CN203005735U - An autopilot - Google Patents
An autopilot Download PDFInfo
- Publication number
- CN203005735U CN203005735U CN 201220466118 CN201220466118U CN203005735U CN 203005735 U CN203005735 U CN 203005735U CN 201220466118 CN201220466118 CN 201220466118 CN 201220466118 U CN201220466118 U CN 201220466118U CN 203005735 U CN203005735 U CN 203005735U
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- cpu
- course
- detection module
- electromagnetic valve
- autopilot
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An autopilot comprises a control unit, a CPU, a solenoid drive circuit and a course detection module. A magneto-resistive electronic compass in the course detection module is used for collecting practical course data and the data of the magneto-resistive electronic compass is sent and fed back to the CPU for processing; a digital gyroscope in the course detection module is used for collecting course angle rates and the data of the digital gyroscope is sent to the CPU for processing; a potentiometer-type rudder angle sensor in the course detection module is used for collecting practical rudder angles and signals of the digital potentiometer-type rudder angle sensor are sent to the CPU for processing; and CPU performs computational analysis after receiving the signals sent from the course detection module and the control unit, outputs the results to the solenoid drive circuit and guides the solenoid drive circuit to control direction.
Description
Technical field:
The utility model belongs to boats and ships automatic Pilot field, and wherein, its main these a few autopilot structures are main.
Background technology:
Early stage autopilot only can tentatively be controlled the course take physical construction as the basis, and we were called ratio (p) with this mode and controlled today, and this is that the deflection size due to the autopilot rudder is proportional with the DEVIATION angle.In real work, its principle of work is: measure real-time course signal and compare with the course of setting with compass, then general's difference both is input to and goes in controller, exports and drive the steering wheel servo structure by controller.But " proportional control " method is because the very large boats and ships effect of inertia is undesirable, reason is that this control method can make boats and ships swing back and forth on the both sides, course of setting, helm undue wear, and consumption of fuel as a result is high, and these problems have limited its use.
The utility model content:
The purpose of this utility model is to provide a kind of a kind of marine system in the marine automation system and regulates the autopilot of use, is mainly to solve early stage autopilot to be subjected to inertia effects very large the problem undesirable to the ship course regulating effect.
In order to solve the existing problem of background technology, the utility model is by the following technical solutions:
We provide a kind of autopilot, comprise control unit, CPU, driving circuit for electromagnetic valve, the course detection module, wherein, reluctance type electronic compass in the detection module of course be used for to gather the course made good data, and the data of reluctance type electronic compass are transmitted feeds back to CPU and process; Digital gyroscope in the detection module of course be used for to gather course angle speed, and digital gyrostatic data are sent to CPU process; Potentiometer type rotation angle sensor in the detection module of course be used for to gather actual rudder angle, and the signal that will count the potentiometer type rotation angle sensor is sent to CPU and processes; CPU carries out computational analysis after receiving the signal that course detection module and control unit send, and result is outputed to driving circuit for electromagnetic valve, instruct the driving circuit for electromagnetic valve controlling party to, wherein, the reluctance type electronic compass is connected with CPU, digital gyroscope is connected with CPU, and the potentiometer type rotation angle sensor is connected with CPU, and driving circuit for electromagnetic valve is connected with CPU.
Described autopilot also comprises read-out, is used for showing every data.
Described autopilot is characterized in that, driving circuit for electromagnetic valve connected electromagnetic valve one end, and the electromagnetic valve other end is hydraulic sterring engine in succession.
Described autopilot is characterized in that, whole system is the closed loop system with feedback channel.
Described autopilot, it is characterized in that, the course that the course comparing element is given and the boats and ships course made good that feeds back compare, and obtain yaw angle, give CPU, calculate helm order angle δ by PID autopilot rule, helm order angle δ is inputted by control unit, and signal reaches CPU, and CPU spreads out of driving circuit for electromagnetic valve with signal after integrating, driving circuit for electromagnetic valve is controlled steering wheel work, handles boats and ships and adjusts the course.
Described autopilot is characterized in that, control unit is used for the input bogey heading.
Described autopilot is characterized in that, CPU is used for reading and resolve navigation signal, carries out simultaneously control algorithm.
Described autopilot is characterized in that, driving circuit for electromagnetic valve is used for regulating rudder angle.
The utility model beneficial effect:
Compact conformation, fuel saving, functional.
Description of drawings:
Fig. 1 is fundamental diagram of the present invention.
