A ship control method and system based on optimal dynamic distribution of steering torque

Abstract

The present invention relates to the field of control technology of non-electric variables, and in particular to a ship control method and system based on optimal dynamic distribution of steering torque, the method comprising the following steps: system layout; establishing a kinematic model of the ship system; establishing a mechanical model of the ship system; the actual steering angle controller of the servo transmissions the rudder speed control signal to the rudder speed controller; the rudder speed controller transmits the total torque control signal to the dynamic torque distribution controller; the dynamic torque distribution controller performs optimal dynamic distribution of the torque on the total torque control signal and transmits it to the electromagnetic torque controller of the servo electric cylinder drive motor; the electromagnetic torque controller of the servo electric cylinder drive motor controls the voltage change of the corresponding servo electric cylinder drive motor to realize the extension and retraction of the servo electric cylinder. The method and system provided by the present invention realize the optimal distribution of the steering torque of the drive unit under any actual steering angle of the servo, and improve the response speed and operation stability of the system under working conditions such as start-stop, reversing and sudden load disturbance.

Description

Technical Field

[0001] The present invention relates to the technical field of control of non-electric variables, and in particular to a ship control method and system based on optimal dynamic distribution of steering torque. Background Art

[0002] As the core power drive device of the ship's maneuvering control system, the steering power drive system has the basic function of generating a push-rudder torque according to the steering instructions, overcoming the hydrodynamic force, and driving the push-rudder tiller to rotate, so as to maintain or change the ship's heading, depth and trim, so that the ship has the maneuverability necessary for navigation.

[0003] Most traditional medium and large ships use hydraulic drive. The hydraulic system has the advantages of large rudder thrust torque and strong impact resistance, and can meet basic operating and control requirements. However, it also has inherent shortcomings such as leakage, high vibration and noise, low overall efficiency and low level of integration.

[0004] In recent years, with the rapid development of multi-electric and all-electric technology, servo motor and its control technology, power electronics technology, and high-precision reduction transmission technology, it has become a development trend for all-electric control power drive systems to replace traditional hydraulic systems. Compared with hydraulic systems, all-electric control power drive systems have the advantages of simple configuration, high degree of system integration, low operating noise, and easy maintenance, and have been widely used.

[0005] At present, the all-electric control power drive system can be divided into single-actuator drive and multi-actuator drive according to the number of drive mechanisms. The single-actuator drive system has the advantages of high control accuracy and simple structure, but its thrust is difficult to meet the heavy-load steering requirements of medium and large ships.

[0006] The coordinated synchronous control methods of multiple actuators in the control power drive system include mechanical synchronization and electrical synchronization. The traditional mechanical synchronization method has low control accuracy, large equipment size, and occupies more cabin space; the electrical synchronization control mode does not require additional synchronization mechanical structure and is more flexible to use. Electrical synchronization control specifically includes master-slave control mode, cross-coupling control mode, parallel system control mode, force compensation synchronization control mode, etc. At present, both the mechanical synchronization method and the electrical synchronization method have a common problem: the steering torque characteristics and the mapping law of the steering of the rudder surface and the load are not considered, and the torque or thrust distribution between multiple actuators is carried out in proportion. In the dynamic processes such as system start-stop, reversing, and sudden load disturbance, not only the system response is slow, but also the system operation stability is poor. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a ship control method and system based on optimal dynamic distribution of steering torque. Based on the mapping law between the steering surface and the steering torque of the multi-actuator control power drive system, the steering torque is optimally dynamically distributed according to the principle of maximizing the steering arm at any actual steering angle position of the steering gear. The method and system have fast response speed and strong operating stability in dynamic processes such as system start-stop, reversing and sudden load disturbance.

[0008] The present invention is achieved through the following technical solutions:

[0009] A ship control method based on optimal dynamic distribution of steering torque comprises the following steps:

[0010] S1: Arrange two servo electric cylinders symmetrically with respect to the push-rudder tiller handle, and the two servo electric cylinders are respectively connected to the push-rudder tiller handle to form a connecting rod mechanism to drive the push-rudder tiller handle to rotate, the steering gear actual angle controller, the rudder speed controller, and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors;

[0011] S2: Establish the kinematic model of the ship system;

[0012] S3: Establish the ship system mechanical model;

[0013] S4: Real-time detection of the actual steering angle signal of the steering gear and transmission to the actual steering angle controller of the steering gear. The actual steering angle controller of the steering gear converts the steering angle deviation control signal generated based on the given steering angle command signal and the actual steering angle signal of the steering gear into a steering speed control signal, and transmits the steering speed control signal to the steering speed controller;

[0014] S5: Detecting the actual rudder speed signal in real time and transmitting it to the rudder speed controller, which converts the rudder speed deviation control signal between the rudder speed control signal and the actual rudder speed signal into a total torque control signal of the two servo electric cylinders, and transmits the total torque control signal to the dynamic torque distribution controller;

