Design method of ship steering system with online detection and simulation training function

Abstract

The application relates to a ship steering system design method with online detection and simulation training functions. On the basis of a traditional ship steering instrument system, a rudder motor ship movement simulation loop with a steering signal driving control module, a control motor, a novel rudder angle feedback mechanism, a heading and track simulation module, a simulation and control parameter setting module and a signal selection module is added, so that the simulation feedback of a rudder angle, a heading and a position is realized, and the simulation control of the steering system on the rudder angle, the heading and the track is realized. The automatic steering system designed by the application has two modes of 'navigation control' and 'training and maintenance', and users can select and use according to requirements. When the ship is normally sailing, the 'navigation control' mode is selected, so that the normal control of the ship can be realized; when the rudder motor is stopped for maintenance or training, the 'training and maintenance' mode is selected, so that the online simulation training and maintenance functions of the steering instrument can be realized.

Description

Technical Field

[0001] This invention belongs to the field of marine equipment technology and relates to a design method for a ship automatic steering system with online simulation training and comprehensive testing functions. The automatic steering system designed using this method can control the ship's navigation normally, just like a traditional steering instrument, when the ship is in motion. Under the conditions of static training and static maintenance, it can perform comprehensive maintenance on the steering instrument's electronic control system and conduct simulation training on various navigation control functions of the steering instrument. Background Technology

[0002] An autopilot is an important navigational device for ships, used to automatically adjust the ship's course or track. It calculates control signals for the rudder angle based on feedback from rudder angle, course, and track, thereby controlling the steering gear to turn the rudder appropriately, allowing the ship to automatically maintain its given course or route. It can automatically and precisely maintain or change the ship's course to ensure navigational safety; it can reduce speed loss to shorten travel time, thus saving fuel and extending the ship's range, making it particularly important for long-distance voyages; at the same time, the autopilot saves manpower, reduces labor intensity, and saves labor costs, thus possessing significant economic value.

[0003] The rudder angle feedback device is an essential component of an automatic steering system. In traditional automatic steering systems, the ship's steering gear shaft is connected to the rudder angle feedback device, which sends rudder angle signals back to the automatic steering system to achieve automatic control of the ship's rudder angle. The rudder angle feedback device typically has only one input shaft, which is externally connected to the steering gear shaft via a mechanical linkage. An angle sensor is connected inside the rudder angle feedback device; when the steering gear rotates, it drives the angle sensor to rotate and output the corresponding rudder angle value. The ship's compass provides heading information to the automatic steering system for automatic heading control; the ship's navigation system provides position information to the automatic steering system, which, together with the heading information from the compass, is used to achieve automatic trajectory control.

[0004] Normally, when crew members conduct steering training, the ship needs to be underway. This training method is time-consuming and costly (fuel consumption and other costs), and it can also affect the ship's navigation safety. Training should be conducted in open waters and on less busy routes.

[0005] On the other hand, fault detection of autopilot is usually carried out when the ship is stationary. At this time, equipment such as compasses and satellite navigation can only provide the ship's current static heading and position information. Since the ship is docked at the pier or anchored at the anchorage, the ship's speed is zero, so the ship's heading and position information will not change. The automatic control of the heading and track of the autopilot system cannot form a closed loop, and many fault phenomena that occur during the ship's navigation will not occur. At the same time, the steering gear system is a large hydraulic system. If the steering gear system is run for a long time and the hydraulic steering gear is repeatedly turned on during fault detection, it will increase the wear of the steering gear system and increase the failure rate of the steering gear system. In addition, the steering gear involves high-pressure oil circuits and high-voltage electricity. Improper operation during maintenance can also threaten the safety of maintenance personnel. Autopilots are crucial for ensuring safe navigation. From the perspectives of crew training and routine troubleshooting, a ship autopilot system with online simulation training and comprehensive testing capabilities is needed. This system should be able to autonomously simulate changes in rudder angle, heading, and ship position without relying on the hydraulic steering gear system, and output feedback signals when the ship is stationary. This allows the autopilot's electrical components to operate in a closed-loop manner, enabling static steering training and comprehensive testing and maintenance. Since the steering gear is directly related to navigation safety, the design must ensure the reliability of the autopilot system while also guaranteeing reliable switching between normal navigation control and simulated control during training and maintenance. During normal navigation, it should not affect normal rudder angle, heading, and position feedback, ensuring reliable autopilot operation. Summary of the Invention

