An electric rudder automatic zero setting device and method

Abstract

The application discloses an automatic zero adjusting device and method of an electric rudder, which can realize automatic and efficient zero adjusting of the electric rudder, reduce human calibration error, improve zero adjusting precision and efficiency. The device comprises a rudder load platform, a PC and a rudder direction and step distance driver. The rudder load platform is provided with an electric rudder and an angle encoder, the PC is internally provided with a D / A control card and an automatic zero adjusting program, the output shaft of the electric rudder is connected with the reading end of the angle encoder, the output end of the angle encoder is connected with the input end of the automatic zero adjusting program, the output end of the automatic zero adjusting program is connected with the input end of the D / A control card, the control end of the D / A control card is connected with the signal input end of the rudder direction and step distance driver, and the control end of the rudder direction and step distance driver is connected with the electric rudder.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electric servo mechanism, and particularly relates to an automatic zero adjustment device and method of an electric steering engine. BACKGROUND

[0002] The zero adjustment of the electric steering engine is to adjust the angle of the output shaft of the steering engine and the position of the angle sensor, so that the angle of the output shaft of the steering engine meets the operation of defining zero. The zero adjustment of the electric steering engine mainly includes two steps of mechanical zero adjustment and electrical zero adjustment. The mechanical zero adjustment refers to stopping the output shaft in a position within a certain angle range based on a certain reference by rotating the output shaft of the electric steering engine; and the electrical zero position is to match a fixed value to the sensor after the mechanical zero position is calibrated, so as to establish an angle reference point of the output shaft of the steering engine and an electrical angle reference point. With more and more types of products and larger and larger quantities of the steering engines, it is self-evident that it is important to improve the calibration accuracy and efficiency of the mechanical zero position and the electrical zero position of the steering engine.

[0003] The existing mechanical zero position calibration method of the steering engine is as follows: the forging surface of the steering engine reducer is placed on an aluminum flat plate, one straight side of a right-angled aluminum module is attached to the aluminum flat plate, and the other straight side is attached to the plane of the output shaft of the steering engine, the attachment degree of the plane of the output shaft and the straight side of the right-angled aluminum module is observed by the human eye, and the complete attachment of the two planes is taken as the mechanical zero position reference of the steering engine. In this process, the adjustment of the plane of the output shaft of the steering engine is completed by connecting the steering engine M1 and M2 with the output of the direct current power supply and rotating the voltage adjusting knob. The electrical zero adjustment is a work performed after the mechanical zero adjustment is completed, and the resistance value of the sensor is half of the total range at the mechanical zero position. At present, the zero adjustment of some electric steering engines mainly relies on manual operation, and this method has the following disadvantages:

[0004] (1) The zero adjustment results of different operators are different, resulting in poor consistency;

[0005] (2) The zero adjustment precision is required to be high, and the polarity and value of the voltage are changed for many times, so that the zero adjustment method has the disadvantages of unstable operation and low efficiency.

[0006] (3) The zero adjustment process relies on the human eye to judge and estimate, and there is a possibility of accidental human error, and the readability is poor. SUMMARY

[0007] In view of the problems in the prior art, the application provides an automatic zero adjustment device and method of an electric steering engine, which can realize automatic and efficient zero adjustment of the electric steering engine, reduce human calibration error, improve zero adjustment precision, and improve zero adjustment efficiency.

[0008] The application is realized by the following technical solutions:

[0009] An automatic zero setting device of an electric rudder engine, comprising a rudder engine load platform, a PC and a rudder engine direction and step distance driver;

[0010] The electric rudder engine and an angle encoder are mounted on the rudder engine load platform, the PC is internally provided with a D / A control card and an automatic zero setting program, the output shaft of the electric rudder engine is connected with the reading end of the angle encoder, the output end of the angle encoder is connected with the input end of the automatic zero setting program, the output end of the automatic zero setting program is connected with the input end of the D / A control card, the control end of the D / A control card is connected with the signal input end of the rudder engine direction and step distance driver, and the control end of the rudder engine direction and step distance driver is connected with the electric rudder engine.

[0011] Preferably, the PC is further internally provided with an A / D acquisition card, and the A / D acquisition card is used for reading the potentiometer voltage value of the electric rudder engine.

