A simulation control method and system for ship rudder joystick force feedback based on virtual-real fusion

Abstract

This invention provides a virtual-real fusion-based force feedback simulation control method for ship rudder control sticks, comprising: constructing a set of fluid control equations for the flow field on the rudder surface; discretizing the set of fluid control equations using a standard structured mesh to obtain a discretized set of fluid control equations; solving the discretized set of fluid control equations based on the finite difference method and boundary conditions to obtain the drag torque value of the fluid acting on the rudder plate; converting the drag torque value into a damping torque value; the control unit outputting a motor drive command based on the magnitude of the damping torque value; and the motor driver, based on the motor drive command output by the control unit, driving the force feedback simulation motor to generate a corresponding simulated damping torque value, which acts on the control stick to produce force feedback. This invention provides real-time control stick force feedback for the helmsman, allowing for direct perception of the ship's navigation status and enhancing steering stability.

Description

Technical Field

[0001] This invention relates to the field of ship control technology, and in particular to a method and system for simulating rudder control lever force feedback based on virtual-real fusion. Background Technology

[0002] The ship's steering system is a crucial system for controlling a ship's course, depth, and attitude, ensuring the completion of its navigation missions. A typical ship's steering system consists of a rudder transmission mechanism, a hydraulic drive system, a rudder gear hydraulic and rudder angle feedback mechanism, and a ship's control console. The control console includes a joystick, input keypad, switches, display equipment, and information processing equipment. Because ship navigation is easily affected by waves and undercurrents, the mainstream steering method is still manual steering by the helmsman using a joystick. Currently, commonly used joysticks do not have force feedback devices and typically employ simple linear damping. This makes it difficult for the helmsman to obtain force feedback that is positively correlated with the rudder force, resulting in poor control feel and difficulty in controlling the steering amplitude. For inexperienced helmsmen, it is even more difficult to control the ship precisely in one go, easily causing back-and-forth oscillations and poor stability. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a ship rudder joystick force feedback simulation control method based on virtual-real fusion, comprising:

[0004] S1: Construct the fluid control equations for the flow field on the rudder surface;

[0005] S2: Divide the flow field of the fluid near the rudder into a structured grid by the direction of the rudder, transform the structured grid into a standard structured grid by coordinate transformation, and discretize the fluid control equations by the standard structured grid to obtain the discretized fluid control equations.

[0006] S3: The navigation data collected in real time by the sensor is converted into the boundary conditions of the flow field on the rudder surface. Based on the finite difference method and the boundary conditions, the discretized fluid control equations are solved to obtain the resistance torque value of the fluid acting on the rudder plate. The resistance torque value is converted into the damping torque value. The control unit outputs motor drive commands according to the magnitude of the damping torque value.

[0007] S4: The motor driver generates a corresponding simulated damping torque value by driving the simulated motor according to the motor drive command output by the control unit. The simulated damping torque value acts on the joystick to generate force feedback.

[0008] Preferably, the fluid control equations include: a continuity equation, a momentum equation, and an energy equation;

[0009] The expression for the continuity equation is:

[0010]

[0011] The expression for the momentum equation is:

[0012]

[0013]

[0014]

[0015] The energy equation is expressed as follows:

[0016]

[0017] Where ρ is the fluid density, Let τ be the velocity vector of the fluid element, u, w, and v be the components of the ship's velocity vector in the x, y, and z directions, respectively. ij (i,j = x, y, z) represents the fluid viscous force in the j direction on the plane perpendicular to the i direction. f is the external force vector. i (i = x, y, z) Components of the external force in the x, y, and z directions, T is temperature, q is flow rate, t is time, e is energy, and k is a calculation constant. To find the derivative with respect to q.

[0018] Preferably, the navigation data in step S3 includes: speed data, depth data, and attitude data, and the boundary conditions include: flow velocity parameters and pressure parameters on the rudder surface.

[0019] The formula for converting the drag torque value into the damping torque value is as follows:

[0020] M motor＝ A(α)×M motor-max ×M rudder / M rudder-max

[0021] Among them, M motor M is the value of the damping torque. motor-max M is the maximum simulable damping moment value. rudder M represents the drag torque value. rudder-max The maximum drag torque on the control surface is the value of the maximum speed and maximum rudder angle, and A(α) is the force feedback simulation coefficient.

[0022] Preferably, step S4 specifically includes:

[0023] S41: Set the preset conversion coefficient. The force feedback simulation motor generates angular displacement of the joystick by simulating the damping torque value and the conversion coefficient.

[0024] S42: The joystick angular displacement sensor detects the driver's angular displacement of the joystick in real time and transmits the angular displacement to the control unit;

[0025] S43: The control unit controls the rudder offset by operating angular displacement and conversion coefficient.

[0026] A virtual-real fusion-based ship rudder joystick force feedback simulation control system, used to implement the aforementioned virtual-real fusion-based ship rudder joystick force feedback simulation control method, includes: a sensor unit, a control unit, a motor driver, a force feedback simulation motor, a joystick, and a joystick angular displacement sensor;

[0027] The sensor unit is electrically connected to the control unit, the control unit is electrically connected to the motor driver, the motor driver is electrically connected to the force feedback analog motor, the force feedback analog motor is electrically connected to the joystick, the joystick is electrically connected to the joystick angular displacement sensor, and the joystick angular displacement sensor is electrically connected to the control unit.

[0028] Preferably, the sensor unit includes: a rudder angle sensor, a speed sensor, a depth sensor, a roll angle sensor, and a pitch angle sensor;

[0029] The rudder angle sensor, speed sensor, depth sensor, roll angle sensor, and pitch angle sensor are all electrically connected to the control unit.

[0030] The present invention has the following beneficial effects:

[0031] 1. The feedback simulation control method provided by this invention provides real-time joystick force feedback for the helmsman, allowing for direct perception of the ship's navigation status and enhancing steering stability.

[0032] 2. The feedback simulation control method provided by this invention can also be used in ship maneuvering control simulators to assist helmsman training, facilitate the formation of muscle memory for steering, and improve steering proficiency. Attached Figure Description

[0033] Figure 1 This is a flowchart of a method according to an embodiment of the present invention;

[0034] Figure 2 This is a system structure diagram of an embodiment of the present invention;

[0035] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0037] Reference Figure 1This invention provides a simulated control method for ship rudder control stick force feedback based on virtual-real fusion, comprising:

[0038] S1: Construct the fluid control equations for the flow field on the rudder surface;

[0039] S2: Divide the flow field of the fluid near the rudder into a structured grid by the direction of the rudder, transform the structured grid into a standard structured grid by coordinate transformation, and discretize the fluid control equations by the standard structured grid to obtain the discretized fluid control equations.

[0040] S3: The navigation data collected in real time by the sensor is converted into the boundary conditions of the flow field on the rudder surface. Based on the finite difference method and the boundary conditions, the discretized fluid control equations are solved to obtain the resistance torque value of the fluid acting on the rudder plate. The resistance torque value is converted into the damping torque value. The control unit outputs motor drive commands according to the magnitude of the damping torque value.

[0041] S4: The motor driver generates a corresponding simulated damping torque value by driving the simulated motor according to the motor drive command output by the control unit. The simulated damping torque value acts on the joystick to generate force feedback.

[0042] In this embodiment, the fluid control equations include: the continuity equation, the momentum equation, and the energy equation;

[0043] The expression for the continuity equation is:

[0044]

[0045] The expression for the momentum equation is:

[0046]

[0047]

[0048]

[0049] The energy equation is expressed as follows:

[0050]

[0051] Where ρ is the fluid density, Let τ be the velocity vector of the fluid element, u, w, and v be the components of the ship's velocity vector in the x, y, and z directions, respectively. ij (i,j = x, y, z) represents the fluid viscous force in the j direction on the plane perpendicular to the i direction. f is the external force vector. i(i = x, y, z) Components of the external force in the x, y, and z directions, T is temperature, q is flow rate, t is time, e is energy, and k is a calculation constant. To find the derivative with respect to q.

[0052] In this embodiment, the navigation data in step S3 includes: speed data, depth data, and attitude data, and the boundary conditions include: flow velocity parameters and pressure parameters on the rudder surface.

[0053] The formula for converting the drag torque value into the damping torque value is as follows:

[0054] M motor＝ A(α)×M motor-max ×M rudder / M rudder-max

[0055] Among them, M motor M is the value of the damping torque. motor-max M is the maximum simulable damping moment value. rudder M represents the drag torque value. rudder-max The maximum drag torque on the control surface is the value of the maximum speed and maximum rudder angle, and A(α) is the force feedback simulation coefficient.

[0056] Specifically, the force feedback simulation coefficient A(α) can be set in different modes according to the helmsman's steering habits, including: linear coefficient, exponential coefficient and quadratic coefficient; the linear coefficient is a constant, which amplifies or reduces the converted drag torque value according to the ratio, the exponential coefficient is an exponential function of the control stick angular displacement α, and the quadratic coefficient is a quadratic function of the control stick angular displacement α.

[0057] In this embodiment, step S4 specifically includes:

[0058] S41: Set the preset conversion coefficient. The force feedback simulation motor generates angular displacement of the joystick by simulating the damping torque value and the conversion coefficient.

[0059] S42: The joystick angular displacement sensor detects the driver's angular displacement of the joystick in real time and transmits the angular displacement to the control unit;

[0060] S43: The control unit controls the rudder offset by operating angular displacement and conversion coefficient.

[0061] refer to Figure 2 The present invention provides a rudder joystick force feedback simulation control system based on virtual-real fusion, which is used to implement the above-mentioned rudder joystick force feedback simulation control method based on virtual-real fusion, including: a sensor unit, a control unit, a motor driver, a force feedback simulation motor, a joystick and a joystick angular displacement sensor;

[0062] The sensor unit is electrically connected to the control unit, the control unit is electrically connected to the motor driver, the motor driver is electrically connected to the force feedback analog motor, the force feedback analog motor is electrically connected to the joystick, the joystick is electrically connected to the joystick angular displacement sensor, and the joystick angular displacement sensor is electrically connected to the control unit.

[0063] Specifically, the motor driver can be implemented using a power amplifier, and the force feedback analog motor can be implemented using a brushless motor.

[0064] The joystick angular displacement sensor is used to collect the joystick rotation angle in real time, which serves as the input to the control signal conversion model.

[0065] The control unit is the core of the system, containing a rudder force calculation model and a control signal conversion model. The rudder force calculation model takes real-time data such as rudder angle, speed, roll angle, and pitch angle as input, and calculates the torque currently acting on the rudder based on a predefined model algorithm. The control signal conversion model takes the torque output from the rudder force calculation model and the control stick angular displacement as input, and converts the torque into motor control signals for output to the motor driver according to a specific conversion method. The rudder force calculation model is based on the finite difference method, while the control signal conversion model is characterized by providing a highly customized damping force simulation mode for the helmsman by offering multiple signal conversion algorithms, including proportional coefficients, exponential coefficients, and quadratic coefficients.

[0066] The motor driver takes the motor control signal output by the control unit as input and outputs DC power that directly acts on the force feedback analog motor, driving the force feedback analog motor to generate a damping torque value.

[0067] In this embodiment, the sensor unit includes: a rudder angle sensor, a speed sensor, a depth sensor, a roll angle sensor, and a pitch angle sensor;

[0068] The rudder angle sensor, speed sensor, depth sensor, roll angle sensor, and pitch angle sensor are all electrically connected to the control unit.

[0069] Specifically, speed sensors, pitch angle sensors, roll angle sensors, depth sensors, and rudder angle sensors are used to collect data such as ship speed, pitch angle, roll angle, depth, and rudder angle in real time for rudder force calculation input; and are converted into calculation data such as rudder surface water flow velocity, direction, pressure, and viscosity through a given algorithm.

[0070] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0071] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. In the unit claims listing several devices, several of these devices may be embodied by the same hardware item. The use of the terms first, second, and third, etc., does not indicate any order and can be interpreted as identifiers.

[0072] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A ship rudder control stick force feedback simulation control method based on virtual-real fusion, characterized in that, include: S1: Construct the fluid control equations for the flow field on the rudder surface; S2: Divide the flow field of the fluid near the rudder into a structured grid by the direction of the rudder, transform the structured grid into a standard structured grid by coordinate transformation, and discretize the fluid control equations by the standard structured grid to obtain the discretized fluid control equations. S3: The navigation data collected in real time by the sensor is converted into the boundary conditions of the flow field on the rudder surface. Based on the finite difference method and the boundary conditions, the discretized fluid control equations are solved to obtain the resistance torque value of the fluid acting on the rudder plate. The resistance torque value is converted into the damping torque value. The control unit outputs motor drive commands according to the magnitude of the damping torque value. S4: The motor driver generates a corresponding simulated damping torque value by driving the simulated motor according to the motor drive command output by the control unit. The simulated damping torque value acts on the joystick to generate force feedback. In step S3, the navigation data includes: speed data, depth data, and attitude data, and the boundary conditions include: flow velocity parameters and pressure parameters on the rudder surface. The formula for converting the drag torque value into the damping torque value is as follows: M motor= A ( α )× M motor-max × M rudder / M rudder-max in, M motor This represents the damping torque value. M motor-max This represents the maximum simulable damping moment value. M rudder This is the value of the drag torque. M rudder-max This represents the maximum drag torque experienced by the control surface at maximum speed and maximum rudder angle. A ( α ) represents the force feedback simulation coefficient.

2. The ship rudder control stick force feedback simulation control method based on virtual-real fusion according to claim 1, characterized in that, The fluid control equations include: the continuity equation, the momentum equation, and the energy equation; The expression for the continuity equation is: The expression for the momentum equation is: The energy equation is expressed as follows: Where ρ is the fluid density, Let τ be the velocity vector of the fluid element, u, w, and v be the components of the ship's velocity vector in the x, y, and z directions, respectively. ij (i, j = x, y, z) represents the fluid viscous force in the j direction on the plane perpendicular to the i direction. f is the external force vector. i (i = x, y, z) represents the components of the external force in the x, y, and z directions, T is the temperature, q is the flow rate, t is the time, e is the energy, and k is a calculation constant. To find the derivative with respect to q.

3. The ship rudder control stick force feedback simulation control method based on virtual-real fusion according to claim 1, characterized in that, Step S4 is as follows: S41: Set the preset conversion coefficient. The force feedback simulation motor generates angular displacement of the joystick by simulating the damping torque value and the conversion coefficient. S42: The joystick angular displacement sensor detects the driver's angular displacement of the joystick in real time and transmits the angular displacement to the control unit; S43: The control unit controls the rudder offset by operating angular displacement and conversion coefficient.

4. A virtual-real fusion-based rudder joystick force feedback simulation control system, used to implement the virtual-real fusion-based rudder joystick force feedback simulation control method as described in any one of claims 1-3, characterized in that, include: Sensor unit, control unit, motor driver, force feedback analog motor, joystick and joystick angular displacement sensor; The sensor unit is electrically connected to the control unit, the control unit is electrically connected to the motor driver, the motor driver is electrically connected to the force feedback analog motor, the force feedback analog motor is electrically connected to the joystick, the joystick is electrically connected to the joystick angular displacement sensor, and the joystick angular displacement sensor is electrically connected to the control unit.

5. The ship rudder control stick force feedback simulation control system based on virtual-real fusion according to claim 4, characterized in that, The sensor unit includes: rudder angle sensor, speed sensor, depth sensor, roll angle sensor, and pitch angle sensor; The rudder angle sensor, speed sensor, depth sensor, roll angle sensor, and pitch angle sensor are all electrically connected to the control unit.

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