[0006] This invention relates to a design method for a ship steering system with online detection and simulation training functions, which can at least solve some of the defects of the prior art.

[0007] This invention relates to a design method for a ship steering system with online detection and simulation training functions. The system includes a steering instrument, a rudder motion simulation device, a control motor, a novel rudder angle feedback mechanism, and a rudder angle feedback device. The steering instrument includes a simulation and control parameter setting module, a signal selection module, and a traditional autopilot controller; the rudder motion simulation device includes a steering signal drive control module and a heading / track simulation module.

[0008] The controller is a component of a traditional steering system, and together with the servo motor and rudder angle feedback device, it constitutes a traditional steering system.

[0009] The ship rudder motion simulation device includes a steering signal drive control module and a heading and trajectory simulation module.

[0010] The novel rudder angle feedback mechanism includes a main input shaft, an auxiliary input shaft, an output shaft, and a set of mechanical transmission devices. The two input shafts and the output shaft are all connected to the mechanical transmission devices. The main input shaft is mechanically connected to the servo linkage, the auxiliary input shaft is mechanically connected to the control motor, and the output shaft is mechanically connected to the input shaft of the rudder angle feedback device.

[0011] This invention divides the ship's automatic steering system into an actual control channel and a simulated control channel. Crew members can choose to use the corresponding channel to complete normal navigation steering and simulated training steering or steering system maintenance functions.

[0012] As one implementation method, in the "navigation control" mode, the rudder motion simulation device is powered off, the steering signal drive control module and the heading and track simulation module are not working, and the steering control signal output by the controller directly drives the rudder gear to change the rudder angle, thereby controlling the heading and track. At the same time, the main input shaft of the new rudder angle feedback mechanism is rotated through the rudder shaft linkage, while the auxiliary input shaft remains stationary under the constraint of the mechanical transmission device inside the new rudder angle feedback mechanism. The main input shaft drives the output shaft to rotate at a 1:1 ratio. The output shaft drives the rudder angle feedback device to output the actual rudder angle signal and feeds it back to the controller. Under the control of the simulation and control parameter setting module, the signal selection module automatically inputs the ship's heading and position information measured by the compass and navigation equipment into the controller when the "navigation control" mode is selected. The controller calculates a new steering angle based on the control parameters set by the simulation and control parameter setting module and the actual rudder angle, heading, and position feedback information, thereby updating the steering control signal and controlling the ship to sail according to the set heading or route.

[0013] As one implementation method, in the "training and maintenance" mode, under the conditions of ship stoppage and rudder shutdown, the rudder motion simulation device is powered on, and the steering signal drive control module and the heading and trajectory simulation module are powered on. The steering control signal output by the controller drives the control motor to rotate through the steering signal drive control module, thereby rotating the auxiliary input shaft of the novel rudder angle feedback mechanism. The main input shaft of the novel rudder angle feedback device remains stationary under the constraint of the stopped hydraulic rudder shaft, while the auxiliary input shaft drives the output shaft to rotate under the constraint and deceleration (reduction ratio less than 0.05) of the internal mechanical transmission device of the novel rudder angle feedback mechanism. The output shaft drives the rudder angle feedback device to output a rudder angle feedback signal, which is then sent to the controller and the heading and trajectory simulation module. The heading and track simulation module simulates the ship's heading and position changes based on the control parameters set by the simulation and control parameter setting module and the received rudder angle feedback information. It outputs corresponding simulated signals to the signal selection module. Under the control of the simulation and control parameter setting module, when the "training and maintenance" mode is selected, this module automatically inputs the simulated heading and position signals into the controller. The controller, as in the "navigation control" mode, calculates the new steering angle based on the simulated rudder angle, heading, track, and other feedback information, and updates the steering control signal. This achieves the same control effect as actual navigation control at sea, enabling training of crew members' control skills under conditions where the ship is stopped and the steering gear is not in operation.

