CN202632104U - Digital automatic navigator of mini-type boat - Google Patents
Digital automatic navigator of mini-type boat Download PDFInfo
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- CN202632104U CN202632104U CN 201220071649 CN201220071649U CN202632104U CN 202632104 U CN202632104 U CN 202632104U CN 201220071649 CN201220071649 CN 201220071649 CN 201220071649 U CN201220071649 U CN 201220071649U CN 202632104 U CN202632104 U CN 202632104U
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Abstract
The utility model provides a digital automatic navigator of a mini-type boat. The digital automatic navigator of the mini-type boat includes a controller unit, a predetermined course signal unit, an actual course signal unit, an actual rudder angle signal unit, an HDT signal unit, an electromagnetic valve driving circuit unit and a display unit. The controller unit is connected with the actual course signal unit of the boat through a magnetic compass sensor. A comparison between actual course signals and predetermined course signals is made. If deviation occurs, the controller unit is connected with the electromagnetic valve driving circuit unit, thereby changing course until the deviation between the actual course signals and the predetermined course signals is eliminated and making the boat sailing according to the predetermined course. Therefore, an aim of navigating automatically is realized at low cost and with distinctive energy-saving effect.
Description
Technical field
The utility model relates to boats and ships automatic control technology field, particularly a kind of boats and ships auto navigator.
Background technology
Autopilot is an indispensable visual plant in the ship control system, and it can be set through the course boats and ships are exercised more near straight line, avoided " crawling " thus more energy-conservation more economical.China is since the seventies of Investigation on autopilot just, and obtained certain achievement, but domestic Investigation on autopilot lays particular emphasis on theoretical side, carries out algorithm simulating, seldom makes actual product.Up to now, the basic dependence on import fully of the autopilot that domestic boats and ships are installed costs an arm and a leg, and can't install because of price reasons as the spitkit of fishing boat and so on, can't reach the economical and energy saving effect.
Summary of the invention
In order to overcome the shortcoming that import autopilot product can't be installed because of the too expensive domestic spitkit of price, the utility model has been developed digital spitkit auto navigator, and is cheap and energy-saving effect is obvious, solved above-mentioned shortcoming.
The utility model is realized through following technical scheme: manufacture and design a kind of digital spitkit auto navigator, comprising:
Controller unit adopts 32 advanced Cortex STM32 series A RM microprocessors, through gathering the boats and ships actual heading signal of magnetic compass sensor; Do comparison with given course signal,, produce rudder angle of declination through pid algorithm if there is deviation promptly to get crab angle; Compare according to it and actual rudder angle, obtain the actual rudder angle deviation and remove to control rudder, thereby change course; So repeatedly, be zero until actual heading and the two deviation of given course signal, reach the purpose that boats and ships go by set a course;
Given course signal unit is the voltage signal that is produced by potentiometer knob, and voltage range is 0～3.3V, and corresponding course 0-360 degree gets final product through the processing of ARM controller AD passage;
Actual heading signal element; Obtain by the magnetic compass sensor,, therefore use the magnetic compass converter because magnetic compass records course information and can only be read by naked eyes; Convert the course information of mechanical type magnetic compass into digital signal, communicate with 485 EBI half-duplex modes and controller;
Actual rudder angle signal element; Record through the rudder angle feedback assembly, and with voltage signal form output, because of voltage signal can not teletransmission; Developed the rudder angle dispensing device voluntarily, converted voltage signal into digital signal through it and send to controller with 485 bus modes;
The driving circuit for electromagnetic valve unit; Thereby the control of Hydraulic Drive in Vessel steering gear system only need change the motion of liquid flow control rudder through the switching of control electromagnetic valve, and the required drive current of control electromagnetic valve is generally all bigger, and the switch number of times is more frequent in the steering process; Selected the switching device of the metal-oxide-semiconductor IRF9540N of big electric current for use as control electromagnetic valve; Also select for use TLP521 to do electrical isolation, effective isolation the undesired signal introduced of solenoid valve end, realize effective control of solenoid valve;
HDT (bow to) signal element is with the HDT signal of the outside outputting standard of 485 bus modes, so that other ship equipment uses;
Display unit, controller is outwards exported actual rudder angle, is given information such as vectoring, actual heading with 485 bus modes, utilizes corresponding Displaying Meter to show.
The beneficial effect of the utility model is, digital spitkit auto navigator energy-saving effect is obvious, with low cost, and reliability is high, good stability, has very strong application value.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
Fig. 1 is the system block diagram of the utility model.
Fig. 2 is the systematic schematic diagram of the utility model.
Embodiment
The digital spitkit auto navigator of the utility model development, as shown in Figure 1, mainly comprise:
Controller unit (1) adopts 32 advanced Cortex STM32 series A RM microprocessors, through gathering the boats and ships actual heading signal of magnetic compass sensor; Do comparison with given course signal,, produce rudder angle of declination through algorithm if there is deviation promptly to get crab angle; Compare according to it and actual rudder angle, obtain the actual rudder angle deviation and remove to control rudder, thereby change course; So repeatedly, be zero until actual heading and the two deviation of given course signal, reach the purpose that boats and ships go by set a course;
Given course signal unit (2) is the voltage signal that is produced by potentiometer knob, and voltage range is 0～3.3V, and corresponding course 0-360 degree gets final product through the processing of ARM controller AD passage;
Actual heading signal element (3); Obtain by the magnetic compass sensor, can only read by naked eyes, therefore use the magnetic compass converter but magnetic compass records course information; Convert the course information of mechanical type magnetic compass into digital signal, communicate with 485 EBI half-duplex modes and controller;
Actual rudder angle signal element (4); Record through the rudder angle feedback assembly, and with voltage signal form output, but because of voltage signal can not teletransmission; Developed the rudder angle dispensing device voluntarily, converted voltage signal into digital signal through it and send to controller with 485 bus modes;
Driving circuit for electromagnetic valve unit (5); Thereby the control of Hydraulic Drive in Vessel steering gear system only need change the motion of liquid flow control rudder through the switching of control electromagnetic valve, and the required drive current of control electromagnetic valve is generally all bigger, and the switch number of times is more frequent in the steering process; Selected the switching device of the metal-oxide-semiconductor IRF9540N of big electric current for use as control electromagnetic valve; Also select for use TLP521 to do electrical isolation, effective isolation the undesired signal introduced of solenoid valve end, realize effective control of solenoid valve;
HDT (bow to) signal element (6) is with the HDT signal of the outside outputting standard of 485 bus modes, so that other ship equipment uses;
Display unit (7) is outwards exported actual rudder angle, is given information such as vectoring, actual heading with 485 bus modes, utilizes corresponding Displaying Meter to show.
The complete machine principle of work is as shown in Figure 2, manufactures and designs a kind of digital spitkit auto navigator, and controller adopts 32 advanced CortexSTM32 series A RM microprocessors; Through gathering the boats and ships actual heading signal of magnetic compass sensor, do comparison with given course signal, if there is deviation promptly to get crab angle; Produce rudder angle of declination through algorithm, compare, obtain the actual rudder angle deviation and remove to control rudder according to it and actual rudder angle; Thereby change course; So repeatedly, be zero until actual heading and the two deviation of given course signal, reach the purpose that boats and ships go by set a course.
Claims (1)
1. digital spitkit auto navigator is characterized in that:
Controller unit adopts 32 advanced Cortex STM32 series A RM microprocessors, through gathering the boats and ships actual heading signal of magnetic compass sensor; Do comparison with given course signal,, produce rudder angle of declination through algorithm if there is deviation promptly to get crab angle; Compare according to it and actual rudder angle, obtain the actual rudder angle deviation and remove to control rudder, thereby change course; So repeatedly, be zero until actual heading and the two deviation of given course signal, reach the purpose that boats and ships go by set a course;
Given course signal unit is the voltage signal that is produced by potentiometer knob, and voltage range is 0～3.3V, and corresponding course 0-360 degree gets final product through the processing of ARM controller AD passage;
Actual heading signal element; Obtain by the magnetic compass sensor, can only read by naked eyes, therefore use the magnetic compass converter but magnetic compass records course information; Convert the course information of mechanical type magnetic compass into digital signal, communicate with 485 EBI half-duplex modes and controller;
Actual rudder angle signal element; Record through the rudder angle feedback assembly, and with voltage signal form output, but because of voltage signal can not teletransmission; Developed the rudder angle dispensing device voluntarily, converted voltage signal into digital signal through it and send to controller with 485 bus modes;
HDT signal element is with the HDT signal of the outside outputting standard of 485 bus modes, so that other ship equipment uses;
The driving circuit for electromagnetic valve unit; Thereby the control of Hydraulic Drive in Vessel steering gear system only need change the motion of liquid flow control rudder through the switching of control electromagnetic valve; The required drive current of control electromagnetic valve is generally all bigger, and the switch number of times is more frequent in the steering process, has selected the switching device of the metal-oxide-semiconductor IRF9540N of big electric current as control electromagnetic valve for use; Also select for use TLP521 to do electrical isolation, effective isolation the undesired signal introduced of solenoid valve end;
Display unit is outwards exported actual rudder angle, is given information such as vectoring, actual heading with 485 bus modes, utilizes corresponding Displaying Meter to show.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220071649 CN202632104U (en) | 2012-03-01 | 2012-03-01 | Digital automatic navigator of mini-type boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220071649 CN202632104U (en) | 2012-03-01 | 2012-03-01 | Digital automatic navigator of mini-type boat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202632104U true CN202632104U (en) | 2012-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220071649 Expired - Fee Related CN202632104U (en) | 2012-03-01 | 2012-03-01 | Digital automatic navigator of mini-type boat |
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| CN (1) | CN202632104U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963842A (en) * | 2014-04-29 | 2014-08-06 | 江苏柳工机械有限公司 | Steering control system of overhead working truck |
| CN106681339A (en) * | 2015-11-11 | 2017-05-17 | 中国船舶工业系统工程研究院 | Method for simulating ship attitude signal |
-
2012
- 2012-03-01 CN CN 201220071649 patent/CN202632104U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963842A (en) * | 2014-04-29 | 2014-08-06 | 江苏柳工机械有限公司 | Steering control system of overhead working truck |
| CN106681339A (en) * | 2015-11-11 | 2017-05-17 | 中国船舶工业系统工程研究院 | Method for simulating ship attitude signal |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20140301 |