[0012] Preferably, one side of the angle encoder is provided with a limit plate, and the other side is connected with the output shaft of the electric rudder engine through a transmission shaft.

[0013] Preferably, an adapter head is arranged at the connection position between the transmission shaft and the output shaft of the electric rudder engine.

[0014] Preferably, the rudder engine direction and step distance driver comprises a current amplifier, a relay and a matrix switcher which are sequentially connected.

[0015] An automatic zero setting method of an electric rudder engine, characterized by comprising mechanical zero setting of the electric rudder engine, and the mechanical zero setting steps are as follows:

[0016] The angle encoder reads the mechanical zero deviation generated after the plane of the output shaft of the electric rudder engine is connected with the plane of the mechanical zero tooling shaft;

[0017] The angle encoder generates a step distance signal and an angle deviation signal according to the mechanical zero deviation, and the two signals are transmitted to the rudder engine direction and step distance driver through two D / A control paths;

[0018] The rudder engine direction and step distance driver controls the electric rudder engine to rotate to the mechanical zero position;

[0019] The above operation is repeated until the mechanical zero deviation read by the angle encoder is within a set error range, and the automatic mechanical zero setting of the electric rudder engine is realized.

[0020] Preferably, after the mechanical zero setting of the electric rudder engine, the method further comprises electrical zero setting of the electric rudder engine, and the electrical zero setting steps are as follows:

[0021] The PC is internally provided with an automatic zero setting program and an A / D acquisition card, and the full-scale voltage value represented by the maximum angle of the potentiometer of the electric rudder engine is taken as a first A / D value;

[0022] The A / D acquisition card acquires the voltage value corresponding to the change of the potentiometer sliding head angle of the electric rudder as a second A / D value;

[0023] The automatic zero adjustment program detects that the second A / D value is half of the first A / D value, and completes the automatic electrical zero adjustment of the electric rudder.

[0024] Preferably, the setting error range of the mechanical zero deviation is ±0.05°.

[0025] Preferably, the rudder direction and step distance driver controls the rotation of the electric rudder to the mechanical zero position includes direction driving and step distance driving.

[0026] The direction driving includes that the rudder direction and step distance driver controls the rotation direction of the electric rudder according to the received angle deviation signal, and controls the positive direction rotation of the electric rudder when the angle deviation signal is positive, and controls the negative direction rotation of the electric rudder when the angle deviation signal is negative.

[0027] The step distance driving includes that the rudder direction and step distance driver controls the adjustment step distance of the electric rudder according to the received step distance signal, and adjusts step by step until the mechanical zero deviation is within the setting error range.

[0028] Compared with the prior art, the present application has the following beneficial technical effects:

[0029] The present application provides an electric rudder automatic zero adjustment device, which realizes the automatic adjustment of the mechanical zero position of the electric rudder by using the cooperation of the angle encoder, the D / A control card, the automatic zero adjustment program and the rudder direction and step distance driver, and realizes the zero adjustment precision with relatively accurate mechanical zero precision. Specifically, the automatic zero adjustment program reads the initial angle of the electric rudder according to the angle encoder, calculates the difference between the initial angle and the zero angle, sets two D / As by the D / A control card, controls the rotation direction and step distance of the electric rudder by the signals transmitted by the two D / As through the automatic zero adjustment program, and transmits the signals to the rudder direction and step distance driver to drive the electric rudder for adjustment, so that the angle of the electric rudder approaches the calibration zero position step by step, realizes the automatic operation of the mechanical zero adjustment of the electric rudder, and intuitively reflects the current mechanical angle and electrical value of the electric rudder by the automatic zero adjustment program, and automatically judges whether the current zero position meets the precision requirement, gives a prompt when the rudder meets the mechanical zero position and the electrical zero position, realizes the automatic and efficient zero adjustment of the electric rudder, reduces the human calibration error, improves the zero adjustment precision, and improves the zero adjustment efficiency.

[0030] Further, the PC is also provided with an A / D acquisition card, the A / D acquisition card is used for reading the potentiometer voltage value of the electric rudder, so that the automatic zero adjustment program can automatically judge the zero position of the potentiometer of the electric rudder and give the corresponding electrical zero position prompt through the potentiometer voltage value read by the A / D, and the automation and simplification of the electrical zero adjustment are realized.