[0014] The present invention has at least the following beneficial effects: The automatic ship steering system designed in this invention has two modes: "navigation control" and "training and maintenance" modes. In "navigation control" mode, the steering system has the same control functions and effects as a traditional steering system. In "training and maintenance" mode, functions include, but are not limited to, online static training and equipment maintenance when the steering gear is stopped. The crew only needs to operate the steering instrument and the rudder motion simulation device to switch modes. In "navigation control" mode, the crew only needs to select "navigation control" on the steering instrument mode selection switch to achieve normal ship handling. In "training and maintenance" mode, the crew only needs to select "navigation control" on the steering instrument mode selection switch and turn on the steering motion simulation device to achieve simulated ship handling. Since the traditional steering system and the new rudder angle feedback mechanism participate in the control throughout the training and maintenance process, the electrical functions of the traditional steering system and the new rudder angle feedback mechanism can be comprehensively tested, allowing for timely detection and troubleshooting of faults. Switching between the two operating modes does not require complex mechanical and electrical operations, making operation simple and highly reliable. The novel rudder angle feedback mechanism of this invention is mainly based on a mechanical structure that enables two input shafts to drive the rotation of the rudder angle feedback sensor. The two input shafts are always mechanically connected to the output shaft. In both working modes, the inherent characteristics of the system ensure that only one input shaft rotates at a time. No additional electrical or mechanical components are needed to disconnect and switch between the two input shafts. When the main input shaft stops rotating, the auxiliary input shaft can work; when the main input shaft rotates, the auxiliary input shaft can stop without affecting the main input shaft's drive of the output shaft. This design automatically isolates the actual rudder angle rotation from the simulated rudder angle rotation using a mechanical structure, requiring no manual intervention and is convenient and reliable. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a ship automatic steering system with online simulation training and comprehensive testing functions provided in an embodiment of the present invention;

[0017] Figure 2 This is a control diagram of the automatic steering system in the "navigation control" mode provided in an embodiment of the present invention.

[0018] Figure 3 This is a control diagram of the automatic steering system in the "training and maintenance" mode provided in an embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of the novel ship steering gear rudder angle feedback mechanism provided in an embodiment of the present invention. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] A ship steering system with online detection and simulation training functions is configured with two modes: "navigation control" and "training and maintenance".

[0022] In "Navigation Control" mode, the automatic steering system has the same functions as a traditional automatic steering system, enabling normal ship control and automatic control of the ship's rudder angle, heading, and track. The steering control signal output by the steering instrument drives the rudder servo to rotate, which in turn moves the rudder servo linkage. This causes the main input shaft of the new rudder angle feedback mechanism, which is fixed to the rudder servo, to rotate according to the rudder angle value. Through the internal mechanical transmission of this mechanism, the rudder angle value is synchronously transmitted to the output shaft, which in turn drives the angle sensor in the rudder angle feedback device to output a rudder angle feedback signal to the controller. The ship's heading and position information are fed back to the steering instrument's signal selection module by the compass and satellite navigation equipment. Under the control of the simulation and control parameter setting module, when "Navigation Control" mode is selected, the ship's heading and position information measured by the compass and satellite navigation equipment is automatically transmitted to the controller. The controller calculates a new control rudder angle value using a reasonable algorithm based on the control parameters set by the simulation and control parameter setting module, combined with real-time rudder angle, heading, and track information, and outputs the corresponding steering control signal to achieve closed-loop control of ship maneuvering.

[0023] In the "Training and Maintenance" mode, the automatic steering system can partially solve the defects of traditional automatic steering systems, enabling simulated steering training and maintenance of the electronic control system when the steering gear is stopped. The steering angle feedback steering control signal output by the steering instrument is modulated and amplified by the control signal drive control module, driving the control motor to rotate, which in turn drives the auxiliary input shaft of the new steering angle feedback mechanism to rotate. After being decelerated by the internal mechanical device of the mechanism, it drives the output shaft to rotate, simulating the actual steering angle rotation, and drives the angle sensor in the steering angle feedback device to output the steering angle feedback signal to the controller and the heading and track simulation module. The heading and track simulation module calculates the simulated heading position value using the ship motion model based on the parameter settings of the simulation and control parameter setting module and the steering angle feedback value, and sends it to the signal selection module. Under the selection control of the simulation and control parameter setting module, the simulated heading position signal is automatically sent to the controller when the "Training and Maintenance" mode is selected. The controller calculates the new control steering angle value using the corresponding control algorithm based on the control parameters set by the simulation and control parameter setting module, according to the simulated steering angle, heading, and track information, and outputs the corresponding steering control signal to realize closed-loop control of simulated operation.

[0024] Example 1

[0025] like Figure 1 This invention provides a design method for a ship automatic steering system with online detection and simulation training functions. The ship steering system designed using this method includes a steering instrument 1, a steering gear 2, a ship 3, a rudder motion simulation device 4, a control motor 5, a rudder angle feedback device 6, and a novel rudder angle feedback mechanism 7.

[0026] The steering instrument 1 includes an analog and control parameter setting module 11, a controller 12, and a signal selection module 13;

[0027] The ship rudder motion simulation device 4 includes a heading and trajectory simulation module 41 and a steering signal drive control module 42.

[0028] In the simulation and control parameter setting module 11 of the steering gear 1, the "navigation control" mode is set. If the rudder motion simulation device 4 is in working condition, the simulation and control parameter setting module 11 will notify the steering signal drive control module 42 to stop outputting control signals and keep the control motor from rotating through the heading and track simulation module 41. At this time, the auxiliary input shaft controlled by the control motor 5 will stop rotating. If the rudder motion simulation device 4 is in a de-energized state, the control motor 5 will also stop rotating. Because the new rudder angle feedback mechanism 7 has a reduction mechanism (reduction ratio less than 0.05) at the auxiliary input shaft position, the auxiliary input shaft will remain stationary due to the constraint of the mechanical reduction mechanism. At this time, the function of the new rudder angle feedback mechanism 7 is to transmit the main input shaft rotation angle to the output shaft at a 1:1 ratio.

[0029] The main input shaft of the novel rudder angle feedback mechanism 7 is connected to the rudder angle output by the servo motor 2 via a mechanical linkage.

[0030] The output shaft of the novel rudder angle feedback mechanism 7 is connected to the rudder angle feedback device 6. The angle sensor inside the rudder angle feedback device 6 converts the mechanical rudder angle into an electrical signal and sends it to the controller 12 in the steering instrument 1.

[0031] In the simulation and control parameter setting module 11 of the steering instrument 1, the "navigation control" mode is set. The simulation and control parameter setting module 11 will control the signal selection module 13 to send the actual heading position change signal of the ship 3 to the controller 12 to complete the automatic heading or track control. The actual heading position change signal of the ship 3 is obtained by measuring the gyrocompass and satellite navigation equipment.

[0032] The controller 12 in the steering instrument 1 receives external feedback signals of rudder angle, heading and position, and outputs steering control signals to the rudder motor 2 to turn out the corresponding control rudder angle according to the control instructions output by the simulation and control parameter setting module 11, thereby controlling the ship 3 to sail in the required heading or track by controlling the rudder angle.

[0033] In summary, when setting the "navigation control" mode, Figure 1 The structure diagram can be equivalent to Figure 2 The structural diagram shown.

