Processing method and device of full-revolving-propulsor rudder angle sensor signals

A technology of azimuth thruster and rudder angle sensor, which is applied in the directions of ship propulsion, propulsion components, transportation and packaging, etc., can solve the problems of uneven distribution of the detection value of rudder angle, large error, affecting the navigation of ships, etc.

Active Publication Date: 2017-09-26
WUHAN MARINE MACHINERY PLANT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Affected by the measurement accuracy of the rudder angle sensor, the detection values ​​of each rudder angle by the rudder angle sensor are not evenly distributed within the detection range of the rudder angle sensor. In fact, it may not be a complete linear relationship. At present, the linear relationship is directly used to convert the digitized value of the analog signal output by the rudder angle sensor into an angle value, and the error is relatively large. Use the converted angle value to adjust the rudder of the azimuth propeller. angle, it will cause the rudder angle of the azimuth thruster to be unable to be adjusted to the exact position, and the thrust direction of the ship will deviate, which will affect the navigation of the ship

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  • Processing method and device of full-revolving-propulsor rudder angle sensor signals
  • Processing method and device of full-revolving-propulsor rudder angle sensor signals

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Embodiment 1

[0071] The embodiment of the present invention provides a processing method of the rudder angle sensor signal of an azimuth thruster, see figure 1 , The processing method includes:

[0072] Step 101: Obtain the analog signal value output by the rudder angle sensor when the rudder angles of the azimuth propeller are 0°, 90°, 180°, and 270° respectively.

[0073] In this embodiment, the rudder angle sensor is a sensor that detects the rudder angle of the azimuth propeller, which can be specifically implemented by an angle sensor. The rudder angle sensor will output a corresponding analog signal when detecting the rudder angle of the azimuth thruster. The analog signal is theoretically a current signal of 4-20mA or a voltage signal of 0-10V, but in actual implementation, due to the rudder angle sensor The detection range is limited. The minimum value of the analog signal output by the rudder angle sensor may be greater than 4mA or 0V, and the maximum value may be less than 20mA or 10V...

Embodiment 2

[0112] The embodiment of the present invention provides a processing method of the rudder angle sensor signal of an azimuth thruster, see figure 2 , The processing method includes:

[0113] Step 201: Obtain the analog signal value output by the rudder angle sensor.

[0114] Specifically, this step 201 is similar to step 101, and will not be described in detail here.

[0115] Step 202: digitize the analog signal value output by the rudder angle sensor to obtain a digitized value.

[0116] Specifically, step 202 is similar to step 102, and will not be described in detail here.

[0117] Step 203: According to the first linear relationship between the digitized value and the initial conversion value, the digitized value is converted into the initial conversion value.

[0118] Specifically, this step 203 is similar to step 103, and will not be described in detail here.

[0119] Step 204: Subtract the initial conversion value when the rudder angle of the azimuth propeller is 0° from the initia...

Embodiment 3

[0170] The embodiment of the present invention provides a signal processing device for the rudder angle sensor of an azimuth thruster, which is suitable for implementing the processing method provided in the first embodiment, see image 3 , The processing device includes:

[0171] The first acquiring module 301 is used to acquire the analog signal value output by the rudder angle sensor when the rudder angle of the azimuth propeller is 0°, 90°, 180°, and 270° respectively;

[0172] The first digitizing module 302 is configured to digitize each analog signal value output by the rudder angle sensor to obtain a digitized value;

[0173] The first initial conversion module 303 is configured to convert each digitized value into an initial conversion value according to the first linear relationship between the digitized value and the initial conversion value. The range of the digitized value in the first linear relationship is the rudder angle sensor As a result of the digitization of the ...

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Abstract

The invention discloses a processing method and device of full-revolving-propulsor rudder angle sensor signals, and belongs to the technical field of ship propulsion. The processing method includes the steps that analog signal values output by a rudder angle sensor are obtained respectively when rudder angles of a full-revolving propulsor are 0 degree, 90 degrees, 180 degrees and 270 degrees; all the analog signal values output by the rudder angle sensor are digitized respectively, and digitized numeric values are obtained; according to the first linear relationship between the digitized numeric values and initial conversion values, all the digitized numeric values are converted into the initial conversion values respectively; rudder-angle conversion values are determined respectively when the rudder angles of the full-revolving propulsor are 0 degree, 90 degrees, 180 degrees and 270 degrees; according to the rudder-angle conversion values when the rudder angles of the full-revolving propulsor are 0 degree, 90 degrees, 180 degrees and 270 degrees, the second linear relationship, the third linear relationship, the fourth linear relationship and the fifth linear relationship between the rudder-angle conversion values and the rudder angles of the full-revolving propulsor are determined. According to the processing method and device of full-revolving-propulsor rudder angle sensor signals, the control accuracy is increased.

Description

Technical field [0001] The invention relates to the technical field of ship propulsion, in particular to a method and device for processing signals from a rudder angle sensor of an azimuth propeller. Background technique [0002] The azimuth propeller is a propeller or duct propeller that can rotate 360° around a vertical axis. The control of the ship's thrust direction can be achieved by adjusting the rudder angle. Generally, when the rudder angle is 0°, the thrust direction of the ship is toward the bow, and the ship has forward power; when the rudder angle is 180°, the thrust direction of the ship is toward the stern, and the ship has the power to move backward. [0003] In the course of sailing, the rudder angle of the azimuth thruster is usually monitored in real time through the rudder angle sensor, and the rudder angle adjustment command is issued according to the sailing needs to control the rudder angle of the azimuth thruster. If the actual rudder angle detected by the r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H5/125
CPCB63H5/1252B63H2005/1258
Inventor 肖源赵丽雄池飞飞高海涛李霞林
Owner WUHAN MARINE MACHINERY PLANT
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