Monitoring and control system for cycloid thruster and unmanned ship including the system
A cycloidal thruster, monitoring and control technology, applied in directions such as rudder steering and steering, can solve the problems such as difficulty in adapting to the ship's sideways movement, retreating and turning in place, insufficient maneuvering and control performance, etc.
Active Publication Date: 2018-10-26
ZHEJIANG UNIV
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Marine propeller propeller is the most common ship propeller in marine engineering equipment. It has simple structure, low cost and broad market, but its maneuverability and control performance is insufficient, and it is difficult to adapt to ship side movement, retreat, stop, speed change, and circling in situ Waiting for request
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[0047] Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
[0048] The present invention is aimed at the application number 201310744655.5, the name is the blade swing mechanism and the cycloid propeller for ships including the mechanism, the designed monitoring and control system and the unmanned ship including the system. see this case Image 6 with Figure 7 , in the scheme of this application, an unmanned ship comprises two cycloid thrusters 20, and each cycloid thruster 20 is controlled by two steering gears 21 to its eccentric point 26, and each cycloid thruster 20 has a rotating The rotating disk 25 of each cycloid propeller 20, the velocity vector direction of the rotating disk 25 of each cycloid propeller 20 at the eccentric point 26 is the thrust direction of this cycloid propeller 20, in a cycloid propeller 20, by changing the two steering gears 21 Rotation angle can change the position of its eccent...
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The invention relates to a monitoring and controlling system of a cycloidal propeller and an unmanned ship comprising the monitoring and controlling system of the cycloidal propeller. The monitoring and controlling system of the cycloidal propeller comprises an ARM main control panel, a main driving motor respectively driving each rotary table to rotate, an upper computer communicating with the ARM main control panel by virtue of a wireless communication module as well as a GPS and an electronic compass which are arranged on the unmanned ship, wherein the ARM main control panel controls the main driving motor to rotate by virtue of a motor driver, a torque sensor and an encoder are arranged on an output shaft of the main driving motor, a motor temperature sensor is arranged inside the main driving motor, an oil temperature sensor is arranged in a main transmission box of the cycloidal propeller, the ARM main control panel is in charge of monitoring data of the sensors so as to a PWM signal to a steering engine to control turning angle of the steering engine, rotating speed and accelerated speed of the main driving motor are controlled by virtue of Modbus protocol between the main driving motor and the motor driver, and upper computer control software is used for planning the moving trajectory of the unmanned ship and controlling the unmanned ship to walk according to the moving trajectory in real time.
Description
technical field [0001] The invention belongs to the field of monitoring and control of special thrusters of ships, and in particular relates to a monitoring and control system of cycloidal thrusters and an unmanned ship including the system. Background technique [0002] Countries around the world are paying more and more attention to marine development strategies. A propeller is a device to propel a ship, and people have been making disdainful efforts to explore new and efficient propellers for a long time. Marine propeller propeller is the most common ship propeller in marine engineering equipment. It has simple structure, low cost and broad market, but its maneuverability and control performance is insufficient, and it is difficult to adapt to ship side movement, retreat, stop, speed change, and circling in situ Wait for the request. Cycloidal propellers are superior to ordinary propeller propellers in terms of maneuverability. Contents of the invention [0003] The ...
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IPC IPC(8): B63H25/08B63H25/26
Inventor 杨世锡金鹏程甘春标刘学坤程维华郭梅张志宏施佳晨
Owner ZHEJIANG UNIV