CN202449199U - Servo device for constant-speed rudder - Google Patents
Servo device for constant-speed rudder Download PDFInfo
- Publication number
- CN202449199U CN202449199U CN201220019302XU CN201220019302U CN202449199U CN 202449199 U CN202449199 U CN 202449199U CN 201220019302X U CN201220019302X U CN 201220019302XU CN 201220019302 U CN201220019302 U CN 201220019302U CN 202449199 U CN202449199 U CN 202449199U
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- rudder
- speed
- coming
- control unit
- hydraulic motor
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Abstract
The utility model relates to a servo device for a constant-speed rudder. A rudder stand column is rotatably supported on a flange; a lower gear box is fixedly arranged at the lower part of the rudder stand column; a large rotary gear is mounted at the upper part of the rudder stand column; a rudder hydraulic motor is fixedly arranged on the flange; an output shaft of the rudder hydraulic motor is in driving connection with an input shaft of a planetary reducer; a small driving gear is mounted on an output shaft of the planetary reducer; the small driving gear is engaged with the large rotary gear; the large rotary gear is further engaged with a speed-reducing gear; a feeder is arranged on the speed-reducing gear; the feeder is in communication connection with a helm indicator and a PLC (Programmable Logic Controller) control unit; the PLC control unit is in control connection with an operation handle and a ratio valve; and the ratio valve is located in an oil path loop of the rudder hydraulic motor. A rudder speed is calculated by carrying out difference operation on a rudder angle instruction and a rudder feedback valve, and carrying out differential conversion calculation on time according to a rudder feedback signal. The ratio valve is adjusted according to the difference between a rudder speed instruction and an actual rudder speed valve, so as to realize the stable rudder speed.
Description
Technical field
The utility model relates to ship propeller, relates in particular to the constant speed actuating device of coming about.
Background technology
Rudder oar one of the mode of coming about is the Hydraulic Pump that employing machine band pump is promptly directly dragged by main frame, receives the main frame velocity effect, can accelerate with the quickening of main frame speed.Particularly when shipping high speed went, the speed of coming about faster caused serious potential safety hazard easily.All the time, each rudder oar producer method commonly used is that Comparative Examples valve opening is done compensation according to empirical value with engine speed parameter by way of compensation.This method belongs to open loop control, can comprise that factor such as oil circuit damping causes the unbalanced of the speed of coming about along with the change of environment such as ocean current, mechanical damping, hydraulic efficiency pressure system.
Summary of the invention
The purpose of the utility model is to overcome the deficiency that prior art exists, and a kind of constant speed actuating device of coming about is provided.
The purpose of the utility model realizes through following technical scheme:
The constant speed actuating device of coming about, characteristics are: the column of coming about rotation is supported on the flange, and the bottom of the column of coming about is the lower tooth roller box fixedly; The revolution big gear wheel is installed on the come about top of column; The HM Hydraulic Motor of coming about is fixed on the flange, and the hydraulic motor output shaft of coming about drives with the input shaft of planetary reduction gear and is connected, and on the output shaft of planetary reduction gear driver pinion is installed; Driver pinion is meshed with the revolution big gear wheel; The revolution big gear wheel also is meshed with reducing gear, is furnished with ultramagnifier on the reducing gear, and communication is connected ultramagnifier with the PLC control unit with helm indicator; The PLC control unit is connected with proportional valve control with bar handle, and apportioning valve is arranged in the oil circuit loop of the HM Hydraulic Motor of coming about.
Further, the above-mentioned constant speed actuating device of coming about, wherein, said PLC control unit includes AD module and PID module.
The substantive distinguishing features of the utility model technical scheme is mainly reflected in progressive:
The utility model utilizes the rudder angle feedback system to calculate the actual speed of coming about; Carry out real-time regulated according to the aperture of the rotating speed Comparative Examples valve of technical requirements again; Need give a suitable compensation for preventing hyperharmonic servo-actuated property difference; Allow the commissioning staff to give different inertial parameters, meet design requirement fully through the shiphoard measurement performance according to different oars.The rudder oar speed of coming about is to realize through the control ratio valve opening; Receive simultaneously the influence of many aspects such as ocean current, mechanical damping, mechanical inertia, hydraulic tubing resistance again; The commissioning staff can adjust to best condition with system control system there being parameters such as suitable proportionality coefficient of cooperation and integral differential on the basis of fully understanding; The adjustment mode is very simple, and anti-ambient interference ability is stronger.
Description of drawings
Below in conjunction with accompanying drawing the utility model technical scheme is described further:
Fig. 1: the come about organigram of actuating device of constant speed;
Fig. 2: the local enlarged diagram of A portion among Fig. 1;
Fig. 3: control flow scheme drawing.
