CN201464892U - Automatic pilot digitization electrical control system - Google Patents
Automatic pilot digitization electrical control system Download PDFInfo
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- CN201464892U CN201464892U CN2009200723429U CN200920072342U CN201464892U CN 201464892 U CN201464892 U CN 201464892U CN 2009200723429 U CN2009200723429 U CN 2009200723429U CN 200920072342 U CN200920072342 U CN 200920072342U CN 201464892 U CN201464892 U CN 201464892U
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- programmable logic
- control system
- programmable controller
- rotary encoder
- autopilot
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Abstract
The utility model relates to an automatic pilot digitization electrical control system, comprising a programmable controller; a selsyn transformer connected with the programmable controller is replaced by an absolute photoelectric rotary encoder; the automatic pilot digitization electrical control system takes the absolute photoelectric rotary encoder and the programmable controller as a core; heading feedback signals of an electric gyrocompass are input into the programmable controller through the heading output interface of the electric gyrocompass; other signals input into the programmable controller all adopt switching values; the absolute photoelectric rotary encoder is adopted for adjusting and feeding back the rudder angles. The utility model has the advantages of high precision, small inertness, good stability and digitization of the output signals; the programmable controller can directly acquire digital signals, does not need an A/D conversion module, thus reducing the investment of the A/D conversion module, shortening the scanning period of PLC and improving the control performance of the automatic pilot.
Description
Technical field
The utility model belongs to ship steering engine control technology field, particularly relates to a kind of autopilot digitizing electric control system.
Background technology
Steering wheel is the nucleus equipment of Ship Controling control, loof mechanism for the ships that transport automatic steering gear generally is made up of hydraulic system, the control task of steering is finished by electric control circuit, and the performance of steering control system directly affects maneuverability, economy and the security of ship's navigation.Development different phase according to Theory of Automatic Control and technology, autopilot has experienced three evolutionary processes: the autopilot of (1) classical control, the autopilot in this stage adopted in the commercial production most important typical and the most the most frequently used a kind of be ratio-differential-integration (PID) control technology, finish the PID function by Analogical Electronics.Because the PID control technology will be based on deterministic mathematical model, and the ship motion characteristic changes along with the variation of factors such as the speed of a ship or plane, load-carrying, the depth of water, the disturbance characteristic is along with sea situations such as wind, stream, wave change and difference, so the mathematical model and the Disturbance Model of ship course control have tangible uncertainty.Thereby be provided with knobs such as integral time, derivative time and gain-adjusted at the guidance panel of autopilot, carry out Field adjustment for the steering personnel according to the state of ship's navigation and the experience of steering, in the hope of reaching satisfied effect.(2) adaptive autopilot, problem at the existence of PID autopilot, people have proposed to apply to auto-pilot control system with adaptation theory, Here it is when boats and ships when becoming sea situation, speed change, variable load navigation, variation has all taken place in ship motion and the mathematical model parameter that adds disturbance thereon, system adjusts mathematical model parameter in real time by on-line identification, provides adaptive algorithm rudder angle is done correspondingly to change.Thereby make control system under the preferable performance index (moving rudder least number of times, driftage width of cloth minimum) as far as possible near and keep optimum state.(3) Based Intelligent Control autopilot, along with the continuous development and the application of artificial intelligence control technology, intelligent control technology is also applied to the control of autopilot gradually, has formed the Based Intelligent Control autopilot.
No matter but the autopilot of what type, the setting of ship course, rudder angle is all adopted selsyn transfgormer with measurement, produce the interchange simulating signal by selsyn transfgormer, after phase sensitivity device, amplifier, PID arithmetical unit are handled, produce the conducting of a start pulse signal control controllable silicon SCR, make the relay adhesive and its contact control electromagnetic valve action, finally make hydraulic system promote the rotation of rudder blade.
Summary of the invention
Technical problem to be solved in the utility model provides a kind of with the sensor of absolute type photoelectricity rotary encoder as the adjusting of rudder angle, rudder angle feedback, has fundamentally realized the digitized autopilot digitizing electric control system of steering gear control system signal.
The technical scheme that its technical matters that solves the utility model adopts is: a kind of autopilot digitizing electric control system is provided, comprise Programmable Logic Controller, the selsyn transfgormer that links to each other with described Programmable Logic Controller replaces with absolute type photoelectricity rotary encoder, described autopilot Digitizing And Control Unit is a core with absolute type photoelectricity rotary encoder and Programmable Logic Controller, the course feedback signal of gyro compass is by the course output interface input Programmable Logic Controller of gyro compass, signals of other input Programmable Logic Controllers all adopt switching value, the adjusting of rudder angle, the rudder angle feedback adopts absolute type photoelectricity rotary encoder.
Photoelectric encoder changes rotor-position with the form of 8 Gray codes to be exported, and the Gray code conversion that Programmable Logic Controller is sent photoelectric encoder here becomes binary number, compares computing again; Adopting the two-dimensional fuzzy controller of two inputs, three outputs to realize that pid parameter is fuzzy adjusts.
Beneficial effect
The utlity model has that precision height, inertia are little, good stability, the digitized advantage of output signal, Programmable Logic Controller can directly obtain digital signal, need not the A/D modular converter, reduced the input of A/D modular converter, shorten the scan period of PLC simultaneously, improved the control performance of autopilot.Much more superior than the autopilot electric control system of using selsyn transfgormer.
Description of drawings
Fig. 1 is the autopilot digitizing electric control system figure of sensor for absolute optical encoder.
Fig. 2 is the autopilot electric control system figure of sensor for selsyn transformer.
Embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Should be understood that these embodiment only to be used to the utility model is described and be not used in the restriction scope of the present utility model.Should be understood that in addition those skilled in the art can make various changes or modifications the utility model after the content of having read the utility model instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
As shown in Figure 1, absolute type encoder 1 and absolute type encoder 2 are exactly to serve as former selsyn transfgormer parallactic angle look among the figure, finish the measurement with feedback signal of adjusting of rudder angle.
The autopilot Digitizing And Control Unit is a core with S7-200PLC CPU224XP and expansion module EM223, the EM232 of absolute type photoelectricity rotary encoder and Programmable Logic Controller SIEMENS, except that gyro compass course feedback signal (analog quantity still is a digital quantity by the course output interface decision of gyro compass), all the other input signals all adopt switching value.The adjusting of rudder angle, rudder angle feedback all adopt eight Europe dragoness E6CP-AG5C type absolute type photoelectricity rotary encoder, photoelectric encoder changes rotor-position with the form of 8 Gray codes to be exported, the Gray code conversion that PLC sends photoelectric encoder here becomes binary number, computing such as compares again.Adopt the two-dimensional fuzzy controller of two inputs, three outputs to realize that pid parameter is fuzzy and adjust, finished intelligent PID control.Realized the control function of autopilot.
Claims (2)
1. autopilot digitizing electric control system, comprise Programmable Logic Controller, it is characterized in that: the selsyn transfgormer that links to each other with described Programmable Logic Controller replaces with absolute type photoelectricity rotary encoder, described autopilot Digitizing And Control Unit is a core with absolute type photoelectricity rotary encoder and Programmable Logic Controller, the course feedback signal of gyro compass is by the course output interface input Programmable Logic Controller of gyro compass, signals of other input Programmable Logic Controllers all adopt switching value, and the adjusting of rudder angle, rudder angle feedback adopt absolute type photoelectricity rotary encoder.
2. a kind of autopilot digitizing electric control system according to claim 1, it is characterized in that: photoelectric encoder changes rotor-position with the form of 8 Gray codes to be exported, the Gray code conversion that Programmable Logic Controller is sent photoelectric encoder here becomes binary number, compares computing again; Adopting the two-dimensional fuzzy controller of two inputs, three outputs to realize that pid parameter is fuzzy adjusts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200723429U CN201464892U (en) | 2009-05-15 | 2009-05-15 | Automatic pilot digitization electrical control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200723429U CN201464892U (en) | 2009-05-15 | 2009-05-15 | Automatic pilot digitization electrical control system |
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| Publication Number | Publication Date |
|---|---|
| CN201464892U true CN201464892U (en) | 2010-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009200723429U Expired - Fee Related CN201464892U (en) | 2009-05-15 | 2009-05-15 | Automatic pilot digitization electrical control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102530220A (en) * | 2012-01-17 | 2012-07-04 | 苏州船用动力系统股份有限公司 | Constant-speed steering servo device and control method thereof |
| CN102849201A (en) * | 2012-09-17 | 2013-01-02 | 苏州船用动力系统股份有限公司 | Constant speed servo unit for controlling angle signals and control method thereof |
| CN102954894A (en) * | 2012-09-04 | 2013-03-06 | 江苏吉信远望船舶设备有限公司 | Steering engine testing device for intelligent ships |
| CN103057686A (en) * | 2012-12-26 | 2013-04-24 | 南宁睿洋自动化科技有限公司 | Telex steering control system |
| CN103921928A (en) * | 2014-03-31 | 2014-07-16 | 大连翔越船舶设备有限公司 | Ship follow-up steering system |
| CN106143862A (en) * | 2016-05-23 | 2016-11-23 | 哈尔滨工程大学 | A kind of ship steering engine driving means and detecting system thereof |
| CN108933576A (en) * | 2018-09-28 | 2018-12-04 | 中国船舶重工集团公司第七0七研究所九江分部 | It is a kind of for adjusting the control circuit device of left and right helm signal gain |
-
2009
- 2009-05-15 CN CN2009200723429U patent/CN201464892U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102530220A (en) * | 2012-01-17 | 2012-07-04 | 苏州船用动力系统股份有限公司 | Constant-speed steering servo device and control method thereof |
| CN102530220B (en) * | 2012-01-17 | 2014-07-30 | 苏州船用动力系统股份有限公司 | Constant-speed steering servo device and control method thereof |
| CN102954894A (en) * | 2012-09-04 | 2013-03-06 | 江苏吉信远望船舶设备有限公司 | Steering engine testing device for intelligent ships |
| CN102849201A (en) * | 2012-09-17 | 2013-01-02 | 苏州船用动力系统股份有限公司 | Constant speed servo unit for controlling angle signals and control method thereof |
| CN103057686A (en) * | 2012-12-26 | 2013-04-24 | 南宁睿洋自动化科技有限公司 | Telex steering control system |
| CN103057686B (en) * | 2012-12-26 | 2015-07-01 | 南宁睿洋自动化科技有限公司 | Telex steering control system |
| CN103921928A (en) * | 2014-03-31 | 2014-07-16 | 大连翔越船舶设备有限公司 | Ship follow-up steering system |
| CN103921928B (en) * | 2014-03-31 | 2016-07-06 | 大连翔越船舶设备有限公司 | Boats and ships follow-up steering system |
| CN106143862A (en) * | 2016-05-23 | 2016-11-23 | 哈尔滨工程大学 | A kind of ship steering engine driving means and detecting system thereof |
| CN108933576A (en) * | 2018-09-28 | 2018-12-04 | 中国船舶重工集团公司第七0七研究所九江分部 | It is a kind of for adjusting the control circuit device of left and right helm signal gain |
| CN108933576B (en) * | 2018-09-28 | 2024-05-14 | 中国船舶重工集团公司第七0七研究所九江分部 | Control circuit device for adjusting left and right rudder angle signal gain |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100512 Termination date: 20120515 |