A Separate Stern Rudder Synchronous Control System

Abstract

The present invention relates to the technical field of ship navigation and attitude control, and provides a separated stern rudder synchronization control system, comprising a command module, a first steering device, a second steering device, a first rudder surface, a second rudder surface, a synchronization command module and a synchronization control device; wherein the first rudder surface obtains a first rudder angle parameter, the second rudder surface obtains a second rudder angle parameter, the command module and the synchronization command module obtain navigation parameters; the command module generates a first command rudder angle and a second command rudder angle through the navigation parameters, the synchronization control device generates a first compensation signal and a second compensation signal through the navigation parameters, the first steering device drives the first rudder surface to deflect through the first rudder angle parameter, the first command rudder angle and the first compensation signal, and the second steering device drives the second rudder surface to deflect through the second rudder angle parameter, the second command rudder angle and the second compensation signal. The present invention realizes the synchronization of the two rudder surfaces of the separated stern rudder, and improves the reliability of the separated stern rudder.

Description

Technical Field

[0001] The present invention relates to the technical field of ship navigation and attitude control, and in particular to a separated stern rudder synchronization control system. Background Art

[0002] The cross-shaped stern rudder is a common form of tail control surface for underwater vehicles. It has the advantages of simple structure and flexible operation. However, since its control surface is composed of rudder surfaces in both horizontal and vertical directions, once a failure occurs, it will make the underwater vehicle difficult to operate or even cause it to lose control.

[0003] In order to solve the shortcomings of the cross-type stern rudder, the stern rudder control surfaces can be controlled separately through left-right separate control or up-down separate control, that is, the horizontal rudder or vertical rudder is decomposed into two independently controlled and independently moving rudder surfaces, thereby greatly reducing the safety risks caused by stern rudder failure.

[0004] However, the control structure and mechanical structure of the separated stern rudder are independent of each other. Therefore, in actual use, due to different parameters such as the degree of mechanical wear and assembly accuracy, the rudder surfaces may be out of sync, thus affecting the control quality and accuracy of the manipulation. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a separate stern rudder synchronization control system for realizing the synchronous control of the rudder angles of two separate rudder surfaces of the separate stern rudder when moving or stopping.

[0006] The present invention provides a separated stern rudder synchronization control system, comprising:

[0007] An instruction module, used for acquiring navigation parameters and generating a first instruction rudder angle and a second instruction rudder angle according to the navigation parameters;

[0008] a first rudder surface, used to obtain a first rudder angle parameter of the first rudder surface;

[0009] a second rudder surface, used to obtain a second rudder angle parameter of the second rudder surface;

[0010] a synchronous control device, connected to the first rudder surface and the second rudder surface respectively, for receiving the first rudder angle parameter and the second rudder angle parameter;

[0011] a synchronization instruction module, used for acquiring navigation parameters and connected to the synchronization control device, used for acquiring state parameters of the synchronization control device, and generating synchronization parameters according to the navigation parameters and the state parameters; wherein the synchronization control device generates a first compensation signal and a second compensation signal according to the first rudder angle parameter, the second rudder angle parameter and the synchronization parameter;

[0012] a first steering device, connected to the command module, the first rudder surface and the synchronous control device respectively, for receiving the first command rudder angle, the first rudder angle parameter and the first compensation signal, and driving the first rudder surface to deflect;

[0013] The second steering device is respectively connected to the command module, the second rudder surface and the synchronous control device, and is used for receiving the second command rudder angle, the second rudder angle parameter and the second compensation signal, and driving the second rudder surface to deflect.

[0014] A separate stern rudder synchronization control system provided according to the present invention comprises a mounting base; the command module, the first steering device, the second steering device, the first rudder surface, the second rudder surface, the synchronization command module and the synchronization control device are installed on the mounting base.

[0015] According to a separate stern rudder synchronization control system provided by the present invention, the synchronization control device includes a synchronization comparison module, which is respectively connected to the first rudder surface, the second rudder surface and the synchronization instruction module, and is used to receive the first rudder angle parameter, the second rudder angle parameter and the synchronization parameter; the synchronization comparison module obtains the rudder angle difference by calculating the difference between the first rudder angle parameter and the second rudder angle parameter, and generates a synchronization comparison signal through the rudder angle difference and the synchronization parameter.

[0016] According to a separate stern rudder synchronization control system provided by the present invention, the synchronization control device also includes a control compensation module, which is connected to the synchronization comparison module to receive the synchronization comparison signal and generate a first compensation signal and a second compensation signal through the synchronization comparison signal.

[0017] According to a separate stern rudder synchronous control system provided by the present invention, the first steering device includes a first rudder angle control module; the first rudder angle control module is respectively connected to the command module, the first rudder surface and the control compensation module, for receiving the first command rudder angle, the first rudder angle parameter and the first compensation signal, and generating a first command signal through the first command rudder angle, the first rudder angle parameter and the first compensation signal; the second steering device includes a second rudder angle control module; the second rudder angle control module is respectively connected to the command module, the second rudder surface and the control compensation module, for receiving the second command rudder angle, the second rudder angle parameter and the second compensation signal, and generating a second command signal through the second command rudder angle, the second rudder angle parameter and the second compensation signal.

[0018] According to a separate stern rudder synchronization control system provided by the present invention, the first steering device includes a first power drive module; the first power drive module is connected to the first rudder angle control module to receive the first command signal and generate a first drive signal through the first command signal; the second steering device includes a second power drive module, the second power drive module is connected to the second rudder angle control module to receive the second command signal and generate a second drive signal through the second command signal.

[0019] According to a separate stern rudder synchronization control system provided by the present invention, the first steering device also includes a first actuation module, which is respectively connected to the first power drive module and the first rudder surface, for receiving the first drive signal, and driving the first rudder surface to deflect through the first drive signal; the second steering device also includes a second actuation module, which is respectively connected to the second power drive module and the second rudder surface, for receiving the second drive signal, and driving the second rudder surface to deflect through the second drive signal.

[0020] According to a separate stern rudder synchronization control system provided by the present invention, the state parameters include the voltage, current and flag status of the synchronization control device; the navigation parameters include the depth, heading and pitch angle of the aircraft.

[0021] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0022] The present invention provides a detached stern rudder synchronization control system, which can achieve the synchronous actuation of the two rudder surfaces of the detached stern rudder by controlling the compensation module, the synchronization comparison module and the synchronization instruction module, so as to avoid the two rudder surfaces from inconsistent actuation and failure to synchronize due to assembly errors, different degrees of wear and the like. The two rudder surfaces of the detached stern rudder can be controlled separately by feedback control, so that when one of the rudder surfaces fails, the normal operation of the other rudder surface can be guaranteed, thereby improving the reliability of the detached stern rudder and ensuring the safety of the aircraft. In addition, the present invention uses a device module, which can quickly determine the source of the fault and replace the faulty module during fault inspection and repair, effectively improving the inspection and repair efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1The present invention is a schematic structural diagram of a separated stern rudder synchronization control system.

[0025] Reference numerals:

[0026] 11. First rudder angle control module; 12. First power drive module; 13. First actuation module; 14. First rudder surface; 21. Second rudder angle control module; 22. Second power drive module; 23. Second actuation module; 24. Second rudder surface; 31. Command module; 32. Synchronous command module; 33. Synchronous comparison module; 34. Control compensation module; 100. Mounting base; 200. First steering device; 300. Synchronous control device; 400. Second steering device. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0028] In the description of the embodiments of the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0029] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0030] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0031] Example:

[0032] Combine the following Figure 1 The structural schematic diagram provided describes a separate stern rudder synchronization control system provided by an embodiment of the present invention, including a command module 31, a synchronization command module 32, a first steering device 200, a second steering device 400, a first rudder surface 14, a second rudder surface 24 and a synchronization control device 300; wherein the command module 31 is used to obtain navigation parameters, and generate a first command rudder angle and a second command rudder angle according to the navigation parameters. The command module 31 can provide control signals to the first steering device 200 and the second steering device 400 according to the navigation parameters, so as to adjust the attitude of the aircraft in a timely manner, and can also ensure that when the synchronization control device 300 fails, the first rudder surface 14 and the second rudder surface 24 can still maintain normal operation to ensure the safety of the aircraft; wherein the navigation parameters include the depth, heading, pitch angle and other parameters of the aircraft to determine the navigation state of the aircraft.

