A ship fin machine equivalent simulation device

Abstract

The present invention provides a ship fin motor equivalent simulation device, which provides a relatively realistic ship fin angle information feedback to the upper computer, i.e., the navigation control simulation system, by simulating the fin motor anti-roll control, thereby realizing the simulation function of the surface ship fin motor anti-roll control equipment. The present invention has the functions of receiving fin motor control instructions, driving fin blades, and fin angle state feedback. The present invention realizes the functions of drive simulation, fin angle feedback, and machine-side alarm of the fin motor anti-roll control device, thereby improving the realism of the fin motor control system simulation and the accuracy of the navigation control simulation. The present invention realizes the navigation control simulation ship fin motor simulation and ship control closed-loop control, which fills the gap in the technical means of navigation control system performance simulation and plays a positive role in promoting ship navigation safety.

Description

Technical Field

[0001] The invention belongs to the technical field of ship navigation manipulation control simulation, and in particular relates to a ship fin engine equivalent simulation device. Background Art

[0002] The navigation control system is a key factor affecting the navigation safety of surface ships. The performance of the control system directly restricts the maneuverability of surface ships. In the past, my country's surface ships could only use the parent ship data or empirical formulas to predict the inherent maneuverability in a calm water environment during the design stage. There was little research on the maneuverability under closed-loop control conditions, which resulted in the inability to master the technical indicators of the control system during the design stage, affecting the execution of the mission of surface ships. In addition, with my country's strategic transformation, the types and number of ships are increasing day by day, and special missions have higher and higher requirements for maneuverability and seaworthiness, and a navigation control strategy test platform is increasingly needed. The existing navigation control system lacks real and effective fin machine simulation and force feedback. At the same time, with the increasing degree of informatization of equipment, the ship control system has higher and higher requirements for the crew of new ships, and the comprehensive training of crew members is becoming more and more difficult. Therefore, the development of a navigation control simulation system is particularly necessary. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a ship fin machine equivalent simulation device for simulating the fin machine anti-roll control equipment of a surface ship.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a ship fin machine equivalent simulation device, including a host computer, a control console, a drive cabinet and a mechanical test bench; the host computer is connected to the control console via Ethernet, and is used to establish a simulation model of a scaled-down hydraulic fin machine group according to different forms of the power unit to simulate the fin machine, and send the fin angle instruction including the fin angle and the resistance load characteristic curve to the control console via Ethernet; the control console is connected to the drive cabinet via Ethernet, and is used to parse the fin angle instruction of the host computer, and send action instructions to the drive cabinet via Ethernet to control the motor, and at the same time receive and display the acquisition signal and fault signal of the drive cabinet; the drive cabinet includes a servo controller and a servo driver; the servo controller is connected to the servo driver via a bus, and the servo driver is connected to the servo motor, and the servo controller is used to control the servo driver according to the received action instructions The servo motor cooperates for operation; the mechanical test bench includes a servo motor, a gearbox, an electric cylinder, a turntable, a fin and a sensor; the servo motor is connected to the electric cylinder through the gearbox, which is used to drive the electric cylinder to convert rotational motion into linear motion; the electric cylinder is movably connected to the turntable, which is used to drive the turntable to rotate; the rotation axis of the fin is perpendicular to the turntable surface and fixed at the center of the turntable, and the turntable is used to drive the fin to rotate; the sensor is connected to the servo controller to upload the collected signal, so that the servo controller can collect the sensor signal, convert the digital quantity into physical quantity through physical calibration, and upload it to the console and host computer for real-time display; the sensor includes an angle sensor and a push / pull force sensor; the angle sensor is installed at the rotation shaft end of the fin of the mechanical test bench, which is used to collect and upload the fin angle data; the push / pull force sensor is installed at both ends of the electric cylinder, which is used to collect and upload the push / pull force data.

[0005] According to the above scheme, the simulation model also includes the installation of a pump group to improve the response speed and simulation versatility of the hydraulic fin machine to expand the simulation range; the loads simulated by the simulation model include constant load, step load and random load; the performance of the simulation model includes: the maximum fin rotation angle is ±32°; the mechanical limit angle is ±33°; the maximum fin rotation speed is 12° / s; the fin angle feedback error is ≤0.5°; the following error is ≤0.5°; the response time is ≤800ms; the local fin operation process should be smooth, without oscillation and overshoot; the servo main motor is 3-phase AC380V, 5kW; the loading motor is 3-phase AC380V, 5kW.

[0006] According to the above scheme, the control console includes a human-machine interface module, a controller, a network switch and a communication converter; the controller is respectively connected to the human-machine interface module and the network switch, and the controller is respectively connected to the host computer and the drive cabinet through the network switch. The controller is used to collect data and issue commands, and receives instructions sent by the host computer through Ethernet and forwards them to the servo controller of the drive cabinet; the human-machine interface module is used to display the sensor signal curve including the fin angle and the push / pull force that follows the action instruction curve in the form of cluster bundling. The two curves are displayed and compared in the same coordinate system, and the resistance load characteristics are displayed in the form of physical action.

[0007] Furthermore, the human-machine interface module also includes an operation button and a fault indicator light; the operation button includes a servo drive emergency stop button, which is used to control the servo motor to stop when a safety fault occurs; the fault indicator light is used to indicate signals including motor fault, control mode and operating status.

[0008] Furthermore, the console also includes a storage module for storing received instruction data and collected data, and querying and replaying historical data in the form of curves or tables, and exporting and printing curves and data.

[0009] According to the above scheme, the drive cabinet is provided with a local / remote switch button, a fin angle setting knob and a resistance setting knob; the local / remote switch button is used to realize the manual / automatic control switching function; when the local / remote switch button is set to local, the fin angle setting knob and the resistance setting knob realize the local manual control function of the quantitative output of the angle and resistance, which is used for debugging; when the local / remote switch button is set to automatic, the host computer and the console realize the automatic control function, and the system runs automatically.

[0010] Furthermore, the drive cabinet is also equipped with an audible and visual alarm, which is used to send out a fault alarm signal to remind the operator to handle the situation when the fin machine angle exceeds the mechanical range or the push / pull force shows abnormal values; the drive cabinet is also equipped with a servo drive emergency stop button, which is used to control the servo motor to stop when a safety fault occurs.

[0011] According to the above scheme, the mechanical test stand also includes a test stand and a base, the test stand is fixed on the base; the fin blades are rotatably fixed on the test stand; the servo motor, gearbox and electric cylinder are fixed on the test stand, and the turntable is rotatably fixed on the test stand.

[0012] Furthermore, the mechanical test stand also includes two limit switches, which set the mechanical limit angle to ±33°; the limit switch is a normally closed magnetic induction limit switch FCM, which is respectively installed at the front and rear ends of the electric cylinder, and is used to control the servo motor through the servo controller when the fin angle exceeds the limit angle to prevent the fin blades from exceeding the angular stroke; the turntable takes the middle position of the fin blade as the zero point, and a 33° arc groove is set on each side; a pin is installed on the test stand, which is used as a limit point when the fin blade rotation angle exceeds the rated stroke to prevent equipment damage.

[0013] Further, it is used to perform the following steps:

[0014] The host computer sends action instructions to the console;

[0015] The control console forwards the motion instructions to the servo controller of the drive cabinet;

[0016] The servo controller sends action instructions to the servo driver through the bus;

[0017] The servo drive drives the motor to act according to the instructions;

[0018] The servo motor with encoder feeds back the swing angle and resistance to the servo driver to form a closed-loop control.

[0019] The beneficial effects of the present invention are:

[0020] 1. The equivalent simulation device of a ship fin motor of the present invention provides a relatively realistic ship fin angle information feedback to the upper computer, i.e., the navigation control simulation system, by simulating the fin motor anti-roll control, thereby realizing the simulation function of the surface ship fin motor anti-roll control equipment.

[0021] 2. The present invention has the functions of receiving fin machine control instructions, driving fin blades and providing fin angle status feedback.

[0022] 3. The present invention realizes the functions of drive simulation, fin angle feedback and machine-side alarm of the fin-machine anti-roll control device, thereby improving the realism of the simulation of the fin-machine control system and the accuracy of the simulation of the navigation operation control.

[0023] 3. The present invention realizes the simulation of navigation and maneuvering control, the simulation of ship fins and the closed-loop control of ship maneuvering, fills the shortage of technical means for the simulation of navigation and maneuvering control system performance, and plays a positive role in promoting the navigation safety of ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of a system according to an embodiment of the present invention.

[0025] Figure 2 It is a principle block diagram of a control console according to an embodiment of the present invention.

[0026] Figure 3 It is a principle block diagram of a drive cabinet according to an embodiment of the present invention.

[0027] Figure 4 Schematic diagram of the composition of the mechanical stand according to an embodiment of the present invention.

[0028] Figure 5 2 is a working state diagram of the mechanical stand according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] See also Figure 1 An embodiment of the present invention includes a control console, a drive cabinet and a mechanical test bench; the control console is used to parse the fin angle command of the host computer navigation control simulation system and send action commands to the drive cabinet; the drive cabinet is used to drive the fin blades to move according to the commands; the mechanical test bench includes a base, a test bench, fin blades, an electric cylinder, a servo motor, a transmission mechanism, a buffer mechanism, a force sensor, an angle sensor, etc. The transmission mechanism includes a turntable, and the buffer mechanism includes a gearbox.

[0031] 1. Overall design

[0032] (1) Working principle

[0033] The navigation control simulation system calculates the simulation model and sends the fin angle and resistance load characteristic curve to the equivalent simulation device console through Ethernet. The console sends the received instructions to the servo controller in the fin machine drive cabinet through Ethernet communication. The servo controller controls the servo driver to make the two servo motors work together. The servo motor drives the electric cylinder to convert the rotary motion into linear motion. The electric cylinder drives the mechanical disc to rotate, so that the angle of the fin machine rotates to the position required by the instruction. The angle and push / pull force sensors installed on the mechanical stand transmit the measured signals to the fin machine console through Ethernet, and display them in the form of curves in the human-machine interface. They can basically operate according to the predetermined instruction curve, so as to realize the resistance load characteristics in the form of physical actions. Quick operation buttons and fault indicator lights are placed on the console to enable users to operate quickly. The fin machine equivalent simulation device can simulate constant value, step and random loads, and meet the system loading force requirements at the same time, so that the fin machine equivalent simulation device can follow the instructions issued by the ship operation visual simulation console in real time.

[0034] (2) Equivalence principle

[0035] The fin machine device is simulated by a scaled-down hydraulic unit, and a mathematical model is established according to different forms of the power device. The fin machine simulation device and the fin machine device are driven in the same way, which ensures the homogeneity of the simulation and helps to grasp the working characteristics of the real device. Since the ordinary hydraulic fin machine has a slow movement speed, in order to expand the simulation range, the response speed of the hydraulic fin machine is increased by adding a pump group to improve the simulation versatility of the system. In addition, due to the working characteristics of the hydraulic system, within the allowable working range, its movement process is less affected by the load, so the hydrodynamic load of the fin is not loaded.

[0036] (3) Main functions

[0037] It includes manual / automatic control switching function, angle / resistance adjustment function, data acquisition function, fault alarm function\safety protection function and automatic tracking function.

[0038] (4) Main performance

[0039] Maximum fin angle: ±32°;

[0040] Mechanical limit angle: ±33°;

[0041] Maximum fin rotation speed: 12° / s;

[0042] Fin angle feedback error: ≤0.5°;

[0043] Following error: ≤0.5°;

[0044] The response time is no more than 800ms;

[0045] The local fin operation should be smooth, without oscillation or overshoot;

[0046] Servo main motor 3-phase AC380V, 5kW, loading motor 3-phase AC380V, 5kW.

[0047] (5) Interface design

[0048] Interface between the console and the navigation control simulation system: Ethernet interface;

[0049] Interface between the console and the drive cabinet: Ethernet interface;

[0050] Interface between drive cabinet and mechanical stand: hard-wired connection.

[0051] 2. The principle block diagram of the console can be found in Figure 2 .

[0052] (1) Functionality

[0053] Remote control and display function. The servo motor can be remotely controlled to operate according to the preset parameter settings through the console host computer software interface; at the same time, the console is equipped with an Ethernet remote I / O output module, which is connected to the status indicator on the console panel to display the operating status of the main motor and loading motor transmitted through Ethernet.

[0054] Data acquisition function. Angle sensors and push / pull force sensors are installed on the mechanical gantry, which can transmit the fin angle and push / pull force data to the motion controller. The motion controller converts the digital quantity into physical quantity through the internal program physical calibration, and then transmits it to the console host computer software through Ethernet. The fin and inference force values ​​are displayed in real time on the host computer software interface.

[0055] Parameter curve display function. The data sent from the ship maneuvering visual simulation console can be displayed in the form of a curve, and the collected data such as fin angle, push / pull force, etc. can be displayed in the form of a curve. In the LabVIEW software, the data sent from the visual simulation console and the data collected by the sensor are displayed in the same coordinate system in the form of cluster bundling, and the two curves are compared to facilitate the staff to observe the actual fin angle, push / pull force to follow the set fin angle and resistance.

[0056] Data storage and call function. It can store the received command data and collected data, and can query and replay the historical data in the form of curves or tables through SQL statements, and export and print the curves and data.

[0057] Safety protection function. There are 4 emergency stop buttons on the console, which respectively control the emergency stop functions of the 1# fin machine equivalent simulation device servo motor driver, 2# fin machine equivalent simulation device servo motor driver, 3# fin machine equivalent simulation device servo motor driver, and 4# fin machine equivalent simulation device servo motor driver. When a safety fault occurs, the emergency stop button on the console can be used to control the servo motor to stop, protecting the safety of equipment and personnel.

[0058] (2) Implementation principle

[0059] The industrial computer placed in the console of the fin machine equivalent simulation device can realize data collection and command issuance, receive the instructions sent by the ship maneuvering visual simulation console through the Ethernet port, receive and process the instructions through the industrial computer program, and send the control instructions to the servo controller in the drive cabinet through Ethernet. The servo controller controls the driver to drive the action of the servo motor through calculation, so that the mechanical structure of the fin machine can execute according to the predetermined instructions. In order to timely detect the operating status of the fin machine equivalent simulation device, an indication panel is set on the table, which can realize signal indications such as motor fault signals, control modes, and operating indications. The principle block diagram of the console is detailed in the attached Figure 2 .

[0060] (3) Interface design

[0061] Electrical interface

[0062] Input power: single-phase AC220V, 1000W

[0063] External communication interface

[0064] The interface between the console and the ship maneuvering visual simulation console is Ethernet, and the communication protocol is TCP / IP.

[0065] 3. The principle block diagram of the drive cabinet is shown in Figure 3 .

[0066] (1) Functionality

[0067] Manual / automatic control switching function. There is a local / remote switching button on the drive cabinet. When the local / remote switching button is turned to local, the local manual control function can be realized through the fin angle setting knob and the resistance setting knob on the drive cabinet panel; when the local / remote switching button is turned to automatic, the automatic control function on the console can be realized. The local manual control function is used during debugging, and the automatic control function is linked with the visual simulation console to realize automatic operation of the system.

[0068] Data acquisition function: It can collect fin machine angle data and push / pull force data, send them to the controller for internal program physical calibration, convert digital quantities into physical quantities, and transmit them to the console host computer software through Ethernet for real-time display.

[0069] Angle / resistance adjustment function. There are fin angle setting knobs and resistance setting knobs on the drive cabinet panel. In manual mode, these two knobs can be adjusted to achieve quantitative control output of angle and resistance, which can accurately simulate the resistance and rotation angle of the actual fin machine in the water.

[0070] Fault alarm function: When the fin machine angle exceeds the mechanical range, the push / pull force shows abnormal values, etc., a fault alarm signal can be issued, and an audible and visual alarm is installed on the drive cabinet to remind the operator to handle it.

[0071] Safety protection function. There are 4 emergency stop buttons on the drive cabinet, which respectively control the emergency stop function of the servo motor driver of the equivalent analog device of the 1# fin machine, 2# fin machine, 3# fin machine, and 4# fin machine. When a safety fault occurs, the emergency stop button on the console can be used to control the servo motor to stop, protecting the safety of equipment and personnel.

[0072] (2) Implementation principle

[0073] The console receives the angle command of the visual simulation workbench and sends it to the servo controller in the servo drive cabinet. The servo controller connects two servo drives through the CANMotion bus. The servo drive drives the motor to move according to the command. The servo motor with encoder feeds back to the servo drive to form a closed-loop control. An angle sensor is installed at the shaft end of the mechanical gantry fin machine, and push / pull force sensors are installed at both ends of the servo electric cylinder. The collected values ​​of the two sensors are fed back to the servo controller to form a dual closed-loop system of displacement and force control. The control algorithm enables the swing angle and resistance of the fin machine to follow the command for precise movement. See the attached for details. Figure 3 .

[0074] (3) Interface design

[0075] Power interface: AC380V, 50Hz, 15KW;

[0076] Interface between drive cabinet and console: Ethernet interface.

[0077] 4. Schematic diagram of the composition of the mechanical stand Figure 4 , Figure 5 .

[0078] The dimensions of the mechanical stand (length × width × height) are: 1805mm × 1560mm × 1866mm, and the weight is about 1370kg; the mechanical limit angle is set to ±33°, and the mechanical limit principle is as follows:

[0079] (1) Two normally closed magnetic limit switches FCM are installed on the servo electric cylinder. When the fin blade of the skeg is in the middle position, the electric servo cylinder is in the zero position. The two magnetic limit switches FCM are installed at the front and rear ends of the electric servo cylinder (the movement stroke of the piston cylinder is found by calculating the rotation angle). When the fin blade rotates to 33°, the magnetic limit switch works and outputs an electrical signal to the motion controller to control the servo motor to make corresponding actions to prevent the angle stroke from being exceeded.

[0080] (2) There is an arc-shaped groove on the turntable, with the middle position of the fin as the zero point, and there is an arc-shaped groove with an angle of 33° on each side. A pin is installed on the stand. When the angle exceeds the rated stroke, the pin serves as a limit point to prevent damage to the equipment.

[0081] The above embodiments are only used to illustrate the design ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.

Claims

1. A ship fin engine equivalent simulation device, characterized by: Including host computer, control console, drive cabinet and mechanical stand; The host computer is connected to the control console via Ethernet and is used to establish a simulation model of a scaled-down hydraulic fin unit according to different forms of the power unit to simulate the fin machine, and send the fin angle command including the fin rotation angle and resistance load characteristic curve to the control console via Ethernet; The console is connected to the drive cabinet via Ethernet, used to analyze the fin angle instructions of the host computer, and send action instructions to the drive cabinet via Ethernet to control the motor. At the same time, it receives and displays the acquisition signals and fault signals of the drive cabinet. The drive cabinet includes a servo controller and a servo driver. The servo controller is connected to the servo driver through a bus, and the servo driver is connected to the servo motor. The servo controller is used to control the servo driver to drive the servo motor to operate in coordination according to the received action instructions. The mechanical test bench includes a servo motor, a gearbox, an electric cylinder, a turntable, a fin blade and a sensor; the servo motor is connected to the electric cylinder through the gearbox, which is used to drive the electric cylinder to convert rotary motion into linear motion; the electric cylinder is movably connected to the turntable, which is used to drive the turntable to rotate; the rotation axis of the fin blade is perpendicular to the turntable surface and fixed at the center of the turntable, and the turntable is used to drive the fin blade to rotate; the sensor is connected to the servo controller to upload the collected signal, so that the servo controller can collect the sensor signal, convert the digital quantity into physical quantity through physical calibration, and upload it to the console and host computer for real-time display; the sensor includes an angle sensor and a push / pull force sensor; the angle sensor is installed at the rotating shaft end of the fin blade of the mechanical test bench, which is used to collect and upload fin angle data; Push / pull force sensors are installed at both ends of the electric cylinder to collect and upload push / pull force data.

2. A ship fin engine equivalent simulation device according to claim 1, characterized in that: The simulation model also includes the addition of a pump group to improve the response speed and simulation versatility of the hydraulic fin machine to expand the simulation range; the loads simulated by the simulation model include constant load, step load and random load; The performance of the simulation model includes: maximum fin rotation angle of ±32°; mechanical limit angle of ±33°; maximum fin rotation speed of 12° / s; fin angle feedback error ≤0.5°; following error ≤0.5°; response time ≤800ms; local fin control process should be smooth, without oscillation and overshoot; the servo main motor is 3-phase AC380V, 5kW; the loading motor is 3-phase AC380V, 5kW.

3. The ship fin engine equivalent simulation device according to claim 1, characterized in that: The console includes a human-machine interface module, a controller, a network switch, and a communication converter. The controller is connected to the human-machine interface module and the network switch, and the controller is connected to the host computer and the drive cabinet through the network switch. The controller is used to collect data and issue commands. It receives instructions from the host computer through Ethernet and forwards them to the servo controller of the drive cabinet. The human-machine interface module is used to display the sensor signal curves including fin angle and push / pull force, which are operated in a clustered manner following the action command curve. The two curves are displayed and compared in the same coordinate system, showing the resistance load characteristics in the form of actual action.

4. A ship fin engine equivalent simulation device according to claim 3, characterized in that: The human-machine interface module also includes operation buttons and fault indicator lights; the operation buttons include a servo drive emergency stop button, which is used to control the servo motor to stop when a safety fault occurs; the fault indicator light is used to indicate signals including motor fault, control mode and operating status.

5. The ship fin engine equivalent simulation device according to claim 3, characterized in that: The console also includes a storage module for storing received instruction data and collected data, and for querying and replaying historical data in the form of curves or tables, as well as exporting and printing curves and data.

6. The ship fin engine equivalent simulation device according to claim 1, characterized in that: The drive cabinet is equipped with a local / remote switch button, a fin angle setting knob and a resistance setting knob; the local / remote switch button is used to realize the manual / automatic control switching function; when the local / remote switch button is set to local, the fin angle setting knob and the resistance setting knob realize the local manual control function of the quantitative output of the angle and resistance, which is used for debugging; when the local / remote switch button is set to automatic, the host computer and the console realize the automatic control function, and the system runs automatically.

7. The ship fin engine equivalent simulation device according to claim 6, characterized in that: The drive cabinet is also equipped with an audible and visual alarm, which is used to send out fault alarm signals to remind operators to handle the situation when the fin angle exceeds the mechanical range or the push / pull force reaches an abnormal value; The drive cabinet is also equipped with a servo drive emergency stop button, which is used to control the servo motor to stop when a safety fault occurs.

8. The ship fin engine equivalent simulation device according to claim 1, characterized in that: The mechanical test stand also includes a test stand and a base, the test stand is fixed on the base; the fin blade is rotatably fixed on the test stand; the servo motor, the gearbox and the electric cylinder are fixed on the test stand, and the turntable is rotatably fixed on the test stand.

9. The ship fin engine equivalent simulation device according to claim 8, characterized in that: The mechanical test stand also includes two limit switches, which set the mechanical limit angle to ±33°; the limit switch is a normally closed magnetic induction limit switch FCM, which is installed at the front and rear ends of the electric cylinder respectively. It is used to control the servo motor through the servo controller when the fin angle exceeds the limit angle to prevent the fin blade from exceeding the angular stroke; the turntable takes the middle position of the fin blade as the zero point, and a 33° arc groove is set on each side; a pin is installed on the test stand, which is used as a limit point when the angle of the fin blade rotation exceeds the rated stroke to prevent equipment damage.

10. The ship fin engine equivalent simulation device according to any one of claims 1 to 9, characterized in that: Used to perform the following steps: The host computer sends action instructions to the console; The console forwards the motion instructions to the servo controller of the drive cabinet; The servo controller sends action instructions to the servo driver through the bus; The servo drive drives the motor to move according to the instructions; The servo motor with encoder feeds back the swing angle and resistance to the servo driver to form a closed-loop control.

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