The specific embodiment
As shown in Figure 1, the constant speed actuating device of coming about, column 6 rotations of coming about are supported on the flange; The come about fixing lower tooth roller box 7 in bottom of column 6, revolution big gear wheel 5 is installed on the top of the column 6 of coming about, and the HM Hydraulic Motor 2 of coming about is fixed on the flange; The input shaft of output shaft and planetary reduction gear 3 of HM Hydraulic Motor 2 of coming about drives and is connected, and driver pinion 4 is installed on the output shaft of planetary reduction gear 3, driver pinion 4 with turn round big gear wheel 5 and be meshed; As shown in Figure 2, revolution big gear wheel 5 also is meshed with reducing gear 8, is furnished with ultramagnifier 9 on the reducing gear 8; 10 communications are connected ultramagnifier 9 with the PLC control unit with helm indicator 11; PLC control unit 10 includes AD module and PID module, PLC control unit 10 and bar handle 12 and apportioning valve 1 control linkage, and apportioning valve 1 is arranged in the oil circuit loop of the HM Hydraulic Motor 2 of coming about.
Actuating device adopts PLC as control unit, and the PLC control unit also has stronger calculation function except that having the logic control ability.The AD module of using the PLC control unit to be joined can detect the rudder angle analog quantity of instruction and feedback and be transformed into the digital quantity that PLC can accept; Signal through the PLC sampling obtains the needed speed of coming about through functional operation, and calculates the speed of coming about through the differential module.Regulate the aperture of apportioning valve again through the PID module of PLC control unit, realize the control of the speed of coming about.
Adopt common PLC control unit or micro controller system, embedded system etc. to have the control unit of CPU, control unit has the certain mathematical arithmetic capability.Rudder angle instruction (the handle signal of coming about) and rudder angle are fed back (actual rudder oar position signal) do the difference computing, do the time differential transformation calculations speed that goes out to come about to the rudder angle feedback signal again.Again according to the apportioning valve of the discrepancy adjustment modulated pressure motor flow of come about speed command and the actual speed of coming about that draw, thereby reach the result of the stable speed of coming about.
As shown in Figure 3; The come about control method of actuating device of constant speed; Regulate the rotating speed of the HM Hydraulic Motor 2 of coming about through control ratio valve 1 aperture, the output shaft rotating speed of the HM Hydraulic Motor 2 of coming about is through 4 rotations of planetary reduction gear 3 deceleration rear drive driver pinions, thereby driver pinion 4 drives column 6 rotations of coming about with 5 engagements of revolution big gear wheel; The rotating speed of revolution big gear wheel 5 also is delivered to reducing gear 8; The rotating speed that is detected reducing gear 8 by ultramagnifier 9 is as rudder oar rudder angle feedback signal (because of the speed ratio of reducing gear and the gear of coming about is 1:1, so can reflect the rudder angle of rudder oar), and ultramagnifier 9 feeds back to PLC control unit 10 with detected rudder oar rudder angle feedback signal;
10 pairs of bar handle rudder angle instructions of PLC control unit and rudder oar rudder angle feedback signal are done subtraction through its AD module samples by the PLC control unit; The difference of subtraction is done classification by the logic judging function of PLC control unit: when difference is output as zero less than the dead band value speed command of then coming about; The speed command output of coming about is directly proportional with difference when time between the deceleration area thresholding of difference in dead band value and setting; The difference that is output as the speed command of promptly coming about multiply by coefficient (coefficient is the time constant of integration in the PID control); When the difference speed command of coming about during greater than the deceleration area thresholding set is output as constant, be the speed of coming about of setting;
Ultramagnifier sampling rudder oar rudder angle feedback signal is read into PLC control unit, calculates the variable quantity of unit time rudder oar, the promptly actual speed of coming about; Speed command and the actual speed of coming about of will coming about is done subtraction in PLC control unit arithmetic and logic unit; And the result divided by proportionality coefficient (coefficient is the time constant of integration in the PID control); As the compensation value of apportioning valve aperture and current apportioning valve aperture addition, as the apportioning valve aperture of next time period; Through the aperture that the PID module of PLC control unit is regulated apportioning valve, regulate the rotating speed of the HM Hydraulic Motor of coming about, realize stablizing the speed of coming about of rudder oar.Because said process belongs to integration control, so the fluctuation of the speed of coming about that causes for the instability of system has filtration.Adjustment factor can make system adapt to different inertial systems.
