A control system and control method for a large high-speed ship water jet propulsion device

Abstract

A control system for a large high-speed ship's waterjet propulsion device is disclosed. The control system includes a bridge control station module, a comprehensive waterjet pump control module, an emergency control module, a signal interface unit, a central control module, and a drive power supply box. The output of the bridge control station module is connected to the input of the signal interface unit; the output of the comprehensive waterjet pump control module is connected to the input of the signal interface unit; the input of the comprehensive waterjet pump control module is connected to the output of the signal interface unit; the output of the emergency control module is connected to the input of the signal interface unit; and the input of the emergency control module is connected to the output of the signal interface unit. This design incorporates group control and synchronous control, simultaneously resolving the synchronization and interference issues of waterjet pump steering. The system offers flexible configuration, high reliability, and the ability to control multiple pumps simultaneously, significantly enhancing the safety of single-pump operation.

Description

Technical Field

[0001] The invention relates to an improvement of a ship water jet propulsion technology, belongs to the field of water jet propulsion control, and in particular to a control system and a control method of a large-scale high-speed ship water jet propulsion device. Background Art

[0002] Waterjet propulsion is a common propulsion method with the characteristics of high efficiency and good air resistance. It is widely used in ship propulsion systems. Waterjet propulsion is suitable for most ship types including monohulls, planing boats, catamarans, small waterplane surface ships, and amphibious vehicles. The tonnage of ships is generally as small as 1 ton and as large as thousands of tons. For high-speed ships above 1,000 tons, they generally need to be equipped with 4 waterjet propulsion devices with a power of MW or above according to the propulsion speed requirements. There are many waterjet propulsion devices, and they are all arranged at the stern of the ship. The layout space is compact, and there is an intersection area between the steering angles of adjacent jet pumps.

[0003] The traditional water jet propulsion control system consists of a reverse navigation handle, a steering wheel, a control unit, and a sensor unit. The reverse navigation handle controls the up and down rotation of the bucket to achieve forward and reverse control of the ship. The steering wheel synchronously controls the left and right rotation of the nozzle to achieve ship steering control. This traditional control system configuration method and control strategy cannot solve the problem of unsafe operation of multi-pump joint control and single control.

[0004] A Chinese patent with application number CN 202120395138.1 and application date of February 23, 2021 discloses a guide rail oiling and lubrication system for a stretching machine, including an oiling tank and an electric motor connected to the oiling tank. The guide rail lubrication system also includes a weighing sensor arranged below the oiling tank, and the output information of the weighing sensor is transmitted to the PLC control system; the lubricating oil passes through the oil outlet of the electric motor to the oil distributor, and then is supplied to the guide rail through the oil supply port. This oiling and lubrication system is mainly designed to meet the high lubrication requirements of the guide rails in the stretching machine. It has multiple functions such as daily oiling volume statistics, oil circuit blockage alarm and low liquid level alarm, which avoids excessive wear of the guide rails due to poor lubrication, thereby extending the service life of the guide rails and improving the processing accuracy of film stretching. However, it still does not solve the problem of unsafe operation of multi-pump joint control and single control.

[0005] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of this patent application, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the invention

[0006] The purpose of the present invention is to overcome the problem of unsafe operation of multi-pump joint control and single control in the prior art, and to provide a large high-speed ship water jet propulsion device control system and a control method thereof that can safely operate multi-pump joint control and single control.

[0007] To achieve the above objectives, the technical solution of the present invention is: a large-scale high-speed ship water jet propulsion device control system, the large-scale high-speed ship water jet propulsion device control system includes a cab control station module, a jet pump integrated control module, an emergency control module, a signal interface unit, a central control module, and a drive power box;

[0008] The output end of the cab control station module is signal-connected to the input end of the signal interface unit, the output end of the spray pump integrated control module is signal-connected to the input end of the signal interface unit, the input end of the spray pump integrated control module is signal-connected to the output end of the signal interface unit, the output end of the emergency control module is signal-connected to the input end of the signal interface unit, the input end of the emergency control module is signal-connected to the output end of the signal interface unit, the output end of the signal interface unit is signal-connected to the input end of the central control module, the input end of the signal interface unit is signal-connected to the output end of the central control module, the output end of the drive power box is signal-connected to the input end of the signal interface unit, the output end of the drive power box is signal-connected to the input end of the central control module, the output end of the position sensor is signal-connected to the input end of the central control module, the output end of the core control module is signal-connected to the input end of the central control module, and the input end of the core control module is signal-connected to the output end of the central control module;

[0009] The spray pump integrated control module includes a spray pump control unit, a second spray pump control unit, a third spray pump control unit, and a fourth spray pump control unit. The output end of the first spray pump control unit is respectively connected to the input end signals of the first spray pump, the second spray pump, the third spray pump, and the fourth spray pump. The output end of the second spray pump control unit is respectively connected to the input end signals of the first spray pump, the second spray pump, the third spray pump, and the fourth spray pump. The output end of the three spray pump control unit is respectively connected to the input end signals of the first spray pump, the second spray pump, the third spray pump, and the fourth spray pump. The output end of the four spray pump control unit is respectively connected to the input end signals of the first spray pump, the second spray pump, the third spray pump, and the fourth spray pump.

[0010] The central control module includes a central control unit, a second central control unit, a third central control unit and a fourth central control unit. The output end of the first central control unit is signal-connected to the input end of the second central control unit, the output end of the second central control unit is signal-connected to the input end of the third central control unit, the output end of the third central control unit is signal-connected to the input end of the fourth central control unit, the output end of the first central control unit is signal-connected to the input end of a proportional servo drive module, the output end of the second central control unit is signal-connected to the input end of the second proportional servo drive module, the output end of the third central control unit is signal-connected to the input end of the third proportional servo drive module, the output end of the fourth central control unit is signal-connected to the input end of the fourth proportional servo drive module, the output end of the first machine-side control module is signal-connected to the input end of the first central control unit, the output end of the second machine-side control module is signal-connected to the input end of the second central control unit, the output end of the third machine-side control module is signal-connected to the input end of the third central control unit, and the output end of the fourth machine-side control module is signal-connected to the input end of the fourth central control unit.

[0011] The cab control station module includes a touch screen, a buzzer and a mode switching unit. The input end of the touch screen is signal-connected to the output end of the buzzer, the output end of the touch screen is signal-connected to the input end of the buzzer, the input end of the buzzer is signal-connected to the output end of the mode switching unit, and the output end of the buzzer is signal-connected to the input end of the mode switching unit.

[0012] The control method includes an emergency control mode, which means that the emergency control module feeds back a signal to the central control module, the central control module issues a command to the corresponding proportional servo drive module, and the control signal of the central control module drives the actuator of the jet pump integrated control module to act.

[0013] A one-pump control unit includes one control handle, a two-pump control unit includes two control handles, a three-pump control unit includes three control handles, and a four-pump control unit includes four control handles;

[0014] The control method also includes a separation control mode, which means that the core control module transmits instructions to the central control module, the position sensor transmits the injection pump position signal to the central control module, the central control module sends an execution instruction to the injection pump integrated control module according to the signals of the core control module and the position sensor, and the injection pump integrated control module performs any one or any combination of the following controls:

[0015] A jet pump control unit controls a control handle nozzle to perform a steering action;

[0016] A spray pump control unit controls a control handle bucket to perform reverse navigation.

[0017] The control method also includes a group control mode, which means that one jet pump and two jet pumps form a port jet pump group, and three jet pumps and four jet pumps form a starboard jet pump group, wherein the one jet pump control unit is a main control unit that controls the port jet pump group and outputs control instructions to the port jet pump group; the three jet pump control unit is a main control unit that controls the starboard jet pump group and outputs control instructions to the starboard jet pump group.

[0018] When a fault occurs in the first spray pump control unit, the second spray pump control unit in the group can be switched as the effective control unit to output control instructions; when a fault occurs in the third spray pump control unit, the fourth spray pump control unit in the group can be switched as the effective control unit to output control instructions.

[0019] The control method also includes a synchronous control mode, which means: using the four-jet control unit as the main control unit to control the four jets to simultaneously control steering, reverse navigation, and main engine speed; when the four-jet control unit fails, any one of the control handles among the one-jet control unit, the two-jet control unit, and the three-jet control unit can be switched and selected as the effective control handle.

[0020] In the separation control mode, group control mode and synchronous control mode, the core control module includes an intelligent control strategy for the rudder angle to ensure that the rudders of each jet pump are independently controlled or there is no rudder interference between the jet pumps in the event of a control failure in the rudder rotation of the jet pump.

[0021] The emergency control mode includes machine-side emergency control and cab control mode, wherein:

[0022] The machine-side emergency control mode is as follows: the central control module sends a command to the emergency control module, directly outputs ± signals to all servo proportional valve controllers, and controls the jet pump integrated control module to send a command to turn the rudder and reverse the course; at the same time, the emergency control module sends a command to control the forward engagement, disengagement and reverse engagement of the jet pump gearbox clutch, and constructs the jet pump main engine speed control circuit through the selection switch, operating knob and signal conversion module to realize the emergency speed control of the main engine speed;

[0023] The cab emergency control mode is: the control circuit principle of the cab emergency control mode is the same as that of the machine-side emergency control mode. The difference between the two is the operation position. The remote control emergency control is operated in the cab, and the machine-side emergency control is operated in the cabin.

[0024] The follow-up control mode includes a separation control mode, a group control mode and a synchronization control mode. The follow-up control mode is controlled by a cab control station module and a jet pump integrated control module.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. In a control system and control method of a large-scale high-speed ship water jet propulsion device of the present invention, the present invention outputs the steering proportional valve control instructions of the remaining three jet pumps through the system internal control algorithm through the emergency control mode, separation control mode, group control mode and synchronous control mode, ensures the real-time synchronization of the steering positions of the four jet pumps, can realize independent control, group control and synchronous control of the four jet pumps, and solves the synchronization and steering interference problems of the jet pump steering at the same time. The system configuration is flexible, the reliability is high, and the multi-pump joint control can be achieved, and the safety of single control operation is greatly enhanced. Therefore, this design can be multi-pump joint control and safe operation.

[0027] 2. In a control system and control method of a large-scale high-speed ship water jet propulsion device of the present invention, one jet pump and two jet pumps are a port jet pump group, and three jet pumps and four jet pumps are a starboard jet pump group, wherein one jet pump control unit is a main control unit to control the port jet pump group and output control instructions to the port jet pump group; three jet pump control units are used as main control units to control the starboard jet pump group and output control instructions to the starboard jet pump group. When the main control handle fails, another control handle of the group can be switched to be selected as an effective control handle to output control instructions. When the four jet pump control units fail, any one of the control handles of the one jet pump control unit, the two jet pump control units, and the three jet pump control units can be switched to be selected as an effective control handle. Therefore, the design can switch the control at will, and the system operation is more stable.

[0028] 3. In a control system and control method of a large-scale high-speed ship water jet propulsion device of the present invention, the core control module includes an intelligent control strategy for the rudder angle, which ensures that when the rudders of each jet pump are independently controlled or when a control failure occurs in the rudder of the jet pump, there will be no rudder interference between the jet pumps. The core control module monitors the rudder angle value between two adjacent jet pumps in real time, calls the rudder angle restriction database of the jet pump in the system, and restricts the adjacent jet pump rudder nozzles from rotating in the interference direction before the rudder angles between the adjacent jet pumps interfere. Therefore, the jet pump of this design rotates safely and has a good early warning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the present invention.

[0030] Figure 2 It is a structural schematic diagram of the cab control station module in the present invention.

[0031] Figure 3 It is a structural diagram of the synchronous control mode in the present invention.

[0032] Figure 4 It is a structural diagram of the group control mode in the present invention.

[0033] Figure 5 It is a schematic diagram of the steering position of the steering nozzle in the present invention.

[0034] In the figure: cab control station module 1, jet pump integrated control module 2, emergency control module 3, signal interface unit 4, central control module 5, first central control unit 51, second central control unit 52, third central control unit 53, fourth central control unit 54, drive power box 6, first proportional servo drive module 71, second proportional servo drive module 72, third proportional servo drive module 73, fourth proportional servo drive module 74, first machine side control module 81, second machine side control module 82, third machine side control module 83, fourth machine side control module 84, position sensor 9, core control module 10. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0036] See also Figures 1 to 5 , a large-scale high-speed ship water jet propulsion device control system, the large-scale high-speed ship water jet propulsion device control system includes a cab control station module 1, a jet pump integrated control module 2, an emergency control module 3, a signal interface unit 4, a central control module 5, and a drive power box 6;

[0037] The output end of the cab control station module 1 is connected to the input end of the signal interface unit 4 by signal, the output end of the jet pump integrated control module 2 is connected to the input end of the signal interface unit 4 by signal, the input end of the jet pump integrated control module 2 is connected to the output end of the signal interface unit 4 by signal, the output end of the emergency control module 3 is connected to the input end of the signal interface unit 4 by signal, the input end of the emergency control module 3 is connected to the output end of the signal interface unit 4 by signal, the output end of the signal interface unit 4 is connected to the input end of the central control module 5 by signal, the input end of the signal interface unit 4 is connected to the output end of the central control module 5 by signal, the output end of the drive power box 6 is connected to the input end of the signal interface unit 4 by signal, the output end of the drive power box 6 is connected to the input end of the central control module 5 by signal, the output end of the position sensor 9 is connected to the input end of the central control module 5 by signal, the output end of the core control module 10 is connected to the input end of the central control module 5 by signal, and the input end of the core control module 10 is connected to the output end of the central control module 5 by signal;

[0038] The spray pump integrated control module 2 includes a spray pump control unit 21, a second spray pump control unit 22, a third spray pump control unit 23, and a fourth spray pump control unit 24. The output end of the spray pump control unit 21 is respectively connected to the input end signals of the first spray pump 25, the second spray pump 26, the third spray pump 27, and the fourth spray pump 28. The output end of the second spray pump control unit 22 is respectively connected to the input end signals of the first spray pump 25, the second spray pump 26, the third spray pump 27, and the fourth spray pump 28. The output end of the three spray pump control unit 23 is respectively connected to the input end signals of the first spray pump 25, the second spray pump 26, the third spray pump 27, and the fourth spray pump 28. The output end of the four spray pump control unit 24 is respectively connected to the input end signals of the first spray pump 25, the second spray pump 26, the third spray pump 27, and the fourth spray pump 28.

[0039] The central control module 5 includes a central control unit 51, a second central control unit 52, a third central control unit 53 and a fourth central control unit 54. The output end of the first central control unit 51 is signal-connected to the input end of the second central control unit 52, the output end of the second central control unit 52 is signal-connected to the input end of the third central control unit 53, the output end of the third central control unit 53 is signal-connected to the input end of the fourth central control unit 54, the output end of the first central control unit 51 is signal-connected to the input end of a proportional servo drive module 71, the output end of the second central control unit 52 is signal-connected to the input end of the second proportional servo drive module 7 2, the output end of the third central control unit 53 is signal connected to the input end of the third proportional servo drive module 73, the output end of the fourth central control unit 54 is signal connected to the input end of the fourth proportional servo drive module 74, the output end of the first machine-side control module 81 is signal connected to the input end of the first central control unit 51, the output end of the second machine-side control module 82 is signal connected to the input end of the second central control unit 52, the output end of the third machine-side control module 83 is signal connected to the input end of the third central control unit 53, and the output end of the fourth machine-side control module 84 is signal connected to the input end of the fourth central control unit 54.

[0040] The cab control station module 1 includes a touch screen 11, a buzzer 12 and a mode switching unit 13. The input end of the touch screen 11 is signal-connected to the output end of the buzzer 12, the output end of the touch screen 11 is signal-connected to the input end of the buzzer 12, the input end of the buzzer 12 is signal-connected to the output end of the mode switching unit 13, and the output end of the buzzer 12 is signal-connected to the input end of the mode switching unit 13.

[0041] The control method includes an emergency control mode, which means that the emergency control module 3 feeds back a signal to the central control module 5, the central control module 5 sends an instruction to the corresponding proportional servo drive module, and the control signal of the central control module 5 drives the actuator of the jet pump integrated control module 2 to act.

[0042] The first spray pump control unit 21 includes one control handle, the second spray pump control unit 22 includes two control handles, the third spray pump control unit 23 includes three control handles, and the fourth spray pump control unit 24 includes four control handles;

[0043] The control method also includes a separation control mode, which means that the core control module 10 transmits instructions to the central control module 5, the position sensor 9 transmits the injection pump position signal to the central control module 5, the central control module 5 sends an execution instruction to the injection pump integrated control module 2 according to the signals of the core control module 10 and the position sensor 9, and the injection pump integrated control module 2 performs any one or any combination of the following controls:

[0044] A spray pump control unit 21 controls a control handle nozzle to perform a steering action;

[0045] A spray pump control unit 21 controls a control handle bucket to perform reverse navigation.

[0046] The control method also includes a group control mode, which means that the first and second jet pumps 25 and 26 are the port jet pump group, and the third and fourth jet pumps 27 and 28 are the starboard jet pump group, wherein the first jet pump control unit 21 is the main control unit to control the port jet pump group and output control instructions to the port jet pump group; the third jet pump control unit 23 is the main control unit to control the starboard jet pump group and output control instructions to the starboard jet pump group.

[0047] When the first spray pump control unit 21 fails, the second spray pump control unit 22 of the group can be switched as the effective control unit to output control instructions; when the third spray pump control unit 23 fails, the fourth spray pump control unit 24 of the group can be switched as the effective control unit to output control instructions.

[0048] The control method also includes a synchronous control mode, which means: the control method also includes a synchronous control mode, which means: the four-jet pump control unit 24 is used as the main control unit to control the four jet pumps to simultaneously perform steering, reverse navigation, and main engine speed control; when the four-jet pump control unit 24 fails, any one of the control handles among the first jet pump control unit 21, the second jet pump control unit 22, and the third jet pump control unit 23 can be switched to be selected as the effective control handle.

[0049] In the separation control mode, group control mode and synchronous control mode, the core control module 10 includes an intelligent control strategy for the rudder angle to ensure that each jet pump is independently controlled to steer or that there is no steering interference between the jet pumps in the event of a control failure in the jet pump steering.

[0050] The emergency control mode includes machine-side emergency control and cab control mode, wherein:

[0051] The machine-side emergency control mode is: the central control module 5 sends a command to the emergency control module 3, directly outputs a ±5 signal to all servo proportional valve controllers, and controls the jet pump integrated control module 2 to send a command to turn the rudder and reverse the course; at the same time, the emergency control module 3 sends a command to control the forward engagement, disengagement and reverse engagement of the jet pump gearbox clutch, and constructs a jet pump main engine speed control circuit through the selection switch, operating knob and signal conversion module to realize the emergency speed control of the main engine speed;

[0052] The cab emergency control mode is: the control circuit principle of the cab emergency control mode is the same as that of the machine-side emergency control mode. The difference between the two is the operation position. The remote control emergency control is operated in the cab, and the machine-side emergency control is operated in the cabin.

[0053] The follow-up control mode includes a separation control mode, a group control mode and a synchronization control mode. The follow-up control mode is controlled by the cab control station module 1 and the jet pump integrated control module 2.

[0054] Embodiment 1:

[0055] A control system for a large-scale high-speed ship water jet propulsion device, the control system for the large-scale high-speed ship water jet propulsion device comprises a cab control station module 1, a jet pump integrated control module 2, an emergency control module 3, a signal interface unit 4, a central control module 5, and a drive power box 6; the output end of the cab control station module 1 is signal-connected to the input end of the signal interface unit 4, the output end of the jet pump integrated control module 2 is signal-connected to the input end of the signal interface unit 4, the input end of the jet pump integrated control module 2 is signal-connected to the output end of the signal interface unit 4, the output end of the emergency control module 3 is signal-connected to the input end of the signal interface unit 4, the input end of the emergency control module 3 is signal-connected to the output end of the signal interface unit 4, the output end of the signal interface unit 4 is signal-connected to the input end of the central control module 5, the input end of the signal interface unit 4 is signal-connected to the output end of the central control module 5, the output end of the drive power box 6 is signal-connected to the input end of the signal interface unit 4, the output end of the drive power box 6 is signal-connected to the input end of the signal interface unit 4, the output end of the drive power box 6 is signal-connected to the input end of the central control module 5 The input end signal is connected to the position sensor 9, the output end of the position sensor 9 is connected to the input end signal of the central control module 5, the output end of the core control module 10 is connected to the input end signal of the central control module 5, and the input end of the core control module 10 is connected to the output end signal of the central control module 5; the spray pump integrated control module 2 includes a spray pump control unit 21, a second spray pump control unit 22, a third spray pump control unit 23, and a fourth spray pump control unit 24. The output end of the spray pump control unit 21 is respectively connected to a spray pump 25, The input terminals of the second spray pump 26, the third spray pump 27 and the fourth spray pump 28 are connected by signal, the output terminals of the second spray pump control unit 22 are connected by signal to the input terminals of the first spray pump 25, the second spray pump 26, the third spray pump 27 and the fourth spray pump 28 respectively, the output terminals of the third spray pump control unit 23 are connected by signal to the input terminals of the first spray pump 25, the second spray pump 26, the third spray pump 27 and the fourth spray pump 28 respectively, and the output terminals of the fourth spray pump control unit 24 are connected by signal to the input terminals of the first spray pump 25, the second spray pump 26, the third spray pump 27 and the fourth spray pump 28 respectively;The central control module 5 includes a central control unit 51, a second central control unit 52, a third central control unit 53 and a fourth central control unit 54. The output end of the first central control unit 51 is signal-connected to the input end of the second central control unit 52, the output end of the second central control unit 52 is signal-connected to the input end of the third central control unit 53, the output end of the third central control unit 53 is signal-connected to the input end of the fourth central control unit 54, the output end of the first central control unit 51 is signal-connected to the input end of a proportional servo drive module 71, the output end of the second central control unit 52 is signal-connected to the input end of the second proportional servo drive module 72, the output end of the third central control unit 53 is signal-connected to the input end of the third proportional servo drive module 73, the output end of the fourth central control unit 54 is signal-connected to the input end of the fourth proportional servo drive module 74, the output end of a machine-side control module 81 is signal-connected to the input end of the first central control unit 51, and the output end of the second machine-side control module 81 is signal-connected to the input end of the second central control unit 52. The output end of the control module 82 is connected to the input end of the second central control unit 52 by signal, the output end of the third engine-side control module 83 is connected to the input end of the third central control unit 53 by signal, and the output end of the fourth engine-side control module 84 is connected to the input end of the fourth central control unit 54 by signal; the cab control station module 1 is used for system status display and jet pump control mode switching; the jet pump integrated control module 2 issues reverse navigation control instructions and steering control instructions for jet pump steering and reverse navigation control; the emergency control module 3 is used to perform steering and reverse navigation control on each jet pump in the event of a failure of the central control module 5; the signal interface unit 4 is used to parse and process the jet pump control instructions received from the jet pump integrated control module 2 and send them to the central control module 5 via Ethernet; the central control module 5 solves and outputs the control instructions of each servo actuator according to the current jet pump control mode and the position feedback signal of the jet pump, so as to realize the jet pump steering, reverse navigation and main engine speed control. ;

[0056] Embodiment 2:

[0057] Embodiment 2 is substantially the same as Embodiment 1, except that:

[0058] A control system for a large-scale high-speed ship water jet propulsion device, the cab control station module 1 includes a touch screen 11, a buzzer 12 and a mode switching unit 13, the input end of the touch screen 11 is signal-connected to the output end of the buzzer 12, the output end of the touch screen 11 is signal-connected to the input end of the buzzer 12, the input end of the buzzer 12 is signal-connected to the output end of the mode switching unit 13, the output end of the buzzer 12 is signal-connected to the input end of the mode switching unit 13, the touch screen 11 is used to display real-time status information of the water jet propulsion device; the buzzer 12 is used for fault alarm; the mode switching unit 13 is used for control position switching operation of the main and auxiliary control stations; the real-time status information includes the positions of the nozzle, bucket, and interceptor plate, and the ship's heel, pitch and other attitude information.

[0059] Embodiment 3:

[0060] Embodiment 3 is substantially the same as Embodiment 1, except that:

[0061] A control method for a control system of a large high-speed ship water jet propulsion device, the control method includes an emergency control mode, the emergency control mode means: the emergency control module 3 feeds back a signal to the central control module 5, the central control module 5 sends an instruction to the corresponding proportional servo drive module, and the control signal of the central control module 5 drives the actuator of the jet pump integrated control module 2 to act.

[0062] Embodiment 4:

[0063] Embodiment 4 is substantially the same as Embodiment 1, except that:

[0064] A control method for a control system of a large high-speed ship water jet propulsion device, wherein a jet pump control unit 21 includes a control handle, a second jet pump control unit 22 includes two control handles, a third jet pump control unit 23 includes three control handles, and a fourth jet pump control unit 24 includes four control handles; the control method also includes a separation control mode, which means that the core control module 10 transmits instructions to the central control module 5, the position sensor 9 transmits the jet pump position signal to the central control module 5, the central control module 5 sends an execution instruction to the jet pump integrated control module 2 according to the signals of the core control module 10 and the position sensor 9, and the jet pump integrated control module 2 performs any one of the following controls or any combination thereof: A jet pump control unit 21 controls a control handle nozzle to perform a steering action; a jet pump control unit 21 controls a control handle bucket to perform a reverse navigation action, and outputs the steering proportional valve control instructions of the remaining three jet pumps through the system's internal control algorithm to ensure that the steering positions of the four jet pumps are synchronized in real time. The central control module 5 monitors the steering angle value between two adjacent jet pumps in real time, calls the jet pump steering angle limitation database in the system, and limits the adjacent jet pump steering nozzles from rotating in the interference direction before the interference pre-alarm occurs in the steering angles between adjacent jet pumps.

[0065] Embodiment 5:

[0066] Embodiment 5 is substantially the same as Embodiment 1, except that:

[0067] A control method for a control system of a large high-speed ship water jet propulsion device, the control method also includes a group control mode, the group control mode means: one jet pump 25 and two jet pumps 26 are a port jet pump group, three jet pumps 27 and four jet pumps 28 are a starboard jet pump group, wherein a jet pump control unit 21 is a main control unit to control the port jet pump group and output control instructions to the port jet pump group; the three jet pump control unit 23 is a main control unit to control the starboard jet pump group and output control instructions to the starboard jet pump group; after a failure of the one jet pump control unit 21, the two jet pump control units 22 of the group can be switched as an effective control unit to output control instructions; after a failure of the three jet pump control unit 23, the four jet pump control units 24 of the group can be switched as an effective control unit to output control instructions.

[0068] Embodiment 6:

[0069] Embodiment 6 is substantially the same as Embodiment 1, except that:

[0070] A control method for a control system of a large high-speed ship water jet propulsion device, the control method also includes a synchronous control mode, the synchronous control mode means: the four control handles in the four-jet control unit 24 are used as the main control handles to control the four jets to simultaneously perform steering, reverse navigation and main engine speed control; when the four-jet control unit 24 fails, any one of the control handles in the first jet control unit 21, the second jet control unit 22 and the third jet control unit 23 can be switched to be selected as the effective control handle; in the separation control mode, the group control mode and the synchronous control mode, the core control module 10 includes an intelligent control strategy for the rudder angle to ensure that the steering of each jet is independently controlled or when a control failure occurs in the steering of the jet, the jets will not interfere with each other in steering; the emergency control mode includes the machine-side emergency control and the cab control mode, wherein: the machine-side emergency control mode is: the central control module 5 sends a signal to the emergency control module 3 Instructions, directly output ±5 signals to all servo proportional valve controllers, control the jet pump integrated control module 2 to issue instructions to turn the rudder and reverse; at the same time, the emergency control module 3 issues instructions to control the forward engagement, disengagement and reverse engagement of the jet pump gearbox clutch, and constructs the jet pump host speed regulation circuit through the selection switch, operation knob and signal conversion module to realize the emergency speed regulation of the host speed; the cab emergency control mode is: the control circuit principle of the cab emergency control mode is the same as that of the machine-side emergency control mode. The difference between the two is the different operating positions. The remote control emergency control is operated in the cab, and the machine-side emergency control is operated in the cabin; the follow-up control mode includes a separation control mode, a group control mode and a synchronous control mode. The follow-up control mode is controlled by the cab control station module 1 and the jet pump integrated control module 2. The machine-side emergency control has the highest priority authority, followed by the remote control emergency control, and finally the remote control follow-up control.

[0071] Embodiment 7:

[0072] Embodiment 7 is substantially the same as Embodiment 1, except that:

[0073] A control method for a control system of a large high-speed ship water jet propulsion device, such as Figure 5 The figure shows a schematic diagram of the steering position of the tail steering nozzle of the high-speed ship water jet propulsion system. The shaded position in the figure is the steering interference area of ​​two adjacent jet pumps. In order to avoid steering interference during the jet pump steering follow-up control process, the system of the present invention adopts a real-time rudder angle limitation strategy: the core control module monitors the steering angle value between two adjacent jet pumps in real time, calls the jet pump rudder angle limitation database in the system, and limits the adjacent jet pump steering nozzles to rotate in the interference direction before the steering angles between the adjacent jet pumps interfere;

[0074] Taking the first jet pump 25 and the second jet pump 26 as an example, the system converts the steering position angle calibration of the first jet pump 25 and the second jet pump 26 into a value in the range of -1000 to 1000, where -1000 corresponds to the jet pump's full left rudder, 0 corresponds to the jet pump's mid-rudder position, and 1000 corresponds to the jet pump's full right rudder; the two extreme positions of the jet pumps corresponding to the steering angle interference area of ​​the first jet pump 25 and the second jet pump 26 are A and B respectively; point A is the extreme position of the right rudder of the first jet pump 25 when the first jet pump 25 is at full left rudder, and the corresponding rudder angle value at this point is a1; point B is the extreme position of the left rudder of the second jet pump 26 when the first jet pump 25 is at full right rudder, and the rudder angle value of the second jet pump 26 at this point is b1; then the steering angles of the first jet pump 25 and the second jet pump 26 during the steering process must satisfy the following relationship:

[0075]

[0076] In the above formula, a is the calibrated value of the rudder angle of the first jet pump 25, b is the calibrated value of the rudder angle of the second jet pump 26, Φ takes the maximum value of 1000+a1 and 1000-b1, and ε is the steering control error;

[0077] The system monitors the rotation angle relationship between two adjacent jets in real time. When the rotation angle reaches 90% of the limit value, the system will issue a pre-alarm. When the rotation angle limit value is reached, the system will restrict the jet from moving in the direction of increasing the rotation angle difference.

[0078] The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modifications or changes made by ordinary technicians in this field based on the contents disclosed by the present invention should be included in the protection scope recorded in the claims.

Claims

1. A control system for a large high-speed ship water jet propulsion device, characterized in that The control system of the large-scale high-speed ship water jet propulsion device comprises a cab control station module (1), a jet pump integrated control module (2), an emergency control module (3), a signal interface unit (4), a central control module (5), and a drive power supply box (6); The output end of the cab control station module (1) is signal-connected to the input end of the signal interface unit (4); the output end of the jet pump integrated control module (2) is signal-connected to the input end of the signal interface unit (4); the input end of the jet pump integrated control module (2) is signal-connected to the output end of the signal interface unit (4); the output end of the emergency control module (3) is signal-connected to the input end of the signal interface unit (4); the input end of the emergency control module (3) is signal-connected to the output end of the signal interface unit (4); the output end of the signal interface unit (4) is signal-connected to the input end of the central control module (5). signal connection, the input end of the signal interface unit (4) is signal connected to the output end of the central control module (5), the output end of the drive power box (6) is signal connected to the input end of the signal interface unit (4), the output end of the drive power box (6) is signal connected to the input end of the central control module (5), the output end of the position sensor (9) is signal connected to the input end of the central control module (5), the output end of the core control module (10) is signal connected to the input end of the central control module (5), and the input end of the core control module (10) is signal connected to the output end of the central control module (5); The integrated spray pump control module (2) comprises a spray pump control unit (21), a second spray pump control unit (22), a third spray pump control unit (23), and a fourth spray pump control unit (24); the output end of the first spray pump control unit (21) is respectively connected to the input end signals of the first spray pump (25), the second spray pump (26), the third spray pump (27), and the fourth spray pump (28); the output end of the second spray pump control unit (22) is respectively connected to the input end signals of the first spray pump (25), the second spray pump (26), the third spray pump (27), and the fourth spray pump (28); the output end of the third spray pump control unit (23) is respectively connected to the input end signals of the first spray pump (25), the second spray pump (26), the third spray pump (27), and the fourth spray pump (28); and the output end of the fourth spray pump control unit (24) is respectively connected to the input end signals of the first spray pump (25), the second spray pump (26), the third spray pump (27), and the fourth spray pump (28); The central control module (5) comprises a central control unit (51), a second central control unit (52), a third central control unit (53) and a fourth central control unit (54); the output end of the first central control unit (51) is signal-connected to the input end of the second central control unit (52), the output end of the second central control unit (52) is signal-connected to the input end of the third central control unit (53), the output end of the third central control unit (53) is signal-connected to the input end of the fourth central control unit (54), the output end of the first central control unit (51) is signal-connected to the input end of a proportional servo drive module (71), the output end of the second central control unit (52) is signal-connected to the input end of the second proportional servo drive module (71), and the output end of the second central control unit (52) is signal-connected to the input end of the third central control unit (53). (72), the output end of the third central control unit (53) is signal-connected to the input end of the third proportional servo drive module (73), the output end of the fourth central control unit (54) is signal-connected to the input end of the fourth proportional servo drive module (74), the output end of the first machine-side control module (81) is signal-connected to the input end of the first central control unit (51), the output end of the second machine-side control module (82) is signal-connected to the input end of the second central control unit (52), the output end of the third machine-side control module (83) is signal-connected to the input end of the third central control unit (53), and the output end of the fourth machine-side control module (84) is signal-connected to the input end of the fourth central control unit (54); The core control module (10) monitors the steering angle value between two adjacent jet pumps in real time, calls the jet pump steering angle restriction database in the system, and restricts the adjacent jet pump steering nozzles from rotating in the interference direction before the steering angles between the adjacent jet pumps interfere with each other.

2. A large-scale high-speed ship water jet propulsion control system according to claim 1, characterized in that: The cab control station module (1) comprises a touch screen (11), a buzzer (12) and a mode switching unit (13); an input end of the touch screen (11) is signal-connected to an output end of the buzzer (12); an output end of the touch screen (11) is signal-connected to an input end of the buzzer (12); an input end of the buzzer (12) is signal-connected to an output end of the mode switching unit (13); and an output end of the buzzer (12) is signal-connected to an input end of the mode switching unit (13).

3. A control method for a control system of a large high-speed ship water jet propulsion device according to claim 1, characterized in that: The control method comprises an emergency control mode, wherein the emergency control module (3) feeds back a signal to the central control module (5), the central control module (5) issues a command to a corresponding proportional servo drive module, and the control signal of the central control module (5) drives the actuator of the jet pump integrated control module (2) to act.

4. The control method of a large-scale high-speed ship water jet propulsion control system according to claim 3, characterized in that: The first spray pump control unit (21) includes one control handle, the second spray pump control unit (22) includes two control handles, the third spray pump control unit (23) includes three control handles, and the fourth spray pump control unit (24) includes four control handles; The control method further comprises a separation control mode, wherein the separation control mode means that: the core control module (10) transmits a command to the central control module (5), the position sensor (9) transmits a spray pump position signal to the central control module (5), the central control module (5) issues an execution command to the spray pump integrated control module (2) according to the signals from the core control module (10) and the position sensor (9), and the spray pump integrated control module (2) performs any one or any combination of the following controls: A jet pump control unit (21) controls a control handle nozzle to perform a steering action; A spray pump control unit (21) controls a control handle bucket to perform a reverse navigation action.

5. The control method of a large high-speed ship water jet propulsion control system according to claim 4, characterized in that: The control method further comprises a group control mode, wherein the group control mode means that: the first jet pump (25) and the second jet pump (26) form a port jet pump group, and the third jet pump (27) and the fourth jet pump (28) form a starboard jet pump group, wherein the first jet pump control unit (21) is a main control unit controlling the port jet pump group and outputting control instructions to the port jet pump group; and the third jet pump control unit (23) is a main control unit controlling the starboard jet pump group and outputting control instructions to the starboard jet pump group.

6. The control method of a large high-speed ship water jet propulsion control system according to claim 5, characterized in that: When the first spray pump control unit (21) fails, the second spray pump control unit (22) of the group is switched as the effective control unit to output control instructions; when the third spray pump control unit (23) fails, the fourth spray pump control unit (24) of the group is switched as the effective control unit to output control instructions.

7. The control method of a large high-speed ship water jet propulsion control system according to claim 5, characterized in that: The control method further comprises a synchronous control mode, wherein the synchronous control mode means: using the four-jet pump control unit (24) as a main control unit to control the four jet pumps to simultaneously perform steering, reverse navigation and main engine speed control; when the four-jet pump control unit (24) fails, any one of the control handles among the first jet pump control unit (21), the second jet pump control unit (22) and the third jet pump control unit (23) is switched and selected as an effective control handle.

8. The control method of a large high-speed ship water jet propulsion control system according to claim 7, characterized in that: In the separate control mode, the group control mode and the synchronous control mode, the core control module (10) includes an intelligent control strategy for the rudder angle, which ensures that the rudders of the various jet pumps are independently controlled or that, in the event of a control failure in the rudder steering of the jet pumps, there will be no rudder interference between the jet pumps.

9. The control method of a large-scale high-speed ship water jet propulsion control system according to claim 3, characterized in that: The emergency control mode includes the machine-side emergency control mode and the cab emergency control mode, wherein: The machine-side emergency control mode is as follows: the central control module (5) issues a command to the emergency control module (3), directly outputs a ±5 signal to all servo proportional valve controllers, and controls the jet pump integrated control module (2) to issue a command to turn the rudder and reverse the course; at the same time, the emergency control module (3) issues a command to control the forward engagement, disengagement and reverse engagement of the jet pump gearbox clutch, and constructs a jet pump main engine speed control circuit through a selection switch, an operating knob and a signal conversion module, thereby realizing emergency speed control of the main engine speed; The cab emergency control mode is: the control circuit principle of the cab emergency control mode is the same as that of the machine-side emergency control mode. The difference between the two is the operation position. The remote control emergency control is operated in the cab, and the machine-side emergency control is operated in the cabin.

Images