A multi-redundant high-precision coaxial rudder angle feedback device

Abstract

This invention relates to a multi-redundant, high-precision coaxial rudder angle feedback device, comprising a feedback mechanism, a mounting base, and a control system. The feedback mechanism is mounted on the mounting base and includes multiple sets of feedback signal modules to achieve cold and hot backup of the feedback signals. During hot backup, multiple rudder angle feedback signals are simultaneously sent to the control system. After arbitration, the optimal feedback signal is output and participates in the rudder angle closed-loop calculation, thereby improving the reliability of the feedback signals and effectively ensuring steering safety. This invention employs a hot backup method for the feedback signals, which, under software algorithms, can automatically eliminate faulty feedback signals, improving the reliability of the feedback signals. The backup feedback signals employ a cold backup method, enabling timely replacement of the hot backup feedback modules when they reach the end of their service life, ensuring the safety of ship heading control.

Description

Technical Field

[0001] This invention relates to a ship heading control device, and more particularly to a coaxial rudder angle feedback device. Background Technology

[0002] As ships develop towards intelligence, unmanned operation, and multi-system joint control (such as rudder-fin joint control), higher requirements are placed on the control accuracy of rudder angle. The primary step in improving the control accuracy of rudder angle is to improve the detection accuracy of the feedback rudder angle.

[0003] Commonly used mechanical rudder angle feedback devices map the rudder angle through a linkage mechanism that drives gear transmission. In actual use, transmission errors of the linkage mechanism, linearity of the angle sensor, gear meshing clearance, and gear wear can all generate rudder angle feedback errors.

[0004] Due to the existence of the rudder handle's rotation radius, the length of the connecting rod in the linkage feedback device is usually greater than 1 meter. Even the smallest positioning error of the connecting rod hinge, after being amplified by the connecting rod transmission, will also produce a large deviation in the mapped rudder angle.

[0005] Furthermore, while the linearity deviation of angle sensors can be corrected by software, the nonlinear errors caused by gear meshing clearance and wear cannot be corrected in real time by software and tend to increase over time. At the same time, angle sensors are also prone to failure after long-term use, potentially leading to steering malfunctions and significantly impacting ship navigation safety.

[0006] Since hydraulic steering gears are specialized devices for controlling a ship's course, a rudder angle feedback device is needed as the detection unit in the rudder angle position control of the hydraulic steering gear. This device feeds back the steering angle of the push mechanism to the steering gear control system in real time, enabling it to complete closed-loop control of the rudder angle. Summary of the Invention

[0007] To address the aforementioned error sources affecting the accuracy of the feedback rudder angle, this invention proposes a multi-redundant high-precision coaxial rudder angle feedback device. It employs a hot backup method for the feedback signal and can automatically eliminate faulty feedback signals through software algorithms, thereby improving the reliability of the feedback signal.

[0008] To achieve the above objectives, the technical solution of the present invention is: a multi-redundant high-precision coaxial rudder angle feedback device, comprising a feedback mechanism, a mounting base, and a control system. The feedback mechanism is mounted on the mounting base and is equipped with multiple sets of feedback signal modules to achieve cold and hot backup of the feedback signals. During hot backup, multiple rudder angle feedback signals are simultaneously sent to the control system. After arbitration algorithm, the optimal feedback signal is output and participates in the rudder angle closed-loop calculation, thereby improving the reliability of the feedback signals and effectively ensuring steering safety.

[0009] Furthermore, during cold backup, in the remaining feedback module, the angle sensor is completely disconnected from the transmission system to avoid mechanical wear affecting its lifespan.

[0010] Furthermore, during the meshing process between the feedback signal module and the main gear in the feedback mechanism, a double-gear self-tensioning method is adopted, which can effectively eliminate meshing gaps and automatically compensate for the rudder angle feedback error caused by gear wear, thereby further improving the mapping accuracy of the feedback signal.

[0011] Furthermore, the feedback mechanism includes a main shaft, a driven shaft, a bearing housing, a cover plate, a driving wheel, a driven wheel, a tension wheel, a spring, and an angle sensor. The main shaft is fixed on the bearing housing, the driving wheel is mounted on the main shaft, and the driven wheel and tension wheel are coaxially stacked on the driven shaft. The driving wheel meshes with the driven wheel and tension wheel in opposite directions. The angle sensor is fixedly connected to the upper connecting plate of the mounting base through a triangular bracket.

[0012] Furthermore, the bearing housing is equipped with a deep groove ball bearing and a thrust bearing. The annular boss of the bearing housing passes through the corresponding circular hole of the lower connecting plate and is connected by bolts. The cover plate is connected to the bearing housing by bolts. An annular groove is opened on the inner side of the cover plate, and an O-ring is installed inside to provide a certain degree of dustproof and waterproof function when the spindle rotates.

[0013] Furthermore, the spindle passes sequentially through a deep groove ball bearing, a thrust bearing, and a cover plate. The spindle shoulder and the inner ring of the deep groove ball bearing form a stop. The axial positioning of the spindle is achieved by applying a tightening force to the surface of the thrust bearing with a nut. A keyway is provided on the spindle, in which a flat key is installed, which mates with the keyway of the inner ring of the drive wheel to achieve axial positioning. The spindle and the drive wheel have radially provided pin holes of the same diameter, with an interference fit pin in the middle to achieve radial positioning of the drive wheel.

[0014] Furthermore, deep groove ball bearings pass through both ends of the shaft and are fixed between the upper and lower connecting plates of the mounting base. A keyway is opened on the shaft, and torque is transmitted to the driven wheel through a flat key. A radial hole is opened on the shaft, and a hole of the same diameter is also opened on the end face of the tension wheel. The center of the spring with the same diameter as the two holes passes through the shaft. After being tightened and storing energy, the two ends are inserted into the two holes respectively, so that the tooth surfaces on both sides of the tension wheel and the driven wheel are tightly meshed with the driving wheel in the opposite direction.

[0015] Furthermore, the angle sensor is coaxially mounted with the driven shaft and connected and disconnected via a coupling; the angle sensor is evenly distributed in 4 groups around the circumference of the driving wheel to achieve redundancy backup.

[0016] Furthermore, the module of the driving wheel, driven wheel, and tension wheel is 1, the number of teeth of the driving wheel is 80, the number of teeth of the driven wheel and tension wheel is 20, the transmission ratio is 4:1, and the angle sensor is a potentiometer with a resistance of 2K ohms and a linearity of 0.5%.

[0017] Furthermore, the multi-redundant high-precision coaxial rudder angle feedback device is coaxially installed with the pusher mechanism via a universal coupling, which avoids the amplification effect of the long connecting rod on the connecting rod feedback mechanism on the installation error of the connecting rod hinge seat, and improves the mapping accuracy of the rudder angle feedback signal.

[0018] The beneficial effects of this invention are:

[0019] 1. By adopting a hot backup method for feedback signals, the software algorithm can automatically eliminate faulty feedback signals, thereby improving the reliability of feedback signals.

[0020] 2. The backup feedback signal adopts a cold backup method, which can be used to replace the hot backup feedback module in a timely manner when it reaches the end of its service life, thus ensuring the safety of ship course control.

[0021] 3. The double-gear spring tensioning meshing method eliminates meshing backlash and automatically compensates for gear wear under the action of the spring, greatly improving the accuracy of the feedback signal. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the multi-redundant high-precision coaxial rudder angle feedback device of the present invention;

[0023] Figure 2 This is a cross-sectional view of the multi-redundant high-precision coaxial rudder angle feedback device of the present invention;

[0024] Figure 3 This is a schematic diagram of the feedback mechanism;

[0025] Figure 4 This is a schematic diagram of a gear transmission mechanism;

[0026] Figure 5 This is a schematic diagram showing the connection between the feedback device and the thruster mechanism;

[0027] Figure 6 This is the logic diagram of the software arbitration algorithm. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] This invention proposes a multi-redundant, high-precision coaxial rudder angle feedback device. This device is equipped with multiple sets of feedback signal modules, enabling cold and hot backup of the feedback signals. During hot backup, multiple rudder angle feedback signals are simultaneously sent to the control system. After arbitration, the optimal feedback signal is output and participates in the rudder angle closed-loop calculation.

[0030] During cold backup, in the other feedback module models, the angle sensor is completely disconnected from the transmission system to avoid mechanical wear affecting its lifespan.

[0031] When the angle sensor in the hot backup module is nearing the end of its service life, the control software automatically issues a warning message, prompting manual replacement with the cold backup feedback module.

[0032] The adoption of cold and hot backup methods greatly improves the reliability and "lifespan" of the feedback signal, effectively ensuring steering safety. During the meshing process between the feedback signal module and the main gear, the use of a double-gear self-tensioning method effectively eliminates meshing clearance and can automatically compensate for the rudder angle feedback error caused by gear wear, thus further improving the mapping accuracy of the feedback signal.

[0033] like Figures 1 to 4 As shown in the figure, the multi-redundant high-precision coaxial rudder angle feedback device proposed in this embodiment of the invention includes an angle sensor 1, a triangular bracket 2, an upper connecting plate 3, a support leg 4, a spring 5, a driven shaft 6, a driving wheel 7, a main shaft 8, a driven wheel 9, a tensioning wheel 10, a lower connecting plate 11, a deep groove ball bearing 12, a cylindrical pin 13, a ball bearing 14, a thrust bearing 15, a nut 16, a rubber sealing ring 17, a cover plate 18, a bearing seat 19, and a bearing 20.

[0034] The front end of the main spindle 8 passes through ball bearing 14 and thrust bearing 15 in sequence, and is fixed at the end face of thrust bearing 15 by nut 16 for axial positioning. The drive wheel 7 passes through the main spindle 8 and is close to the stop. The main spindle 8 has a keyway for radial positioning with the drive wheel 7 via a flat key, and is axially fixed by cylindrical pin 13. The tail end of the main spindle 8 passes through ball bearing 12 to enhance the rigidity of the tail end of the main spindle 8 connected to the drive wheel 7. Both ball bearing 14 and thrust bearing 15 are installed in bearing housing 19, which is fixed to the lower connecting plate 11 by bolts. The end cap 18 passes through the head of the main spindle 8 and is connected to the bearing housing 19 by bolts. A rubber sealing ring 17 is installed inside the end cap 18 to provide waterproofing for the rotation of the main spindle 8.

[0035] The upper connecting plate 3 and the lower connecting plate 11 are connected by four legs 4. The upper connecting plate 11 has a bearing mounting hole at its center, and four bearing mounting holes 20 of the shaft 6 are evenly distributed around this center hole at 360°.

[0036] The four evenly distributed angle sensors 1 are configured such that, during operation, two angle sensors 1 are connected to the driven shaft 6 via couplings. An arbitration algorithm designed in software allows for automatic rejection of faulty angle sensor signals, achieving hot backup capability. The couplings of the other two angle sensors 1 are disconnected from the driven shaft 6, achieving cold backup. Each angle sensor 1 consists of a potentiometer with a double-layer structure, capable of outputting two equal-value signals.

[0037] The upper and lower ends of the shaft 6 are fixed in ball bearings 20 on the upper connecting plate 3 and the lower connecting plate 311. The shaft 6 protrudes from the tail end of the upper connecting plate 3 and is connected to the angle sensor 1 through the coupling 12. The angle sensor 1 is fixed on the upper connecting plate 3 through the tripod angle 2.

[0038] A keyway is provided on the shaft 6, which is connected to the driven wheel 9 via a flat key. The end face of the tension wheel 10 and the radial direction of the driven shaft 6 have circular holes of the same diameter. The two ends of the preload spring 5 pass through the holes on the tension wheel 10 and the driven shaft 6, respectively. This allows the driven wheel 9 and the two sides of the tension wheel 10 to be firmly engaged with the tooth surfaces on both sides of the driving wheel 9 under the action of the spring 5, thereby eliminating the backlash in the gear transmission process. At the same time, when the gears wear out, the tension force of the spring 5 will still make the driving and driven gears mesh tightly, automatically compensating for the transmission backlash caused by gear wear.

[0039] The driving wheel, driven wheel, and tension wheel all have a module of 1. The driving wheel has 80 teeth, and the driven wheel and tension wheel have 20 teeth each. The transmission ratio is 4:1. Angle sensor 1 is a potentiometer with a resistance of 2K ohms and a linearity of 0.5%.

[0040] Depend on Figure 5 As can be seen, this feedback device 21 is coaxially mounted with the pusher mechanism 22 via a universal coupling 23, which avoids the amplification effect of the long connecting rod on the connecting rod hinge installation error and improves the mapping accuracy of the rudder angle feedback signal. The universal coupling 23 consists of upper and lower parts and can slide up and down, which can compensate for the impact of the rudder handle's up and down movement on the feedback mechanism.

[0041] The software arbitration algorithm can automatically exclude fault feedback signals and output a valid rudder angle feedback signal. Its implementation method is as follows:

[0042] like Figure 6 As shown, to ensure the accuracy and reliability of the feedback rudder angle, the control software collects three rudder angle feedback values ​​(%IW0003, %IW0005, IW0007), converts them into digital-to-analog conversion, and then obtains the feedback rudder angles (FK1, FK2, FK3). The three feedback rudder angles are input to the rudder angle arbitration controller. The controller calculates FK1-FK2 and compares the result with 1°. If this deviation is less than 1°, FK1 is accepted as the rudder angle feedback value; if this deviation is greater than or equal to 1°, FK1-FK3 is calculated and compared with 3°. If this deviation is less than 3°, FK1 is accepted as the rudder angle feedback value; if this deviation is greater than or equal to 3°, FK1 is considered invalid, and FK2 is accepted as the rudder angle feedback value.

[0043] Although the invention has been disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and not intended to limit the application of the invention. The scope of protection of the invention is defined by the appended claims and may include various modifications, alterations, and equivalents made to the invention without departing from the scope and spirit of the invention.

Claims

1. A multi-redundant, high-precision coaxial rudder angle feedback device, characterized in that: The system includes a feedback mechanism, a mounting base, and a control system. The feedback mechanism is mounted on the mounting base and is equipped with multiple feedback signal modules to achieve cold and hot backup of the feedback signals. During hot backup, multiple rudder angle feedback signals are simultaneously sent to the control system. After arbitration, the optimal feedback signal is output and participates in the rudder angle closed-loop calculation, thereby improving the reliability of the feedback signal and effectively ensuring steering safety. During the meshing process between the feedback signal module and the main gear in the feedback mechanism, a double-gear self-tensioning method is adopted, which can effectively eliminate meshing backlash and automatically compensate for rudder angle feedback errors caused by gear wear, thereby further improving the mapping accuracy of the feedback signal. The feedback mechanism includes a main shaft, a driven shaft, a driving wheel, a driven wheel, a tension wheel, a spring, and an angle sensor. The driven shaft has a keyway, and torque is transmitted to the driven wheel through a flat key. The driven shaft has radial holes, and the end face of the tension wheel also has holes of the same diameter. The center of the spring with the same diameter as the two holes passes through the driven shaft. After being tightened and accumulating energy, both ends are inserted into the two holes respectively, so that the tooth surfaces on both sides of the tension wheel and the driven wheel mesh tightly with the driving wheel in the opposite direction. The angle sensor is coaxially mounted with the driven shaft.

2. The multi-redundant high-precision coaxial rudder angle feedback device according to claim 1, characterized in that: During cold backup, in the other feedback module models, the angle sensor is completely disconnected from the transmission system to avoid mechanical wear affecting its lifespan.

3. The multi-redundant high-precision coaxial rudder angle feedback device according to claim 1, characterized in that: The feedback mechanism also includes a bearing housing and a cover plate. The main shaft is fixed on the bearing housing, the driving wheel is mounted on the main shaft, and the driven wheel and tension wheel are coaxially stacked on the driven shaft. The driving wheel meshes with the driven wheel and tension wheel in opposite directions. The angle sensor is fixedly connected to the upper connecting plate of the mounting base through a triangular bracket. The upper and lower ends of the driven shaft pass through deep groove ball bearings and are fixed between the upper and lower connecting plates of the mounting base.

4. The multi-redundant high-precision coaxial rudder angle feedback device according to claim 3, characterized in that: The bearing housing is equipped with deep groove ball bearings and thrust bearings. The annular boss of the bearing housing passes through the corresponding round hole of the lower connecting plate and is connected by bolts. The cover plate is connected to the bearing housing by bolts. The inner side of the cover plate has an annular groove and an O-ring is installed inside to provide a certain degree of dustproof and waterproof function when the spindle rotates.

5. The multi-redundant high-precision coaxial rudder angle feedback device according to claim 3, characterized in that: The spindle passes through a deep groove ball bearing, a thrust bearing, and a cover plate in sequence. The spindle shoulder and the inner ring of the deep groove ball bearing form a stop. The spindle is axially positioned by applying a tightening force to the surface of the thrust bearing with a nut. A keyway is provided on the spindle, in which a flat key is installed. This key mates with the keyway of the inner ring of the drive wheel to achieve axial positioning. The spindle and the drive wheel have pin holes of the same diameter in the radial direction, with an interference fit pin in the middle to achieve radial positioning of the drive wheel.

6. The multi-redundant high-precision coaxial rudder angle feedback device according to claim 3, characterized in that: The shaft passes through deep groove ball bearings at both ends and is fixed between the upper and lower connecting plates of the mounting base.

7. The multi-redundant high-precision coaxial rudder angle feedback device according to claim 3, characterized in that: The angle sensors are distributed in four groups around the circumference of the drive wheel to achieve redundancy.

8. The multi-redundant high-precision coaxial rudder angle feedback device according to claim 3, characterized in that: The driving wheel, driven wheel, and tension wheel all have a module of 1. The driving wheel has 80 teeth, and the driven wheel and tension wheel have 20 teeth each. The transmission ratio is 4:

1. The angle sensor is a potentiometer with a resistance of 2K ohms and a linearity of 0.5%.

9. The multi-redundant high-precision coaxial rudder angle feedback device according to any one of claims 1-8, characterized in that: The multi-redundant high-precision coaxial rudder angle feedback device is coaxially mounted with the pusher mechanism via a universal coupling, which avoids the amplification effect of the long connecting rod on the connecting rod feedback mechanism on the installation error of the connecting rod hinge seat, and improves the mapping accuracy of the rudder angle feedback signal.

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