[0015] S6: Real-time detection of the actual turning angle signal of the tiller handle and transmission to the dynamic torque distribution controller, the dynamic torque distribution controller respectively calculates the two servo electric cylinder push-rudder force arms according to the ship system kinematic model and the ship system mechanical model, and compares the sizes of the two servo electric cylinder push-rudder force arms, and optimally distributes the torque dynamically to the total torque control signal according to the size relationship of the two servo electric cylinder push-rudder force arms, and transmits the optimal dynamic distribution result of the torque to the corresponding servo electric cylinder drive motor electromagnetic torque controller;

[0016] S7: The electromagnetic torque controllers of the two servo electric cylinder drive motors control the voltage change of the corresponding servo electric cylinder drive motors according to the optimal dynamic distribution result of the torque, so as to realize the extension and retraction of the servo electric cylinders, and the output thrust acts on the push rudder tiller handle to drive the push rudder tiller handle to rotate.

[0017] Furthermore, the kinematic model of the ship system established in step S2 is formula (1):

[0018] (1);

[0019] in: Indicates the length of the first servo electric cylinder, Indicates the length of the first servo electric cylinder when the actual steering angle of the servo is zero. Indicates the radius of the tiller push. Indicates the actual steering angle of the servo. Indicates the length of the second servo electric cylinder, Indicates the length of the second servo electric cylinder when the actual steering angle of the servo is zero.

[0020] Furthermore, the ship system mechanical model established in step S3 is formula (2):

[0021] (2);

[0022] in: Indicates the output force of the first servo electric cylinder, It represents the rudder thrust torque generated by the first servo electric cylinder. Indicates the output force of the second servo electric cylinder, Indicates the radius of the tiller push. It represents the rudder thrust torque generated by the second servo electric cylinder. Indicates the actual steering angle of the servo.

[0023] 4. A ship control method based on optimal dynamic allocation of steering torque according to claim 1, characterized in that: in step S4, the steering gear actual angle controller converts the angle deviation control signal into a rudder speed control signal according to formula (3):

[0024] (3);

[0025] in: Indicates the rudder speed control signal, Indicates the proportional control gain of the actual steering angle controller of the servo. It indicates the angle deviation control signal generated by the given servo angle command signal and the servo actual angle signal. Indicates the integral control gain of the actual steering angle controller of the servo, Indicates the cumulative deviation of the servo angle.

[0026] Furthermore, in step S5, the rudder speed controller converts the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed signal into a total torque control signal of the two servo electric cylinders according to formula (4):

[0027] (4);

[0028] in: Represents the total torque control signal of the two servo electric cylinders, represents the proportional control gain of the rudder speed controller, represents the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed signal, represents the integral control gain of the rudder speed controller, represents the differential control gain of the rudder speed controller, Indicates the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed signal at the previous moment. Indicates the accumulated deviation of rudder speed.

[0029] Further, in step S6, the two servo electric cylinders push the rudder force arms according to formula (5):

[0030] (5);

[0031] in: Indicates that the first servo electric cylinder pushes the rudder arm. Indicates that the second servo electric cylinder pushes the rudder arm. Indicates the radius of the tiller push. Indicates the actual steering angle of the servo.

[0032] Further, in step S6, the following method is used to perform optimal dynamic distribution of torque:

[0033] When the rudder pushing arm of the first servo electric cylinder is greater than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the first servo electric cylinder is greater than or equal to the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is all allocated to the first servo electric cylinder;

[0034] When the rudder pushing arm of the first servo electric cylinder is greater than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the first servo electric cylinder is less than the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is preferentially allocated to the first servo electric cylinder, so that the first servo electric cylinder operates according to the maximum rudder pushing torque, and the remaining torque of the total torque control signal is allocated to the second servo electric cylinder;

[0035] When the rudder push arm of the first servo electric cylinder is equal to the rudder push arm of the second servo electric cylinder, the total torque control signal of the two servo electric cylinders is evenly distributed;

[0036] When the rudder pushing arm of the first servo electric cylinder is smaller than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the second servo electric cylinder is greater than or equal to the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is all allocated to the second servo electric cylinder;

[0037] When the steering arm of the first servo electric cylinder is smaller than the steering arm of the second servo electric cylinder and the maximum steering torque of the second servo electric cylinder is smaller than the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is preferentially allocated to the second servo electric cylinder, so that the second servo electric cylinder operates according to the maximum steering torque, and the remaining torque of the total torque control signal is allocated to the first servo electric cylinder.

[0038] Further, in step S6, the dynamic torque distribution controller converts the optimal dynamic distribution result of the torque into the electromagnetic torque of the corresponding servo electric cylinder drive motor according to formula (6) and outputs it to the corresponding servo electric cylinder drive motor electromagnetic torque controller:

[0039] (6);

[0040] in: represents the electromagnetic torque of the first servo electric cylinder driving motor output by the dynamic torque distribution controller, Indicates the optimal dynamic distribution torque of the first servo electric cylinder, Indicates the lead of the planetary ball screw of the first servo electric cylinder, Indicates the transmission efficiency of the planetary ball screw of the first servo electric cylinder, It represents the electromagnetic torque of the second servo electric cylinder driving motor output by the dynamic torque distribution controller, Indicates the optimal dynamic distribution torque of the second servo electric cylinder. Indicates the lead of the planetary ball screw of the second servo electric cylinder, Indicates the transmission efficiency of the planetary ball screw of the second servo electric cylinder.

[0041] Further, in step S7, the electromagnetic torque controllers of the two servo electric cylinder drive motors use the following method to control the voltage change of the corresponding servo electric cylinder drive motors according to the optimal dynamic distribution result of the torque to achieve the extension and retraction of the servo electric cylinders:

[0042] S71: The electromagnetic torque controller of the servo electric cylinder drive motor converts the electromagnetic torque of the corresponding servo electric cylinder drive motor output by the dynamic torque distribution controller into a current control signal of the corresponding servo electric cylinder drive motor according to formula (7):

[0043] (7);

[0044] in: Represents the current control signal of the first servo electric cylinder driving motor, represents the torque coefficient of the first servo electric cylinder driving motor, Indicates the current control signal of the second servo electric cylinder driving motor, Indicates the torque coefficient of the second servo electric cylinder driving motor;

[0045] S72: Real-time detection of the current of the first servo electric cylinder drive motor and the current of the second servo electric cylinder drive motor and feedback to the corresponding servo electric cylinder drive motor electromagnetic torque controller. The servo electric cylinder drive motor electromagnetic torque controller calculates the deviation between the current control signal of the corresponding servo electric cylinder drive motor and the current signal of the corresponding servo electric cylinder drive motor detected in real time according to formula (8), and converts the deviation into a voltage signal of the corresponding servo electric cylinder drive motor and applies it to the corresponding servo electric cylinder drive motor, drives the servo electric cylinder drive motor to rotate, outputs electromagnetic torque and speed, and realizes the extension and retraction of the servo electric cylinder:

[0046] (8);

[0047] in: Indicates the voltage signal of the first servo electric cylinder driving motor, represents the proportional control gain of the electromagnetic torque controller of the first servo electric cylinder driving motor, represents the deviation between the current control signal of the first servo electric cylinder driving motor and the current signal of the first servo electric cylinder driving motor detected in real time, represents the cumulative deviation between the current control signal of the first servo electric cylinder driving motor and the current signal of the first servo electric cylinder driving motor detected in real time, represents the integral control gain of the electromagnetic torque controller of the first servo electric cylinder driving motor, Indicates the voltage signal of the second servo electric cylinder driving motor, represents the proportional control gain of the electromagnetic torque controller of the second servo electric cylinder driving motor, represents the deviation between the current control signal of the second servo electric cylinder driving motor and the current signal of the second servo electric cylinder driving motor detected in real time, represents the accumulated deviation between the current control signal of the second servo electric cylinder driving motor and the current signal of the second servo electric cylinder driving motor detected in real time, Represents the integral control gain of the electromagnetic torque controller of the second servo electric cylinder driving motor.

[0048] A ship control system based on optimal dynamic distribution of steering torque, used to execute any of the above-mentioned ship control methods based on optimal dynamic distribution of steering torque, comprising two servo electric cylinders, a push-rudder tiller, a steering gear actual angle controller, a rudder speed controller, a dynamic torque distribution controller and two servo electric cylinder drive motor electromagnetic torque controllers, the two servo electric cylinders are installed on a base, the push-rudder tiller is rotatably installed on the base, and the two servo electric cylinders are symmetrically arranged relative to the push-rudder tiller, the two servo electric cylinders are respectively connected to the push-rudder tiller to form a connecting rod mechanism to drive the push-rudder tiller to rotate, the steering gear actual angle controller, the rudder speed controller and the dynamic torque distribution controller are connected in sequence, the dynamic torque distribution controller is respectively connected to the two servo electric cylinder drive motor electromagnetic torque controllers, and the two servo electric cylinder drive motor electromagnetic torque controllers are respectively connected to the corresponding servo electric cylinder drive motors.

[0049] Beneficial effects of the invention:

[0050] The present invention provides a ship control method and system based on optimal dynamic distribution of steering torque. By real-time detection of the actual steering angle signal of the steering gear, the steering torque of each driving actuator unit is dynamically distributed according to the principle of maximizing the steering arm at any actual steering angle position of the steering gear, so as to achieve the optimal steering torque at any time and any actual steering angle position of the steering gear. Based on the dynamic torque distribution control method for maximizing the steering arm, on the one hand, the thrust required by the servo actuator is minimized, that is, the most labor-saving steering is achieved, and the comprehensive efficiency of the control power drive system is improved. On the other hand, the steering arm is maximized and optimized in real time, so that the steering torque output capacity is strong, and the control power drive system can achieve rapid response capabilities under working conditions such as start-stop, reversing, and sudden load disturbances, thereby ensuring the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the process of the present invention.

[0052] Figure 2 It is an assembly diagram of the servo electric cylinder and the push-rudder tiller handle of the present invention.

[0053] Figure 3 It is a schematic diagram of the system of the present invention.

[0054] In the figure: 1. base; 2. servo electric cylinder; 3. push rudder tiller; 4. actual steering angle controller of the servo; 5. rudder speed controller; 6. dynamic torque distribution controller; 7. electromagnetic torque controller of the servo electric cylinder drive motor. DETAILED DESCRIPTION

[0055] A ship control method based on optimal dynamic allocation of steering torque, the flow chart of which is as follows Figure 1 As shown, the specific steps include:

[0056] S1: Arrange two servo electric cylinders symmetrically with respect to the push-rudder tiller handle, and the two servo electric cylinders are respectively connected to the push-rudder tiller handle to form a connecting rod mechanism to drive the push-rudder tiller handle to rotate, the steering gear actual angle controller, the rudder speed controller, and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors;

[0057] The two servo electric cylinders can be connected to the pusher tiller handle through a self-aligning sliding bearing. The two servo electric cylinders are arranged in parallel and can promote the pusher tiller handle to rotate by coordinating and controlling their movements, thereby meeting the system's large-load driving requirements.

[0058] Each servo electric cylinder is provided with a screw nut mechanism and a servo electric cylinder drive motor, and the screw nut mechanism is connected to the servo electric cylinder drive motor. The rotation of the servo electric cylinder drive motor is converted into a linear motion of the servo electric cylinder through the screw nut mechanism, and finally drives the push rudder tiller to rotate.

[0059] Two servo electric cylinders and the push-rudder tiller handle form a connecting rod mechanism, which has the function of reducing speed and increasing torque. In the connecting rod mechanism, the connection method of self-aligning sliding bearing is adopted to realize small-scale swing angle adjustment to meet the requirements of spatial low-stress assembly of heavy-loaded and large-scale push-rudder tiller handle.

[0060] The assembly diagram of the servo electric cylinder and the push rudder tiller is as follows: Figure 2 shown.

[0061] S2: Establish the kinematic model of the ship system;

[0062] Specifically, the established ship system kinematic model is formula (1):

[0063] (1);

[0064] in: Indicates the length of the first servo electric cylinder, Indicates the length of the first servo electric cylinder when the actual steering angle of the servo is zero. Indicates the radius of the tiller push. Indicates the actual steering angle of the servo. Indicates the length of the second servo electric cylinder, Indicates the length of the second servo electric cylinder when the actual steering angle of the servo is zero.

[0065] Here is the actual steering angle The value range is , when the actual steering angle , the output of the first servo electric cylinder is the longest, and the output of the second servo electric cylinder is the shortest.

[0066] S3: Establish the ship system mechanical model;

[0067] Specifically, the established ship system mechanical model is formula (2):

[0068] (2);

[0069] in: Indicates the output force of the first servo electric cylinder, It represents the rudder thrust torque generated by the first servo electric cylinder. Indicates the output force of the second servo electric cylinder, Indicates the radius of the tiller push. It represents the rudder thrust torque generated by the second servo electric cylinder. Indicates the actual steering angle of the servo.

[0070] S4: Real-time detection of the actual steering angle signal of the steering gear and transmission to the actual steering angle controller of the steering gear. The actual steering angle controller of the steering gear converts the steering angle deviation control signal generated based on the given steering angle command signal and the actual steering angle signal of the steering gear into a steering speed control signal, and transmits the steering speed control signal to the steering speed controller;

[0071] Specifically, the steering gear actual steering angle controller converts the steering angle deviation control signal into the steering speed control signal according to formula (3):

[0072] (3);

[0073] in: Indicates the rudder speed control signal, Indicates the proportional control gain of the actual steering angle controller of the servo. Indicates the given servo angle command signal The actual steering angle signal of the servo The generated steering angle deviation control signal, Indicates the integral control gain of the actual steering angle controller of the servo, Indicates the cumulative deviation of the servo angle.

