Integrated pitch controller of controllable-pitch propeller based on analog circuit

Abstract

The invention discloses a controllable-pitch propeller integrated pitch controller based on an analog circuit, and relates to the technical field of electro-hydraulic servo control, the controller is composed of a power supply circuit, a pitch control circuit and a system alarm circuit; the power supply confluence circuit provides a stable power supply for each sub-circuit; the distance adjusting control circuit has a screw pitch instruction signal conditioning function, a screw pitch feedback signal conditioning function, a PI parameter adjusting function and a proportional valve driving amplification function, and can condition an instruction signal of a telegraph handle, collect and calibrate the screw pitch feedback signal in real time, and realize accurate closed-loop control through proportion and integral adjustment; the proportional valve drive circuit controls an ahead proportional valve coil and a reverse proportional valve coil respectively, and it is ensured that the controllable-pitch propeller acts accurately. And the system alarm circuit is responsible for monitoring and providing alarm and protection when a fault occurs, so that safe and stable operation of the system is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of electro-hydraulic servo control, and in particular to an analog circuit-based integrated pitch controller for a pitch controllable propeller. Background Art

[0002] At present, the domestic controllable pitch propeller pitch control is mainly a digital control system with a general PLC as the core controller. Most PLCs are imported products, and Siemens series PLCs are the most commonly used. At the same time, the proportional valve drive amplifier board and pitch feedback circuit used in conjunction with the controllable pitch propeller pitch controller are independent of the controller and used in conjunction with the controllable pitch propeller pitch follow-up control. In order to reduce the development cost, it is also a practical solution to develop a special controllable pitch propeller integrated controller that is low-priced, powerful, stable, and can integrate pitch feedback and proportional valve drive circuits. It uses very mature analog integrated control circuit technology and stable analog electronic components and simple integrated operational amplifier circuits to develop a controllable pitch propeller integrated pitch controller based on analog electronic components and analog control circuits. Summary of the invention

[0003] The purpose of the present invention is to provide an alternative, low-cost and stable solution for the independent development of a pitch controller for a controllable pitch propeller by using analog circuits and analog electronic components with mature technology and stable performance.

[0004] The technical solution of the present invention is: to provide a pitch controller for a pitch-controlled propeller integrated with an analog circuit, the controller comprising: a power supply circuit, a pitch control circuit and a system alarm circuit;

[0005] The power supply circuit converges the external power supply to supply power to the distance control circuit and the alarm circuit;

[0006] The pitch control circuit includes a pitch command signal conditioning circuit, a pitch feedback signal conditioning circuit, a PI parameter adjustment circuit and a proportional valve drive amplifier circuit;

[0007] The pitch command signal conditioning circuit receives and conditions the pitch command current or voltage signal sent by the car bell handle to ensure that the voltage is zero when the car bell handle is in zero position, and outputs the corresponding voltage signal when the car is in maximum forward or reverse position; the pitch feedback signal conditioning circuit collects the feedback signal of the adjustable pitch propeller, and performs real-time voltage tracking and calibration on the pitch feedback signal through the reverse amplification and addition circuit, and independently adjusts the feedback signals of the forward and reverse pitches to ensure that the signal changes match the actual mechanical displacement; the PI parameter adjustment circuit receives the command signal and the feedback signal, combines the input through the filtering and addition circuit, adjusts the proportional and integral parameters of the forward and reverse respectively, and outputs the pitch control signal; the proportional valve drive amplifier circuit realizes the control of the proportional valve through PID adjustment, and drives the corresponding proportional valve coils in the forward and reverse directions respectively to control the forward and reverse movements of the adjustable pitch propeller;

[0008] The system alarm circuit monitors the system operating status and provides alarm and protection functions when a fault occurs.

[0009] In any of the above technical solutions, further, the power supply circuit includes a power supply converging circuit and a voltage stabilizing isolation circuit; the power supply converging circuit converges two external power supplies into one power supply circuit through a diode, and the two external power supplies serve as backup for each other; the power after converging is divided into two paths, one path is used to supply power to the proportional valve drive amplifier circuit, and the other path is stepped down through the voltage stabilizing isolation circuit and supplies power to the distance adjustment control circuit and the system alarm circuit.

[0010] In any of the above technical solutions, further, the pitch command signal conditioning circuit includes: a pitch command signal selection circuit, a zero position and range adjustment circuit, a signal delay and current limiting circuit;

[0011] The pitch command signal selection circuit receives the pitch command signal sent by the external car bell handle. The signal can be in the form of current or voltage and is converted into a pitch command voltage signal through the current / voltage selection circuit;

[0012] The zero position and range adjustment circuit reversely amplifies the signal through the reverse proportional amplifier circuit to generate a negative voltage signal, and adds it to the positive voltage output by the potentiometer through the adding circuit to adjust the zero position, forward and reverse positions of the handle, so that the car bell handle outputs a zero voltage signal when it is at the zero position, and outputs a positive or negative voltage signal when it is at the maximum forward or reverse position;

[0013] The signal delay and current limiting circuit delays the rapid change of the handle position through the diode forward and reverse connection circuit and the reverse integral amplifier circuit, prevents the sudden change of the command signal causing a sudden change of the pitch, thereby slowing down the sudden increase and decrease of the host load, and limits the maximum voltage input of the signal through the voltage regulator diode.

[0014] In any of the above technical solutions, further, the pitch feedback signal conditioning circuit includes a pitch feedback acquisition circuit and a pitch zero position and forward and reverse range independent adjustment circuit;

[0015] The pitch feedback acquisition circuit provides a reference voltage signal to the potentiometer in the pitch feedback mechanism of the controllable pitch propeller, collects the feedback signal output by the potentiometer, and amplifies the feedback signal in real time through the reverse proportional amplifier circuit;

[0016] The feedback signal is calibrated to zero voltage through the pitch zero position and forward and reverse range independent adjustment circuits, so that the pitch feedback signal outputs a zero voltage signal when the pitch mechanical pointer is at zero thrust;

[0017] When the pitch is at the maximum forward or maximum reverse position, the feedback signal enters an independent amplification circuit with forward and reverse diodes respectively. By adjusting the potentiometer, the voltage range of the feedback signal of the pitch in the forward position or reverse position is adjusted independently to ensure that the pitch feedback signal can accurately reflect the changes in the pitch of the controllable pitch propeller within the full range in real time.

[0018] In any of the above technical solutions, further, the PI parameter adjustment circuit receives the pitch command signal and the pitch feedback signal after signal conditioning, and inputs the signals into the PI adjustment module after combining the signals through the addition circuit and the filtering circuit;

[0019] The PI parameter adjustment circuit includes a proportional amplifier circuit and an integral circuit, which adjusts the proportional parameter through the potentiometer P13, and adjusts the integral parameters of forward and reverse respectively through the potentiometers P7 and P8, and controls the pitch differently in the forward and reverse adjustment processes; the signal after proportional amplification and integration processing generates a pitch control signal VOUT1, and is output to the proportional valve drive amplifier circuit for power amplification and proportional valve control.

[0020] In any of the above technical solutions, further, the proportional valve drive amplifier circuit is composed of a proportional valve PID adjustment circuit, a forward and reverse power amplifier circuit and a forward and reverse vibration circuit;

[0021] The proportional valve PID adjustment circuit receives the pitch control signal VOUT1 output by the PI parameter adjustment circuit, and adjusts the proportional, integral and differential parameters of the proportional valve control through the proportional valve PID adjustment circuit. The proportional parameter is adjusted through the potentiometer P19, the integral parameter is adjusted through P20, and the differential parameter is adjusted through P21;

[0022] The pitch control signal adjusted by the proportional valve PID adjustment circuit enters the forward and reverse power amplifier circuit to generate forward control signal and reverse control signal respectively, and is merged with the tremor signal respectively. The power amplifier circuit drives the A coil or B coil of the proportional valve to control the action of the proportional solenoid valve, thereby realizing the movement of the adjustable pitch propeller in the forward or reverse direction.

[0023] In any of the above technical solutions, the controller further includes a unloading valve control output circuit, which receives a pitch control signal output by a PI adjustment circuit. When the pitch control reaches a predetermined position, the transistor is driven by a reverse proportional amplification circuit to energize the relay, and the output signal activates the unloading valve, and the hydraulic system enters an unloading state. When the pitch needs to be adjusted again, the transistor drive circuit de-energizes the relay, and the relay outputs a working signal to the unloading valve, and the unloading valve is energized and closed again, and the hydraulic system builds up pressure and resumes work.

[0024] In any of the above technical solutions, further, the system alarm circuit has multiple alarm functions, including an alarm reset circuit, an alarm output and pitch lock circuit, a command signal and pitch signal deviation alarm circuit, a command signal out-of-range alarm circuit, a feedback signal out-of-range alarm circuit and a power failure alarm circuit;

[0025] The alarm reset circuit is used to clear the alarm signal and re-enter the monitoring state by manually pressing the reset button when an alarm occurs; the alarm output and pitch lock circuit disconnects the proportional valve control signal when an alarm occurs, locks the pitch, and prevents the pitch from continuing to adjust; the command signal and pitch signal deviation alarm circuit is used to detect the deviation between the command signal and the pitch feedback signal. When the deviation exceeds the preset threshold, the alarm is triggered and the pitch is locked; the command signal out-of-range alarm circuit detects the maximum and minimum values ​​of the command signal and triggers an alarm when it exceeds the preset range; the feedback signal out-of-range alarm circuit is used to monitor whether the feedback signal exceeds the set maximum and minimum values. When it exceeds the range, the alarm is triggered and the pitch is locked; the power failure alarm circuit is used to detect the power supply voltage. When the power supply voltage is lower than the preset value, the alarm is triggered and the pitch is locked.

[0026] The beneficial effects of the present invention are:

[0027] The technical solution in the present invention has various basic functions required for the pitch control of various types of ships' adjustable pitch propellers, and can replace the adjustable pitch propeller ships currently using imported pitch controllers; the present invention utilizes very mature and highly reliable analog control circuit technology, uses stable analog electronic components and simple and reliable integrated circuits, and realizes the basic functions such as signal conditioning, PID closed-loop automatic control, fault alarm, and alarm protection required by the adjustable pitch propeller integrated pitch controller. At the same time, the controller integrates functions such as pitch feedback signal acquisition, unloading valve output control, and proportional valve drive amplification, and realizes the completion of various functional links required by the adjustable pitch propeller closed-loop pitch control electronic control system on one controller, reduces the intermediate links of the closed-loop control system, reduces the failure rate of the adjustable pitch propeller pitch control system, and facilitates later repair, maintenance, and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The advantages of the above and additional aspects of the present invention will become apparent and easily understood in the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 is a flow chart of the overall structure of a pitch control propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of a power supply circuit of a pitch controller integrated with a pitch control propeller based on an analog circuit according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of a signal selection circuit of a pitch control propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0032] Figure 4 It is a schematic diagram of a full-stroke range adjustment circuit of a pitch controller integrated with a pitch control propeller based on an analog circuit according to an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of a delay current limiting circuit of a pitch control propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0034] Figure 6 1 is a schematic diagram of a pitch feedback acquisition circuit of a pitch controllable propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0035] Figure 7 It is a schematic diagram of a pitch zero position and forward and reverse range independent adjustment circuit of a pitch control propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0036] Figure 8 It is a schematic diagram of a pitch control PI parameter adjustment circuit diagram of a pitch control propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0037] Fig. 9 1 is a schematic diagram of a proportional valve PID adjustment circuit of a pitch controller for a controllable pitch propeller integrated with an analog circuit according to an embodiment of the present invention;

[0038] Fig.10 1 is a schematic diagram of a forward and reverse separation circuit of a pitch controller integrated with a controllable pitch propeller based on an analog circuit according to an embodiment of the present invention;

[0039] Fig.11 is a schematic diagram of a tremor circuit of a pitch control propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0040] Fig.12is a schematic diagram of a power amplifier circuit of a pitch control propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0041] Fig.13 1 is a schematic diagram of an unloading valve control output circuit of a controllable pitch propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0042] Fig.14 A schematic diagram of an alarm output and pitch locking circuit of a pitch control propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0043] Fig.15 A schematic diagram of an error and non-tracking pitch alarm circuit of a pitch controller integrated with a controllable pitch propeller based on an analog circuit according to an embodiment of the present invention;

[0044] Fig.16 A schematic diagram of an out-of-range alarm circuit for a command signal and a feedback signal of a pitch controller integrated with a controllable pitch propeller based on an analog circuit according to an embodiment of the present invention;

[0045] Fig.17 A schematic diagram of a power failure alarm circuit of a controllable pitch propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention;

[0046] Fig.18 A schematic diagram of an alarm reset circuit of a controllable pitch propeller integrated pitch controller based on an analog circuit according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0048] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0049] like Figure 1 As shown, this embodiment provides a pitch controller for a pitch-controlled propeller integrated with an analog circuit. The controller includes: a power supply circuit, a pitch control circuit and a system alarm circuit.

[0050] The introduction and purpose of each circuit include:

[0051] The power supply circuit includes a power merging circuit and a voltage stabilizing isolation circuit; two power supplies are provided externally, which are merged into one through the power merging circuit to supply power to the subsequent proportional valve drive amplifier circuit and the adjustable pitch propeller control circuit respectively; the voltage stabilizing isolation circuit ensures the stability and isolation of the power supply to avoid external interference.

[0052] The pitch control circuit includes a pitch command signal conditioning circuit, a pitch feedback signal conditioning circuit, a PI parameter adjustment circuit and a proportional valve drive amplifier circuit.

[0053] The pitch command signal conditioning circuit is used to receive and condition the pitch command current or voltage signal issued by the car bell handle. Through the reverse proportional amplification circuit of the voltage signal, it ensures that the voltage is zero when the car bell handle is in the zero position, and outputs the corresponding voltage signal when the handle is in the maximum forward or maximum reverse position.

[0054] The pitch feedback signal conditioning circuit collects the feedback signal of the adjustable pitch propeller, and realizes the real-time voltage tracking and calibration of the pitch feedback signal through the reverse amplification and addition circuit; by independently adjusting the feedback signals of the forward and reverse pitches, it ensures that the signal changes match the actual mechanical displacement.

[0055] The PI parameter adjustment circuit receives the command signal and the feedback signal, combines the inputs through filtering and adding circuits, and can adjust the proportional and integral parameters during forward control or reverse control respectively, and output a distance adjustment control signal.

[0056] The proportional valve drive amplifier circuit controls the proportional valve through PID regulation, which is divided into two paths: forward and reverse, and drives the corresponding proportional valve coils respectively to control the forward and reverse movement of the adjustable pitch propeller pitch.

[0057] The system alarm circuit includes alarm reset circuit, alarm output and pitch lock circuit, which provides multiple alarm protection functions, such as command signal and pitch signal mismatch alarm, command out-of-range alarm, feedback out-of-range alarm, etc. When an alarm occurs, the controller automatically locks the pitch to prevent serious faults in the system.

[0058] The following is a detailed introduction to the specific implementation methods of each part. First, Figure 2As shown in the figure, the power supply circuit is the power basic part of the whole controller. It completes the power supply and voltage stabilization through the power supply converging circuit and the power supply voltage stabilizing isolation circuit. Two power supplies P1 and P2 are connected to the outside of the controller. The two power supplies are merged into one through the diode converging circuit, so that the two power supplies can be used as backup for each other. When one of the power supplies fails, the other power supply can continue to work normally to ensure the continuous operation of the system. The power supply after converging is divided into two routes, one of which is used to power the high-power electronic components in the proportional valve drive amplifier circuit, and the other is connected to the power supply isolation circuit for voltage stabilization and isolation. The power supply voltage stabilizing isolation circuit is stabilized and filtered by resistors, capacitors and power supply isolation modules, and then supplied to the pitch control circuit and the alarm circuit. At the same time, the power supply signal after voltage stabilization and isolation is output as a reference power supply signal through the reference power supply module to provide a reference voltage for other sub-circuits. The design of this part not only ensures the stability of the power supply, but also improves the anti-interference ability of the system through the isolation circuit.

[0059] like Figures 3 to 5 As shown, the pitch command signal conditioning circuit of the pitch adjustment control circuit is composed of a pitch command signal selection circuit, a full-stroke range adjustment circuit, a signal delay and current limiting circuit; the pitch command signal conditioning circuit receives the pitch command current or voltage signal from the external car bell handle, selects the current / voltage signal through the pitch command signal selection circuit, converts it into a handle pitch command voltage signal, and then forms a negative voltage through the full-stroke range adjustment circuit, and then adds it to the positive voltage to perform voltage correction on different positions of the car bell handle. Specifically, when the handle is in the zero position, the output signal is zero voltage. When the handle is in the maximum forward or maximum reverse position, the potentiometer P4 is adjusted to ensure that the output signal is positive 10V or negative 10V, so that the system can accurately identify the various positions of the car bell handle and convert them into corresponding voltage signals.

[0060] The command signal delay and current limiting circuit are the next steps in pitch command conditioning. In order to prevent the rapid change in the position of the car bell handle from causing a sudden change in the pitch and causing a large fluctuation in the host load, the delay circuit delays the signal change through a diode and a reverse integral amplifier circuit; specifically, when the handle position changes, the signal passes through the delay circuit, and the delay time is adjusted independently for the forward and reverse signals through potentiometers P5 and P6 respectively; in this way, when the handle is switched quickly, the signal will not be transmitted to the pitch control system immediately, but will be delayed and the pitch will be gradually adjusted in a smooth manner, thereby reducing the impact on the system; in addition, a current limiting function is also designed in the delay circuit, which limits the maximum voltage input of the command signal through a voltage-stabilizing diode to ensure the safe operation of the system.

[0061] like Figure 6 and Figure 7As shown in the figure, the pitch feedback signal conditioning circuit of the pitch control circuit includes a pitch feedback acquisition circuit, a pitch zero position and a forward and reverse range independent adjustment circuit; the pitch feedback acquisition circuit acquires and conditions the feedback signal from the pitch control propeller to ensure accurate control of the pitch, and the pitch feedback circuit first provides a reference voltage signal to the potentiometer installed on the pitch control propeller feedback device, and receives the pitch feedback voltage signal output by the potentiometer. The feedback signal is processed by the reverse amplifier circuit, and the feedback signal is zero-position calibrated by reverse proportional amplification and addition operation, that is, at the pitch zero thrust position, the feedback signal is zero voltage, and then the positive and negative voltage signals are independently amplified by the circuit with forward and reverse diodes, that is, the pitch feedback signal range is adjusted when the pitch is at the maximum forward position and at the maximum reverse position, ensuring the stability and accuracy of the signal.

[0062] In the independent adjustment circuit of pitch zero position and forward and reverse range, the zero voltage calibration of the pitch feedback signal is realized by adjusting the potentiometer P0 when the mechanical pointer is at the zero thrust position; when the mechanical pointer is placed at the maximum forward or maximum reverse position, the system adjusts the forward and reverse feedback signals separately through independent forward and reverse amplification circuits, adjusting potentiometers P1 and P3 to ensure that the range of the feedback signal matches the actual stroke of the mechanical displacement, thereby ensuring the accuracy of closed-loop control.

[0063] like Figure 8 As shown, the processed pitch command signal and feedback signal enter the PI parameter adjustment circuit at the same time. In the PI parameter adjustment circuit, the command signal and feedback signal enter the reverse proportional amplifier circuit after filtering and addition operations, where the system can adjust the proportional and integral parameters of the forward and reverse control respectively, thereby achieving fine control in different operation modes; the proportional parameters of the forward and reverse control are adjusted by potentiometer P13, and the integral parameters are adjusted by P7 and P8 respectively; after proportional amplification and integration processing, the system generates a pitch control signal VOUT1 and outputs the signal to the proportional valve drive amplifier circuit.

[0064] like Figures 9 to 12 As shown, the proportional valve driving amplifier circuit includes a proportional valve PID circuit, a forward and reverse separation circuit, a tremor circuit and a power amplifier circuit.

[0065] The proportional valve drive amplifier circuit is the executive part of the entire pitch control system; after the pitch control signal generated by the PI parameter adjustment circuit enters the proportional valve PID adjustment circuit, the proportional, integral and differential parameters of the control signal are first further optimized through the PID adjustment circuit; specifically, the proportional amplification parameter is adjusted by potentiometer P19, the integral parameter is adjusted by P20, and the differential parameter is adjusted by P21; these adjusted signals then enter the forward and reverse separation circuit to generate the proportional valve forward control signal and the proportional valve reverse control signal respectively, and drive the A coil or the B coil through the power amplifier circuit to control the pitch propeller to move in the forward or reverse direction respectively.

[0066] In order to further optimize the smoothness of pitch adjustment, the system also designs a vibration circuit, which is merged with the forward and reverse control signals respectively to reduce the tiny fluctuations in the pitch movement.

[0067] like Fig.13 As shown, the unloading valve control output circuit receives the output signal of the PI circuit, controls the conduction of the transistor through reverse proportional amplification and addition operation, and when the relay is energized, the unloading valve is energized, the hydraulic system stops unloading and establishes working pressure; when the command and feedback errors are zero, the unloading valve loses power and unloads.

[0068] like Figures 14 to 18 As shown, the system alarm circuit includes an alarm reset circuit, an alarm output and pitch lock circuit, an alarm protection circuit for deviation between the command signal and the pitch signal and non-following pitch, an alarm circuit for command signal out of range, an alarm circuit for feedback signal out of range and a power failure alarm circuit.

[0069] In the alarm reset circuit, the reset button SB is connected to the error and pitch non-following circuit, and the button is pressed to ground to eliminate the alarm; in the alarm output and pitch locking circuit, all alarm signals are combined and connected to ALM, and the low-level signal controls the transistor to conduct through the comparison circuit, and the relay is energized to alarm and lock the pitch; in the alarm protection circuit where there is a deviation between the command signal and the pitch signal and the pitch does not follow, the feedback signal and the command signal are detected by the comparison and integration circuit, and an alarm is alarmed and the pitch is locked when the threshold is exceeded; in the command signal out-of-range alarm circuit, when the handle command signal exceeds the set threshold, a high-level signal is output through the comparison circuit to alarm and lock the pitch; in the feedback signal out-of-range alarm circuit, when the pitch feedback signal exceeds the set threshold, a high-level signal is output through the comparison circuit to alarm and lock the pitch; in the power supply failure alarm circuit, when the output voltage of the power supply voltage stabilizing isolation power supply circuit is lower than the reference voltage, a low-level signal is output through the comparison circuit to alarm.

[0070] In summary, the present invention provides a controllable pitch propeller integrated pitch controller based on analog circuits, which successfully realizes the closed-loop control and fault alarm functions of the controllable pitch propeller through the coordinated work of various sub-circuits; the controller can not only accurately adjust the pitch of the controllable pitch propeller, but also ensure that the system can respond in time and take protective measures when a fault occurs through a variety of alarm mechanisms; by adopting analog circuits, the present invention effectively reduces development costs and improves system reliability, and is particularly suitable for ship controllable pitch propeller control systems that require high stability and low cost.

[0071] The steps in the present invention can be adjusted in order, combined, or deleted according to actual needs.

[0072] The units in the device of the present invention can be combined, divided and deleted according to actual needs.

[0073] Although the present invention is disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and are not intended to limit the application of the present invention. The scope of protection of the present 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 present invention.

Claims

1. A pitch controller for a controllable pitch propeller based on an analog circuit, characterized in that: The controller includes: a power supply circuit, a distance adjustment control circuit and a system alarm circuit; The power supply circuit converges the external power supply to supply power to the distance control circuit and the alarm circuit; The pitch control circuit includes a pitch command signal conditioning circuit, a pitch feedback signal conditioning circuit, a PI parameter adjustment circuit and a proportional valve drive amplifier circuit; The pitch command signal conditioning circuit receives and conditions the pitch command current or voltage signal sent by the car bell handle to ensure that the voltage is zero when the car bell handle is in zero position, and outputs the corresponding voltage signal when the car is in maximum forward or reverse position; the pitch feedback signal conditioning circuit collects the feedback signal of the adjustable pitch propeller, and performs real-time voltage tracking and calibration on the pitch feedback signal through the reverse amplification and addition circuit, and independently adjusts the feedback signals of the forward and reverse pitches to ensure that the signal changes match the actual mechanical displacement; the PI parameter adjustment circuit receives the command signal and the feedback signal, combines the input through the filtering and addition circuit, adjusts the proportional and integral parameters of the forward and reverse respectively, and outputs the pitch control signal; the proportional valve drive amplifier circuit realizes the control of the proportional valve through PID adjustment, and drives the corresponding proportional valve coils in the forward and reverse directions respectively to control the forward and reverse movements of the adjustable pitch propeller; The system alarm circuit monitors the system operating status and provides alarm and protection functions when a fault occurs.

2. The analog circuit-based controllable pitch propeller integrated pitch controller according to claim 1, characterized in that: The power supply circuit includes a power supply converging circuit and a voltage stabilizing isolation circuit; the power supply converging circuit converges two external power supplies into one power supply circuit through a diode, and the two external power supplies serve as backup for each other; the power after converging is further divided into two paths, one path is used to supply power to the proportional valve drive amplifier circuit, and the other path is stepped down through the voltage stabilizing isolation circuit and supplies power to the distance adjustment control circuit and the system alarm circuit.