To the PLC control unit, the one tunnel relatively calculates the speed command of coming about by the PLC control unit with the rudder angle instruction through the AD of PLC control unit module samples for rudder angle feedback, and the actual speed of coming about is calculated through PLC control unit difference gauge in another road.The speed command and actual of will coming about come about velocity ratio the back the difference integration divided by coefficient, draw current apportioning valve aperture as the compensation rate of apportioning valve and before apportioning valve aperture addition, the come about rotating speed of HM Hydraulic Motor of final control.Because the shake that the uncertain factor of the interference of signal and marine surge and rudder oar itself causes when having adopted integration, actv. to stablize sampling.Make the rudder oar follow the handle instruction and go to expected value according to the speed of setting of coming about.
Come about when difference reaches certain value between instruction and the feedback, the rate request of then coming about rotates with the constant speed of revolving; When being worth less than this, promptly get into deceleration area, then revolve fast minimizing and proportionally reduce according to difference; Up to getting into the dead band, make the complete stall of oar; The dead band is to prevent overshoot, also is to disturb the frequent switch of apportioning valve that causes for anti-stop signal; This is necessary in design in the past; Because apportioning valve has the zone of slowing down, so the dead band of apportioning valve reduces much than switch valve, and in Fu since control more accurate, so the dead band can further reduce than apportioning valve.
There are differences between handle and rudder oar feedback signal; And when differing greatly, the rudder oar will be come about to the direction that reduces deviation with a constant rotating speed, and will be constant for what guarantee to come about; Do not receive the influence of engine speed; System monitors the come about position and the speed of coming about in real time in the process of coming about, and the aperture of utilizing itself and the instruction of coming about relatively to come the resize ratio valve with deviate, thus the speed of coming about of control rudder oar.
In sum, utilize the rudder angle feedback system to calculate the actual speed of coming about, carry out real-time regulated according to the aperture of the rotating speed Comparative Examples valve of technical requirements again.Need give a suitable compensation for preventing hyperharmonic servo-actuated property difference.Allow the commissioning staff to give different inertial parameters according to different oars.Meet design requirement fully through the shiphoard measurement performance.The rudder oar speed of coming about is to realize through the control ratio valve opening; Receive simultaneously the influence of many aspects such as ocean current, mechanical damping, mechanical inertia, hydraulic tubing resistance again; The commissioning staff can adjust to best condition with system control system there being parameters such as suitable proportionality coefficient of cooperation and integral differential on the basis of fully understanding.The adjustment mode is very simple, and anti-ambient interference ability is stronger.
What need understand is: the above only is the preferred implementation of the utility model; For those skilled in the art; Under the prerequisite that does not break away from the utility model principle; Can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.
Claims (2)
1. the constant speed actuating device of coming about, it is characterized in that: the column of coming about rotation is supported on the flange, and the bottom of the column of coming about is the lower tooth roller box fixedly; The revolution big gear wheel is installed on the come about top of column; The HM Hydraulic Motor of coming about is fixed on the flange, and the hydraulic motor output shaft of coming about drives with the input shaft of planetary reduction gear and is connected, and on the output shaft of planetary reduction gear driver pinion is installed; Driver pinion is meshed with the revolution big gear wheel; The revolution big gear wheel also is meshed with reducing gear, is furnished with ultramagnifier on the reducing gear, and communication is connected ultramagnifier with the PLC control unit with helm indicator; The PLC control unit is connected with proportional valve control with bar handle, and apportioning valve is arranged in the oil circuit loop of the HM Hydraulic Motor of coming about.
2. the constant speed according to claim 1 actuating device of coming about, it is characterized in that: said PLC control unit includes AD module and PID module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220019302XU CN202449199U (en) | 2012-01-17 | 2012-01-17 | Servo device for constant-speed rudder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220019302XU CN202449199U (en) | 2012-01-17 | 2012-01-17 | Servo device for constant-speed rudder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202449199U true CN202449199U (en) | 2012-09-26 |
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ID=46865085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220019302XU Withdrawn - After Issue CN202449199U (en) | 2012-01-17 | 2012-01-17 | Servo device for constant-speed rudder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202449199U (en) |
Cited By (2)
| 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 |
| CN107719618A (en) * | 2017-10-17 | 2018-02-23 | 苏州苏净船用机械有限公司 | A kind of full-rotating rudder paddle for avoiding coming about at a high speed and control method |
-
2012
- 2012-01-17 CN CN201220019302XU patent/CN202449199U/en not_active Withdrawn - After Issue
Cited By (3)
| 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 |
| CN107719618A (en) * | 2017-10-17 | 2018-02-23 | 苏州苏净船用机械有限公司 | A kind of full-rotating rudder paddle for avoiding coming about at a high speed and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120926 Effective date of abandoning: 20140730 |
|
| RGAV | Abandon patent right to avoid regrant |