[0033] The first rudder surface 14 is used to obtain a first rudder angle parameter of the first rudder surface 14, and the second rudder surface 24 is used to obtain a second rudder angle parameter of the second rudder surface 24. In this embodiment, the first rudder angle parameter and the second rudder angle parameter are respectively the deflection angle of the first rudder surface 14 and the deflection angle of the second rudder surface 24, and the first rudder angle parameter is obtained by an angle sensor on the first rudder surface 14, and the second rudder angle parameter is obtained by an angle sensor on the second rudder surface 24.

[0034] The synchronous control device 300 is connected to the first rudder surface 14 and the second rudder surface 24 respectively, and is used to receive the first rudder angle parameter and the second rudder angle parameter.

[0035] The synchronization instruction module 32 is used to obtain navigation parameters and is connected to the synchronization control device 300 to obtain the state parameters of the synchronization control device 300 and generate synchronization parameters according to the navigation parameters and the state parameters; wherein the synchronization control device 300 generates the first compensation signal and the second compensation signal according to the first rudder angle parameter, the second rudder angle parameter and the synchronization parameter. In this embodiment, the synchronization instruction module 32 determines the navigation status of the aircraft according to the navigation parameters and determines the operation status of the synchronization control device 300 according to the state parameters; here, the state parameters include the voltage, current, flag status and other parameters of the synchronization control device 300 to determine the working status of the synchronization control device 300. Specifically, when the deviation between the navigation parameter and the preset navigation parameter is within the threshold or the deviation between the state parameter and the preset parameter exceeds the threshold, that is, when the deviation between one or more parameters in the state parameter and the preset parameter exceeds the threshold, or the deviation between each parameter in the navigation parameter and the preset navigation parameter is within the threshold, the generated synchronization parameter is a null value, otherwise the generated synchronization parameter is 1; when the deviation between one or more parameters in the state parameter and the preset parameter exceeds the threshold, it indicates that the synchronization control device 300 has a fault, and when the deviation between each parameter in the navigation parameter and the preset navigation parameter is within the threshold, it indicates that the navigation state of the aircraft is normal and no intervention is required. The synchronization parameter controls whether the synchronization control device 300 outputs a meaningful first compensation signal and a second compensation signal by having its output value be a null value or 1. When the synchronization parameter is a null value, the first compensation signal and the second compensation signal output by the synchronization control device 300 are 0, otherwise the synchronization control device 300 outputs a meaningful first compensation signal and a second compensation signal. The synchronization parameters can determine whether the synchronization control device 300 outputs a meaningful compensation signal to avoid the situation where the synchronization control device 300 still outputs the first compensation signal and the second compensation signal and causes the aircraft to lose control when the aircraft's attitude is normal and no intervention is required or when the synchronization control device 300 fails, thereby improving the stability of the aircraft.

[0036] The first steering device 200 is connected to the command module 31, the first rudder surface 14 and the synchronous control device 300 respectively, and is used to receive the first command rudder angle, the first rudder angle parameter and the first compensation signal, and drive the first rudder surface 14 to deflect. The second steering device 400 is connected to the command module 31, the second rudder surface 24 and the synchronous control device 300 respectively, and is used to receive the second command rudder angle, the second rudder angle parameter and the second compensation signal, and drive the second rudder surface 24 to deflect. The first steering device 200 and the second steering device 400 can respectively drive the first rudder surface 14 and the second rudder surface 24 in sequence, and realize the synchronous control of the first rudder surface 14 and the second rudder surface 24. When necessary, the first steering device 200 and the second steering device 400 can also respectively feedback control the first rudder surface 14 and the second rudder surface 24 in sequence to improve the reliability of the aircraft.

[0037] In addition, the present invention is further provided with a mounting base 100. Among them, the command module 31, the first steering device 200, the second steering device 400, the first rudder surface 14, the second rudder surface 24, the synchronous command module 32 and the synchronous control device 300 are all independent devices and modules, and can be quickly disassembled and assembled on the mounting base 100. When troubleshooting, the source of the fault can be quickly determined and the faulty module and the faulty device can be replaced, which effectively improves the maintenance efficiency.

[0038] Further, the synchronous control device 300 includes a synchronous comparison module 33, which is connected to the first rudder surface 14, the second rudder surface 24 and the synchronous instruction module 32 respectively, and is used to receive the first rudder angle parameter, the second rudder angle parameter and the synchronization parameter; the synchronous comparison module 33 obtains the rudder angle difference by calculating the difference between the first rudder angle parameter and the second rudder angle parameter, and generates a synchronous comparison signal through the rudder angle difference and the synchronization parameter. Wherein, when the value of the first rudder angle parameter or the second rudder angle parameter is a null value or an abnormal value exceeding the threshold, the rudder angle difference is a null value; when the rudder angle difference or the synchronization parameter is a null value, the synchronous comparison signal is also a null value. Here, when the value of the first rudder angle parameter or the second rudder angle parameter is a null value, it is respectively explained that the correct first rudder angle parameter or the second rudder angle parameter cannot be obtained, and when the value of the first rudder angle parameter or the second rudder angle parameter exceeds the threshold, it is respectively explained that the first rudder surface or the second rudder surface is damaged, and the calculated rudder angle difference cannot be used to generate the correct first compensation signal and the second compensation signal, so a null value is output to avoid interference with the navigation state of the aircraft.

[0039] Furthermore, the synchronous control device 300 also includes a control compensation module 34, which is connected to the synchronous comparison module 33 to receive the synchronous comparison signal and generate the first compensation signal and the second compensation signal through the synchronous comparison signal. Wherein, when the synchronous comparison signal is a null value, the values ​​of the first compensation signal and the second compensation signal are 0. In this embodiment, when the synchronous comparison signal is a null value, it means that the attitude of the aircraft is normal and no intervention is required, the data of the rudder angle difference is abnormal, or the synchronous control device 300 fails. At this time, if the meaningful first compensation signal and the second compensation signal continue to be output, it will cause the stability of the aircraft to deteriorate. The first compensation signal and the second compensation signal are 0 to avoid this situation. The first compensation signal and the second compensation signal are used to achieve synchronization of the first rudder surface 14 and the second rudder surface 24.

[0040] Further, the first steering device 200 includes a first steering angle control module 11, which is connected to the instruction module 31, the first rudder surface 14 and the control compensation module 34 respectively, to receive the first instruction steering angle, the first rudder angle parameter and the first compensation signal, and generate the first instruction signal through the first instruction steering angle, the first rudder angle parameter and the first compensation signal; the second steering device 400 includes a second steering angle control module 21, which is connected to the instruction module 31, the second rudder surface 24 and the control compensation module 34 respectively, to receive the second instruction steering angle, the second rudder angle parameter and the second compensation signal, and generate the second instruction signal through the second instruction steering angle, the second rudder angle parameter and the second compensation signal. The first steering angle control module 11 and the second steering angle control module 21 can convert all the received signals in sequence and merge them into the first instruction signal and the second instruction signal.

[0041] Further, the first steering device 200 includes a first power driving module 12, which is connected to the first rudder angle control module 11 to receive a first command signal and generate a first drive signal through the first command signal; the second steering device 400 includes a second power driving module 22, which is connected to the second rudder angle control module 21 to receive a second command signal and generate a second drive signal through the second command signal. In this embodiment, since the first command signal and the second command signal are weak in strength and cannot be directly used to drive the first actuation module 13 and the second actuation module 23, the first power driving module 12 is required to amplify the first command signal and convert it into a first drive signal; at the same time, the second power driving module 22 amplifies the second command signal and converts it into a second drive signal, wherein the first power driving module 12 and the second power driving module 22 use a comparison amplifier with a filter capacitor.

[0042] Furthermore, the first steering device 200 further includes a first actuation module 13, which is connected to the first power driving module 12 and the first rudder surface 14, respectively, for receiving a first driving signal and driving the first rudder surface 14 to deflect by the first driving signal; the second steering device 400 further includes a second actuation module 23, which is connected to the second power driving module 22 and the second rudder surface 24, respectively, for receiving a second driving signal and driving the second rudder surface 24 to deflect by the second driving signal. In this embodiment, the first actuation module 13 and the second actuation module 23 use stepper motors.

[0043] Furthermore, the internal structure, installation method, specific model, parameters, etc. of the first rudder angle control module 11, the first power drive module 12, the first actuation module 13, the first rudder surface 14, the second rudder angle control module 21, the second power drive module 22, the second actuation module 23, and the second rudder surface 24 can be designed and selected according to the specific needs and performance indicators of the aircraft to adapt to different mission environments and mission requirements.

[0044] In this embodiment, the instruction module 31 obtains the navigation parameters of the aircraft to generate the first instruction rudder angle and the second instruction rudder angle, and sends the first instruction rudder angle to the first rudder angle control module 11, and sends the second instruction rudder angle to the second rudder angle control module 21. At the same time, the first rudder surface 14 and the second rudder surface 24 continue to obtain the first rudder angle parameter and the second rudder angle parameter respectively, and the first rudder angle parameter and the second rudder angle parameter are sent to the synchronization comparison module 33 to calculate the rudder angle difference. In addition, the synchronization instruction module 32 also obtains the navigation parameters and the state parameters, and generates the synchronization parameters according to the navigation parameters and the state parameters, and sends the synchronization parameters to the synchronization comparison module 33. Subsequently, the synchronization comparison module 33 generates a synchronization comparison signal through the rudder angle difference and the synchronization parameters, and sends the synchronization comparison signal to the control compensation module 34. The control compensation module 34 converts the synchronization comparison signal into the first compensation signal and the second compensation signal, and sends the first compensation signal and the second compensation signal to the first rudder angle control module 11 and the second rudder angle control module 21 respectively.

[0045] The first rudder angle parameter is also sent to the first rudder angle control module 11, and the second rudder angle parameter is also sent to the second rudder angle control module 21; the first rudder angle control module 11 converts the first command rudder angle, the first compensation signal and the first rudder angle parameter into a first command signal, and sends it to the first power driving module 12; the second rudder angle control module 21 converts the second command rudder angle, the second compensation signal and the second rudder angle parameter into a second command signal, and sends it to the second power driving module 22, then the first power driving module 12 converts the first command signal into a first drive signal, and sends it to the first actuation module 13; the second power driving module 22 converts the second command signal into a second drive signal, and sends it to the second actuation module 23, finally the first actuation module 13 drives the first rudder surface 14 to deflect according to the first drive signal, and the second actuation module 23 drives the second rudder surface 24 to deflect according to the second drive signal.

[0046] The present invention realizes synchronization of two control surfaces of the separated stern rudder through the command module, the first steering device, the second steering device, the synchronization control device and the synchronization command module, thereby improving the reliability of the separated stern rudder; and realizes separate control of the two control surfaces of the separated stern rudder through feedback control, so that when one of the control surfaces fails, the normal control of the other control surface can be guaranteed, thereby improving the reliability of the separated stern rudder and ensuring the safety of the aircraft.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A separate stern rudder synchronization control system, characterized in that: include: An instruction module, used for acquiring navigation parameters and generating a first instruction rudder angle and a second instruction rudder angle according to the navigation parameters; a first rudder surface, used to obtain a first rudder angle parameter of the first rudder surface; a second rudder surface, used to obtain a second rudder angle parameter of the second rudder surface; a synchronous control device, connected to the first rudder surface and the second rudder surface respectively, and used for receiving the first rudder angle parameter and the second rudder angle parameter; A synchronization instruction module, used to obtain navigation parameters and connected to the synchronization control device, used to obtain state parameters of the synchronization control device, and generate synchronization parameters according to the navigation parameters and the state parameters; wherein the synchronization control device generates a first compensation signal and a second compensation signal according to the first rudder angle parameter, the second rudder angle parameter and the synchronization parameter; when the deviation between one or more parameters in the state parameters and the preset parameters exceeds a threshold, or the deviation between each parameter in the navigation parameters and the preset navigation parameters is within the threshold, the generated synchronization parameter is a null value, otherwise the generated synchronization parameter is 1; the synchronization control device includes a synchronization comparison module, which is respectively connected to the first rudder surface, the second rudder surface and the synchronization instruction module, and is used to receive the first rudder angle parameter, the second rudder angle parameter and the synchronization parameter; the synchronization comparison module obtains a rudder angle difference by calculating the difference between the first rudder angle parameter and the second rudder angle parameter, and generates a synchronization comparison signal through the rudder angle difference and the synchronization parameter; when the value of the first rudder angle parameter or the second rudder angle parameter is a null value or an abnormal value exceeding the threshold, the rudder angle difference is a null value; when the rudder angle difference or the synchronization parameter is a null value, the synchronization comparison signal is also a null value; The synchronous control device further comprises a control compensation module, which is connected to the synchronous comparison module and is used to receive the synchronous comparison signal and generate a first compensation signal and a second compensation signal according to the synchronous comparison signal, wherein when the synchronous comparison signal is a null value, the values ​​of the first compensation signal and the second compensation signal are 0; a first steering device, connected to the command module, the first rudder surface and the synchronous control device respectively, for receiving the first command rudder angle, the first rudder angle parameter and the first compensation signal, and driving the first rudder surface to deflect; The second steering device is respectively connected to the command module, the second rudder surface and the synchronous control device, and is used for receiving the second command rudder angle, the second rudder angle parameter and the second compensation signal, and driving the second rudder surface to deflect.

2. A separate stern rudder synchronization control system according to claim 1, characterized in that: It comprises a mounting base; the command module, the first steering device, the second steering device, the first rudder surface, the second rudder surface, the synchronization command module and the synchronization control device are mounted on the mounting base.

3. A separate stern rudder synchronization control system according to claim 1, characterized in that: The first steering device includes a first rudder angle control module; the first rudder angle control module is respectively connected to the command module, the first rudder surface and the control compensation module, for receiving the first command rudder angle, the first rudder angle parameter and the first compensation signal, and generating a first command signal through the first command rudder angle, the first rudder angle parameter and the first compensation signal; the second steering device includes a second rudder angle control module; the second rudder angle control module is respectively connected to the command module, the second rudder surface and the control compensation module, for receiving the second command rudder angle, the second rudder angle parameter and the second compensation signal, and generating a second command signal through the second command rudder angle, the second rudder angle parameter and the second compensation signal.

4. A separate stern rudder synchronization control system according to claim 3, characterized in that: The first steering device includes a first power drive module; the first power drive module is connected to the first rudder angle control module to receive the first command signal and generate a first drive signal through the first command signal; the second steering device includes a second power drive module, the second power drive module is connected to the second rudder angle control module to receive the second command signal and generate a second drive signal through the second command signal.

5. A separate stern rudder synchronization control system according to claim 4, characterized in that: The first steering device also includes a first actuation module, which is respectively connected to the first power drive module and the first rudder surface, for receiving the first drive signal and driving the first rudder surface to deflect through the first drive signal; the second steering device also includes a second actuation module, which is respectively connected to the second power drive module and the second rudder surface, for receiving the second drive signal and driving the second rudder surface to deflect through the second drive signal.

6. A separate stern rudder synchronization control system according to claim 1, characterized in that: The status parameters include the voltage, current and flag status of the synchronous control device; the navigation parameters include the depth, heading and pitch angle of the aircraft.

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