Steering system of small double-propeller unmanned surface vehicle

A rudder system and boat maneuvering technology, which can be used in steering steering with rudder, etc., can solve the problems of high price, impracticality, long product supply cycle, etc., and achieve the effect of improving safety.

Active Publication Date: 2019-05-28
SHANGHAI UNIV
View PDF11 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Steering system of small double-propeller unmanned surface vehicle
  • Steering system of small double-propeller unmanned surface vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] see figure 1 and figure 2 , This small double-push unmanned boat steering system includes: a stepping motor (1), a coupling (2), a screw (3), a shaft end cover (4), and a screw sleeve (5) , one intermediate link (6), one parallel link (7), two propeller thrusters - left rudder (8), right rudder (9), two angle sensors - rudder angle indicator 1 (10), rudder Angle indicator 2 (11), a bottom control box (12) housing the motor driver and microprocessor. Its characteristic is that the control of the system can be controlled by a fully closed-loop control method. First, the installation of the mechanical components of the system and the rudder angle indicator is completed, and then the bottom control box is installed to complete the wiring from the bottom box to the motor and to the rudder angle indicator. the electrical wiring of the device. Afterwards, the values ​​of the two rudder angle sensors can be read back by using the microprocessor, and the installation positio...

Embodiment 2

[0025] This embodiment is relatively a simplified control version of the first embodiment, without the two rudder angle sensors (10) and (11) in the first embodiment, but uses the closed-loop characteristics of the motor itself to form the semi-closed-loop control of the double-push steering system. Similarly, after assembling the mechanical components of the system and completing the electrical wiring, it is necessary to manually control the motor to rotate to the left full rudder and right full rudder positions in advance, and calibrate the origin of the stepper motor and read the full rudder position. Position information returned by the motor encoder. Take the read position value as the upper limit and lower limit of the motor control value, and do software limit protection in the program. The semi-closed-loop control idea is as follows, the command to seek the position of the motor is sent regularly, the current position of the motor is read out, and then the angle value ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B63H25/14B63H25/24
Inventor 李小毛卢俊祝川吴翔彭艳
Owner SHANGHAI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap