Non-contact feedback device for ship fin stabilizer system and control method

Abstract

The invention belongs to the technical field of ship navigation control and attitude stabilization, and particularly relates to a non-contact feedback device for a ship fin stabilizer system and a control method. The angle sensor magnetic block and the induction column are fixedly installed on the bottom plate, and the magnetic block does circular motion around the rotation axis along with the bottom plate; the main body structure is fixedly connected with the fixed seat, a space used for accommodating a magnetic block of the angle sensor is defined between the main body structure and the bottom plate, the main body structure is provided with a first arc opening, and the induction column is arranged in the first arc opening and moves along a track; the main body structure is provided with a proximity switch and an angle sensor body which is opposite to the magnetic block and has an induction gap, and a signal transmission interface is electrically connected with the proximity switch and the angle sensor body. Angle induction and zero position recognition are achieved in a non-contact mode, the problems of mechanical clamping stagnation and signal drifting are solved, and the technical problems that an existing fin angle feedback device is complex in structure, a contact element is poor in reliability, and the zero position recognition precision is low are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship navigation control and attitude stabilization, and particularly relates to a non-contact feedback device and a control method for a ship fin stabilizer system, which are specifically applied to the fin angle detection and feedback link in a ship roll reduction control system. Background Art

[0002] Currently, during the navigation of a ship, it often undergoes rolling motion due to external disturbances such as waves, which affects the navigation stability of the ship and the comfort of the crew. For this reason, fin stabilizer devices are widely used in medium and large-sized ships to effectively reduce the rolling amplitude. Such devices usually symmetrically install fin stabilizers on both sides of the hull, collect the motion parameters of the hull (such as angular velocity, angle, angular acceleration, etc.) through sensors, and transmit the signals to a control processor. After operations such as calculation, synthesis, and amplification, control instructions for the fin rotation angle are generated to drive the electro-hydraulic servo system in the fin stabilizer device to control the fin rotation mechanism to act, thereby adjusting the fin angle, forming a certain angle of attack between the fin and the water flow, generating lift, and thus generating a righting moment to counteract the disturbing moment caused by external waves, achieving the purpose of roll reduction.

[0003] In the fin stabilizer system, the fin angle feedback device is a component of the control system of the fin stabilizer device. The angle signal of the actuator needs to be fed back to the control system to form a complete closed-loop control system for the fin stabilizer device, ensuring the accuracy of the device operation and the timeliness of the response. As long as the lift forces of the fins on both sides are controlled to be equal in magnitude and opposite in direction, and the righting moments generated by the lift forces of the two fins on the ship and the disturbing moment of the waves are ensured to have opposite polarities, the ship's roll caused by the waves can be actively counteracted, and the ship's roll is greatly reduced.

[0004] As shown in the attached specification Figure 1-2 , the existing fin angle feedback device includes a connecting shaft A2, a large gear A3, a cam A4, a rotary potentiometer A5, a small gear A6, a micro switch A7, a scale disk A8, and a pointer A9. The fin angle feedback device is connected to the fin shaft A1 through the connecting shaft A2. The connecting shaft A2 rotates together with the fin shaft A1, and then the connecting shaft A2 drives the large gear A3 on the fin angle feedback device to rotate. The large gear A3 drives the small gear A6 to rotate. The rotary potentiometer A5 rotates along with the rotating shaft of the small gear A6, converting the linear displacement of the fin rotating cylinder into an angular displacement and feeding it back to the control system. When the fin angle exceeds the designed working angle, the cam A4 on the fin angle feedback device touches the limit micro switch A7, and the fin angle overlimit signal is connected and transmitted to the electric control equipment, causing the system to stop, reset, and lock, and reading the fin rotation angle on the scale disk A8 through the pointer A9.

[0005] However, there are many problems with this fin angle feedback device. On the one hand, the mechanical connection structure is complex. In particular, the cooperation between the connecting shaft and the cam is prone to jamming due to problems such as equipment assembly errors and gear clearances, resulting in interrupted feedback signals, and further causing jerks or even out-of-control of the fin surface movement. On the other hand, the limit microswitch is prone to looseness or damage during frequent operation, increasing the maintenance cost and failure rate of the system. In addition, the zero position detection of the existing device relies on the resistance value of the rotary potentiometer, and the resistance value of the potentiometer element is prone to drift under long-term use or the influence of the marine environment, resulting in inaccurate zero position recognition and affecting the reliability of the system's shutdown and reset and locking actions. Therefore, there is an urgent need for an angle feedback device with a simple structure, non-contact type, and high-precision zero position recognition ability to improve the reliability and performance of the ship anti-rolling system. Summary of the Invention

[0006] In view of the above problems, the present invention provides a non-contact feedback device and control method for a ship fin stabilizer system, which solves the problems of jamming, signal instability, and easy wear caused by the mechanical contact structure of the traditional fin angle feedback device. The present invention does not simply replace components, but reconstructs the feedback path and sensing mechanism. By introducing non-contact sensing elements (proximity switches and rotary potentiometers), there is no mechanical gear transmission at all. The proximity switch works without contact, avoiding wear. The zero position detection does not depend on the change of the potentiometer resistance value, improving the long-term stability. The multi-point limit and observation mechanism coexist, with high reliability and maintainability.

[0007] On the one hand, the present invention provides a non-contact feedback device for a ship fin stabilizer system. The fin stabilizer system includes a rotating shaft for driving the rotation of the fin surface in the fin stabilizer device, and a fixed seat sleeved outside the rotating shaft. The fixed seat is rotatably connected to the rotating shaft. The non-contact feedback device includes:

[0008] A bottom plate installed on the rotating shaft;

[0009] An angle sensor magnet block and an induction column fixedly installed on the bottom plate; the angle sensor magnet block is a disc structure, its axis coincides with the axis of the rotating shaft, and it rotates circumferentially around the rotation axis with the bottom plate;

[0010] A main body structure fixedly connected to the fixed seat. A space for accommodating the angle sensor magnet block is defined between the main body structure and the bottom plate. A first arc opening is provided on the main body structure; the induction column is arranged in the first arc opening on the main body structure and moves along the trajectory of the first arc opening when the bottom plate rotates;

[0011] An angle sensor body installed on the main body structure, the angle sensor body is arranged opposite to the angle sensor magnet block, and there is a preset induction gap between the two;

[0012] A proximity switch installed on the main body structure, and the proximity switch is arranged on one side of the first arc opening of the main body structure;

[0013] A signal transmission interface for electrically connecting with the angle sensor body and the proximity switch; wherein, when the induction column rotates to a position opposite to the proximity switch, the proximity switch outputs a signal of the limit position of the rotating shaft through the signal transmission interface; when the angle sensor magnet rotates around the rotating shaft, the angle sensor body is used to identify the angle change of the angle sensor magnet and output the current rotation angle of the rotating shaft through the signal transmission interface.

[0014] In a preferred implementation manner of the present application, further, the angle sensor magnet has a radially magnetized structure, and its N pole and S pole are symmetrically distributed along the radial direction. The angle sensor body is arranged in front of the angle sensor magnet, and its sensing area is aligned with the magnetic field distribution area at the outer edge of the angle sensor magnet.

[0015] In a preferred implementation manner of the present application, further, the proximity switch sequentially includes a zero position proximity switch, an upper electrical limit proximity switch, and a lower electrical end position proximity switch along the arc path of the first arc opening; the zero position proximity switch is arranged at the central position of the first arc opening; the upper electrical limit proximity switch and the lower electrical end position proximity switch are respectively arranged on both sides of the zero position proximity switch.

[0016] In a preferred implementation manner of the present application, further, a proximity switch adjustment mounting seat is further included; the proximity switch adjustment mounting seat is installed on the main body structure, and the zero position proximity switch, the upper electrical limit proximity switch, and the lower electrical end position proximity switch are respectively installed on the corresponding proximity switch adjustment mounting seats.

[0017] In a preferred implementation manner of the present application, further, the end face of the main body structure is provided with a second arc opening, the central axis of the second arc opening is coaxially arranged with the central axis of the rotating shaft, the inner arc surface of the second arc opening is arranged opposite to the inner arc surface of the first arc opening, and the angular bisectors of the arc angles of the first arc opening and the second arc opening coincide with each other.

[0018] In a preferred implementation manner of the present application, further, a dial mounting post and a pointer are further included; one end of the dial mounting post is fixedly connected to the bottom plate, and the other end passes through the second arc opening and extends to the outside of the main body structure and is connected to the pointer.

[0019] In a preferred implementation mode of the present application, further, a dial is further included; the dial is installed outside the second arc opening, and the dial takes the scale corresponding to the middle vertical axis where the pointer is located as the zero-degree reference point, and angle scales symmetrically increasing outward from zero are respectively arranged on the left and right sides thereof, and the maximum scale of the angle scale corresponds to the maximum limit position of the rotating shaft.

[0020] In a preferred implementation mode of the present application, further, the zero-position proximity switch is correspondingly arranged at the zero-degree reference point position on the dial, and the upper electrical limit proximity switch and the lower electrical limit proximity switch are respectively correspondingly arranged at the maximum limit angle positions on both sides of the dial.

[0021] In a preferred implementation mode of the present application, further, an end cover is further included, and the end cover is fixedly installed on the end face of the main body structure and jointly encloses a closed space with the bottom plate;

[0022] An observation window is further included; an arc-shaped opening is provided on the end cover, and the observation window is installed at the position of the arc-shaped opening.

[0023] On the other hand, the present invention provides a control method for a non-contact feedback device for a ship stabilizer fin system using any one of the above, and the control method includes:

[0024] Step 1: The rotating shaft drives the angle sensor magnet to rotate. During the rotation process, the angle sensor magnet generates a magnetic field change that varies with the angle. The angle sensor body senses the magnetic field change and outputs a continuous current signal corresponding to the angle change to the stabilizer fin control system;

[0025] Step 2: The induction column rotates synchronously with the rotation of the rotating shaft. When the induction column rotates into the proximity switch sensing area corresponding to the preset angle position, the proximity switch senses the approaching state of the induction column and immediately outputs a power-on and power-off signal representing the angle state. The electrical signal is transmitted to the stabilizer fin control system through the signal output interface of the feedback device;

[0026] Step 3: After receiving the analog angle signal output by the angle sensor body, calculate the current fin surface angle based on this signal and compare it with the preset target angle to determine whether the current fin angle reaches the control target value;

[0027] Step 4: When the fin stabilizer control system determines that the current fin angle has reached the preset control target value and receives a limit trigger signal from any limit proximity switch, the fin stabilizer control system executes an action abort instruction, interrupts the continuous driving action of the actuator, and triggers the alarm module or starts the system zeroing process; if it receives a trigger signal from the zero position proximity switch, the fin stabilizer control system determines that the current fin angle is in the zeroing position, enters the reset control state, performs angle position calibration operations, and outputs a locking control instruction.

[0028] The beneficial effects of the present invention are as follows:

[0029] First, the non-contact feedback device of the present invention realizes angle induction in a non-contact manner by installing the angle sensor magnet in the rotating shaft follower structure and setting the angle sensor body in the stationary structure, effectively avoiding problems such as mechanical jamming, signal interruption, and resistance drift caused by gear transmission, cam mechanisms, and rotating potentiometer contacts in the prior art; at the same time, through the non-contact cooperation between the induction column and the proximity switch, high-reliability zero position identification and limit protection are achieved, improving the structural stability and signal output accuracy of the feedback device. By designing the angle sensor magnet as a disc structure and arranging its axis coaxially with the center of the rotating shaft, the magnetic field distribution is uniform and symmetric, improving the linearity of the signal output and the detectable angle range. The angle sensor magnet is designed with radial magnetization, and the sensor body is arranged in front of the outer edge of the magnet with the detection surface facing the polarity midline, which is beneficial to improving the accuracy and stability of angle measurement. This structure has excellent tolerance to assembly tolerances and anti-interference ability. Even in the presence of slight mechanical deviations or external vibration interference, it can still stably output accurate angle signals. At the same time, the disc magnet layout is compact and easy to integrate, facilitating one-piece encapsulation with the rotating structure, enhancing the control response ability and long-term operation reliability of the fin stabilizer system in complex marine environments, reducing the maintenance frequency and failure rate, and meeting the requirements of high-precision, high-stability, and high-integration angle detection for marine equipment in complex environments.

[0030] Second, in the preferred implementation, the present invention arranges the zero position proximity switch, the upper electrical limit proximity switch, and the lower electrical end position proximity switch in sequence along the arc path of the first arc opening, and sets the zero position proximity switch at the central position of the arc path, with the upper limit and lower limit proximity switches symmetrically distributed on both sides of it, so that the induction column can accurately trigger the switch signals corresponding to different angle positions in sequence during the rotation process, realizing precise zeroing identification and limit protection of the fin stabilizer rotation angle; in addition, by setting an adjustable proximity switch adjustment mounting seat, each proximity switch can be finely adjusted and positioned in both the arc direction and the radial direction, improving the matching accuracy of limit induction and the structural adaptability.

[0031] Third, in the preferred implementation, the first arc opening and the second arc opening of the present invention are respectively arranged on the two end faces of the main body structure, and the bisectors of the arc angles of the two coincide with each other and are coaxially arranged with the central axis of the rotating shaft, thereby forming an arc channel structure with high symmetry. This symmetric arrangement not only ensures the stable rotational movement of the sensing column within the arc path, which is beneficial to improving the triggering accuracy between the proximity switch and the sensing column, but also makes the indicating directions between the pointer and the scale disk consistent.

[0032] Fourth, in the preferred implementation, the structural design of the present invention enables the angle indicating mechanism formed by the scale disk mounting post and the pointer to rotate synchronously with the rotating shaft, and extends the pointer to the outside of the device by passing through the second arc opening, and cooperates with the externally arranged scale disk to achieve real-time and intuitive display of the current fin surface angle. By setting a scale layout on the scale disk with the center position of the pointer as the zero-degree reference point and symmetrically increasing to the limit angle of the rotating shaft on both sides, the operator can, without disassembling the device, visually read, calibrate the angle, and judge the limit of the fin angle state by observing the position of the pointer on the scale disk.

[0033] Fifth, in the preferred implementation, the present invention correspondingly arranges the zero-position proximity switch at the zero-degree reference point position of the scale disk, and respectively arranges the upper electrical limit proximity switch and the lower electrical limit proximity switch at the maximum limit angle positions on both sides of the scale disk, so that the triggering positions of the proximity switches in the feedback device are in one-to-one correspondence with the artificial visual angle readings. This structure can achieve the coordinated correspondence among the physical position, sensing signal, and scale reading of the fin angle operating state.

[0034] Sixth, in the preferred implementation, the present invention sets an end cover on the end face of the main body structure, which together with the bottom plate encloses a closed space, and can effectively protect key components inside the device, such as the angle sensor, sensing column, proximity switch, etc., from being eroded by the external environment (such as salt spray, moisture, dust), and improve the protection level and service life of the entire feedback device; further, by providing an arc-shaped opening on the end cover that matches the angle display structure and setting a transparent observation window at this opening, it is convenient for on-site monitoring, manual calibration, and operation state confirmation.

[0035] Seventhly, the control method provided by the present invention realizes continuous and accurate angle signal feedback through non-contact induction between the angle sensor magnet block and the angle sensor body, and combines the non-contact limit and zero position detection mechanism of the induction column and the proximity switch, which improves the reliability and response speed of the feedback signal. This method avoids the signal errors and fault risks caused by gear clearances and contact wear in traditional mechanical structures, ensures that the system can timely identify and trigger limit or reset control instructions in critical angle states, and improves the control accuracy, stability and safety of the entire fin stabilizer system, especially suitable for high-demand ship dynamic attitude regulation application scenarios. Description of the Drawings

[0036] Figure 1 is a sectional side view of a fin angle feedback device in the prior art;

[0037] Figure 2 is a front view of a fin angle feedback device in the prior art;

[0038] Figure 3 is a sectional side view of a non-contact feedback device for a ship fin stabilizer system provided by an embodiment of the present invention;

[0039] Figure 4 is a front view of a non-contact feedback device for a ship fin stabilizer system provided by an embodiment of the present invention;

[0040] Figure 5 is a schematic diagram of the magnetization direction and sensor layout of the angle sensor magnet block of the non-contact feedback device for a ship fin stabilizer system provided by an embodiment of the present invention;

[0041] Figure 6 Schematic diagram of the layout of the non-contact feedback device for a ship fin stabilizer system provided by an embodiment of the present invention using a dual sensor;

[0042] Figure 7 is a schematic diagram of the structure of the non-contact feedback device for a ship fin stabilizer system provided by an embodiment of the present invention in the electrical limit angle state.

[0043] Wherein, 1 - bottom plate; 2 - main body structure; 3 - induction column; 4 - end cover; 5 - proximity switch adjustment and installation seat; 6 - angle sensor body; 7 - angle sensor magnet block; 8 - dial installation column; 9 - pointer; 10 - observation window; 11 - dial; 12 - magnet block adjustment and installation seat; 13 - rotating shaft; 14 - fixed seat; 15 - aviation socket; 16 - zero position proximity switch; 17 - upper electrical limit proximity switch; 18 - lower electrical end position proximity switch. Detailed Embodiment

[0044] To enable those skilled in the art to better understand the technical solution of this application, the following will further elaborate on the present invention in conjunction with the accompanying drawings and embodiments.

[0045] The orientation terms such as up, down, left, right, front, and back in this application document are established based on the positional relationship shown in the drawings. If the drawings are different, the corresponding positional relationship may also change accordingly. Therefore, it should not be understood as a limitation on the protection scope.

[0046] In this application, terms such as "installed", "connected", "joined", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection or a connection that can communicate with each other, a direct connection, an indirect connection through an intermediate medium, a connection inside two components, or an interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] Embodiment

[0048] Refer to the attached drawings of the specification Figure 3-4 A non-contact feedback device for a ship stabilizer fin system. This non-contact feedback device is installed on the rotating shaft 13 of the stabilizer fin device and is used to sense the change of the fin surface angle in real time and output a feedback signal to the control system, constituting a part of the closed-loop control system. The rotating shaft 13 is a transmission shaft for driving the stabilizer fin to achieve a rotary motion, and a fixed seat 14 that does not move is sleeved outside it. A rotary connection structure is adopted between the rotating shaft 13 and the fixed seat 14, allowing the rotating shaft to freely rotate with low friction in the fixed seat.

[0049] It should be noted that the rotating shaft 13 is a rotatably installed rotating shaft, one end of which is connected to the component to be detected (such as a stabilizer fin or a steering gear mechanism), and the other end penetrates through the fixed seat 14. The fixed seat 14 is provided with a bearing hole or a rotary support structure for the rotating shaft 13 to pass through and be supported. Specifically, the rotating shaft 13 is supported and guided in the fixed seat 14 through a rolling bearing or a sliding sleeve structure provided, enabling it to perform a low-friction rotary motion along the axial direction in the fixed seat 14. This rotational relationship ensures that when the rotating shaft 13 is subjected to an external drive or load, it can rotate smoothly relative to the fixed seat 14, thereby driving the bottom plate 1, the sensing column 3, and the angle sensor magnet 7 connected thereto to rotate synchronously with the shaft, realizing the detection and feedback of the angle change.

[0050] The non-contact feedback device includes a bottom plate 1, a main body structure 2, an induction column 3, an angle sensor body 6, an angle sensor magnet 7, a proximity switch, and a signal transmission interface. One end face of the bottom plate 1 is fixedly connected to the rotating shaft 13 for synchronous rotation with the rotating shaft. The angle sensor magnet 7 and the induction column 3 are both installed on the other end face of the bottom plate 1 and rotate with the bottom plate. The main body structure 2 is fixedly installed on the fixed seat 14 and has a space for accommodating the angle sensor magnet 7 between it and the bottom plate 1. The angle sensor body 6 is installed on the main body structure 2 and is arranged opposite to the angle sensor magnet 7, with a preset induction gap maintained between them. The angle sensor body 6 is connected to the signal transmission interface through a signal wire and is used to sense the rotation angle of the angle sensor magnet 7 and output a corresponding electrical signal, which represents the current angle of the fin surface. The end face of the main body structure 2 is provided with a first circular arc opening. The induction column 3 is vertically installed on the bottom plate 1 and rotates synchronously with the bottom plate 1 in the first circular arc opening of the main body structure 2. The proximity switch is arranged on the side of the first circular arc opening area of the main body structure 2 and is connected to the signal transmission interface through a wire. It is used to conduct when the induction column 3 rotates to a preset position and output a limit or zeroing signal to the control system.

[0051] It should be noted that a proximity switch is a non-contact detection device used to detect whether an object approaches or reaches a specific position without directly contacting the target object. The types of proximity switches include inductive proximity switches, capacitive proximity switches, photoelectric proximity switches, and magnetic proximity switches. In the preferred implementation of this application, a magnetic proximity switch is adopted. Through magnetic field induction, it does not need to contact the target, is suitable for long-term operation in humid or underwater environments, has no friction components, a long service life, is insensitive to interference such as temperature and electromagnetic waves, and can flexibly adapt to different working conditions by adjusting the magnet strength and installation distance. The induction column 3 is made of a corrosion-resistant metal material, such as stainless steel 316L.

[0052] As shown in the attached Figure 5 description of the specification, in the preferred implementation of this application, to overcome the technical bottlenecks existing in existing angle sensors, such as limited detectable rotation angle range, high sensitivity to mechanical assembly errors, non-linear output signals, insufficient anti-interference ability, and limited structural layout, this application has systematically optimized the form and installation method of the angle sensor magnet 7 through structural innovation. Specifically, this application designs the angle sensor magnet 7 used in the angle sensor as a disc structure and accurately co-axes its axis with the central axis of the rotating shaft 13. The angle sensor magnet 7 is radially magnetized and has a bipolar magnet structure, and the N / S pole distribution is radially distributed (for example Figure 5The left half is the S pole and the right half is the N pole). The angle sensor body 6 is arranged at the front end of the angle sensor magnet 7, and the sensing area of the angle sensor body 6 is aligned with the magnetic field distribution area at the outer edge of the angle sensor magnet 7. The sensing area at the edge of the magnet faces the position where the magnetic field changes most violently. When the magnet rotates in this radial magnetization mode, a periodic change in the magnetic field direction will be generated at its edge. The magnetic induction lines radiate radially from one half and converge radially in the other half, showing obvious directionality and angle dependence at the outer edge. The magnetic field direction in this area includes a radial component (along the radius direction of the magnet, i.e., the X-axis direction - from the center of the circle to the edge of the disc), an axial component (along the rotation axis direction, i.e., the Z-axis direction - the axis line direction of the magnet rotation), and a tangential component (changing with the rotation of the magnet, i.e., the Y-axis direction - perpendicular to the X-axis and along the tangent direction of the magnet edge, clockwise or counterclockwise around the center). In the implementation mode of the present application, the angle sensor body 6 adopts a three-axis magnetic field sensing device, including but not limited to a magnetoresistive angle sensor, a Hall effect angle sensor, and an inductive non-contact sensor, which can simultaneously sense the magnetic field components in the X, Y, and Z directions.

[0053] Furthermore, the sensing area of the angle sensor body 6 faces the polarity midline of the magnet, that is, the N / S pole junction, and this position is defined as the zero position of the rotation axis 13. This is because the N / S pole junction line is the position where the magnetic field direction changes suddenly, and the magnetic induction vector has a clear and steep change trend here, and the highest sensitivity can be obtained, which is suitable as the physical "reference line" for angle measurement. By setting the sensor at this point, the change of this magnetic field characteristic can be clearly sensed, making the definition of the "zero position" have repeatability and stability.

[0054] Since the angle sensor magnet 7 is a disc, as the angle sensor magnet 7 rotates around the rotation axis 13, the magnetic field direction generated at its periphery will change continuously. By obtaining the three-dimensional magnetic field vector through a three-axis magnetic sensor, the current magnetic field direction can be observed in real time, and vector analysis can be carried out to calculate the current rotation angle, and finally a continuous analog signal or digital signal is output for angle feedback of an external control system (such as the main controller of a fin stabilizer control system, etc.).

[0055] To achieve accurate calculation, a certain initial angle θ = 0 can be selected as a reference, and record the magnetic field components in the rotation plane at this moment as At any subsequent moment, obtain the current magnetic field vector in real time In the system initialization stage, the rotation axis 13 is successively positioned at several known angle points (covering the full cycle of 0° - 360°, with an accuracy ≤ 1°), record the magnetic field components corresponding to each angle, and construct a correspondence database between the magnetic field vector and the angle. During the operation process, by finding the closest item of the current magnetic field vector in this database and performing interpolation or fitting calculation, the current rotation angle is obtained, thereby realizing stable and unambiguous continuous angle calculation.

[0056] As the instruction manual Figure 6 , the angle sensor body 6 of the present application is provided with two, wherein the first sensor is arranged in front of the outer edge of the angle sensor magnetic block 7, and the sensing area is directly opposite to the polarity midline of the magnetic block, and the second sensor is also arranged in front of the outer edge of the angle sensor magnetic block 7, and is arranged 90° away from the second sensor around the center of the magnetic block. The two sensors are arranged equidistantly from the magnetic block, respectively sensing radial magnetic field components in different directions, and the two sensors respectively detect magnetic field components with a phase difference of 90°, and the precise angle can be calculated by vector synthesis / inverse tangent function. This method can continuously decode the angle without dead zone within the full 360° range, with extremely high accuracy. In addition, if there is a slight eccentricity when the magnetic block rotates, the output signal of the single sensor will be distorted; however, due to the 90° difference in angle between the two sensors, the interference directions are different, and the eccentricity error can be effectively offset through joint algorithm processing (such as filtering, fitting, error correction). Under vibration conditions, the magnetic field perception in a certain direction may be greatly disturbed; at this time, the second sensor can provide a stable compensation signal to keep the system running reliably. The redundant design supports fault-tolerant detection. Even if one sensor is damaged, the other can still provide an angle trend signal to achieve degraded operation and improve system reliability.

[0057] Specifically, each group of sensors is calibrated independently during the system initialization phase: by rotating the rotating shaft 13 to multiple known angle points in sequence (covering the full cycle of 0°-360°, with an accuracy of ≤1°), recording the magnetic field vector data corresponding to each angle, and establishing a mapping database between the magnetic field direction and the angle. Since there is a 90° physical offset in the installation direction of the two groups of sensors, when the mapping model they establish outputs the angle, the angle value measured by the second sensor itself is equivalent to the angle value of the first sensor plus 90°. During the operation of the system, the current magnetic field vector is obtained from the two groups of sensors respectively, and the current angle is calculated by table lookup or interpolation. In order to eliminate the influence of the installation bias between the two groups of sensors, the system will deduct 90° from the calculated angle value of the second group of sensors to convert it into an equivalent angle value based on the coordinate system of the first group of sensors. Subsequently, the converted angle value is averaged with the angle value obtained by the first group of sensors through its own database, and is output as the current final angle of the rotating shaft. This processing method effectively eliminates the systematic deviation caused by the sensor installation direction, improves the solution accuracy and stability, and enhances the robustness and reliability of the system in the event of a single sensor abnormality.

[0058] Through comparison, the present application found that compared with the use of rectangular magnetic blocks, especially the design in which the rotation axis of the magnetic block is eccentric to the rotation axis, the disc magnetic block proposed in the present application, in which the rotation center of the magnetic block coincides with the rotation axis, the sensor is arranged in front of the outer edge of the magnetic block, and the sensing area is directly opposite to the polarity center line of the magnetic block, has advantages in the following aspects:

[0059] 1. The angle sensor magnetic block 7 of the present application is a disk structure with natural 360° rotational symmetry. The radial magnetization method ensures that each rotation angle has uniform magnetic field distribution and component changes. The polarity centerline is stably defined in the diameter direction. The sensor can be accurately aligned, which is conducive to building a high-precision, low-distortion angle measurement model. Even if the eccentric long strip magnetic block is also radially magnetized, the symmetry is poor because the main body is a long strip structure. The magnetic field is mainly concentrated at the two ends of the short side, the spatial distribution is uneven, and the magnetic field line density is inconsistent. During the rotation process, the two ends of the strip are prone to introduce magnetic field intensity fluctuations and nonlinear changes.

[0060] 2. The magnetic block of the present application is coaxially arranged with the rotation axis, and the rotation center is the center of the magnetic block. During the rotation process, the sensor is always aligned with the outer edge of the fixed radius, and the measured angle corresponds to a unique magnetic field state. The geometric symmetry is strong, which is conducive to assembly, eliminating the adverse effects of mechanical errors on angle decoding, ensuring that the magnetic field response is stable, uniform, and one-to-one corresponding to the angle, which is suitable for high-precision control systems. Although the eccentrically designed long strip magnetic blocks have the same magnetization method, the long strip structure is usually installed eccentrically. When rotating, the center of the magnetic block does not coincide with the rotation axis, which will cause the magnetic field direction to change nonlinearly, the magnetic field amplitude to change periodically with rotation, and introduce eccentricity errors and amplitude modulation noise.

[0061] 3. The sensor of the present application is arranged at the outer edge of the magnetic block, and senses orthogonally to the radial distribution direction of the magnetic field. In addition, if two sensors are arranged 90° apart, the orthogonal magnetic field component (sinθ / cosθ) can be obtained, and the continuous angle can be directly calculated using the atan2 function, effectively utilizing the 360° outer edge magnetic field change without blind spots. During the rotation of the eccentrically designed long strip magnetic block, due to the discontinuity of the long strip edge, the actual sensing point may fall on the uneven magnetic field change. If the sensor is only set in front of the two ends of the short side, it can only receive local magnetic flux changes, the signal amplitude is low, the curve is easily distorted, there is a lack of circular continuity, and the magnetic field change trajectory is irregular throughout the angle.

[0062] 4. This application is equipped with dual sensors to achieve complementary fault tolerance and redundancy. The magnetic field to which the sensor is subjected is always in an area of ​​equal amplitude, equal diameter, and concentricity, resulting in less interference. However, the eccentrically designed long magnetic block structure will introduce fluctuating signals, and extreme angles may enter the magnetic field dead zone or asymmetric area, making it difficult to completely eliminate signal distortion through filtering.

[0063] To ensure a stable and reliable non-contact induction effect between the angle sensor magnet 7 and the angle sensor body 6, the contactless feedback device further includes a magnet adjustment mounting base 12. The magnet adjustment mounting base 12 is disposed between the base plate 1 and the angle sensor magnet 7, and the magnet adjustment mounting base 12 and the angle sensor magnet 7 are fixed to the base plate 1 together by locking screws. By configuring the magnet adjustment mounting base 12 with an appropriate thickness, the induction gap between the angle sensor magnet 7 and the angle sensor body 6 is adjusted for fine control.

[0064] In this application, the rotating shaft 13 refers to the main shaft or drive shaft in the fin stabilizer device that can change its angle with rotation. This shaft directly drives the rotation of the fin and is the original source of angular motion for feedback. The fixed seat 14 refers to the fixed support structure for mounting the angle feedback device body. The fixed seat 14 is specifically a stationary support structure outside the actuator or drive housing, which is used to ensure that the device remains stable and its position unchanged during operation, facilitating accurate sensing of the angular change of the rotating shaft. The mounting seat 3 is the mounting part of the device body and is firmly connected to the fixed seat 14 by bolts or other structural means. The mounting seat 3 does not participate in the movement and only provides a stable platform to support functions such as induction and signal output of the feedback device.

[0065] During the operation of the fin stabilizer system, the rotating shaft 13 receives instructions from the electronic control device and rotates, thereby driving the fin surface to rotate. The rotating shaft 13 also drives the base plate 1 fixedly connected thereto to rotate synchronously. The angle sensor magnet 7 on the base plate 1 makes a circular motion around its own axis during rotation, and its angular displacement is sensed in real time by the angle sensor body 6 fixed on the main body structure 2, and corresponding electrical signals are output for feedback of the current fin surface rotation angle. At the same time, the induction post 3 on the base plate 1 rotates follow-up within the first arc opening of the main body structure 2. When the induction post 3 rotates to the limit position opposite to the proximity switch, the proximity switch senses the proximity signal of the induction post 3, generates a limit or zeroing signal, and transmits it to the system electronic control device through a signal line for triggering functions such as shutdown, reset, or angle locking, ensuring the safety and accuracy of system operation.

[0066] In an implementation manner of the present application, the proximity switches include a zero-position proximity switch 16, an upper electrical limit proximity switch 17, and a lower electrical end-position proximity switch 18. These three proximity switches are arranged in sequence along the arc path of the first arc opening of the main body structure 2. The zero-position proximity switch 16 is arranged at the central position of the first arc opening. The zero-position proximity switch 16 serves as the reference point of the angle, is used to detect the zeroing position of the rotating shaft 13, trigger the system reset, ensure that the sensor starts reading from a consistent zero point during each detection, and ensure the accurate reset function of the system. The upper electrical limit proximity switch 17 and the lower electrical end-position proximity switch 18 are symmetrically arranged on the left and right sides of the zero-position proximity switch 16 respectively. When the sensing column 3 rotates to the position of the upper electrical limit proximity switch 17, the upper electrical limit proximity switch 17 is triggered and outputs the upper limit angle reached by the rotating shaft 13 to trigger the shutdown protection; similarly, the lower electrical end-position proximity switch 18 is used to detect the lower limit angle reached by the rotating shaft 13 to trigger the shutdown protection. The three proximity switches form an angular distribution in the arc channel, corresponding to the rotation path of the sensing column 3. When the sensing column 3 rotates to the corresponding position, it triggers the induction, thereby outputting the corresponding switch signal to achieve the zeroing, limit protection, and safety control functions of the device.

[0067] This application uses an angular sensor magnet block with disk-shaped bipolar radial magnetization, where its N / S poles are distributed radially, and the magnetic field changes drastically at the polarity junction. Therefore, this polarity midline (i.e., the N / S pole junction) becomes the magnetic induction zero position. When the sensor is arranged at this junction, it can sense the steepest magnetic field change. Using a three-axis magnetic sensor, this characteristic point can be captured with high precision. The magnetic field state sensed at this point is defined as "logical 0 degrees" through the control system. Starting from this 0-bit magnetic vector, the system combines the magnetic field vectors at any subsequent moment, calculates the angle change through vector dot product and cross product, and uses the atan2 function for 360° continuous decoding. The magnetic field in the induction area at the edge of the magnet block is linear and uniform, which helps with high-precision angle tracking. The zero-position proximity switch is installed at a specific arc angle position of the main structure 2. The induction column 3 that rotates with the base plate 1 triggers the switch when it rotates to this position. This signal is used for the control system to identify the zeroing position of the rotation axis 13, trigger the system reset logic, and re-align after power-on or error accumulation. Although the magnet block and the sensor can continuously output angle values, the system has the following situations: the angle of the rotation axis 13 is unknown during power-on initialization; after long-term operation, the magnetic sensor may have zero drift or non-linear cumulative error; there is a slight mechanical deviation during initial installation. At this time, the zero-position proximity switch can be used as a redundant reference signal to jointly confirm the true zero point with the magnetic induction zero position, so that the rotation axis 13 is aligned with the logical angle of 0°, and the magnetic induction zero position detected by the sensor coincides with the actual zero-angle mechanical position of the rotation axis 13. The essence of this consistency reconstruction is to register and align the magnetic induction angle space (magnetic field coordinate system) and the rotation axis angle space (mechanical coordinate system) through the trigger point of the proximity switch, ensuring the absolute zero-position accuracy of the system during power-on startup, operation, and after fault recovery.

[0068] Specifically, during system initialization or when performing the zero-point calibration process, the control system first drives the rotation axis 13 to rotate at a low speed, driving the base plate 1 and the angular sensor magnet block 7 installed coaxially with it to rotate synchronously. When the follower induction column 3 rotates to align with the zero-position proximity switch 16 at the set position, the zero-position proximity switch is triggered and outputs a zero-position signal. At this time, the control system calibrates the mechanical position where the current rotation axis 13 is located as the "physical zero position". Synchronously, the angular sensor body 6 real-time collects the three-axis magnetic field vector data in this instantaneous state and enters the "zero-point calibration" mode. The control system sets the angle value calculated from the magnetic field vector output by the angular sensor at this time to 0°, and updates the initial reference vector of the angle calculation algorithm accordingly, completing the zero-point registration of the magnetic field coordinate system and the mechanical angle coordinate system.

[0069] The contactless feedback device further includes a proximity switch adjustment mounting seat 5, which is mounted on the main body structure 2. Each proximity switch is mounted on each proximity switch adjustment mounting seat 5 through a fixing screw to ensure stable non-displacement in a vibrating environment. The sensing areas of the sensing surfaces of the proximity switches face the rotation path of the sensing column 3, maintaining a preset sensing distance.

[0070] The proximity switch adjustment mounting seat 5 can be finely adjusted in the radial or arc direction to adapt to the working angles of different types of rotating shafts. In a preferred embodiment of the present application, the proximity switch adjustment mounting seat 5 includes an adjustment base structure having a guide groove or an array of guide holes, which can be positionally finely adjusted on the main body structure 2 in the radial direction (i.e., the direction pointing to the center of the rotating shaft) and the arc direction (i.e., the tangential direction along the rotation path of the sensing column). In the radial direction, by moving the mounting seat closer or farther, the sensing distance between the proximity switch and the sensing column can be adjusted to ensure that it remains within a reasonable sensing distance range; in the arc direction, by finely adjusting the angular position of the mounting seat along the rotation path, the sensing position of each proximity switch can accurately correspond to a predetermined zero or limit angle. The proximity switch adjustment mounting seat 5 is preferably provided with an oblong chute or a plurality of positioning hole positions. The proximity switch is connected to the mounting seat by screws and can slide on the mounting seat or switch the mounting hole positions to achieve fine adjustment. After the adjustment is completed, it can be locked by bolts to ensure the installation stability.

[0071] In an implementation manner of the present application, the contactless feedback device further includes a scale display structure for manually reading the rotation angle, specifically including a scale disk mounting post 8, a pointer 9, and a scale disk 11. The end face of the main body structure 2 is provided with a second arc opening, and the central axis of the second arc opening is coaxially arranged with the central axis of the rotating shaft 13 to maintain structural symmetry and sensing accuracy. The inner arc surface of the second arc opening is oppositely arranged with the inner arc surface of the first arc opening provided at another part of the main body structure, and the angular bisectors of the arc angles of the first arc opening and the second arc opening coincide with each other, thereby achieving highly reliable position detection.

[0072] Specifically, one end of the dial mounting post 8 is fixedly connected to the bottom plate 1, and the other end passes through the second arc opening on the end face of the main structure 2 and extends outside the main structure 2 to be connected to the pointer 9, so that the pointer can rotate synchronously with the bottom plate and the rotating shaft. Outside the second arc opening, a dial 11 is fixedly installed. The dial is of an arc-shaped structure, and its arc-shaped display surface is arranged in a circular arc concentric with the rotating shaft 13 and expands from the inside to the outside to form a clearly visible scale area. The position and shape of the dial 11 precisely correspond to the rotation trajectory of the pointer 9, enabling the pointer to slide on it to indicate angle changes. The dial 11 uses the scale corresponding to the central vertical axis where the pointer 9 is located as the zero-degree reference point, and angle scales that increase symmetrically outward from zero are respectively set on its left and right sides. In this embodiment, the scales are respectively marked from the center to both sides up to a maximum of ±70°, and the total coverage angle is 140°. Each scale is evenly distributed at a fixed interval and is provided with sub-division lines, allowing the user to perform manual readings with relatively high precision through the observation window. The symmetrical layout design of this scale structure, combined with the real-time position of the rotating pointer, can achieve two-way dynamic visualization observation and auxiliary positioning of the fin angle of the anti-rolling fin, facilitating system installation, debugging, and manual verification.

[0073] As shown in the attached Figure 7 specification, the zero-position proximity switch 16 is set at the middle position of the arc opening of the main structure 2, corresponding to the zero-degree reference point on the dial 11. When the induction column 3 rotates to this position, the zero-position proximity switch 16 is triggered to output a zero-position signal, and the electronic control system can identify that the current fin surface returns to zero based on this and can perform operations such as resetting and locking. The upper electrical limit proximity switch 17 is set at the forward maximum limit position of the rotation path of the induction column, corresponding to the +α (i.e., +70°) scale position on the dial. When the induction column 3 rotates to this position, the upper electrical limit proximity switch 17 is triggered to output an upper limit signal, and the electronic control device determines that the current angle reaches the upper limit based on this and enters the limit protection. The lower electrical limit proximity switch 18 is set at the reverse maximum limit position of the rotation path of the induction column, corresponding to the –α (i.e., –70°) scale position on the dial. When the induction column 3 rotates to this position, the lower electrical limit proximity switch 18 is triggered to output a lower limit signal, and the system performs lower limit protection control. The above three groups of proximity switches are reasonably arranged along the arc trajectory, and their trigger points respectively correspond to the three points of –α, 0, and +α on the dial 11. This structure enables the position of the induction column 3 to not only achieve electronic limit control through the feedback of the proximity switch but also realize visual reading comparison on the dial, improving the safety, reliability, and debuggability of the system.

[0074] In the implementation of this application, the contactless feedback device further includes an end cover 4 and an observation window 10, which are used to achieve the sealing protection of the device structure and the function of manual reading. The end cover 4 is a "ji"-shaped structure formed integrally, and its structure presents a closed circular arc-shaped curved surface contour. It is fixedly connected to the end face of the main body structure 2 through fasteners such as bolts, constituting the front protective cover of the angle feedback device. A closed space is jointly formed between the end cover 4 and the bottom plate 1, which is used to enclose and protect multiple key functional components inside the device, including the induction column 3, the proximity switch adjustment mounting seat 5, the angle sensor body 6, the angle sensor magnet 7, the dial mounting column 8, the pointer 9, the dial 11, the magnet adjustment mounting seat 12, the zero position proximity switch 16, the upper electrical limit proximity switch 17, and the lower electrical end position proximity switch 18. This structure not only prevents the external environment (such as salt spray, moisture, and impact) from affecting the internal sensitive components, but also improves the operation reliability and protection level of the system in a complex marine environment.

[0075] To achieve the function of manually reading the fin angle, an arc-shaped transparent window opening is provided on the end cover 4, and its shape and size match the dial 11 located behind it. The observation window 10 is fixedly installed at this opening position, preferably made of a transparent weather-resistant material (such as plexiglass or tempered glass), and is used to intuitively display the angle scale value indicated by the pointer 9. The setting of the observation window enables the user to clearly read the current fin angle position through the window without disassembling the device, which is convenient for operation monitoring, manual calibration, and maintenance inspection.

[0076] In a preferred implementation of this application, the signal transmission interface is selected as an aviation socket 15. This aviation socket 15 serves as the electrical signal output connection component between the contactless feedback device and the electric control system, and is used to stably and reliably transmit the electrical signals output by the angle sensor body and the proximity switch. The aviation socket 15 is fixedly installed on the outer wall surface of the main body structure 2 and is positioned through a threaded mounting seat or a panel flange. The socket terminals are internally connected to the signal wires led out from the angle sensor body 6, the zero position proximity switch 16, the upper electrical limit proximity switch 17, and the lower electrical end position proximity switch 18, and are externally connected to the control system of the fin stabilizer system through an aviation plug to form an integrated signal path. This structural design supports dust-proof, waterproof, and anti-corrosion performance and is suitable for long-term use under complex working conditions of ships.

[0077] Furthermore, by comparing the structures of the existing fin angle feedback device and the contactless feedback device of this application, and systematically analyzing the structural innovation points and advantages of this application are as follows:

[0078]

[0079]

[0080] The present invention also provides a control method for a contactless feedback device used in a ship stabilizer fin system. This control method is applicable to a ship stabilizer fin system equipped with a contactless feedback device and is mainly used to obtain the fin surface angle in real time, determine the current angle state, perform limit protection control, and respond to system linkage commands. Specifically, it includes:

[0081] Step 1: The rotating shaft drives the angle sensor magnet to rotate. During the rotation, the angle sensor magnet generates a magnetic field change that varies with the angle. The angle sensor body senses the magnetic field change and outputs a continuous current signal corresponding to the angle change to the stabilizer fin control system.

[0082] The magnitude of the current signal is proportional to the current fin surface angle offset and is used to indicate the current turning position of the fin surface by generating an analog electrical signal that corresponds one-to-one with the fin surface angle in real time. The relationship between the magnitude of the current signal and the fin surface angle offset is determined by the following formula:

[0083] I = k·θ (1)

[0084] In the formula: I represents the current signal output by the angle sensor body, with the unit of mA or V; θ represents the angle offset value of the current fin surface relative to the zero position, with the unit of ° (angle) or rad; k represents the proportionality coefficient (i.e., the sensor sensitivity coefficient), with the unit of mA / ° or V / °.

[0085] In the implementation mode of the present application, since the zero position is introduced, a zero position offset term needs to be added. At this time, the relationship between the magnitude of the current signal and the fin surface angle offset is determined by the following formula:

[0086] I = I0 + k·θ (2)

[0087] In the formula: I0 represents the bias current at zero angle (θ = 0).

[0088] For example, if the system is designed with a current signal range of 4–20 mA, then the zero point is 12 mA, indicating a symmetric distribution of ±70°. The current signal range of 4–20 mA covers a total of 140°, and the θ corresponding to the current signal range is ±70° angles, covering a total of 16 mA. The proportionality coefficient k represents the current change corresponding to a unit angle change, that is:

[0089]

[0090] Substitute the k value into the linear formula (2), I = 12 + 0.114·θ.

[0091] When θ = 0°, I = 12; when θ = +70°, I = 12 + 0.114 × 70 = 20 mA; when θ = -70°, I = 12 - 0.114 × 70 = 4 mA.

[0092] It should be noted that after receiving the continuous current signal output from the angle sensor body, the fin stabilizer control system can establish a control curve for the fin surface angle change based on this signal and perform dynamic response adjustment operations through control strategies. The control strategies include control curve calculation, PID regulation control (Proportional-Integral-Derivative control), and predictive scheduling control (feedforward regulation).

[0093] Control curve calculation is that the control system periodically samples the current signal output by the angle sensor, constructs a time series of angle changes, and generates a real-time angle change curve using this series. Control curve calculation can be used to monitor derivative information such as the movement speed and acceleration of the fin surface, providing an input basis for subsequent control strategies.

[0094] PID regulation control is that the control system compares the target angle with the current actual angle, calculates the deviation, and through the combined action of the proportional term (P), integral term (I), and derivative term (D) in the PID algorithm, issues a dynamic adjustment instruction to the actuator to achieve fast, stable, and overshoot-free control of the fin surface response. The PID parameters can be adjusted online according to the navigation conditions (such as ship speed, wave height) to improve the system robustness.

[0095] Predictive scheduling control is that the control system performs modeling and prediction based on the real-time angle change trend. When it detects a situation where the angle change trend accelerates or the disturbance is about to intensify, it adjusts the target angle or output control amount in advance to form a feedforward control path, reducing hysteresis and improving the response speed to wave disturbances. The prediction model can be realized by integrating historical data, wave spectrum characteristics, or data sources with motion sensors installed.

[0096] In summary, the fin stabilizer control system calculates the curve through the input current signal sequence to realize real-time modeling of the angle state; performs PID regulation through the input of the current angle error to achieve stable output of closed-loop control; and performs predictive scheduling through the prediction of the angle trend and disturbance to achieve early compensation response. The non-contact feedback device of this application itself only provides the output of the "angle current signal", and its essential role is to provide the electrical signal feedback of the fin surface angle at the current moment.

[0097] Step 2: Synchronously rotate the sensing column with the rotation of the rotating shaft. When the sensing column rotates into the sensing area of the proximity switch corresponding to the preset angle position, the proximity switch senses the approaching state of the sensing column and immediately outputs a on-off signal representing this angle state. The electrical signal is transmitted to the fin stabilizer control system through the signal output interface of the feedback device.

[0098] In this control method, the induction column is arranged on the rotation path of the feedback device and performs an arc-shaped rotary motion synchronously with the change of the angle of the rotating shaft. Along the rotation path of the induction column, a plurality of proximity switches are preset on the main body structure of the non-contact feedback device, corresponding to the key angle positions required to be monitored by the system, including the zero position, the upper limit position and the lower limit position. The on-off signals generated by the proximity switches are used to realize the discrimination of three-point positions (zero / upper limit / lower limit) in the form of digital signals, trigger the safety control response or automatic reset, and judge whether to trigger the logic of zero position reset, limit protection, alarm, etc.

[0099] Step 3: After receiving the analog angle signal output by the angle sensor body, calculate the current fin surface angle based on this signal, and compare it with the preset target angle to judge whether the current fin angle reaches the control target value.

[0100] Specifically, the electrical signal is transmitted to the fin stabilizer control system through a unified electrical interface (such as an aviation socket) to ensure the signal stability and reliability in a complex environment. The fin stabilizer control system converts the analog signal into the current fin surface angle value through a preset conversion formula, and then compares it with the preset target angle to judge the control deviation and trigger subsequent response operations.

[0101] The input electrical signal of the fin stabilizer control system is the current signal output by the angle sensor body, that is, I in = the sensor output current signal (mA).

[0102] The current fin surface angle is determined by the following formula:

[0103]

[0104] In the formula: θ current represents the current fin surface angle; I in represents the current input current (mA), such as 4 - 20 mA; I0 represents the zero position current value, such as 12 mA, representing 0°; k represents the proportionality coefficient, such as the typical value 0.114 mA / °.

[0105] For example: the previous input current I in is 16 mA, then

[0106] The fin stabilizer control system internally stores a preset target angle value θ target , which is given by the main control module or the adjustment algorithm. Therefore, the current fin surface angle error is determined by the following formula:

[0107] Δθ = θ target -θ current (4)

[0108] Based on the judgment logic of the fin stabilizer control system, if |Δθ| ≤ ε, it is considered that the control target value has been reached. Here, ε is the allowable error tolerance, generally set to 0.5° - 1°. If it exceeds the ε range, the fin stabilizer control system enters the next round of adjustment or protection logic.

[0109] Step 4: When the fin stabilizer control system determines that the current fin angle has reached the preset control target value and receives a limit trigger signal from any limit proximity switch, the fin stabilizer control system executes an action abort instruction, interrupts the continuous driving action of the actuator, and triggers the alarm module or starts the system reset process; if it receives a trigger signal from the zero position proximity switch, the fin stabilizer control system determines that the current fin angle is in the zero position, enters the reset control state, performs angle position calibration operations, and outputs a locking control instruction.

[0110] It should be noted that the locking control instruction is used to drive the locking mechanism to lock the execution unit, thereby completing the reset and steady-state maintenance of the fin stabilizer device.

[0111] The non-contact feedback device and control method for a ship fin stabilizer system of the present invention are specifically designed for a ship fin stabilizer system. The device realizes non-contact angle detection by installing an angle sensor magnet in the rotating shaft follower structure and the sensor body in the stationary structure, effectively avoiding problems such as jamming, signal interruption, and resistance drift caused by traditional mechanical structures such as gears, cams, and potentiometers. It uses the method of an induction post cooperating with a proximity switch to achieve zero position identification and limit protection, and through the symmetric optimization layout and fine adjustment installation of the proximity switch position, ensures the accuracy and stability of the feedback signal. Both ends of the device are provided with symmetric arc openings and a dial indicating mechanism, and the pointer rotates synchronously with the shaft and indicates the current fin angle, realizing visual angle reading and calibration. The trigger positions of the limit switches in the feedback system correspond one-to-one with the dial readings, enhancing the operation intuitiveness and control consistency. In addition, the device adopts a sealed structure to protect key components from environmental erosion, and is provided with a transparent observation window for easy monitoring and calibration. The overall solution improves the control accuracy, response speed, and operation reliability of the system in a complex marine environment through non-contact induction and intelligent limit control, and is particularly suitable for high-precision ship dynamic attitude adjustment applications.

[0112] The above are only embodiments of the present invention, and common knowledge such as specific structures and characteristics known in the art are not described in detail herein. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A non-contact feedback device for a ship stabilizer fin system, the stabilizer fin system comprising a rotating shaft (13) for driving the rotation of the fin surface in the stabilizer fin device, and a fixed seat (14) sleeved outside the rotating shaft (13), the fixed seat (14) being rotatably connected to the rotating shaft (13) relatively, characterized in that, The non-contact feedback device includes: A base plate (1) installed on a rotating shaft (13); An angle sensor magnet block (7) and an induction column (3) fixedly installed on the base plate (1); the angle sensor magnet block (7) is of a disc structure, its axis coincides with the axis of the rotating shaft (13), and it rotates in a circular motion around the rotation axis with the base plate (1); A main body structure (2) fixedly connected to a fixed seat (14), a space for accommodating the angle sensor magnet block (7) is defined between the main body structure (2) and the base plate (1), and a first circular arc opening is provided on the main body structure (2); the induction column (3) is arranged in the first circular arc opening on the main body structure (2) and moves along the trajectory of the first circular arc opening when the base plate (1) rotates; An angle sensor body (6) installed on the main body structure (2), the angle sensor body (6) is arranged opposite to the angle sensor magnet block (7), and a preset induction gap is provided between the two; A proximity switch installed on the main body structure (2), the proximity switch is arranged on one side of the first circular arc opening of the main body structure (2); A signal transmission interface for electrically connecting to the angle sensor body (6) and the proximity switch; wherein, when the induction column (3) rotates to a position opposite to the proximity switch, the proximity switch outputs a signal of the limit position of the rotating shaft (13) through the signal transmission interface; when the angle sensor magnet block (7) rotates around the rotating shaft (13), the angle sensor body (6) is used to identify the angle change of the angle sensor magnet block (7) and outputs the current rotation angle of the rotating shaft through the signal transmission interface.

2. The contactless feedback device for a ship stabilizer fin system according to claim 1, characterized in that, The angle sensor magnet block (7) is of a radially magnetized structure, its N pole and S pole are symmetrically distributed along the radial direction, the angle sensor body (6) is arranged in front of the angle sensor magnet block (7), and its induction area is aligned with the magnetic field distribution area at the outer edge of the angle sensor magnet block (7).

3. The contactless feedback device for a ship stabilizer fin system according to claim 1, characterized in that, The proximity switch sequentially includes a zero position proximity switch (16), an upper electrical limit proximity switch (17) and a lower electrical end position proximity switch (18) along the circular arc path of the first circular arc opening; the zero position proximity switch (16) is arranged at the central position of the first circular arc opening; the upper electrical limit proximity switch (17) and the lower electrical end position proximity switch (18) are respectively arranged on both sides of the zero position proximity switch (16).

4. The contactless feedback device for a ship stabilizer fin system according to claim 2, wherein It further includes a proximity switch adjustment mounting seat (5); the proximity switch adjustment mounting seat (5) is installed on the main body structure (2), and the zero position proximity switch (16), the upper electrical limit proximity switch (17) and the lower electrical end position proximity switch (18) are respectively installed on the corresponding proximity switch adjustment mounting seats (5).

5. The contactless feedback device for a ship stabilizer fin system according to claim 1, wherein The end face of the main body structure (2) is provided with a second circular arc opening, the central axis of the second circular arc opening is coaxially arranged with the central axis of the rotating shaft (13), the inner arc surface of the second circular arc opening is arranged opposite to the inner arc surface of the first circular arc opening, and the angular bisectors of the arc angles of the first circular arc opening and the second circular arc opening coincide with each other.

6. The contactless feedback device for a ship stabilizer fin system according to claim 4, characterized in that, It further includes a dial mounting post (8) and a pointer (9); one end of the dial mounting post (8) is fixedly connected to the base plate (1), and the other end passes through the second arc opening and extends to the outside of the main body structure (2) and is connected to the pointer (9).

7. The contactless feedback device for a ship stabilizer fin system according to claim 5, characterized in that, It further includes a dial (11); the dial (11) is installed outside the second arc opening. On the dial (11), the scale corresponding to the central vertical axis where the pointer (9) is located is used as the zero-degree reference point, and angle scales that increase symmetrically outward from zero are respectively arranged on its left and right sides. The maximum scale of the angle scale corresponds to the maximum limit position of the rotating shaft (13).

8. The contactless feedback device for a ship stabilizer fin system according to claim 6, characterized in that, The zero position proximity switch (16) is correspondingly arranged at the zero-degree reference point position on the dial (11), and the upper electrical limit proximity switch (17) and the lower electrical limit proximity switch (18) are respectively correspondingly arranged at the maximum limit angle positions on both sides of the dial (11).

9. The contactless feedback device for a ship stabilizer fin system according to claim 1, characterized in that, It further includes an end cover (4), and the end cover (4) is fixedly installed on the end face of the main body structure (2) and together with the base plate (1) encloses a closed space; It further includes an observation window (10); the end cover (4) is provided with an arc-shaped opening, and the observation window (10) is installed at the position of the arc-shaped opening.

10. A control method for a contactless feedback device used in a ship stabilizer fin system according to any one of claims 1-9, characterized in that, The control method includes: Step 1: The rotating shaft drives the angle sensor magnet to rotate. During the rotation, the angle sensor magnet generates a magnetic field change that varies with the angle. The angle sensor body senses the magnetic field change and outputs a continuous current signal corresponding to the angle change to the fin stabilizer control system; Step 2: The sensing post rotates synchronously with the rotation of the rotating shaft. When the sensing post rotates into the sensing area of the proximity switch corresponding to the preset angle position, the proximity switch senses the approaching state of the sensing post and immediately outputs a on-off signal representing this angle state. The electrical signal is transmitted to the fin stabilizer control system through the signal output interface of the feedback device; Step 3: After receiving the analog angle signal output by the angle sensor body, calculate the current fin surface angle based on this signal and compare it with the preset target angle to determine whether the current fin angle reaches the control target value; Step 4: When the fin stabilizer control system determines that the current fin angle has reached the preset control target value and receives a limit trigger signal from any one of the limit proximity switches, the fin stabilizer control system executes an action abort instruction, interrupts the continuous driving action of the actuator, and triggers the alarm module or starts the system zeroing process; if it receives a trigger signal from the zero position proximity switch, the fin stabilizer control system determines that the current fin angle is already in the zeroing position, enters the reset control state, executes the angle position calibration operation, and outputs a locking control instruction.

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