 中国科学院自动化研究所 | Autopilot course control system and method thereof |
| CN100494898C (en) * | 2004-12-30 | 2009-06-03 | 中国科学院自动化研究所 | Track autopilot control system and method thereof |
| CN102126547A (en) * | 2011-01-26 | 2011-07-20 | 北京海兰信数据科技股份有限公司 | Rudder angle acquisition method, device and system |
| CN102126547B (en) * | 2011-01-26 | 2013-06-19 | 北京海兰信数据科技股份有限公司 | Rudder angle acquisition method, device and system |
| CN105122166A (en) * | 2013-01-31 | 2015-12-02 | 菲力尔系统公司 | Stabilized directional control systems and methods |
| CN105122166B (en) * | 2013-01-31 | 2017-09-19 | 菲力尔系统公司 | Stable heading control loop and method |
| CN104407625A (en) * | 2014-09-26 | 2015-03-11 | 北京博创尚和科技有限公司 | Digital steering engine |
| CN105129065A (en) * | 2015-08-12 | 2015-12-09 | 中电科（宁波）海洋电子研究院有限公司 | Autopilot system based on electric steering wheel |
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