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

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...

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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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