A signal processing method and device for an azimuth thruster rudder angle sensor

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 thruster. Background technique [0002] The azimuth thruster is a propeller or ducted thruster that can rotate 360° around the vertical axis, and the control of the thrust direction of the ship can be realized 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 the power to move forward; when the rudder angle is 180°, the thrust direction of the ship is toward the stern, and the ship has the power to retreat. [0003] During the voyage, the rudder angle of the azimuth thruster is usually monitored in real time by the rudder angle sensor, and at the same time, the rudder angle adjustment command is issued according to the navigation needs to control the rudder angle of the azimuth thruster. If the actua...

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

Images