Ship drive control system

Abstract

The application discloses a ship driving control system and relates to the field of ship control. The ship driving control system comprises an MCU chip, a collection module, a driving module, fuel power, electric power, and a power load. The collection module collects a sailing speed signal, a sailing speed power instruction signal, an electric power energy storage signal, and a fuel power quality signal and feeds back to the MCU chip for processing. The MCU feeds back a processed signal to the driving module. The driving module is fed back to the fuel power module and the electric power module for mixing. A mixed signal controls the power load to work. The application controls the power type of the power load through the driving module.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship control, in particular to a ship drive control system. BACKGROUND

[0002] The ship "hybrid" system refers to the system equipped with two or more power sources as the propulsion power, and at present on the market, the ship hybrid power system mainly refers to the power system for driving the propeller through the main diesel engine and the electric motor, and the electric motor is generally driven by the generator set, fuel cell or energy storage device, and the energy storage device is composed of storage battery or super capacitor, but in the existing ship drive system, other power sources are needed when the electric energy storage power is missing, so a drive control system is designed. SUMMARY

[0003] In view of the above technical problems, the purpose of the present application is to provide a ship drive control system, which comprises an MCU chip, a collection module, a drive module, a fuel power, an electric power, and a power load. The collection module collects the sailing speed signal, the sailing speed power instruction signal, the electric power energy storage signal, and the fuel power quality signal and feeds them back to the MCU chip for processing. The MCU feeds back the processed signal to the drive module, which is fed back to the fuel power module and the electric power module for mixing. The mixed signal controls the power load to work.

[0004] Further, the driving module comprises a first operational amplifier U1, a second operational amplifier U2, a first capacitor C1, a first connecting terminal P1, a second connecting terminal P2, a first diode D1, a second diode D2, a first resistor R1, a sixth resistor R6, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a first MOS tube Q1, a second triode Q2, a third triode Q3, a fourth MOS tube Q4, the output end of the first operational amplifier U1 is connected with the gate of the first MOS tube Q1, the source of the first MOS tube Q1 is connected with one end of the third resistor R3, the anode of the second diode D2, the collector of the second triode Q2 and one end of the first resistor R1, the other end of the first resistor R1 is connected with a power supply, the base of the second triode Q2 is connected with one end of a second resistor R2, the other end of the second resistor R2 is connected with the source of the fourth MOS tube Q4, the anode of the first diode D1 and one end of the fourth resistor R4, the collector of the third triode Q3 is connected, the other end of the fourth resistor R4 is connected with a power supply, the drain of the fourth MOS tube Q4, the drain of the first MOS tube Q1 is directly connected with a power supply, the gate of the fourth MOS tube Q4 is connected with the output end of the second operational amplifier U2, the base of the third triode Q3 is connected with the other end of the third resistor R3, the inverting end of the first operational amplifier U1 is connected with the non-inverting end of the second operational amplifier U2, one end of the first capacitor C1 and one end of the fifth resistor R5, the other end of the fifth resistor R5 is connected with one end of the sixth resistor R6, the first connecting terminal P1 is directly connected with one end of the sixth resistor R6, the second connecting terminal P2 is directly connected with the anode of the first diode D1, the other end of the sixth resistor R6, the cathode of the second diode D2, the other end of the first capacitor C1, the cathode of the first diode D1, the emitter of the third triode Q3, the emitter of the second triode Q2 and a grounding terminal are connected.

[0005] Further, the driving module further comprises a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fifth transistor Q5, a sixth MOS Q6, a seventh transistor Q7, an eighth transistor Q8, a third operational amplifier U3, a fourth operational amplifier U4, the same phase end of the third operational amplifier U3 is connected with the first connection terminal P1, the output end of the third operational amplifier U3 is connected with one end of the seventh resistor R7 and one end of the eighth resistor R8, the other end of the eighth resistor R8 is connected with the opposite phase end of the third operational amplifier U3 and one end of the ninth resistor R9, the other end of the seventh resistor R7 is connected with the base of the fifth transistor Q5, the collector of the fifth transistor Q5 is connected with the power supply, the emitter of the fifth transistor Q5 is connected with the drain of the sixth MOS Q6, the source of the sixth MOS Q6 is connected with one end of the sixth resistor R6 and one end of the tenth resistor R10, the gate of the sixth MOS Q6 is connected with the output end of the fourth operational amplifier U4 and the base of the seventh transistor Q7, the collector of the seventh transistor Q7 is connected with the power supply, the emitter of the seventh transistor Q7 is connected with the other end of the tenth resistor R10, the same phase end of the fourth operational amplifier U4 is connected with the emitter of the eighth transistor Q8 and one end of the eleventh resistor R11, the base of the eighth transistor Q8 is connected with the anode of the second diode D2, the opposite phase end of the fourth operational amplifier U4 is connected with one end of the twelfth resistor R12 and one end of the thirteenth resistor R13, the other end of the twelfth resistor R12 is connected with the power supply, the other end of the ninth resistor R9, the other end of the eleventh resistor R11 and the other end of the thirteenth resistor R13 are connected with the ground.

[0006] Further, the driving module further comprises a third diode D3, a fourth diode D4, a fourteenth resistor R14, a fifteenth resistor R15, a ninth MOS Q9, a tenth MOS Q10, an eleventh transistor Q11, a fifth operational amplifier U5, a first input terminal VI1, a second input terminal VI2, a third input terminal VI3, a first output terminal VO1, a second output terminal VO2, one end of the fourteenth resistor R14 is connected with the power supply, the other end of the fourteenth resistor R14 is connected with one end of the fifteenth resistor R15 and the opposite phase end of the fifth operational amplifier U5, the output end of the fifth operational amplifier U5 is connected with the drain of the ninth MOS Q9 and the drain of the tenth MOS Q10, the source of the ninth MOS Q9 is connected with the first output terminal VO1, the source of the tenth MOS Q10 is connected with the second output terminal VO2, the gate of the ninth MOS Q9 is connected with the cathode of the third diode D3 and the first input terminal VI1, the gate of the tenth MOS Q10 is connected with the second input terminal VI2 and the anode of the fourth diode D4, the anode of the fourth diode D4 is connected with the anode of the third diode D3 and the emitter of the eleventh transistor Q11, the base of the eleventh transistor Q11 is connected with the third input terminal VI3, the collector of the eleventh transistor Q11 is connected with the power supply.

[0007] Further, the driving module further includes a sixth digital potentiometer U6, a third connection terminal P3, and a fourth connection terminal P4, a W pin of the sixth digital potentiometer U6 is connected with the first connection terminal P1, an H pin is connected with a power supply, an L pin is connected with a ground terminal, an INC pin is connected with the third connection terminal P3, a U / D pin is connected with the fourth connection terminal P4, and the third connection terminal P3 and the fourth connection terminal P4 are connected with the MCU chip.

[0008] Further, the driving module further includes a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, and a twentieth potentiometer R20, one end of the sixteenth resistor R16 is connected with a power supply, the other end of the sixteenth resistor R16 is connected with one end of the seventeenth resistor R17 and a negative input terminal of the second operational amplifier U2, the other end of the seventeenth resistor R17 is connected with a positive input terminal of the first operational amplifier U1 and one end of the eighteenth resistor R18, the other end of the eighteenth resistor R18 is connected with a ground terminal, one end of the nineteenth resistor R19 is connected with a power supply, the other end of the nineteenth resistor R19 is connected with a drain of the first MOS Q1, a drain of the fourth MOS Q4, and one end of the twentieth potentiometer R20, and the other end of the twentieth potentiometer R20 is connected with a ground terminal.

[0009] Further, the driving module further includes a twelfth transistor Q12, an emitter of the twelfth transistor Q12 is connected with the second connection terminal P2, a collector of the twelfth transistor Q12 is connected with a power supply, and a base of the twelfth transistor Q12 is connected with an anode of the first diode D1.

[0010] Further, the driving module further includes a twenty-second resistor R22, one end of the twenty-second resistor R22 is connected with a base of the seventh transistor Q7, and the other end of the twenty-second resistor R22 is connected with a ground terminal.

[0011] Further, the driving module further includes a twenty-third resistor R23 and a twenty-fourth resistor R24, one end of the twenty-third resistor R23 is connected with a gate of the first MOS Q1, one end of the twenty-fourth resistor R24 is connected with a gate of the fourth MOS Q4, and the other end of the twenty-third resistor R23 and the other end of the twenty-fourth resistor R24 are connected with a ground terminal.

[0012] Further, the driving module further includes a twenty-third resistor R23 and a twenty-fifth resistor R25, one end of the twenty-fifth resistor R25 is connected with the second connection terminal P2, and the other end of the twenty-fifth resistor R25 is connected with a ground terminal. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the prior art and embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only represent some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0014] Figure 1 The overall structure schematic diagram provided by the present application is shown in the figure.

[0015] Figure 2 Figure 3 Figure 4 The driving module structure schematic diagram of the present application is shown in the figure. DETAILED DESCRIPTION

[0016] In order to make the objects and advantages of the present application more clear, the present application will be specifically described in the following with embodiments. It should be understood that the following description is only used to describe one or several specific embodiments of the present application, and does not strictly limit the protection scope of the present application.

[0017] Referring to the drawings, the present application is a ship driving control system, which comprises an MCU chip, a collection module, a driving module, a fuel power, an electric power, and a power load. The collection module collects a sailing speed signal, a sailing speed power instruction signal, an electric power energy storage signal, and a fuel power quality signal and feeds back to the MCU chip for processing. The MCU feeds back the processed signal to the driving module, and the driving module feeds back to the fuel power module and the electric power module for mixing. The mixed signal controls the power load to work.

[0018] ​​Specifically, the driving module comprises a first operational amplifier U1, a second operational amplifier U2, a first capacitor C1, a first connecting terminal P1, a second connecting terminal P2, a first diode D1, a second diode D2, a first resistor R1, a sixth resistor R6, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a first MOS tube Q1, a second triode Q2, a third triode Q3, a fourth MOS tube Q4, the output end of the first operational amplifier U1 is connected with the gate of the first MOS tube Q1, the source of the first MOS tube Q1 is connected with one end of the third resistor R3, the anode of the second diode D2, the collector of the second triode Q2 and one end of the first resistor R1, the other end of the first resistor R1 is connected with a power supply, the base of the second triode Q2 is connected with one end of a second resistor R2, the other end of the second resistor R2 is connected with the source of the fourth MOS tube Q4, the anode of the first diode D1 and one end of the fourth resistor R4, the collector of the third triode Q3 is connected, the other end of the fourth resistor R4 is connected with a power supply, the drain of the fourth MOS tube Q4, the drain of the first MOS tube Q1 is directly connected with a power supply, the gate of the fourth MOS tube Q4 is connected with the output end of the second operational amplifier U2, the base of the third triode Q3 is connected with the other end of the third resistor R3, the inverting end of the first operational amplifier U1 is connected with the non-inverting end of the second operational amplifier U2, one end of the first capacitor C1 and one end of the fifth resistor R5, the other end of the fifth resistor R5 is connected with one end of the sixth resistor R6, the first connecting terminal P1 is directly connected with one end of the sixth resistor R6, the second connecting terminal P2 is directly connected with the anode of the first diode D1, the other end of the sixth resistor R6, the cathode of the second diode D2, the other end of the first capacitor C1, the cathode of the first diode D1, the emitter of the third triode Q3, the emitter of the second triode Q2 and a grounding terminal are connected.

[0019] Specifically, the driving module further comprises a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fifth transistor Q5, a sixth MOS tube Q6, a seventh transistor Q7, an eighth transistor Q8, a third operational amplifier U3, and a fourth operational amplifier U4. The third operational amplifier U3 is connected with the first connection terminal P1. The output terminal of the third operational amplifier U3 is connected with one end of the seventh resistor R7 and one end of the eighth resistor R8. The other end of the eighth resistor R8 is connected with the inverting terminal of the third operational amplifier U3 and one end of the ninth resistor R9. The other end of the seventh resistor R7 is connected with the base of the fifth transistor Q5. The collector of the fifth transistor Q5 is connected with a power supply. The emitter of the fifth transistor Q5 is connected with the drain of the sixth MOS tube Q6. The source of the sixth MOS tube Q6 is connected with one end of the sixth resistor R6 and one end of the tenth resistor R10. The gate of the sixth MOS tube Q6 is connected with the output terminal of the fourth operational amplifier U4 and the base of the seventh transistor Q7. The collector of the seventh transistor Q7 is connected with a power supply. The emitter of the seventh transistor Q7 is connected with the other end of the tenth resistor R10. The non-inverting terminal of the fourth operational amplifier U4 is connected with the emitter of the eighth transistor Q8 and one end of the eleventh resistor R11. The base of the eighth transistor Q8 is connected with the anode of the second diode D2. The inverting terminal of the fourth operational amplifier U4 is connected with one end of the twelfth resistor R12 and one end of the thirteenth resistor R13. The other end of the twelfth resistor R12 is connected with a power supply. The other end of the ninth resistor R9, the other end of the eleventh resistor R11, and the other end of the thirteenth resistor R13 are connected with a ground terminal.

[0020] Specifically, the driving module further comprises a third diode D3, a fourth diode D4, a fourteenth resistor R14, a fifteenth resistor R15, a ninth MOS tube Q9, a tenth MOS tube Q10, an eleventh transistor Q11, a fifth operational amplifier U5, a first input terminal VI1, a second input terminal VI2, a third input terminal VI3, a first output terminal VO1, and a second output terminal VO2. One end of the fourteenth resistor R14 is connected with a power supply. The other end of the fourteenth resistor R14 is connected with one end of the fifteenth resistor R15 and the inverting terminal of the fifth operational amplifier U5. The output terminal of the fifth operational amplifier U5 is connected with the drain of the ninth MOS tube Q9 and the drain of the tenth MOS tube Q10. The source of the ninth MOS tube Q9 is connected with the first output terminal VO1. The source of the tenth MOS tube Q10 is connected with the second output terminal VO2. The gate of the ninth MOS tube Q9 is connected with the cathode of the third diode D3 and the first input terminal VI1. The gate of the tenth MOS tube Q10 is connected with the second input terminal VI2 and the anode of the fourth diode D4. The anode of the fourth diode D4 is connected with the anode of the third diode D3 and the emitter of the eleventh transistor Q11. The base of the eleventh transistor Q11 is connected with the third input terminal VI3. The collector of the eleventh transistor Q11 is connected with a power supply.

[0021] Specifically, the driving module further comprises a sixth digital potentiometer U6, a third connection terminal P3, and a fourth connection terminal P4, a W pin of the sixth digital potentiometer U6 is connected with the first connection terminal P1, an H pin is connected with a power supply, an L pin is connected with a ground terminal, an INC pin is connected with the third connection terminal P3, a U / D pin is connected with the fourth connection terminal P4, and the third connection terminal P3, the fourth connection terminal P4, and an MCU chip are connected.

[0022] Specifically, the driving module further comprises a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, and a twentieth potentiometer R20, one end of the sixteenth resistor R16 is connected with a power supply, the other end of the sixteenth resistor R16 is connected with one end of the seventeenth resistor R17 and a negative input terminal of the second operational amplifier U2, the other end of the seventeenth resistor R17 is connected with a non-inverting input terminal of the first operational amplifier U1 and one end of the eighteenth resistor R18, the other end of the eighteenth resistor R18 is connected with a ground terminal, one end of the nineteenth resistor R19 is connected with a power supply, the other end of the nineteenth resistor R19 is connected with a drain of the first MOS tube Q1, a drain of the fourth MOS tube Q4, and one end of the twentieth potentiometer R20, and the other end of the twentieth potentiometer R20 is connected with a ground terminal.

[0023] Specifically, the driving module further comprises a twelfth transistor Q12, an emitter of the twelfth transistor Q12 is connected with the second connection terminal P2, a collector of the twelfth transistor Q12 is connected with a power supply, and a base of the twelfth transistor Q12 is connected with an anode of the first diode D1.

[0024] Specifically, the driving module further comprises a twenty-second resistor R22, one end of the twenty-second resistor R22 is connected with a base of the seventh transistor Q7, and the other end of the twenty-second resistor R22 is connected with a ground terminal.

[0025] Specifically, the driving module further comprises a twenty-third resistor R23 and a twenty-fourth resistor R24, one end of the twenty-third resistor R23 is connected with a gate of the first MOS tube Q1, one end of the twenty-fourth resistor R24 is connected with a gate of the fourth MOS tube Q4, and the other end of the twenty-third resistor R23 and the other end of the twenty-fourth resistor R24 are connected with a ground terminal.

[0026] Specifically, the driving module further comprises a twenty-third resistor R23 and a twenty-fifth resistor R25, one end of the twenty-fifth resistor R25 is connected with the second connection terminal P2, and the other end of the twenty-fifth resistor R25 is connected with a ground terminal.

[0027] The application inputs a speed command signal through a first connection terminal P1, a first operational amplifier U1 and a second operational amplifier U2 establish a pulse signal output circuit, a first MOS tube Q1 and a second triode Q2 are used as electronic switches to receive level signals of the first operational amplifier U1 and the second operational amplifier U2, a fifth resistor R5 and a first capacitor C1 are used for integration and delay, a second connection terminal P2 outputs a pulse signal, a sixth resistor R6 is released when the first connection terminal P1 inputs a negative half cycle adjacent peak value, a third triode Q3 and the second triode Q2 are biased through a second resistor R2 and a third resistor R3, a fourth resistor R4 and a first resistor R1 are used to supply power to collectors of the third triode Q3 and the second triode Q2, the first operational amplifier U1 and the second operational amplifier U2 jump when positive and negative half cycle adjacent peak values occur, and the first operational amplifier U1 and the second operational amplifier U2 are powered through the fourth resistor R4 and the first resistor R1 when there is no output, the above process completes unified processing of the speed command signal before a power source is selected, and it is to be noted that the pulse signal output by the second connection terminal P2 acts as a control signal of the power source on a power load, and the control mode includes but is not limited to using a digital electric opening degree valve to control fuel power injection, using a pulse modulation module to control output power of electric power, and the digital electric opening degree valve and the pulse modulation module belong to the prior art and are not described in detail here; a power load running signal is output through a fourth operational amplifier U4, signals of the power load working when stopping are separately set, the signal is amplified and output through a third operational amplifier U3 and a fifth triode Q5 when the speed command signal amount is rising, the output frequency of the first operational amplifier U1 and the second operational amplifier U2 changes after the fifth resistor R5 and the first capacitor C1, the purpose of a sixth MOS tube Q6 is to stop when the second connection terminal P2 outputs a falling edge signal, a tenth resistor R10, the fifth resistor R5 and the first capacitor C1 form an integration circuit when the fourth operational amplifier U4 outputs, a seventh triode Q7 is controlled through the fourth operational amplifier U4 as an integration switch, the first capacitor C1 forms a loop through the fifth resistor R5 and the sixth resistor R6 when the fourth operational amplifier U4 has no output, that is, when the dynamic command of the speed is higher than the signal amount of the power load working, the output of the fourth operational amplifier U4 changes with the third operational amplifier U3, and dynamic adjustment of the speed command and synchronous driving of the power load running when stopping are realized.The first input end VI1, the second input end VI2 and the third input end VI3 input fuel power signals, electric power signals and hybrid power signals respectively, when the first input end VI1 or the second input end VI2 receives signals, one power source is controlled as the power source of the power load, the mode of inputting only one signal is single-side control, the signals input through the third input end VI3 are hybrid control, the fuel power and the electric power are hybrid controlled, when the first input end VI1 inputs, the ninth MOS tube Q9 is turned on, when the second input end VI2 inputs, the tenth MOS tube Q10 is turned on, when the third input end VI3 inputs, the eleventh diode Q11 is turned on to make the tenth MOS tube Q10 and the ninth MOS tube Q9 be turned on at the same time, the pulse signals of the second connection terminal P2 are output through the fifth operational amplifier U5, the fifth operational amplifier U5 outputs the speed command signals or the frequency signals when the power load generates electricity when the ship is at anchor, the signals are output to the first output end VO1 and / or the second output end VO2 through the ninth MOS tube Q9 and / or the tenth MOS tube Q10, the first output end VO1 and the second output end VO2 change the power type received by the power load; the third connection terminal P3 pin of the sixth digital potentiometer U6 is connected with the clock signal of the MCU chip, the fourth connection terminal P4 is connected with the TXD pin of the MCU, the RXD pin of the MCU is connected with the acquisition module, which is used for converting the collected signals into AC / DC signals, the MCU chip writes the control program to process the collected signals and feeds back the signals to the first input end VI1, the second input end VI2, the third input end VI3 and the fourth connection terminal P4 through the TXD pin, when the power is insufficient in the single-side control, the signals input through the first input end VI1, the second input end VI2 and the third input end VI3 are switched, the sixth digital potentiometer U6 can also be replaced by a counter for control, and the stepping resistance is realized by using the frequency division principle; the first operational amplifier U1 and the second operational amplifier U2 are set as the reference signals through the series connection of the sixteenth resistor R16, the seventeenth resistor R17 and the eighteenth resistor R18, so as to prevent the inconsistency of the independently set potentials; the twelfth diode Q12 is used for amplifying the second connection terminal P2 signals, the twenty-second resistor R22, the twenty-third resistor R23 and the twenty-fourth resistor R24 are used for releasing the internal parasitic capacitances of the corresponding MOS tubes, the twenty-first resistor R21 is used for current limiting of the eighth diode Q8, and the twenty-fifth resistor R25 is used for pulling up the second connection terminal P2 signals.

[0028] The above merely describes the preferred embodiments of the present application, but should not be used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A ship propulsion control system, characterized in that, It includes an MCU chip, a data acquisition module, a drive module, a fuel power unit, an electric power unit, and a power load. The data acquisition module acquires the speed signal, the speed-power command signal, the electric power energy storage signal, and the fuel power quality signal and feeds them back to the MCU chip for processing. The MCU feeds back the processed signal to the drive module, and the drive module feeds back the signal to the fuel power module and the electric power module for mixing. The mixed signal controls the power load to do work. The driving module includes a first operational amplifier, a second operational amplifier, a first capacitor, a first connection terminal, a second connection terminal, a first diode, a second diode, a first resistor, a sixth resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a first MOSFET, a second transistor, a third transistor, and a fourth MOSFET. The output terminal of the first operational amplifier is connected to the gate of the first MOSFET. The source of the first MOSFET is connected to one end of the third resistor, the anode of the second diode, the collector of the second transistor, and one end of the first resistor. The other end of the first resistor is connected to the power supply. The base of the second transistor is connected to one end of the second resistor. The other end of the second resistor is connected to the source of the fourth MOSFET, the anode of the first diode, and the fourth resistor. One end is connected to the collector of the third transistor, the other end of the fourth resistor is connected to the power supply, the drain of the fourth MOSFET, the drain of the first MOSFET and the power supply are directly connected, the gate of the fourth MOSFET and the output of the second operational amplifier are connected, the base of the third transistor and the other end of the third resistor are connected, the inverting input of the first operational amplifier and the non-inverting input of the second operational amplifier, one end of the first capacitor and one end of the fifth resistor are connected, the other end of the fifth resistor and one end of the sixth resistor are connected, the first connection terminal and one end of the sixth resistor are directly connected, the second connection terminal and the anode of the first diode are directly connected, the other end of the sixth resistor, the cathode of the second diode, the other end of the first capacitor, the cathode of the first diode, the emitter of the third transistor, the emitter of the second transistor and the ground terminal are connected; The driving module further includes a third diode, a fourth diode, a fourteenth resistor, a fifteenth resistor, a ninth MOSFET, a tenth MOSFET, an eleventh transistor, a fifth operational amplifier, a first input terminal, a second input terminal, a third input terminal, a first output terminal, and a second output terminal. One end of the fourteenth resistor is connected to the power supply, and the other end of the fourteenth resistor is connected to one end of the fifteenth resistor and the inverting input of the fifth operational amplifier. The output terminal of the fifth operational amplifier is connected to the drains of the ninth and tenth MOSFETs. The source of the ninth MOSFET is connected to the first output terminal, and the source of the tenth MOSFET is connected to the second output terminal. The gate of the ninth MOSFET is connected to the cathode of the third diode and the first input terminal. The gate of the tenth MOSFET is connected to the second input terminal and the cathode of the fourth diode. The anode of the fourth diode is connected to the anode of the third diode and the emitter of the eleventh transistor. The base of the eleventh transistor is connected to the third input terminal, and the collector of the eleventh transistor is connected to the power supply.

2. The ship propulsion control system according to claim 1, characterized in that, The driving module also includes a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fifth transistor, a sixth MOSFET, a seventh transistor, an eighth transistor, a third operational amplifier, and a fourth operational amplifier. The non-inverting input of the third operational amplifier is connected to the first connection terminal. The output terminal of the third operational amplifier is connected to one end of the seventh resistor and one end of the eighth resistor. The other end of the eighth resistor is connected to the inverting input of the third operational amplifier and one end of the ninth resistor. The other end of the seventh resistor is connected to the base of the fifth transistor. The collector of the fifth transistor is connected to the power supply. The emitter of the fifth transistor is connected to the drain of the sixth MOSFET. The connections are as follows: the source of the sixth MOSFET is connected to one end of the sixth resistor and one end of the tenth resistor; the gate of the sixth MOSFET is connected to the output of the fourth operational amplifier and the base of the seventh transistor; the collector of the seventh transistor is connected to the power supply; the emitter of the seventh transistor is connected to the other end of the tenth resistor; the non-inverting input of the fourth operational amplifier is connected to the emitter of the eighth transistor and one end of the eleventh resistor; the base of the eighth transistor is connected to the anode of the second diode; the inverting input of the fourth operational amplifier is connected to one end of the twelfth resistor and one end of the thirteenth resistor; the other end of the twelfth resistor is connected to the power supply; and the other ends of the ninth, eleventh, and thirteenth resistors are connected to the ground terminal.

3. The ship propulsion control system according to claim 2, characterized in that, The driving module also includes a sixth digital potentiometer, a third connection terminal, and a fourth connection terminal. The W pin of the sixth digital potentiometer is connected to the first connection terminal, the H pin is connected to the power supply, the L pin is connected to the ground terminal, the INC pin is connected to the third connection terminal, the U / D pin is connected to the fourth connection terminal, and the third and fourth connection terminals are connected to the MCU chip.

4. The ship propulsion control system according to claim 1, characterized in that, The driving module further includes a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a nineteenth resistor, and a twentieth potentiometer. One end of the sixteenth resistor is connected to the power supply, and the other end of the sixteenth resistor is connected to one end of the seventeenth resistor and the inverting input of the second operational amplifier. The other end of the seventeenth resistor is connected to the non-inverting input of the first operational amplifier and one end of the eighteenth resistor. The other end of the eighteenth resistor is connected to the ground terminal. One end of the nineteenth resistor is connected to the power supply, and the other end of the nineteenth resistor is connected to the drain of the first MOSFET, the drain of the fourth MOSFET, and one end of the twentieth potentiometer. The other end of the twentieth potentiometer is connected to the ground terminal.

5. The ship drive control system according to claim 1, characterized in that, The driving module also includes a twelfth transistor, the emitter of which is connected to the second connection terminal, the collector of which is connected to the power supply, and the base of which is connected to the anode of the first diode.

6. The ship propulsion control system according to claim 2, characterized in that, The drive module also includes a 22nd resistor, one end of which is connected to the base of the 7th transistor, and the other end of which is connected to the ground terminal.

7. The ship propulsion control system according to claim 1, characterized in that, The driving module further includes a 23rd resistor and a 24th resistor. One end of the 23rd resistor is connected to the gate of the first MOS transistor, one end of the 24th resistor is connected to the gate of the fourth MOS transistor, and the other ends of the 23rd resistor and the 24th resistor are connected to the ground terminal.

8. The ship propulsion control system according to claim 1, characterized in that, The drive module also includes a 23rd resistor and a 25th resistor. One end of the 25th resistor is connected to the second connection terminal, and the other end of the 25th resistor is connected to the ground terminal.

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