[0074] S5: Detecting the actual rudder speed signal in real time and transmitting it to the rudder speed controller, which converts the rudder speed deviation control signal between the rudder speed control signal and the actual rudder speed signal into a total torque control signal of the two servo electric cylinders, and transmits the total torque control signal to the dynamic torque distribution controller;

[0075] Specifically, the rudder speed controller converts the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed signal into the total torque control signal of the two servo electric cylinders according to formula (4):

[0076] (4);

[0077] in: Represents the total torque control signal of the two servo electric cylinders, represents the proportional control gain of the rudder speed controller, Indicates that the rudder speed control signal The actual rudder speed signal The rudder speed deviation control signal between represents the integral control gain of the rudder speed controller, represents the differential control gain of the rudder speed controller, Indicates the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed signal at the previous moment. Indicates the accumulated deviation of rudder speed.

[0078] S6: Real-time detection of the actual turning angle signal of the tiller handle and transmission to the dynamic torque distribution controller, the dynamic torque distribution controller respectively calculates the two servo electric cylinder push-rudder force arms according to the ship system kinematic model and the ship system mechanical model, and compares the sizes of the two servo electric cylinder push-rudder force arms, and optimally distributes the torque dynamically to the total torque control signal according to the size relationship of the two servo electric cylinder push-rudder force arms, and transmits the optimal dynamic distribution result of the torque to the corresponding servo electric cylinder drive motor electromagnetic torque controller;

[0079] Specifically, the two servo electric cylinders can be calculated according to formula (5):

[0080] (5);

[0081] in: Indicates that the first servo electric cylinder pushes the rudder arm. Indicates that the second servo electric cylinder pushes the rudder arm. Indicates the radius of the tiller push. Indicates the actual steering angle of the servo.

[0082] Further, in step S6, the following method is used to perform optimal dynamic distribution of torque:

[0083] When the rudder pushing arm of the first servo electric cylinder is greater than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the first servo electric cylinder is greater than or equal to the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is all allocated to the first servo electric cylinder;

[0084] At this time there is .

[0085] in: Indicates the optimal dynamic distribution torque of the first servo electric cylinder, Indicates the optimal dynamic distribution torque of the second servo electric cylinder.

[0086] When the rudder pushing arm of the first servo electric cylinder is greater than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the first servo electric cylinder is less than the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is preferentially allocated to the first servo electric cylinder, so that the first servo electric cylinder operates according to the maximum rudder pushing torque, and the remaining torque of the total torque control signal is allocated to the second servo electric cylinder;

[0087] At this time there is ;

[0088] in: Indicates the maximum output force of the first servo electric cylinder.

[0089] When the rudder push arm of the first servo electric cylinder is equal to the rudder push arm of the second servo electric cylinder, the total torque control signal of the two servo electric cylinders is evenly distributed;

[0090] At this time there is .

[0091] When the rudder pushing arm of the first servo electric cylinder is smaller than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the second servo electric cylinder is greater than or equal to the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is all allocated to the second servo electric cylinder;

[0092] At this time there is .

[0093] When the steering arm of the first servo electric cylinder is smaller than the steering arm of the second servo electric cylinder and the maximum steering torque of the second servo electric cylinder is smaller than the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is preferentially allocated to the second servo electric cylinder, so that the second servo electric cylinder operates according to the maximum steering torque, and the remaining torque of the total torque control signal is allocated to the first servo electric cylinder.

[0094] At this time there is ;

[0095] in: Indicates the maximum output force of the second servo electric cylinder.

[0096] Further, in step S6, the dynamic torque distribution controller converts the optimal dynamic distribution result of the torque into the electromagnetic torque of the corresponding servo electric cylinder drive motor according to formula (6) and outputs it to the corresponding servo electric cylinder drive motor electromagnetic torque controller:

[0097] (6);

[0098] in: represents the electromagnetic torque of the first servo electric cylinder driving motor output by the dynamic torque distribution controller, Indicates the optimal dynamic distribution torque of the first servo electric cylinder, Indicates the lead of the planetary ball screw of the first servo electric cylinder, Indicates the transmission efficiency of the planetary ball screw of the first servo electric cylinder, The electromagnetic torque of the second servo electric cylinder driving motor output by the dynamic torque distribution controller is represented by: Indicates the optimal dynamic distribution torque of the second servo electric cylinder. Indicates the lead of the planetary ball screw of the second servo electric cylinder, Indicates the transmission efficiency of the planetary ball screw of the second servo electric cylinder.

[0099] S7: The electromagnetic torque controllers of the two servo electric cylinder drive motors control the voltage change of the corresponding servo electric cylinder drive motors according to the optimal dynamic distribution result of the torque, so as to realize the extension and retraction of the servo electric cylinders, and the output thrust acts on the push rudder tiller handle to drive the push rudder tiller handle to rotate.

[0100] Further, in step S7, the electromagnetic torque controllers of the two servo electric cylinder drive motors use the following method to control the voltage change of the corresponding servo electric cylinder drive motors according to the optimal dynamic distribution result of the torque to achieve the extension and retraction of the servo electric cylinders:

[0101] S71: The electromagnetic torque controller of the servo electric cylinder drive motor converts the electromagnetic torque of the corresponding servo electric cylinder drive motor output by the dynamic torque distribution controller into a current control signal of the corresponding servo electric cylinder drive motor according to formula (7):

[0102] (7);

[0103] in: Represents the current control signal of the first servo electric cylinder driving motor, represents the torque coefficient of the first servo electric cylinder driving motor, Indicates the current control signal of the second servo electric cylinder driving motor, Indicates the torque coefficient of the second servo electric cylinder driving motor;

[0104] S72: Real-time detection of the current of the first servo electric cylinder drive motor and the current of the second servo electric cylinder drive motor and feedback to the corresponding servo electric cylinder drive motor electromagnetic torque controller. The servo electric cylinder drive motor electromagnetic torque controller calculates the deviation between the current control signal of the corresponding servo electric cylinder drive motor and the current signal of the corresponding servo electric cylinder drive motor detected in real time according to formula (8), and converts the deviation into a voltage signal of the corresponding servo electric cylinder drive motor and applies it to the corresponding servo electric cylinder drive motor, drives the servo electric cylinder drive motor to rotate, outputs electromagnetic torque and speed, and realizes the extension and retraction of the servo electric cylinder:

[0105] (8);

[0106] in: Indicates the voltage signal of the first servo electric cylinder driving motor, represents the proportional control gain of the electromagnetic torque controller of the first servo electric cylinder driving motor, Indicates the current control signal of the first servo electric cylinder driving motor The current signal of the first servo electric cylinder driving motor is detected in real time The deviation between represents the cumulative deviation between the current control signal of the first servo electric cylinder driving motor and the current signal of the first servo electric cylinder driving motor detected in real time, represents the integral control gain of the electromagnetic torque controller of the first servo electric cylinder driving motor, Indicates the voltage signal of the second servo electric cylinder driving motor, represents the proportional control gain of the electromagnetic torque controller of the second servo electric cylinder driving motor, Indicates the current control signal of the second servo electric cylinder drive motor The current signal of the second servo electric cylinder driving motor is detected in real time The deviation between represents the accumulated deviation between the current control signal of the second servo electric cylinder driving motor and the current signal of the second servo electric cylinder driving motor detected in real time, Represents the integral control gain of the electromagnetic torque controller of the second servo electric cylinder driving motor.

[0107] The output voltage of the electromagnetic torque controller of the servo electric cylinder drive motor is applied to the corresponding servo electric cylinder drive motor to drive the corresponding servo electric cylinder drive motor to rotate and output the required electromagnetic torque and speed. The servo electric cylinder drive motor then drives the planetary ball screw to move, converting the rotational motion of the servo electric cylinder drive motor into the linear motion of the servo electric cylinder and outputting thrust. The thrust of the two servo electric cylinders acts on the tiller, eventually pushing the tiller to deflect.

[0108] Due to the ship control method and system based on optimal dynamic distribution of steering torque provided by the present invention, the steering torque of each driving actuator unit is dynamically distributed according to the principle of maximizing the steering arm at any actual steering angle position by real-time detection of the actual steering angle signal of the steering gear, thereby achieving the optimal steering torque at any time and any actual steering angle position of the steering gear. The dynamic torque distribution control method based on the maximization of the steering arm, on the one hand, achieves the minimum thrust required by the servo actuator, that is, the most labor-saving steering method is achieved, and the overall efficiency of the system is improved. On the other hand, the steering arm is maximized and optimized in real time, so that the steering torque output capacity is relatively strong, and the rapid response capability of the control power drive system under working conditions such as start-stop, reversing and sudden load disturbance is improved, thereby ensuring the stability of the system.

[0109] A ship control system based on optimal dynamic distribution of steering torque Figure 3 As shown, a ship control method based on optimal dynamic distribution of steering torque for executing any one of the above-mentioned items comprises two servo electric cylinders 2, a pushing rudder handle 3, a steering gear actual angle controller 4, a rudder speed controller 5, a dynamic torque distribution controller 6 and two servo electric cylinder drive motor electromagnetic torque controllers 7, the two servo electric cylinders are mounted on a base 1, the pushing rudder handle is rotatably mounted on the base, and the two servo electric cylinders are symmetrically arranged relative to the pushing rudder handle, the two servo electric cylinders are respectively connected to the pushing rudder handle to form a connecting rod mechanism to drive the pushing rudder handle to rotate, the steering gear actual angle controller, the rudder speed controller and the dynamic torque distribution controller are connected in sequence, the dynamic torque distribution controller is respectively connected to the two servo electric cylinder drive motor electromagnetic torque controllers, and the two servo electric cylinder drive motor electromagnetic torque controllers are respectively connected to the corresponding servo electric cylinder drive motors.

[0110] In summary, the present invention provides a ship control method and system based on optimal dynamic distribution of steering torque, which realizes the optimal distribution of the steering torque of the drive unit under any actual steering angle of the steering gear, and improves the response speed and operation stability of the system under working conditions such as starting and stopping, reversing, and sudden load disturbances.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ship control method based on optimal dynamic allocation of steering torque, characterized in that: The steps include: S1: Arrange two servo electric cylinders symmetrically with respect to the push-rudder tiller handle, and the two servo electric cylinders are respectively connected to the push-rudder tiller handle to form a connecting rod mechanism to drive the push-rudder tiller handle to rotate, the steering gear actual angle controller, the rudder speed controller, and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors; S2: Establish the kinematic model of the ship system as formula (1): （1）； in: Indicates the length of the first servo electric cylinder, Indicates the length of the first servo electric cylinder when the actual steering angle of the servo is zero. Indicates the radius of the tiller push. Indicates the actual steering angle of the servo. Indicates the length of the second servo electric cylinder, Indicates the length of the second servo electric cylinder when the actual steering angle of the servo is zero; S3: Establish the ship system mechanical model as formula (2): （2）； in: Indicates the output force of the first servo electric cylinder, It represents the rudder thrust torque generated by the first servo electric cylinder. Indicates the output force of the second servo electric cylinder, Indicates the radius of the tiller push. It represents the rudder thrust torque generated by the second servo electric cylinder. Indicates the actual steering angle of the servo; S4: Real-time detection of the actual steering angle signal of the steering gear and transmission to the actual steering angle controller of the steering gear. The actual steering angle controller of the steering gear converts the steering angle deviation control signal generated based on the given steering angle command signal and the actual steering angle signal of the steering gear into a steering speed control signal according to formula (3), and transmits the steering speed control signal to the steering speed controller; （3）； in: Indicates the rudder speed control signal, Indicates the proportional control gain of the actual steering angle controller of the servo. It indicates the angle deviation control signal generated by the given servo angle command signal and the servo actual angle signal. Indicates the integral control gain of the actual steering angle controller of the servo, Indicates the cumulative deviation value of the servo angle; S5: Detect the actual rudder speed signal in real time and transmit it to the rudder speed controller. The rudder speed controller converts the rudder speed deviation control signal between the rudder speed control signal and the actual rudder speed signal into a total torque control signal of the two servo electric cylinders according to formula (4), and transmits the total torque control signal to the dynamic torque distribution controller; （4）； in: Represents the total torque control signal of the two servo electric cylinders, represents the proportional control gain of the rudder speed controller, represents the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed signal, represents the integral control gain of the rudder speed controller, represents the differential control gain of the rudder speed controller, Indicates the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed signal at the previous moment. Indicates the accumulated deviation value of the rudder speed; S6: Real-time detection of the actual steering angle signal of the tiller handle and transmission to the dynamic torque distribution controller. The dynamic torque distribution controller calculates the two servo electric cylinder push-rudder force arms according to the ship system kinematic model and the ship system mechanical model according to formula (5), and compares the sizes of the two servo electric cylinder push-rudder force arms. According to the size relationship of the two servo electric cylinder push-rudder force arms, the total torque control signal is optimally dynamically distributed, and the optimal dynamic distribution result of the torque is transmitted to the corresponding servo electric cylinder drive motor electromagnetic torque controller according to formula (6); （5）； in: Indicates that the first servo electric cylinder pushes the rudder arm. Indicates that the second servo electric cylinder pushes the rudder arm. Indicates the radius of the tiller push. Indicates the actual steering angle of the servo; The following method is used to perform optimal dynamic torque distribution on the total torque control signal: When the rudder pushing arm of the first servo electric cylinder is greater than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the first servo electric cylinder is greater than or equal to the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is all allocated to the first servo electric cylinder; When the rudder pushing arm of the first servo electric cylinder is greater than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the first servo electric cylinder is less than the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is preferentially allocated to the first servo electric cylinder, so that the first servo electric cylinder operates according to the maximum rudder pushing torque, and the remaining torque of the total torque control signal is allocated to the second servo electric cylinder; When the rudder push arm of the first servo electric cylinder is equal to the rudder push arm of the second servo electric cylinder, the total torque control signal of the two servo electric cylinders is evenly distributed; When the rudder pushing arm of the first servo electric cylinder is smaller than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the second servo electric cylinder is greater than or equal to the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is all allocated to the second servo electric cylinder; When the rudder pushing arm of the first servo electric cylinder is smaller than the rudder pushing arm of the second servo electric cylinder and the maximum rudder pushing torque of the second servo electric cylinder is smaller than the total torque control signal of the two servo electric cylinders, the total torque control signal of the two servo electric cylinders is preferentially allocated to the second servo electric cylinder, so that the second servo electric cylinder operates according to the maximum rudder pushing torque, and the remaining torque of the total torque control signal is allocated to the first servo electric cylinder; （6）； in: represents the electromagnetic torque of the first servo electric cylinder driving motor output by the dynamic torque distribution controller, Indicates the optimal dynamic distribution torque of the first servo electric cylinder, Indicates the lead of the planetary ball screw of the first servo electric cylinder, Indicates the transmission efficiency of the planetary ball screw of the first servo electric cylinder, It represents the electromagnetic torque of the second servo electric cylinder driving motor output by the dynamic torque distribution controller, Indicates the optimal dynamic distribution torque of the second servo electric cylinder. Indicates the lead of the planetary ball screw of the second servo electric cylinder, Indicates the transmission efficiency of the planetary ball screw of the second servo electric cylinder; S7: The electromagnetic torque controllers of the two servo electric cylinder drive motors control the voltage change of the corresponding servo electric cylinder drive motors according to the optimal dynamic distribution result of the torque, so as to realize the extension and retraction of the servo electric cylinders, and the output thrust acts on the push rudder tiller handle to drive the push rudder tiller handle to rotate.

