Steering system of small double-propeller unmanned surface vehicle

Abstract

The invention discloses a steering system of a small double-propeller unmanned surface vehicle. The steering system comprises a stepping motor, a coupling, a screw rod, a shaft end cover, a screw sleeve, an intermediate connecting rod, a parallel connecting rod, two propellers, two angle sensors and a bottom control box, wherein rotation of the motor can be converted into translation by using thescrew rod and the screw sleeve; the rotation of the connecting rod can be synchronously converted into rotation control of a left rudder angle and a right rudder angle through action of a parallel mechanism. The steering system realizes synchronous control of double rudder angles in mechanical structure, makes a double-propeller controlled ship body more flexible, can avoid damage to subsequent systems when an over-limit problem in limitation of a whole structure by the screw rod and the screw sleeve and a front-end limit problem in force transmission occur; in addition, control components ofthe system only adopt a single stepping motor, so that the steering system is convenient to operate and simple to control; a control mode of the system is closed-loop or semi-closed-loop control, so that the steering system has characteristics of high stability, strong operability and good safety.

Description

technical field [0001] The invention belongs to the field of rudder angle control of unmanned autonomous small boats, and specifically designs a small double-push unmanned boat steering system, which is an automatic steering system that uses a stepping motor to drive a slider-crank parallel mechanism to control the rudder angle. Background technique [0002] In recent years, with the development of the national maritime strategy, unmanned surface vehicles that can perform some dangerous or unsuitable tasks for manned ships in autonomous navigation have been widely developed and used. Among them, considering the construction price of a single boat and the flexibility of unmanned control, the general unmanned boats are mostly small and medium-sized unmanned boats. While unmanned boats face various needs, in order to meet the requirements of higher speed and power performance, small unmanned boats with double water jet propulsion or double propeller propulsion are born. [000...

AI Technical Summary

Problems solved by technology

[0004] Referring to the steering control of the single-push unmanned boat, in the single-jet propulsion small unmanned boat, the steering mechanism is generally powered by an oil pump, and the three-position four-way electromagnetic reversing valve is used to switch the flow direction of the oil circuit to control the hydraulic cylinder. Telescopic movement, so that the nozzle moves left and right through the linkage mechanism, which can generate a large steering force. However, this set of hydraulic systems is mostly imported by foreign agents, which is expensive and has a long product supply cycle. It is not suitable for ordinary and simple small unmanned boats Not practical; in single-propeller small unmanned boats, the steering mechanism uses a small steering gear that can convert PWM with different duty ratios into different rotation angles to control the rotation of the whole propeller. The operation is relatively simple, but it cannot produce large Steering force, for double pushers, the synchronous action of the two rudders can only be guaranteed by electronic control, and its safety and reliability are relatively poor

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