[0034] Example 2

[0035] like Figure 1 As shown, when the servo motor 2 is stopped and the ship 3 is in a stopped state, the "training and maintenance" mode can be set in the simulation and control parameter setting module 11 in the steering instrument 1. At this time, the steering control signal output by the controller 12 in the steering instrument 1 can no longer control the stopped servo motor 2 to rotate. At this time, the main input shaft of the new rudder angle feedback mechanism 7 connected to the servo motor 2 is locked by the stopped servo motor 2 and cannot rotate.

[0036] At this time, the rotation of the output shaft of the novel rudder angle feedback mechanism 7 is mainly controlled by the auxiliary input shaft, and the auxiliary input shaft and the output shaft transmit data at a certain reduction ratio (reduction ratio less than 0.05).

[0037] When the “training and maintenance” mode is set in the control parameter setting module 11, the simulation and control parameter setting module 11 will notify the steering signal drive control module 42 to receive the steering control signal output by the controller 12 through the heading and trajectory simulation module 41 to drive the control motor 5 to rotate, simulating the movement of the servo. The rotation of the control motor 5 drives the auxiliary input shaft to rotate. Since the main input shaft of the new rudder angle feedback mechanism 7 is stationary at this time, the rotation of the auxiliary input shaft will drive the output shaft of the new rudder angle feedback mechanism 7 to rotate.

[0038] The output shaft of the novel rudder angle feedback mechanism 7 is connected to the rudder angle feedback device 6. The angle sensor inside the rudder angle feedback device 6 converts the mechanical rudder angle into an electrical signal and sends it to the controller 12 in the steering instrument 1. At this time, the rudder angle signal output by the rudder angle feedback device 6 is the rudder angle generated by the rotation of the steering gear system jointly simulated by the steering signal driving control module 42 and control motor 5. This rudder angle signal is sent to the controller 12 for steering control and to the heading and trajectory simulation module 41 for simulating the movement of the ship.

[0039] After entering the "training and maintenance" mode, the heading and track simulation module 41 will calculate the change in the ship's heading position based on the ship type, sea state and loading conditions set by the simulation and control parameter setting module 11 and the simulated rudder angle input by the rudder angle feedback device 6, and send the simulated ship heading position change signal to the signal selection module 13.

[0040] When the system is set to "training and maintenance" mode, the simulation and control parameter setting module 11 in the steering instrument 1 will control the signal selection module 13 to send the simulated ship heading position change signal output by the heading and track simulation module 41 to the controller 12 to complete the automatic control of the simulated heading or track.

[0041] When entering the "Training and Maintenance" mode, the simulation and control parameter setting module 11 records the current actual rudder angle value. When exiting the "Training and Maintenance" mode, the control parameter setting module 11 compares the current rudder angle feedback value from the rudder angle feedback device 6 with the recorded initial rudder angle value when entering the "Training and Maintenance" mode. If there is a difference, the simulation and control parameter setting module 11 sends a control command to the steering controller 12. The controller 12 outputs a steering control signal to the drive control module 42 to drive the control motor 5 to rotate, which in turn drives the output shaft of the new rudder angle feedback mechanism 7 to rotate until the feedback rudder angle value output by the rudder angle feedback device 6 is the same as the recorded rudder angle value, and then exits the "Training and Maintenance" mode. The above actions ensure that the rudder angle feedback value when the steering system re-enters the "Navigation Control" mode is the same as the actual rudder angle value controlled by the servo motor 2, ensuring that the steering system correctly completes the navigation control function.

[0042] In summary, when setting the "Training and Maintenance" mode, Figure 1 The structure diagram can be equivalent to Figure 3 The structural diagram shown.