The specific embodiment:
With reference to Fig. 1, this specific embodiment is by the following technical solutions: described autopilot, comprise control unit, CPU, driving circuit for electromagnetic valve, course detection module, wherein, reluctance type electronic compass in the detection module of course be used for to gather the course made good data, and the data of reluctance type electronic compass are transmitted feeds back to CPU and process; Digital gyroscope in the detection module of course be used for to gather course angle speed, and digital gyrostatic data are sent to CPU process; Potentiometer type rotation angle sensor in the detection module of course be used for to gather actual rudder angle, and the signal that will count the potentiometer type rotation angle sensor is sent to CPU and processes; CPU carries out computational analysis after receiving the signal that course detection module and control unit send, and result is outputed to driving circuit for electromagnetic valve, instruct the driving circuit for electromagnetic valve controlling party to, wherein, the reluctance type electronic compass is connected with CPU, digital gyroscope is connected with CPU, and the potentiometer type rotation angle sensor is connected with CPU, and driving circuit for electromagnetic valve is connected with CPU.
Described autopilot also comprises read-out, is used for showing every data.
Described autopilot is characterized in that, driving circuit for electromagnetic valve includes electromagnetic valve, hydraulic sterring engine.
Described autopilot is characterized in that, whole system is the closed loop system with feedback channel.
Described autopilot, it is characterized in that, the course that the course comparing element is given and the boats and ships course made good that feeds back compare, and obtain yaw angle, give CPU, calculate helm order angle δ by PID autopilot rule, helm order angle δ is inputted by control unit, and signal reaches CPU, and CPU spreads out of driving circuit for electromagnetic valve with signal after integrating, driving circuit for electromagnetic valve is controlled steering wheel work, handles boats and ships and adjusts the course.
Described autopilot is characterized in that, control unit is used for the input bogey heading.
Described autopilot is characterized in that, CPU is used for reading and resolve navigation signal, carries out simultaneously control algorithm.
Described autopilot is characterized in that, driving circuit for electromagnetic valve is used for regulating the rudder angle electronic compass can measure course made good data ψ, and digital gyro instrument angular rate data is
Manually bogey heading and KP, Kd, the Ki of input pass through formula with the root supervisory keyboard
Calculate helm order angle δ.And show by liquid crystal display.Controlling electromagnetic valve with root rotation angle sensor reading beats rudder angle to δ.The final control that realizes the ship's head.
Claims (5)
1. an autopilot, comprise control unit, CPU, and driving circuit for electromagnetic valve, the course detection module is characterized in that:
Reluctance type electronic compass in the detection module of course be used for to gather the course made good data, and the data of reluctance type electronic compass are transmitted feeds back to CPU and process;
Digital gyroscope in the detection module of course be used for to gather course angle speed, and digital gyrostatic data are sent to CPU process;
Potentiometer type rotation angle sensor in the detection module of course be used for to gather actual rudder angle, and the signal that will count the potentiometer type rotation angle sensor is sent to CPU and processes;
CPU carries out computational analysis after receiving the signal that course detection module and control unit send, and result is outputed to the driving circuit for electromagnetic valve in succession with CPU, instruct the driving circuit for electromagnetic valve controlling party to;
Wherein, the reluctance type electronic compass is connected with CPU, and digital gyroscope is connected with CPU, and the potentiometer type rotation angle sensor is connected with CPU, and driving circuit for electromagnetic valve is connected with CPU.
2. autopilot according to claim 1, it is characterized in that: autopilot also comprises read-out, it is connected with CPU, is used for showing every data.
3. autopilot according to claim 1, it is characterized in that: driving circuit for electromagnetic valve connected electromagnetic valve one end, the electromagnetic valve other end is hydraulic sterring engine in succession.
4. autopilot according to claim 1, it is characterized in that: whole system is the closed loop system with feedback channel.
5. autopilot according to claim 1 is characterized in that: control unit is used for the input bogey heading, and control unit comprises keyboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220466118 CN203005735U (en) | 2012-09-13 | 2012-09-13 | An autopilot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220466118 CN203005735U (en) | 2012-09-13 | 2012-09-13 | An autopilot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203005735U true CN203005735U (en) | 2013-06-19 |
Family
ID=48597353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220466118 Expired - Fee Related CN203005735U (en) | 2012-09-13 | 2012-09-13 | An autopilot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203005735U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539802A (en) * | 2015-12-31 | 2016-05-04 | 卢运娇 | Rudder angle signal converter |
| CN106314743A (en) * | 2016-08-29 | 2017-01-11 | 黄正义 | Direction control system of water manned board |
| CN113697082A (en) * | 2021-09-29 | 2021-11-26 | 广西荣华船舶科技有限公司 | Steering instrument of passive transmitter of marine hydraulic steering engine |
-
2012
- 2012-09-13 CN CN 201220466118 patent/CN203005735U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539802A (en) * | 2015-12-31 | 2016-05-04 | 卢运娇 | Rudder angle signal converter |
| CN106314743A (en) * | 2016-08-29 | 2017-01-11 | 黄正义 | Direction control system of water manned board |
| CN113697082A (en) * | 2021-09-29 | 2021-11-26 | 广西荣华船舶科技有限公司 | Steering instrument of passive transmitter of marine hydraulic steering engine |
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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: 20130619 Termination date: 20170913 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |