A ship steering gear equivalent simulation device

Abstract

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

Description

Technical Field

[0001] The invention belongs to the technical field of ship navigation manipulation control simulation, and in particular relates to a ship steering gear 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 steering gear 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 steering gear equivalent simulation device for simulating the steering control equipment of the surface ship steering gear.

[0004] The technical solution adopted by the present invention to solve the above technical problems is: a ship steering gear 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 steering gear group according to different forms of the power device to simulate the steering gear, and send the steering command including the steering 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 steering command 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 collection 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 to drive the servo according to the received action instructions The motor cooperates to operate; the mechanical test bench includes a servo motor, a gear box, an electric cylinder, a turntable, a rudder blade and a sensor; the servo motor is connected to the electric cylinder through the gear box, which is used to drive the electric cylinder to convert the rotational motion into linear operation; the electric cylinder is movably connected to the turntable, which is used to drive the turntable to rotate; the rotating axis of the rudder blade is perpendicular to the turntable surface and fixed at the center of the turntable, and the turntable is used to drive the rudder 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 rudder blade of the mechanical test bench, which is used to collect and upload the rudder 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 plan, the simulation model also includes the installation of a pump group to improve the response speed and simulation versatility of the hydraulic steering gear to expand the simulation range; the performance of the simulation model includes: the maximum steering angle is ±35°; the electrical limit angle is within the range of ±(35°~36°); the mechanical limit angle is within the range of 36.5°±0.5°; the maximum steering speed is 12° / s; the rudder angle feedback error is ≤0.5°; the control sensitivity is ≤0.6°; the following error is ≤0.5°; the response time is ≤800ms; the local steering 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 sensor signal curves including rudder angle and push / pull force that follow 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 rudder 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 rudder 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 servo 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 rudder blade is rotatably fixed between the test stand and the base; the servo motor, gear box 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 36.5°±0.5°; the limit switch is a normally closed magnetic induction limit switch FCM, which is respectively installed at the front end and the rear end of the electric cylinder, and is used to control the action of the servo motor through the servo controller when the rudder angle exceeds the limit angle to prevent the rudder blade from exceeding the angular stroke; the turntable takes the middle position of the rudder blade as the zero point, and a 36° arc groove is set on each side; a pin is installed on the test stand, which is used as a limit point when the rotation angle of the rudder blade 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. A ship steering gear equivalent simulation device of the present invention provides a relatively realistic ship rudder angle information feedback to the upper computer, i.e., the navigation control simulation system, by simulating the steering control of the steering gear, thereby realizing the simulation function of the steering control equipment of the surface ship steering gear.

[0021] 2. The present invention has the functions of receiving steering commands, driving rudder blades and providing feedback on rudder angle status.

[0022] 3. The present invention realizes the functions of driving simulation, rudder angle feedback and machine-side alarm of the steering control device of the steering gear, thereby improving the realism of the simulation of the steering gear control system and the accuracy of the simulation of the navigation operation control.

[0023] 3. The present invention realizes the simulation of navigation control, ship steering gear simulation and ship control closed-loop control, fills the gap in the technical means of navigation control system performance simulation, and plays a positive role in promoting ship navigation safety. 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 rudder command of the host computer navigation control simulation system and send action instructions to the drive cabinet; the drive cabinet is used to drive the rudder blade to move according to the instruction; the mechanical test bench includes a base, a test bench, a rudder blade, a servo electric cylinder, a turntable, etc.

[0031] 1. Overall design

[0032] (1) Working principle

[0033] The navigation control simulation system calculates the simulation model and sends the steering 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 steering gear 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 steering gear 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 steering gear 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, thereby realizing 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.

[0034] (2) Equivalence principle

[0035] The steering gear device is simulated by a scaled-down hydraulic unit, and a mathematical model is established according to different forms of the power device. The steering gear simulation device and the steering gear device belong to the same driving mode, which ensures the homogeneity of the simulation and is also conducive to mastering the working characteristics of the real device. Since the ordinary hydraulic steering gear has a slow action speed, in order to expand the simulation range, the response speed of the hydraulic steering gear 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 rudder 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 steering angle: ±35°;

[0040] Electrical limit angle: ±(35°~36°);

[0041] Mechanical limit angle: 36.5°±0.5°;

[0042] Maximum steering speed: 12° / s;

[0043] Rudder angle feedback error: ≤0.5°;

[0044] Control sensitivity: ≤0.6°;

[0045] Following error: ≤0.5°;

[0046] The response time is no more than 800ms;

[0047] The local steering process should be smooth, without oscillation or overshoot;

[0048] Servo main motor 3-phase AC380V, 5kW, loading motor 3-phase AC380V, 5kW.

[0049] (5) Interface design

[0050] Interface between the console and the navigation control simulation system: Ethernet interface;

[0051] Interface between the console and the drive cabinet: Ethernet interface;

[0052] Interface between drive cabinet and mechanical stand: hard-wired connection.

[0053] 2. The principle block diagram of the console can be found in Figure 2 .

[0054] (1) Functionality

[0055] 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.

[0056] Data acquisition function. Angle sensors and push / pull force sensors are installed on the mechanical gantry, which can transmit the rudder 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 rudder and reasoning force values ​​are displayed in real time on the host computer software interface.

[0057] 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 rudder 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 rudder angle, push / pull force to follow the set rudder angle and resistance.

[0058] 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.

[0059] Safety protection function. There are two emergency stop buttons on the console, which respectively control the emergency stop function of the servo motor driver of the 1# steering gear equivalent simulation device and the servo motor driver of the 2# steering gear equivalent simulation device. 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.

[0060] (2) Implementation principle

[0061] The industrial computer placed in the steering gear equivalent device console 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 servo motor through calculation, so that the mechanical structure of the steering gear can execute according to the predetermined instructions. In order to timely detect the operating status of the steering gear 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 shown in the attached Figure 2 .

[0062] (3) Interface design

[0063] Electrical interface

[0064] Input power: single-phase AC220V, 1000W

[0065] External communication interface

[0066] The interface between the console and the ship maneuvering visual simulation console is Ethernet, and the communication protocol is TCP / IP.

[0067] 3. The principle block diagram of the drive cabinet is shown in Figure 3 .

[0068] (1) Functionality

[0069] 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 rudder 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.

[0070] Data acquisition function: It can collect servo 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 via Ethernet for real-time display.

[0071] Angle / resistance adjustment function. There are rudder angle setting knob and resistance setting knob 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 servo in water.

[0072] Fault alarm function: When the servo angle exceeds the mechanical range or the push / pull force reaches an abnormal value, a fault alarm signal can be issued. An audible and visual alarm is installed on the drive cabinet to remind the operator to handle the situation.

[0073] Safety protection function. There are two emergency stop buttons on the drive cabinet, which respectively control the emergency stop function of the servo motor driver of the 1# steering gear equivalent simulation device and the servo motor driver of the 2# steering gear equivalent simulation device. 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.

[0074] (2) Implementation principle

[0075] 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 act according to the command, and the servo motor with encoder feeds back to the servo drive to form a closed-loop control. An angle sensor is installed at the end of the mechanical bench servo shaft, 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 servo swing angle and resistance to follow the command for precise action. See the attached for details. Figure 3 .

[0076] (3) Interface design

[0077] Power interface: AC380V, 50Hz, 15KW;

[0078] Interface between drive cabinet and console: Ethernet interface.

[0079] 4. Schematic diagram of the composition of the mechanical stand Figure 4 , Figure 5 .

[0080] The bottom plate of the steering gear equivalent simulation experimental platform is composed of 14# I-beam with a size of 2656mm×770mm×165mm. The total mass of the marine steering gear test bench is: M=1315Kg. The mechanical limit angle is set to 36.5°±0.5°, and the mechanical limit principle is as follows:

[0081] (1) Two normally closed magnetic limit switches FCM are installed on the servo electric cylinder. When the rudder blade 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 rudder blade rotates to 36°, 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.

[0082] (2) There is an arc-shaped groove on the turntable, with the middle position of the rudder blade as the zero point, and there is an arc-shaped groove with an angle of 36° on the left and right. 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.

[0083] 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 steering gear equivalent simulation device, characterized in that: Including host computer, control console, drive cabinet and mechanical stand; The upper computer is connected to the control console via Ethernet, and is used to establish a simulation model of a hydraulic steering gear group with a reduced scale according to different forms of the power device to simulate the steering gear, and send the steering command including the steering angle and the resistance load characteristic curve to the control console via Ethernet; The console is connected to the drive cabinet via Ethernet to analyze the steering commands of the host computer and send action commands 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 gear box, an electric cylinder, a turntable, a rudder blade and a sensor; the servo motor is connected to the electric cylinder through the gear box to drive the electric cylinder to convert the rotary motion into a linear motion; the electric cylinder is movably connected to the turntable to drive the turntable to rotate; the rotating axis of the rudder blade is perpendicular to the turntable surface and fixed at the center of the turntable, and the turntable is used to drive the rudder 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 the physical quantity through physical calibration, and upload it to the console and the 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 rudder blade of the mechanical test bench to collect and upload the rudder angle data; Push / pull force sensors are installed at both ends of the electric cylinder to collect and upload push / pull force data.

2. The ship steering gear equivalent simulation device according to claim 1, characterized in that: The simulation model also includes the addition of a pump set to improve the response speed of the hydraulic steering gear and the simulation versatility to expand the simulation range; The performance of the simulation model includes: the maximum steering angle is ±35°; the electrical limit angle is within the range of ±(35°~36°); the mechanical limit angle is within the range of 36.5°±0.5°; the maximum steering speed is 12° / s; the rudder angle feedback error is ≤0.5°; the control sensitivity is ≤0.6°; the following error is ≤0.5°; the response time is ≤800ms; the local steering 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 steering gear 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 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 curves including the rudder angle and the push / pull force which follow the action command 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 real action.

4. The ship steering gear equivalent simulation device according to claim 3 is characterized in that: 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 for controlling 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 steering gear equivalent simulation device according to claim 3 is characterized in that: 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, as well as exporting and printing curves and data.

6. The ship steering gear equivalent simulation device according to claim 1, characterized in that: The drive cabinet is equipped with a local / remote switch button, a rudder 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 rudder 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 steering gear 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 steering gear angle exceeds the mechanical range or the push / pull force has 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.

8. The ship steering gear 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 rudder blade is rotatably fixed between the test stand and the base; the servo motor, the gear box and the electric cylinder are fixed on the test stand, and the turntable is rotatably fixed on the test stand.

9. The ship steering gear equivalent simulation device according to claim 8, characterized in that: The mechanical test bench also includes two limit switches, which set the mechanical limit angle to 36.5°±0.5°; 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, and is used to control the servo motor action through the servo controller when the rudder angle exceeds the limit angle to prevent the rudder blade from exceeding the angle travel; The turntable has the middle position of the rudder blade as the zero point, and 36° arc grooves are set on the left and right sides; pins are installed on the stand to serve as limit points when the rudder blade rotation angle exceeds the rated stroke to prevent equipment damage.

10. A ship steering gear 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 control 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 act 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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