[0031] Further, an adapter head is arranged at the connecting position of the transmission shaft and the output shaft of the electric rudder, the transmission shaft and the output shaft of the electric rudder are connected together through the adapter head, the design of the adapter head can make the output shaft of the electric rudder and the adapter head have three degrees of freedom, play the role of universal joint transmission, have the functions of surface contact with the output shaft of all electric rudders and not on the same axis and not affecting the test zero adjustment precision, improve the problem that the electric rudder and the test tool are not on the same axis, and eliminate the stress generated by the hard connection between the output shaft and the adapter head. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is the control block diagram of the electric rudder automatic zero adjustment device of the application;

[0033] Figure 2 is the schematic diagram of the rudder load table device of the application;

[0034] Figure 3 is the schematic diagram of the rudder direction and step distance driver principle of the application.

[0035] In the figure, 1 is a position adjusting plate, 2 is an angle encoder, 3 is a tension clamp, 4 is an electric rudder, 5 is a tension handle, 6 is a limiting plate, 7 is an adapter head, 8 is a transmission shaft, 9 is a bottom plate, 10 is a rudder direction and step distance driver, 11 is a rudder load table, and 12 is a PC. DETAILED DESCRIPTION

[0036] The principles and characteristics of the application will be further described in detail below in combination with the drawings, and the examples are only used for explaining the application and are not used for limiting the scope of the application. It should be noted that the drawings are very simplified and use non-precise proportions, and are only used for the purpose of conveniently and clearly assisting the description of the embodiments of the application.

[0037] It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or there can be a middle component. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be a middle component. When a component is referred to as being "arranged" on another component, it can be directly arranged on the other component or there can be a middle component.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0039] The application provides an automatic zero setting device of an electric rudder, which comprises a rudder load platform 11, a PC 12 and a rudder direction and step distance driver 10. Figure 1 As shown in the figure, the device comprises a rudder load platform 11, a PC 12 and a rudder direction and step distance driver 10.

[0040] The electric rudder 4 and an angle encoder 2 are installed on the rudder load platform 11, the PC 12 is internally provided with a D / A control card and an automatic zero setting program, the output shaft of the electric rudder 4 is connected with the reading end of the angle encoder 2, the output end of the angle encoder 2 is connected with the input end of the automatic zero setting program, the output end of the automatic zero setting program is connected with the input end of the D / A control card, the control end of the D / A control card is connected with the signal input end of the rudder direction and step distance driver 10, and the control end of the rudder direction and step distance driver 10 is connected with the electric rudder 4.

[0041] The application designs an automatic zero setting device of an electric rudder, which realizes the automatic adjustment of the mechanical zero position of the electric rudder 4 and the relatively accurate zero setting precision of the mechanical zero position by using the cooperation of the angle encoder 2, the D / A control card, the automatic zero setting program and the rudder direction and step distance driver 10. Specifically, the automatic zero setting program calculates the difference between the initial angle of the electric rudder 4 and the zero position angle according to the reading of the angle encoder 2, sets two D / As of the D / A control card, controls the rotation direction and the step distance of the electric rudder 4 by the two D / As of the D / A control card respectively, and transmits signals to the rudder direction and step distance driver 10 to drive the electric rudder 4 to adjust, so that the angle of the electric rudder 4 gradually approaches the calibrated zero position, and the automatic operation of the mechanical zero setting of the electric rudder 4 is realized. The automatic zero setting program can intuitively reflect the current mechanical angle and electrical value of the electric rudder 4, and automatically judge whether the current zero position meets the precision requirement. When the rudder meets the mechanical zero position and the electrical zero position, a prompt is given, the automatic and efficient zero setting of the electric rudder 4 is realized, the human calibration error is reduced, the zero setting precision is improved, and the zero setting efficiency is improved.

[0042] Further, the PC 12 is also internally provided with an A / D acquisition card, the A / D acquisition card is used for reading the potentiometer voltage value of the electric rudder 4, so that the automatic zero setting program can automatically judge the potentiometer zero position of the electric rudder 4 and give a corresponding electrical zero position prompt by the potentiometer voltage value read by the A / D, and the automation and simplification of the electrical zero setting are realized.

