Gear transmission device with adjustable flap rudder rotation angle ratio and its control method

Abstract

The invention discloses a gear transmission device with an adjustable flap rudder rotation angle ratio and a control method thereof. The gear transmission device comprises a main rudder shaft, a wingrudder shaft, a driving motor which is arranged inside the cabin, an ECU control unit, a gear transmission mechanism and a braking system, wherein the driving motor can adjust the angle of the flap rudder through the gear transmission mechanism, while the braking system can keep the angle of the flap rudder unchanged. The control method provided by the gear transmission device with adjustable flaprudder rotation angle ratio and the control method thereof comprises the following steps: firstly, establishing a ship navigation motion model, converting the objective function of the ship transfermoment and the equivalent rudder angle into a single objective function, developing an upper-layer controller and a lower-layer controller respectively based on an artificial fish group algorithm anda backstepping control theory to optimize the flap rudder angle on line in real time and carried out the robust control. The device is arranged in the cabin with a simple and compact structure easy tocontrol, and the control method automatically calculates and controls the optimal wing rudder angle and flap rudder angle for navigation based on the data of the course, the speed, the sea wind and the like of the ship, so that the maneuvering stability and the flexibility of the navigation of the ship are improved.

Description

technical field [0001] The invention relates to a flap rudder rotation angle transmission device and a control method thereof, in particular to a gear transmission device with an adjustable flap rudder rotation angle ratio and a control method thereof. Background technique [0002] In ship attitude control, heading control is mainly realized by steering movement. In order to turn flexibly, the rudder is required to convert the thrust of the propeller into the lateral force of the ship's motion as much as possible, that is, to generate as large a turning moment as possible to improve the rudder effect. The flap rudder divides the rudder blade into two parts, the main rudder blade and the wing rudder blade according to a certain ratio. When turning the rudder, the main rudder angle is not equal to the wing rudder angle through the transmission device. In fact, the streamlined rudder blade becomes into a cambered rudder blade. At present, the flap rudders are commonly used in...

AI Technical Summary

Problems solved by technology

In the Chinese invention patent specification CN101112913A, a ship rudder / wing rudder arbitrary rotation angle ratio transmission device is disclosed. This transmission device "adds a relatively independent control surface on the rudder to improve the heading control performance of the rudder", but its transmission mechanism Relatively complex and bloated structure, not fully suitable for improving the hydrodynamic performance of ships

In the Chinese invention patent specification CN101519118B, a slider-type ship flap rudder arbitrary rotation angle ratio transmission device is disclosed. This device uses a slider mechanism to realize the rotation of the wing rudder, but its transmission device is placed outside the cabin, resulting in irregular hull structure. , affecting the hydrodynamic performance of the hull, and being placed in water for a long time is not conducive to the maintenance of the device

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