Claims

1. A design method for a ship steering system with online detection and simulation training functions, characterized in that, The system includes a steering gear, a steering signal drive control module, a control motor, a rudder angle feedback mechanism, and a heading and trajectory simulation module. The steering gear includes a simulation and control parameter setting module, a signal selection module, and an autopilot controller. The steering signal drive control module is installed in the rudder ship motion simulation device. During ship parking training and testing, the power of the rudder ship motion simulation device is turned on to power up the steering signal drive control module, which amplifies the rudder angle control signal output by the steering instrument and drives the control motor to run. The steering signal drive control module outputs an amplified steering control signal, which causes the control motor to rotate, thereby driving the auxiliary input shaft of the rudder angle feedback mechanism to rotate. The rudder angle feedback mechanism includes a main input shaft, an auxiliary input shaft, an output shaft, and a mechanical transmission device; The mechanical transmission device of the rudder angle feedback mechanism includes a differential, with the main input shaft connected to the planetary gear structure of the differential, and the auxiliary input shaft and the output shaft respectively connected to the two half-shaft gears of the differential; The other end of the output shaft is mechanically connected to the input end of the rudder angle feedback device, driving the rudder angle feedback device to output a rudder angle feedback signal, enabling the steering instrument to achieve actual or simulated online control of the rudder angle; the auxiliary input shaft of the rudder angle feedback mechanism is mechanically connected to the control motor; the main input shaft of the rudder angle feedback mechanism is mechanically connected to the mechanical linkage of the rudder shaft. The simulation and control parameter setting module can select the steering mode through the signal selection module, with two modes: "navigation control" and "training and maintenance". The simulation and control parameter setting module has a rudder angle memory function, which can record the ship's rudder angle value before switching to the "training and maintenance" mode. In "Navigation Control" mode, the signal selection module selects the ship's heading and position feedback signals measured by the compass and satellite navigation equipment, and sends them to the controller to calculate the commanded rudder angle, thereby achieving heading and track control. In "Training and Maintenance" mode, the signal selection module selects the simulated heading and position feedback signals output by the heading and track simulation module, and sends them to the controller to calculate the commanded rudder angle, thereby achieving simulated heading and track control. The control parameters used by the controller in the calculation are set by the simulation and control parameter setting module.

2. The design method for a ship steering system with online detection and simulation training functions as described in claim 1, characterized in that: In "navigation control" mode, the main input shaft is driven to rotate by the ship's rudder shaft through a mechanical linkage. The rotation of the main input shaft can directly drive the output shaft to rotate synchronously. At this time, there is no need to lock the auxiliary input shaft. The reduction mechanism in the transmission device can keep the auxiliary input shaft stationary. In "Training and Maintenance" mode, the auxiliary input shaft rotates under the drive of the control motor. The rotation of the auxiliary input shaft can also decelerate and drive the output shaft to rotate, thus completing the training and maintenance functions of the steering instrument. At this time, the ship's rudder shaft is locked to the main input shaft through a mechanical linkage, and the rotation of the auxiliary input shaft will not cause the main input shaft to rotate.

3. The design method for a ship steering system with online detection and simulation training functions as described in claim 1, characterized in that: The heading and trajectory simulation module and the steering signal drive control module are installed in the rudder ship motion simulation device. When the rudder ship motion simulation device is powered on, the heading and trajectory simulation module is powered on and runs.

4. The design method for a ship steering system with online detection and simulation training functions as described in claim 1, characterized in that: The heading and trajectory simulation module receives the rudder angle feedback signal from the rudder angle feedback device and uses a hydrodynamic model to calculate the simulated heading and position; the simulation parameters used in the calculation are set by the simulation and control parameter setting module.

5. The design method for a ship steering system with online detection and simulation training functions as described in claim 1, characterized in that: The differential is a differential with a self-locking function.

6. The design method for a ship steering system with online detection and simulation training functions as described in claim 1, characterized in that: The rotation angle value 'a' of the main input axis, the rotation angle value 'b1' of the auxiliary input axis, and the rotation angle value 'b2' of the output axis satisfy the following: k b1=a+b2 in, k To assist the reduction ratio of the input shaft, k< 0.05.

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