Rudder angle control method for a separated stern rudder of an underwater vehicle

Abstract

The present invention relates to the technical field of underwater vehicles, and in particular to a method for controlling the rudder angle of a detached stern rudder of an underwater vehicle, comprising the following steps: a navigation control computer of the underwater vehicle outputs a command rudder angle signal; a rudder angle feedback mechanism of the underwater vehicle measures the movement stroke of a steering hydraulic cylinder in real time to obtain an actual rudder angle signal; a servo valve control module of the underwater vehicle receives the command rudder angle signal and the actual rudder angle signal, and then calculates the deviation between the command rudder angle corresponding to the command rudder angle signal and the actual rudder angle corresponding to the actual rudder angle signal, and when the deviation is greater than a set value, the servo valve control module outputs a control signal; a proportional servo valve receives the control signal and adjusts the valve opening to control the movement stroke of the steering hydraulic cylinder, thereby adjusting the detached stern rudder to a target rudder angle corresponding to the command rudder angle signal. The present invention improves the control accuracy of the proportional servo valve and reduces the steering noise.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and in particular to a rudder angle control method of a separated stern rudder of an underwater vehicle. Background Art

[0002] In order to avoid the problem of interruption of underwater vehicle navigation mission due to failure of a single rudder, a left and right separated stern rudder is generally used. At the same time, the steering vibration and noise caused by the increase in the number of stern rudder steering devices also increase, especially the vibration and noise in the start and end stages of steering are more obvious.

[0003] At present, most steering devices are proportional servo valve steering devices. The existing proportional servo valve is directly regulated according to demand. In this way, the opening or closing rate of the proportional servo valve changes suddenly, which is easy to cause steering shock and cut-off noise. Summary of the invention

[0004] 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 rudder angle control method for a separated stern rudder of an underwater vehicle, which solves the technical problem that the single opening adjustment method of the proportional servo valve in the prior art leads to high noise, improves the control accuracy of the proportional servo valve, and reduces the steering noise.

[0005] The present invention provides a method for controlling the rudder angle of a detachable stern rudder of an underwater vehicle, comprising the following steps:

[0006] The navigation control computer of the underwater vehicle outputs a command rudder angle signal;

[0007] The rudder angle feedback mechanism of the underwater vehicle measures the motion stroke of the steering hydraulic cylinder in real time to obtain the actual rudder angle signal;

[0008] The servo valve control module of the underwater vehicle receives the command rudder angle signal and the actual rudder angle signal, and then calculates the deviation between the command rudder angle corresponding to the command rudder angle signal and the actual rudder angle corresponding to the actual rudder angle signal. When the deviation is greater than a set value, the servo valve control module outputs a control signal;

[0009] The proportional servo valve receives the control signal and adjusts the valve opening to control the movement stroke of the steering hydraulic cylinder, thereby adjusting the separate stern rudder to a target rudder angle corresponding to the command rudder angle signal.

[0010] A further improvement of the rudder angle control method of the detachable stern rudder of an underwater vehicle of the present invention is that when the servo valve control module outputs a control signal, the method comprises the following steps:

[0011] When the flight control computer generates arrive After receiving the command rudder angle signal with a step transition, the servo valve control module converts the command rudder angle signal with a step transition into a ramp command rudder angle signal that changes linearly with time;

[0012]

[0013] in, represents the command rudder angle, Indicates the time when steering starts. Represents the moment when steering is completed. Indicates steering time. The coefficient representing the relationship between steering time and command rudder angle, express The rudder angle at express The command rudder angle at

[0014] The servo valve control module divides the valve opening of the proportional servo valve into a starting section, an intermediate section and an ending section according to the ramp command rudder angle signal to regulate the movement stroke of the steering hydraulic cylinder, thereby adjusting the separate stern rudder to a target rudder angle corresponding to the command rudder angle signal.

[0015] The further improvement of the rudder angle control method of the underwater vehicle separated stern rudder of the present invention is that: The value range is 1° / s to 7° / s.

[0016] A further improvement of the rudder angle control method of the underwater vehicle separated stern rudder of the present invention is that the valve opening of the proportional servo valve is 0% to 100%;

[0017] In the startup section, the valve opening control curve of the proportional servo valve is: ,

[0018] in, Indicates the valve opening of the proportional servo valve, Indicates steering time. Indicates the time interval of the startup segment, , Indicates the end time of the startup segment;

[0019] The control voltage of the proportional servo valve in the starting section is ,

[0020] in, Indicates the control voltage of the proportional servo valve in the starting section, represents a constant;

[0021] In the middle section, the valve opening of the proportional servo valve remains unchanged, and the control voltage of the proportional servo valve is ,

[0022] in, Indicates the control voltage of the proportional servo valve in the middle section, Indicates the actual rudder angle at the corresponding moment of the middle section;

[0023] At the end of the period, the valve opening control curve of the proportional servo valve is: ,

[0024] in, Indicates the time interval of the end segment, , Indicates the moment when steering is completed. Indicates the start time of the end segment,

[0025] The control voltage of the proportional servo valve in the end section is ,

[0026] in, Indicates the control voltage of the proportional servo valve in the end section.

[0027] A further improvement of the rudder angle control method of the underwater vehicle separated stern rudder of the present invention is that, in the middle section, the valve opening of the proportional servo valve remains unchanged, and the control voltage of the proportional servo valve remains unchanged. .

[0028] A further improvement of the rudder angle control method of the underwater vehicle separated stern rudder of the present invention is that it also includes:

[0029] Servo valve control module judgment The difference between the slope command rudder angle and the target rudder angle at the moment is less than or equal to 0.5° and When the difference between the actual rudder angle and the target rudder angle at the moment is less than or equal to 0.5°, the servo valve control module controls the valve opening of the proportional servo valve to enter the end section.

[0030] A further improvement of the rudder angle control method of the underwater vehicle separated stern rudder of the present invention is that the constant The value is 80% of the maximum control voltage of the proportional servo valve or 50% of the maximum control voltage.

[0031] A further improvement of the rudder angle control method of the underwater vehicle separated stern rudder of the present invention is that the time interval of the start section The value ranges from 10ms to 100ms.

[0032] A further improvement of the rudder angle control method of the underwater vehicle separated stern rudder of the present invention is that the time interval of the end segment The value ranges from 10ms to 80ms.

[0033] A further improvement of the rudder angle control method of the underwater vehicle detachable stern rudder of the present invention is that the deviation is 0.2°.

[0034] The rudder angle control method of the detachable stern rudder of the underwater vehicle of the present invention converts the command rudder angle signal of the step transition into a ramp command rudder angle signal that changes linearly with time, and then divides the control method of the valve opening of the proportional servo valve, so that when the rudder angle is changed by steering, the steering hydraulic cylinder can be adjusted smoothly, thereby reducing the noise during steering.

[0035] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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.

[0037] Figure 1 It is a schematic diagram of the rudder angle control method of the detachable stern rudder of the underwater vehicle provided by the present invention.

[0038] Figure 2 It is a schematic diagram of converting a step-transition command rudder angle signal into a ramp command rudder angle signal that changes linearly with time.

[0039] Figure 3 It is the valve opening control curve diagram of the proportional servo valve. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. 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.

[0041] Combine the following Figure 1 A method for controlling the rudder angle of a detachable stern rudder of an underwater vehicle according to the present invention comprises the following steps:

[0042] The navigation control computer of the underwater vehicle outputs a command rudder angle signal;

[0043] The rudder angle feedback mechanism of the underwater vehicle measures the motion stroke of the steering hydraulic cylinder in real time to obtain the actual rudder angle signal;

[0044] The servo valve control module of the underwater vehicle receives the command rudder angle signal and the actual rudder angle signal, and then calculates the deviation between the command rudder angle corresponding to the command rudder angle signal and the actual rudder angle corresponding to the actual rudder angle signal. When the deviation is greater than a set value of 0.2°, the servo valve control module outputs a control signal;

[0045] The proportional servo valve receives the control signal and adjusts the valve opening to control the movement stroke of the steering hydraulic cylinder, thereby adjusting the separate stern rudder to a target rudder angle corresponding to the command rudder angle signal.

[0046] Preferably, the underwater vehicle includes a left stern rudder and a right stern rudder, the steering device provides a hydraulic drive and mechanical transmission part for the underwater vehicle, the steering part is mainly composed of a proportional servo valve, a steering hydraulic cylinder and a rudder blade, etc., and the control system of the underwater vehicle is an electronic control part, mainly composed of a navigation control computer, a servo valve control module, a rudder angle feedback mechanism, etc. The proportional servo valve receives a signal from the control system, and changes the speed of the hydraulic oil entering and exiting the steering hydraulic cylinder by changing the valve opening of the proportional servo valve, thereby controlling the movement speed and position of the rudder blade. The navigation control computer runs the autonomous navigation control algorithm of the underwater vehicle, and generates a command rudder angle signal according to the autonomous mission decision, depth / heading / tilt control needs. The rudder angle feedback mechanism is installed on the steering hydraulic cylinder, which can measure the cylinder movement stroke in real time, thereby obtaining the actual rudder angle. The servo valve control module receives the command rudder angle and the actual rudder angle. When the rudder angle deviation exceeds the error, the valve opening control signal of the proportional servo valve is output based on the rudder angle deviation, rudder speed, working conditions and other factors to achieve closed-loop control of the rudder angle.

[0047] In a preferred implementation example of the rudder angle control method of the underwater vehicle separated stern rudder of the present invention, as Figure 2 As shown, when the servo valve control module outputs a control signal, the following steps are included:

[0048] When the flight control computer generates arrive The command rudder angle signal of the step transition ( Figure 2 After the servo valve control module converts the step-by-step command rudder angle signal into a ramp command rudder angle signal that changes linearly with time ( Figure 2 (Part B);

[0049]

[0050] in, represents the command rudder angle, Indicates the time when steering starts. Represents the moment when steering is completed. Indicates steering time. The coefficient representing the relationship between steering time and command rudder angle, express The rudder angle at express The command rudder angle at

[0051] The servo valve control module divides the valve opening of the proportional servo valve into a starting section, an intermediate section and an ending section according to the ramp command rudder angle signal to regulate the movement stroke of the steering hydraulic cylinder, thereby adjusting the separate stern rudder to a target rudder angle corresponding to the command rudder angle signal.

[0052] Specifically, It depends on the steering speed requirement expected by the system, and the value range is generally 1° / s to 7° / s.

[0053] Specifically, Figure 3 As shown, the valve opening of the proportional servo valve is 0%~100%;

[0054] Due to receiving the new steering command, the proportional servo valve is controlled to open. In order to achieve the noise reduction effect, the opening speed of the opening in the startup section should first increase slowly from 0. When the steering speed increases and approaches the steering speed expected by the system, the opening speed of the opening slowly decreases to 0. At this moment, the servo valve opening no longer increases and the movement speed of the separate stern rudder reaches the specified steering speed.

[0055] Specifically, during the startup phase, the valve opening control curve of the proportional servo valve is: ,

[0056] in, Indicates the valve opening of the proportional servo valve, Indicates steering time. Indicates the time interval of the startup segment, , Indicates the end time of the startup segment and the time interval of the startup segment The value is 10ms~100ms, the time interval of the start segment under normal steering conditions The value is 10ms~30ms, the time interval of the start segment under low-speed steering conditions The value ranges from 30ms to 100ms.

[0057] The control voltage of the proportional servo valve in the starting section is ,

[0058] in, Indicates the control voltage of the proportional servo valve in the starting section. Indicates constant (characteristic value of proportional servo valve), constant under normal steering conditions The value is 80% of the maximum control voltage of the proportional servo valve, and the constant under low-speed steering conditions The value is 50% of the maximum control voltage of the proportional servo valve;

[0059] In the middle section, the valve opening of the proportional servo valve remains unchanged, and the control voltage of the proportional servo valve is ,

[0060] in, Indicates the control voltage of the proportional servo valve in the middle section, Indicates the actual rudder angle at the corresponding moment of the middle section;

[0061] At the end of the period, the valve opening control curve of the proportional servo valve is: ,

[0062] in, Indicates the time interval of the end segment, , Indicates the moment when steering is completed. Indicates the start time of the end segment and the time interval of the end segment The value is 10ms~80ms, the time interval of the end segment under normal steering conditions The value is 10ms~20ms, the time interval of the end segment under low-speed steering conditions The value ranges from 20ms to 80ms.

[0063] The control voltage of the proportional servo valve in the end section is ,

[0064] in, Indicates the control voltage of the proportional servo valve in the end section.

[0065] Specifically, in a complete steering process, the load generally changes in a reciprocating pattern, and the steering speed will fluctuate to a certain extent. The up and down fluctuations of the steering speed can offset each other and basically do not affect the average steering speed of the whole process. In practical applications, when the opening of the proportional servo valve remains fixed, the steering noise is minimal. Therefore, in the middle section, the control voltage of the proportional servo valve can also remain constant, that is, .

[0066] Furthermore, the method further comprises: the servo valve control module determines The difference between the slope command rudder angle and the target rudder angle at the moment is less than or equal to 0.5° and When the difference between the actual rudder angle and the target rudder angle at the moment is less than or equal to 0.5°, the servo valve control module controls the valve opening of the proportional servo valve to enter the end section.

[0067] Preferably, the difference between the slope command rudder angle and the target rudder angle is within 0.5° and the difference between the actual rudder angle and the target rudder angle is within 0.5°, and the steering enters the ending section. In the ending section, the proportional servo valve is controlled in the direction of closing the opening. In order to achieve the goal of reducing noise, the speed of closing the opening of the proportional servo valve should first slowly increase from 0, and the steering speed gradually decreases; when the opening of the proportional servo valve is close to 0 (or close to the control dead zone of the proportional servo valve), the opening closing speed of the proportional servo valve slowly decreases to 0. At the end of the section, the opening of the proportional servo valve is in a closed state (or in the control dead zone).

[0068] The rudder angle control method of the detachable stern rudder of the underwater vehicle of the present invention converts the command rudder angle signal of the step transition into a ramp command rudder angle signal that changes linearly with time, and then divides the control method of the valve opening of the proportional servo valve, so that when the rudder angle is changed by steering, the steering hydraulic cylinder can be adjusted smoothly, thereby reducing the noise during steering.

[0069] 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 method for controlling the rudder angle of a detachable stern rudder of an underwater vehicle, characterized in that: The steps include: The navigation control computer of the underwater vehicle outputs a command rudder angle signal; The rudder angle feedback mechanism of the underwater vehicle measures the motion stroke of the steering hydraulic cylinder in real time to obtain the actual rudder angle signal; The servo valve control module of the underwater vehicle receives the command rudder angle signal and the actual rudder angle signal, and then calculates the deviation between the command rudder angle corresponding to the command rudder angle signal and the actual rudder angle corresponding to the actual rudder angle signal. When the deviation is greater than a set value, the servo valve control module outputs a control signal; The proportional servo valve receives the control signal and adjusts the valve opening to control the movement stroke of the steering hydraulic cylinder, thereby adjusting the separate stern rudder to a target rudder angle corresponding to the command rudder angle signal; Wherein, when the servo valve control module outputs a control signal, the following steps are included: When the flight control computer generates arrive After receiving the command rudder angle signal with a step transition, the servo valve control module converts the command rudder angle signal with a step transition into a ramp command rudder angle signal that changes linearly with time; in, represents the command rudder angle, Indicates the time when steering starts. Represents the moment when steering is completed. Indicates steering time. The coefficient representing the relationship between steering time and command rudder angle, The value range is 1° / s~7° / s, express The rudder angle at express The command rudder angle at The servo valve control module divides the valve opening of the proportional servo valve into a start section, a middle section and an end section according to the ramp command rudder angle signal, so as to control the movement stroke of the steering hydraulic cylinder, thereby adjusting the separated stern rudder to a target rudder angle corresponding to the command rudder angle signal; The valve opening of the proportional servo valve is 0%~100%; In the startup section, the valve opening control curve of the proportional servo valve is: , in, Indicates the valve opening of the proportional servo valve, Indicates the time interval of the startup segment, , Indicates the end time of the startup segment; The control voltage of the proportional servo valve in the starting section is , in, Indicates the control voltage of the proportional servo valve in the starting section. Indicates constant, constant The value is 80% of the maximum control voltage of the proportional servo valve or 50% of the maximum control voltage; In the middle section, the valve opening of the proportional servo valve remains unchanged, and the control voltage of the proportional servo valve is ,or , in, Indicates the control voltage of the proportional servo valve in the middle section, Indicates the actual rudder angle at the corresponding moment of the middle section; At the end of the period, the valve opening control curve of the proportional servo valve is: , in, Indicates the time interval of the end segment, , Indicates the moment when steering is completed. Indicates the start time of the end segment, The control voltage of the proportional servo valve in the end section is , in, Indicates the control voltage of the proportional servo valve in the end section.

2. The method for controlling the rudder angle of a detachable stern rudder of an underwater vehicle according to claim 1, characterized in that: Also includes: Servo valve control module judgment The difference between the slope command rudder angle and the target rudder angle at the moment is less than or equal to 0.5° and When the difference between the actual rudder angle and the target rudder angle at the moment is less than or equal to 0.5°, the servo valve control module controls the valve opening of the proportional servo valve to enter the end section.

3. The rudder angle control method of the underwater vehicle separated stern rudder according to claim 1, characterized in that: Startup segment time interval The value ranges from 10ms to 100ms.

4. The method for controlling the rudder angle of a detachable stern rudder of an underwater vehicle according to claim 1, characterized in that: End segment time interval The value ranges from 10ms to 80ms.

5. The method for controlling the rudder angle of a detachable stern rudder of an underwater vehicle according to claim 1, characterized in that: The deviation is 0.2°.

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