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Device for monitoring motion gesture of rotating disk of omnibearing propeller of submersible

A technology of motion attitude and monitoring device, which is applied in the direction of instruments, simulators, computer control, etc., can solve problems such as unfavorable controller debugging, lack of all-round thruster swash plate attitude data analysis, etc., to improve early fault diagnosis and improve Submersible maneuverability and high acquisition accuracy

Inactive Publication Date: 2010-11-10
HARBIN ENG UNIV
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Problems solved by technology

[0004] At present, in the motion attitude control of the omnidirectional thruster of the submersible, it is generally based on the displacement of the hydraulic cylinder and the corresponding change of the pitch angle, and the mathematical model is established by a computer for numerical calculation. Attitude data analysis is not conducive to controller debugging

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  • Device for monitoring motion gesture of rotating disk of omnibearing propeller of submersible
  • Device for monitoring motion gesture of rotating disk of omnibearing propeller of submersible
  • Device for monitoring motion gesture of rotating disk of omnibearing propeller of submersible

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Embodiment Construction

[0017] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0018] combine figure 1 , the present invention includes microprocessor U1, RS485 / TTL conversion level conversion U2, communication interface unit U3, data channel selection unit U4, three-way grating ruler data signal U5, PC machine U6, wherein U1 adopts MSP430F149 chip for processing pre-processing Data and control timing, U2 uses NM485SL chip for level conversion of grating scale data, U3 uses MAX232 chip to complete the interface communication between microprocessor and PC, U4 selects the path according to the enable signal generated by the microprocessor, U5 three-way grating ruler signal, U6 completes the real-time display and data storage of hydraulic cylinder displacement data.

[0019] combine figure 2 , the working process of the present invention is: when the system is started, at first the hydraulic system is initialized, and then the running progra...

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Abstract

The invention provides a device for the monitoring motion gesture of a rotating disk of an omnibearing propeller of a submersible. Linear scales are respectively arranged on the three hydraulic cylinders of the omnibearing propeller; a microprocessor sends out a command signal to determine a linear scale signal data channel; a data conversion unit receives the output signals of the linear scales corresponding to the hydraulic cylinders in real time, wherein the determined data signals are switched to a signal processing unit after level switch; the data signals are identified and processed by the microprocessor of the signal processing unit and then transmitted to the signal processing unit, the signal processing unit converts the displacement and channel information of the linear scales into an RS232 signal and then is accessed to an upper computer through a communication interface unit; and the upper computer displays in real time and stores the data at the same time. The monitoring device has the characteristics of high acquisition precision, low work voltage and power consumption, high reliability, simple structure and the like.

Description

technical field [0001] The invention relates to a control device for a thruster of an underwater submersible, in particular to a control attitude monitoring device for a propeller of a submersible. Background technique [0002] In marine development and marine engineering, because the submersible has to perform various complex missions, it should have good maneuverability. It tends to be larger, the total weight increases, the overall scale becomes larger, and there are more restrictions on use. [0003] Submersible omni-directional propeller, also known as variable vector propeller, is a special propeller in which the blade pitch angle changes periodically during the rotation of the blade, so that it can not only generate thrust in the axial direction parallel to the propeller shaft , can also generate thrust in the transverse and vertical directions perpendicular to the propeller shaft. The omnidirectional propeller is mainly realized by controlling the swash plate, chan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/048
Inventor 刘胜王宇超李冰李高云常绪成
Owner HARBIN ENG UNIV
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