Steering device for online rudder angle zero position correction and rudder angle zero position correction method

Abstract

The invention relates to a steering device for online rudder angle zero position correction and a rudder angle zero position correction method. A U-groove infrared counter-radiation sensor is fixedly installed on the outer end surface of a plunger of a rudder pushing mechanism, a sensing sheet is fixed on a base, a through hole is opened on the horizontal surface of the sensing sheet, and the horizontal height of the sensing sheet is located within the infrared ray sensing area of ​​the U-groove infrared counter-radiation sensor. When the rudder is straightened, the center line of the U-groove infrared counter-radiation sensor is directly opposite to the rudder angle zero position, the transmitter of the U-groove infrared counter-radiation sensor emits infrared rays that pass through the through hole of the sensing sheet and are received by a receiver, and instantly trigger a pulse signal to be sent to a rudder angle position controller, and the pulse signal is collected to perform zero position correction on the rudder angle position controller, thereby effectively solving the problem of rudder angle zero position drift after a rudder angle feedback collection component is used for a long time.

Description

Technical Field

[0001] The invention relates to a control technology, and in particular to a steering device for online rudder angle zero position correction and a rudder angle zero position correction method. Background Art

[0002] The steering device is a special equipment for ships to maneuver their heading and control the rudder angle.

[0003] The existing domestic steering devices generally adopt the following two technical solutions to achieve steering control:

[0004] a. Use a reversing valve to control the oil discharge direction, pushing the hydraulic cylinder of the rudder pusher mechanism to reciprocate left and right, that is, the rudder angle open-loop control method;

[0005] b. Rudder angle following control is adopted. The rudder command and feedback rudder angle signal are input to the rudder angle position controller for logic operation. The reversing valve is manipulated to realize rudder direction control or the proportional valve is manipulated through the pump control amplifier board to control the flow and rudder direction of the variable pump, that is, the rudder angle closed-loop control method.

[0006] The above-mentioned existing technical solution a is currently widely used in small ships. The driver directly manipulates the reversing valve to achieve simple operations of the ship's left or right rudder. When the rudder blade needs to be rotated to a fixed rudder angle or a straight rudder, it is difficult to accurately control it by controlling the switch flow. The accuracy of the rudder angle control depends entirely on the driver's level.

[0007] The above-mentioned prior art solution B generally adopts PID position control, and its principle is as follows: the difference e(t) between the rudder angle command signal and the rudder angle feedback signal is used as the input of the PID position controller. The relationship between the controller output u(t) and the input e(t) is:

[0008]

[0009] Where: K p is the proportional gain; T i is the integration time constant; T D is the differential time constant.

[0010] It can be found from the above formula that due to the inherent phenomena of wear and tear of the potentiometer / encoder and other rudder angle feedback collection components in the rudder angle feedback device after long-term use, inaccurate gear clearance, and mechanical connection deviation caused by hull deformation, the rudder angle zero reference drift is prone to occur, the collected rudder angle feedback signal deviates, e(t) is distorted, and the control accuracy is lost. Especially when the ship is ruddering, the rudder angle deviates, which increases the correction frequency of steering and reduces the steering effect. Summary of the invention

[0011] Aiming at the problem of deviation correction of rudder angle feedback collection component, a steering device with online rudder angle zero-position deviation correction and a rudder angle zero-position deviation correction method were proposed.

[0012] The technical scheme of the present invention is: a steering device for correcting the deviation of the rudder angle at zero position online, wherein the steering device comprises a pushing steering mechanism for driving the rudder blade to rotate, comprising a plunger, a hydraulic cylinder, a tiller, a slider, a pin shaft, and a base; the sliders at both ends of the tiller are respectively connected to a pair of parallel plungers through pin shafts, the hydraulic cylinder discharges oil, pushes the plunger to move horizontally, and drives the tiller to rotate, and also comprises a U-shaped groove infrared counter-radiation sensor and a sensing sheet, wherein the U-shaped groove infrared counter-radiation sensor is fixed to the outer end face of the plunger of the pushing steering mechanism, the sensing sheet is fixed to the base, a through hole is opened on the horizontal surface of the sensing sheet, and the horizontal height of the sensing sheet is located within the infrared ray sensing area of ​​the U-shaped groove infrared counter-radiation sensor, when the rudder is straightened, the center line of the U-shaped groove infrared counter-radiation sensor is directly opposite to the zero position of the rudder angle, the transmitter of the U-shaped groove infrared counter-radiation sensor transmits infrared rays that pass through the through hole of the sensing sheet and are received by a receiver, and instantly trigger a pulse signal to be sent to a rudder angle position controller.

[0013] Preferably, the sensing sheet is an independently designed stainless steel sheet, or a rudder angle mechanical scale with a through hole at the zero degree position.

[0014] Preferably, the sensor sheet is made of opaque material except for the through holes.

[0015] A method for correcting the zero position of an online rudder angle of a push-rudder mechanism, wherein a U-shaped groove infrared counter-radiation sensor is fixedly installed on the outer end surface of a plunger of the push-rudder mechanism, a sensor sheet is fixed on a base, a through hole is opened on the horizontal surface of the sensor sheet, and the horizontal height of the sensor sheet is located within the infrared ray sensing area of ​​the U-shaped groove infrared counter-radiation sensor. When the rudder is straightened, the center line of the U-shaped groove infrared counter-radiation sensor is directly opposite to the zero position of the rudder angle, and the infrared ray emitted by the transmitter of the U-shaped groove infrared counter-radiation sensor passes through the through hole of the sensor sheet and is received by a receiver, and a pulse signal is instantly triggered to be sent to a rudder angle position controller;

[0016] When the rudder angle position controller receives the pulse signal of the U-groove infrared radiation sensor, the rudder angle position controller latches the digital value of the real-time rudder angle feedback signal at the instant of the rising edge of the pulse signal during this program scanning cycle, which is recorded as the latched value M. In the next program scanning cycle, the digital value N1 obtained by analog-to-digital conversion of the real-time rudder angle feedback signal is subtracted from the latched value M to obtain the digital value N2, thereby realizing an online zero-position correction. After the online zero-position correction, the digital value N2 is converted into the rudder angle feedback angle value J2 through coefficient conversion, and the angle value J2 is the feedback rudder angle value after correction.

[0017] Furthermore, the online rudder angle zero position correction method is executed in a loop iteration each time the U-slot infrared radiation sensor triggers a pulse signal; or it is set to run once as an initialization program after each system startup, that is, to perform startup rudder angle zero position calibration; or it is set to be manually triggered to run, so as to avoid excessive occupation of system resources.

[0018] The beneficial effects of the present invention are as follows: the steering device for online rudder angle zero position correction and the rudder angle zero position correction method of the present invention can realize online rudder angle zero position correction, have a simple structure, and a reasonable design, can be applied to conventional hydraulic steering gears, and effectively solve the problem of rudder angle zero position drift. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of a rudder push mechanism in a steering device for correcting the deviation of a line rudder angle at zero position according to the present invention;

[0020] Figure 2 yes Figure 1 A partial enlarged schematic diagram of the middle area;

[0021] Figure 3 yes Figure 1 A schematic side view of a partial enlargement of the middle region;

[0022] Figure 4 It is a schematic diagram of the closed-loop control principle of the rudder angle position;

[0023] Figure 5 It is a flow chart of the online rudder angle zero position correction program of the present invention. DETAILED DESCRIPTION

[0024] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0025] like Figure 1 The schematic diagram of the structure of the push-rudder mechanism in the steering device for correcting the zero position of the online rudder angle is shown. The push-rudder mechanism is the actuator of the steering device and is responsible for driving the rudder blade to rotate. The push-rudder mechanism mainly includes a U-shaped groove infrared counter-radiation sensor 1, a sensor sheet 2, a mechanical scale of the rudder angle 3, a plunger 4, a hydraulic cylinder 5, a tiller 6, a slider 7, a pin 8, and a base 9. The sliders 7 at both ends of the tiller 6 are respectively connected to a pair of parallel plungers 4 through the pin 8. The hydraulic cylinder 5 discharges oil, pushes the plunger 4 to move horizontally, and drives the tiller 6 to rotate. The sensor sheet 2 and the mechanical scale of the rudder angle 3 are fixed on the base 9, and are symmetrically installed on both sides of a pair of parallel plungers of the push-rudder mechanism.

[0026] like Figure 1 , 2As shown, the U-shaped groove infrared radiation sensor 1 is fixed to the outer end surface of the plunger 4 of the push-rudder mechanism, and a through hole 10 is opened on the horizontal surface of the sensor sheet 2. The horizontal height of the sensor sheet 2 is located within the infrared ray sensing area of ​​the U-shaped groove infrared radiation sensor 1. When the rudder is straightened, the center line of the U-shaped groove infrared radiation sensor 1 is directly opposite to the rudder angle zero position scale line of the rudder angle mechanical scale 3. At this time, the signal of the U-shaped groove infrared radiation sensor 1 is turned on through the through hole 10. It is also possible to directly open a through hole at the zero position on the rudder angle mechanical scale so that the rudder angle mechanical scale itself becomes a sensor sheet.

[0027] like Figure 2 , 3 As shown, the U-shaped groove infrared radiation sensor 1 includes:

[0028] The transmitter ① is located at the upper end of the U-shaped groove, and contains infrared emitting elements such as infrared LEDs, which can generate infrared rays. The receiver ② is located at the lower end of the U-shaped groove, and contains infrared receiving elements such as phototransistors.

[0029] During the steering process, the U-shaped groove infrared radiation sensor 1 follows the plunger 4 to perform reciprocating linear motion. When it passes through the through hole 10 on the horizontal surface of the sensor sheet 2, the U-shaped groove infrared radiation sensor 1 will trigger a pulse signal.

[0030] The sensor sheet 2 should be made of opaque material except for the through hole 10. The size of the through hole should ensure that when the U-shaped slot infrared radiation sensor passes through the zero rudder angle position, the infrared rays emitted by the transmitter can accurately pass through the through hole 10 of the sensor sheet 2 and be received by the receiver, and instantly trigger a pulse signal.

[0031] In this embodiment, the U-shaped groove infrared sensor 1 has a repeatability of 0.01mm, a response frequency of 3kHZ, and a minimum object size of 0.8mm×1.2mm. In this embodiment, the steering speed of the steering device is 2.3° / s. Through the response frequency, it can be calculated that the change in the rudder angle at the moment of acquisition does not exceed 0.0007°, which has a very high acquisition accuracy. Even under high-speed steering conditions (about 5° / s), the change in the rudder angle caused by collecting the signal will not exceed 0.0015°.

[0032] The induction sheet 2 is made of stainless steel. The through hole 10 of the induction sheet 2 should be able to ensure the validity of the trigger pulse signal and to improve the accuracy of the zero-position steering angle acquisition as much as possible. The diameter of the induction sheet opening 10 of this embodiment is 1.2 mm.

[0033] like Figure 4The schematic diagram of the closed-loop control principle of the rudder angle position is shown. The rudder angle position controller 11 collects the rudder angle command signal and the rudder angle feedback signal, and uses the pid position control principle to output the control signal to drive the pump-controlled amplifier board 12 to control the proportional valve 13 in the hydraulic system, and manipulates the variable pump 14 to discharge oil to the hydraulic cylinder 5 of the push-rudder mechanism, pushing the plunger 4 to move horizontally, and driving the tiller handle 6 to rotate. When the difference between the rudder angle command signal and the rudder angle feedback signal approaches zero degrees, the pump-controlled amplifier board 12 stops outputting, the proportional valve 13 stops acting, the variable pump 14 no longer discharges oil to the hydraulic cylinder 5, the plunger 4 stops moving, and the tiller handle 6 stops rotating, thereby realizing the closed-loop control of the rudder angle position.

[0034] In order to ensure the rapidity of capturing the rising edge of the pulse signal, the rudder angle position controller 11 uses a high-speed counting module for capturing, and the acquisition frequency is 100kHZ, which can cover the sampling frequency of the U-groove infrared radiation sensor 1, and also ensure the accuracy of collecting the rudder angle zero position data.

[0035] like Figure 5 As shown in the flow chart of the online rudder angle zero position correction program, when the rudder angle position controller 11 receives the pulse signal from the U-groove infrared radiation sensor 1, the rudder angle position controller 11 latches the digital value of the real-time rudder angle feedback signal at the instant of the rising edge of the pulse signal within this program scanning cycle, which is recorded as the latch value M.

[0036] Here, the latch value M is a digital value obtained after analog-to-digital conversion by the rudder angle position controller 11.

[0037] In this embodiment, a gear motion pair is used to drive the potentiometer to rotate to collect the rudder angle feedback signal. The analog quantity of the rudder angle feedback signal is a voltage of -10V to +10V, and the corresponding digital value after analog-to-digital conversion is -27648 to +27648, and the corresponding rudder angle is -35° to +35°.

[0038] In the next program scanning cycle, the digital value N1 obtained by analog-to-digital conversion of the real-time rudder angle feedback signal is subtracted from the latch value M to obtain the digital value N2, thereby realizing an online zero-position correction.

[0039] After online zero-position correction, the digital value N2 is converted into the steering angle feedback angle value J2 through coefficient conversion. The angle value J2 is the feedback steering angle value after correction.

[0040] Here, k is set as the conversion coefficient between the steering angle feedback digital value N2 and the steering angle feedback angle value J2, then: J2 = N2 × k, where N2 = N1-M.

[0041] Again, the difference e(t) between the rudder angle command angle value J1 and the feedback rudder angle value J2 after correction is used as the input of the pid position controller to perform closed-loop control of the rudder angle position.

[0042] The present invention realizes the function of online zero-position rudder angle correction, and the rudder angle zero-position reference is recalibrated, so that the rudder angle feedback signal is more accurate, and the rudder angle position controller can realize more accurate angle control.

[0043] The program for online rudder angle zero position correction can be executed in a loop every time the U-slot infrared radiation sensor triggers a pulse signal, or it can be set to run once as an initialization program after each system startup, that is, to perform startup rudder angle zero position calibration; or it can be set to be manually triggered to run to avoid occupying too much system resources.

[0044] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for correcting the zero position of the rudder angle of a push-rudder mechanism online, characterized in that: A U-shaped groove infrared counter-radiation sensor is fixedly installed on the outer end surface of the plunger of the push-rudder mechanism, and a sensing sheet is fixed on the base. A through hole is opened on the horizontal surface of the sensing sheet, and the horizontal height of the sensing sheet is located within the infrared ray sensing area of ​​the U-shaped groove infrared counter-radiation sensor. When the rudder is straightened, the center line of the U-shaped groove infrared counter-radiation sensor is directly opposite to the zero position of the rudder angle, and the infrared ray emitted by the transmitter of the U-shaped groove infrared counter-radiation sensor passes through the through hole of the sensing sheet and is received by the receiver, and instantly triggers a pulse signal to be sent to the rudder angle position controller; When the rudder angle position controller receives the pulse signal of the U-groove infrared radiation sensor, the rudder angle position controller latches the digital value of the real-time rudder angle feedback signal at the instant of the rising edge of the pulse signal during this program scanning cycle, which is recorded as the latched value M. In the next program scanning cycle, the digital value N1 obtained by analog-to-digital conversion of the real-time rudder angle feedback signal is subtracted from the latched value M to obtain the digital value N2, thereby realizing an online zero-position correction. After the online zero-position correction, the digital value N2 is converted into the rudder angle feedback angle value J2 through coefficient conversion, and the angle value J2 is the feedback rudder angle value after correction.

2. The method for correcting the online rudder angle zero position of the push-steering mechanism according to claim 1, characterized in that: The online rudder angle zero position correction method is executed in a loop iteration each time the U-slot infrared radiation sensor triggers a pulse signal; or it is set to run once as an initialization program after each system startup, that is, to perform startup rudder angle zero position calibration; or it is set to be manually triggered to run, so as not to occupy too much system resources.

3. The method for correcting the online rudder angle zero position of the push-steering mechanism according to claim 1, characterized in that: The induction sheet is an independently designed stainless steel sheet, or a rudder angle mechanical scale with a through hole opened at the zero degree position.

4. The method for correcting the online rudder angle zero position of the push-steering mechanism according to claim 1, characterized in that: The sensing sheet is made of opaque material except for the through hole.

Images