[0043] As shown in Figure 2 The angle encoder 2 and the electric steering engine 4 are respectively arranged on both sides of the bottom plate 9 of the steering engine load platform 11, and the position adjusting plate 1 is arranged on one side of the angle encoder 2 for fixing the angle encoder 2 on the corresponding position of the steering engine load platform 11, and the transmission shaft 8 is connected with the output shaft of the electric steering engine 4 on the other side of the angle encoder 2.

[0044] Further, as shown in Figure 2 The transmission shaft 8 is connected with the output shaft of the electric steering engine 4, and the adapter head 7 is arranged at the connecting position and fixed by the elastic clamp 3, and the position limiting plate 6 is arranged on the output shaft of the electric steering engine 4 and fixed by the elastic handle 5, the adapter head 7 is used to connect the transmission shaft 8 with the output shaft of the electric steering engine 4, the design of the adapter head 7 can make the output shaft of the electric steering engine 4 and the adapter head 7 have three degrees of freedom, which plays the role of universal joint transmission, has the function of surface contact with the output shaft of all electric steering engines 4 and not on the same axis and does not affect the test zero setting accuracy, improves the problem that the electric steering engine 4 and the test tool are not on the same axis, and eliminates the stress generated by the hard connection between the output shaft and the adapter head 7.

[0045] The steering engine direction and step distance driver 10 comprises a current amplifier, a relay and a matrix switcher connected in sequence, and the matrix switcher is used as a reverse switching matrix to switch the rotation direction of the electric steering engine 4.

[0046] Preferably, the angle encoder 2 is a grating angle encoder 2.

[0047] The application also provides an automatic zero setting method of the electric steering engine, which comprises mechanical zero setting of the electric steering engine and electrical zero setting of the electric steering engine.

[0048] The mechanical zero setting step is as follows:

[0049] The mechanical zero position deviation generated after the output shaft plane of the electric steering engine 4 is connected with the mechanical zero position tool shaft plane is obtained;

[0050] The angle encoder 2 generates a step distance signal and an angle deviation signal according to the mechanical zero position deviation, and the signals are transmitted to the steering engine direction and step distance driver 10 through two D / A control paths;

[0051] The steering engine direction and step distance driver 10 controls the electric steering engine 4 to rotate to the mechanical zero position;

[0052] The above operation is repeated until the mechanical zero position deviation read by the angle encoder 2 is within the set error range, and the automatic mechanical zero setting of the electric steering engine 4 is realized.

[0053] The electrical zero adjustment procedure is as follows:

[0054] The PC 12 is equipped with an automatic zero adjustment program and an A / D acquisition card, and the full-scale voltage value represented by the potentiometer maximum angle of the electric steering engine 4 is taken as the first A / D value;

[0055] The A / D acquisition card acquires the voltage value corresponding to the angle change of the potentiometer sliding head of the electric steering engine 4 as the second A / D value;

[0056] The automatic zero adjustment program completes the automatic electrical zero adjustment of the electric steering engine 4 when detecting that the second A / D value is half of the first A / D value.

[0057] Preferably, the setting error range of the mechanical zero deviation is ±0.05°.

[0058] As shown in the accompanying drawings, Figure 3 The steering engine direction and step distance driver 10 controls the rotation of the electric steering engine 4 to the mechanical zero position, including direction driving and step distance driving. The automatic zero adjustment program compares the angle initial value with the zero angle value to obtain the mechanical zero deviation. The angle encoder 2 generates the step distance signal and the angle deviation signal according to the mechanical zero deviation, and then performs direction and step distance adjustment.

[0059] The adjustment principle of the direction driving is as follows:

[0060] The steering engine direction and step distance driver 10 controls the rotation direction of the electric steering engine 4 according to the received angle deviation signal. When the angle deviation signal is positive, the electric steering engine 4 is controlled to rotate in the positive direction. When the angle deviation signal is negative, the electric steering engine 4 is controlled to rotate in the negative direction.

[0061] The adjustment principle of the step distance is as follows:

[0062] The steering engine direction and step distance driver 10 controls the adjustment step distance of the electric steering engine 4 according to the received step distance signal, and adjusts step by step until the mechanical zero deviation is within the set error range.

[0063] If the angle initial value of the electric steering engine 4 is greater than 10 degrees, the steering engine direction and step distance driver 10 drives and controls the rotation to 5 degrees once, and then adjusts the step distance by 1 degree each time. When the adjustment is within 1 degree, the step distance is modified to 0.05 degrees each time for adjustment, and the step distance is adjusted step by step until it approaches zero degrees, and the adjustment is completed.

[0064] Embodiment

[0065] The embodiment designs an automatic zero adjustment device for an electric steering engine, which solves the problems of mechanical zero adjustment and efficient and accurate automatic electrical zero adjustment of the electric steering engine 4.

[0066] As shown in the accompanying drawings, Figure 1As shown, a standard zero tool is provided in the embodiment, including: an angle encoder 2 (with a precision of 0.01 degrees), when the output shaft plane of the electric rudder 4 is connected with the standard mechanical zero tool shaft plane, a mechanical zero deviation is generated, the PC 12 program receives the angle deviation through the CAN interface of the angle encoder 2, according to the received angle polarity and angle deviation, i.e. the position information of the current angle and zero (polarity and difference), through two-way D / A control: one-way D / A control the rotation direction of the electric rudder 4, and one-way D / A control the angle of one rotation of the electric rudder 4 (hereinafter referred to as step distance), a single polarity PWM signal is generated to control the rudder to rotate to the mechanical zero. Repeat the above process until the sampled data gradually approaches the zero position, so as to achieve the purpose of automatically calibrating the mechanical zero of the rudder.

[0067] As shown, Figure 2 the automatic zero device in the embodiment mainly uses the rudder load table 11, the rudder output shaft adapter, the rudder direction and step distance driver 10, the angle encoder 2, the D / A control card, the A / D acquisition card and the automatic zero program to form a rudder zero control loop, which realizes the automatic operation of the mechanical zero adjustment of the electric rudder 4, and the automatic judgment and prompt of the electrical zero.

[0068] Among them, the rudder direction and step distance driver is mainly controlled by D / A, one-way D / A controls the rotation direction of the rudder, and one-way D / A controls the step angle of the rudder.

[0069] The angle encoder 2 obtains the rudder angle, the rudder angle read from the angle encoder 2 is transmitted to the automatic zero program of the PC 12 through the CAN bus, and the zero position can be calibrated through the angle encoder 2. The rudder electrical value is obtained through the A / D acquisition card. The adapter head 7 of the rudder output shaft is developed to eliminate the stress concentration caused by the hard connection between the output shaft and the adapter head 7.

[0070] The automatic zero device of the electric rudder in the embodiment includes two zeroing modes: mechanical zeroing and electrical zeroing.

[0071] (1) The working principle of the mechanical zeroing of the electric rudder 4 is as follows:

[0072] 1) After the automatic zero device is built, the rudder to be zeroed is installed on the rudder load table 11 of the automatic zero device;

[0073] 2) Run the automatic zero program of the PC 12, and power on the control part of the automatic zero device;

[0074] 3) Click "CAN setting" (default option) and "CAN start" in the upper right corner of the automatic zero program interface, and the program starts to receive the rudder angle acquisition of the angle encoder 2 through the CAN bus;

[0075] 4) Click the "calibration" button of the interface mechanical angle zero adjustment part, send the zero setting command to the angle encoder 2 through the CAN bus, and mark the zero position;

[0076] 5) Install the motor to be adjusted to the zero position on the steering load table 11 of the automatic zero adjustment device;

[0077] 6) Click the "automatic zero adjustment" button of the interface mechanical angle zero adjustment part, start the D / A control card. Each time, according to the current position angle of the steering received from the angle encoder 2, judge the direction and size of the current angle of the steering, drive the steering direction and step distance driver 10 by D / A1 and D / A2 two-way D / A, generate a unipolar PWM signal to control the special mechanical zero position of the steering, until the steering reaches the zero position requirement. The instrument panel of the interface will display the current angle of the steering. When the steering angle reaches ± 0.05°, the interface will prompt "mechanical zero position has arrived".

[0078] (2) The adjustment principle of the electrical zero position of the electric steering 4 is as follows:

[0079] 1) Click the "start electrical zero adjustment" button of the interface electrical angle zero adjustment part;

[0080] 2) Collect the full-scale voltage value represented by the maximum angle of the potentiometer by the first A / D;

[0081] 3) Collect the voltage value corresponding to the angle change represented by the sliding head of the potentiometer by the second A / D;

[0082] 4) When the second A / D value is half of the first A / D value, the electrical zero position is reached, and the interface prompts "electrical zero position has arrived".

[0083] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in any form; any person skilled in the art can easily implement the present application according to the drawings and the above description; however, any equivalent changes, modifications and evolution of the above-mentioned technical content within the scope of the technical solution of the present application are equivalent embodiments of the present application; at the same time, any equivalent changes, modifications and evolution of the above-mentioned technical content within the scope of the technical solution of the present application are equivalent embodiments of the present application.

Claims

1. An electric rudder automatic zero device, characterized in that, The rudder servo load platform (11), the PC (12) and the rudder servo direction and step driver (10) are included. The electric rudder servo (4) and the angle encoder (2) are installed on the rudder servo load platform (11), the D / A control card and the automatic zero adjustment program are installed in the PC (12), the output shaft of the electric rudder servo (4) is connected with the reading end of the angle encoder (2), the output end of the angle encoder (2) is connected with the input end of the automatic zero adjustment program, the output end of the automatic zero adjustment program is connected with the input end of the D / A control card, the control end of the D / A control card is connected with the signal input end of the rudder servo direction and step driver (10), and the control end of the rudder servo direction and step driver (10) is connected with the electric rudder servo (4); the A / D acquisition card is also installed in the PC (12), and the A / D acquisition card is used for reading the potentiometer voltage value of the electric rudder servo (4); the limit plate (6) is installed on one side of the angle encoder (2), and the other side is connected with the output shaft of the electric rudder servo (4) through the transmission shaft (8); the rudder servo direction and step driver (10) includes the current amplifier, the relay and the matrix switcher which are connected in sequence.

2. The electric actuator auto-zero device of claim 1, wherein, The adaptive head (7) is arranged at the connection position of the transmission shaft (8) and the output shaft of the electric rudder servo (4).

3. An electric actuator auto-zero method, characterized in that, The automatic zero adjustment device of the electric rudder servo based on any one of claims 1-2 comprises mechanical zero adjustment of the electric rudder servo (4), and the mechanical zero adjustment steps are as follows: The angle encoder (2) reads the mechanical zero deviation generated after the plane of the output shaft of the electric rudder servo (4) is connected with the plane of the mechanical zero tool shaft; The angle encoder (2) generates the step signal and the angle deviation signal according to the mechanical zero deviation, and the two signals are transmitted to the rudder servo direction and step driver (10) through two D / A control paths; The rudder servo direction and step driver (10) controls the electric rudder servo (4) to rotate to the mechanical zero position; The above operation is repeated until the mechanical zero deviation read by the angle encoder (2) is within the set error range, and the automatic mechanical zero adjustment of the electric rudder servo (4) is realized.

4. The method of claim 3, wherein, After the mechanical zero adjustment of the electric rudder servo (4), the electric zero adjustment of the electric rudder servo (4) is further included, and the electric zero adjustment steps are as follows: The PC (12) is provided with the automatic zero adjustment program and the A / D acquisition card, the full-scale voltage value represented by the maximum angle of the potentiometer of the electric rudder servo (4) is taken as the first A / D value; The A / D acquisition card collects the voltage value corresponding to the angle change of the potentiometer sliding head of the electric rudder servo (4) as the second A / D value; When the automatic zero adjustment program detects that the second A / D value is half of the first A / D value, the automatic electric zero adjustment of the electric rudder servo (4) is completed.

5. The electric actuator auto-zero method of claim 3, wherein, The set error range of the mechanical zero deviation is ±0.05°.

6. The electric actuator auto-zero method of claim 3, wherein, The control of the electric rudder servo (4) to rotate to the mechanical zero position by the rudder servo direction and step driver (10) includes direction driving and step driving. The direction driving includes that the rudder direction and step driving device (10) controls the rotation direction of the electric rudder (4) according to the received angle deviation signal; when the angle deviation signal is positive, the electric rudder (4) is controlled to rotate in the positive direction; when the angle deviation signal is negative, the electric rudder (4) is controlled to rotate in the negative direction. The step driving includes that the rudder direction and step driving device (10) controls the adjustment step of the electric rudder (4) according to the received step signal, and adjusts step by step until the mechanical zero deviation is within the set error range.

Images