2. A ship control method based on optimal dynamic allocation of steering torque according to claim 1, characterized in that: In step S7, the electromagnetic torque controllers of the two servo electric cylinder drive motors use the following method to control the voltage change of the corresponding servo electric cylinder drive motors according to the optimal dynamic distribution result of the torque to achieve the extension and retraction of the servo electric cylinders: S71: The electromagnetic torque controller of the servo electric cylinder drive motor converts the electromagnetic torque of the corresponding servo electric cylinder drive motor output by the dynamic torque distribution controller into a current control signal of the corresponding servo electric cylinder drive motor according to formula (7): （7）； in: Represents the current control signal of the first servo electric cylinder driving motor, represents the torque coefficient of the first servo electric cylinder driving motor, Indicates the current control signal of the second servo electric cylinder driving motor, Indicates the torque coefficient of the second servo electric cylinder driving motor; S72: Real-time detection of the current of the first servo electric cylinder drive motor and the current of the second servo electric cylinder drive motor and feedback to the corresponding servo electric cylinder drive motor electromagnetic torque controller. The servo electric cylinder drive motor electromagnetic torque controller calculates the deviation between the current control signal of the corresponding servo electric cylinder drive motor and the current signal of the corresponding servo electric cylinder drive motor detected in real time according to formula (8), and converts the deviation into a voltage signal of the corresponding servo electric cylinder drive motor and applies it to the corresponding servo electric cylinder drive motor, drives the servo electric cylinder drive motor to rotate, outputs electromagnetic torque and speed, and realizes the extension and retraction of the servo electric cylinder: （8）； in: Indicates the voltage signal of the first servo electric cylinder driving motor, represents the proportional control gain of the electromagnetic torque controller of the first servo electric cylinder driving motor, represents the deviation between the current control signal of the first servo electric cylinder driving motor and the current signal of the first servo electric cylinder driving motor detected in real time, represents the cumulative deviation between the current control signal of the first servo electric cylinder driving motor and the current signal of the first servo electric cylinder driving motor detected in real time, represents the integral control gain of the electromagnetic torque controller of the first servo electric cylinder driving motor, Indicates the voltage signal of the second servo electric cylinder driving motor, represents the proportional control gain of the electromagnetic torque controller of the second servo electric cylinder driving motor, represents the deviation between the current control signal of the second servo electric cylinder driving motor and the current signal of the second servo electric cylinder driving motor detected in real time, represents the accumulated deviation between the current control signal of the second servo electric cylinder driving motor and the current signal of the second servo electric cylinder driving motor detected in real time, Represents the integral control gain of the electromagnetic torque controller of the second servo electric cylinder driving motor.

3. A ship control system based on optimal dynamic distribution of steering torque, characterized in that: Used to execute a ship control method based on optimal dynamic distribution of steering torque as described in any one of claims 1 to 2, which includes two servo electric cylinders, a pushing rudder handle, a steering gear actual angle controller, a rudder speed controller, a dynamic torque distribution controller and two servo electric cylinder drive motor electromagnetic torque controllers, the two servo electric cylinders are installed on a base, the pushing rudder handle is rotatably installed on the base, and the two servo electric cylinders are symmetrically arranged relative to the pushing rudder handle, the two servo electric cylinders are respectively connected to the pushing rudder handle to form a connecting rod mechanism to drive the pushing rudder handle to rotate, the steering gear actual angle controller, the rudder speed controller and the dynamic torque distribution controller are connected in sequence, the dynamic torque distribution controller is respectively connected to the two servo electric cylinder drive motor electromagnetic torque controllers, and the two servo electric cylinder drive motor electromagnetic torque controllers are respectively connected to the corresponding servo electric cylinder drive motors.

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