3. The analog circuit-based controllable pitch propeller integrated pitch controller according to claim 1, characterized in that: The pitch command signal conditioning circuit comprises: a pitch command signal selection circuit, a zero position and range adjustment circuit, a signal delay and current limiting circuit; The pitch command signal selection circuit receives the pitch command signal sent by the external car bell handle. The signal can be in the form of current or voltage and is converted into a pitch command voltage signal through the current / voltage selection circuit; The zero position and range adjustment circuit reversely amplifies the signal through the reverse proportional amplifier circuit to generate a negative voltage signal, and adds it to the positive voltage output by the potentiometer through the adding circuit to adjust the zero position, forward and reverse positions of the handle, so that the car bell handle outputs a zero voltage signal when it is at the zero position, and outputs a positive or negative voltage signal when it is at the maximum forward or reverse position; The signal delay and current limiting circuit delays the rapid change of the handle position through the diode forward and reverse connection circuit and the reverse integral amplifier circuit, prevents the sudden change of the command signal causing a sudden change of the pitch, thereby slowing down the sudden increase and decrease of the host load, and limits the maximum voltage input of the signal through the voltage regulator diode.

4. The analog circuit-based controllable pitch propeller integrated pitch controller according to claim 1, characterized in that: The pitch feedback signal conditioning circuit includes a pitch feedback acquisition circuit and a pitch zero position and forward and reverse range independent adjustment circuit; The pitch feedback acquisition circuit provides a reference voltage signal to the potentiometer in the pitch feedback mechanism of the controllable pitch propeller, collects the feedback signal output by the potentiometer, and amplifies the feedback signal in real time through the reverse proportional amplifier circuit; The feedback signal is calibrated to zero voltage through the pitch zero position and forward and reverse range independent adjustment circuits, so that the pitch feedback signal outputs a zero voltage signal when the pitch mechanical pointer is at zero thrust; When the pitch is at the maximum forward or maximum reverse position, the feedback signal enters an independent amplification circuit with forward and reverse diodes respectively. By adjusting the potentiometer, the voltage range of the feedback signal of the pitch in the forward position or reverse position is adjusted independently to ensure that the pitch feedback signal can accurately reflect the changes in the pitch of the controllable pitch propeller within the full range in real time.

5. The analog circuit-based controllable pitch propeller integrated pitch controller according to claim 1, characterized in that: The PI parameter adjustment circuit receives the pitch command signal and the pitch feedback signal after signal conditioning, combines the signals through the addition circuit and the filtering circuit, and then inputs them into the PI adjustment module; The PI parameter adjustment circuit includes a proportional amplifier circuit and an integral circuit, which adjusts the proportional parameter through the potentiometer P13, and adjusts the integral parameters of forward and reverse respectively through the potentiometers P7 and P8, and controls the pitch differently during the forward and reverse adjustment processes; The signal after proportional amplification and integration processing generates a pitch control signal VOUT1, and is output to the proportional valve drive amplifier circuit for power amplification and proportional valve control.

6. The analog circuit-based controllable pitch propeller integrated pitch controller according to claim 1, characterized in that: The proportional valve drive amplifier circuit is composed of a proportional valve PID adjustment circuit, a forward and reverse power amplifier circuit, and a forward and reverse vibration circuit; The proportional valve PID adjustment circuit receives the pitch control signal VOUT1 output by the PI parameter adjustment circuit, and adjusts the proportional, integral and differential parameters of the proportional valve control through the proportional valve PID adjustment circuit. The proportional parameter is adjusted through the potentiometer P19, the integral parameter is adjusted through P20, and the differential parameter is adjusted through P21; The pitch control signal adjusted by the proportional valve PID adjustment circuit enters the forward and reverse power amplifier circuit to generate forward control signal and reverse control signal respectively, and is merged with the tremor signal respectively. The power amplifier circuit drives the A coil or B coil of the proportional valve to control the action of the proportional solenoid valve, thereby realizing the movement of the adjustable pitch propeller in the forward or reverse direction.

7. The analog circuit-based controllable pitch propeller integrated pitch controller according to claim 1, characterized in that: The controller also includes an unloading valve control output circuit, which receives a pitch control signal output by a PI adjustment circuit. When the pitch control reaches a predetermined position, the transistor is driven by a reverse proportional amplification circuit to energize the relay, and the output signal activates the unloading valve, and the hydraulic system enters an unloading state. When the pitch needs to be adjusted again, the transistor drive circuit de-energizes the relay, and the relay outputs a working signal to the unloading valve, and the unloading valve is energized again and closed, and the hydraulic system builds up pressure and resumes operation.

8. The analog circuit-based controllable pitch propeller integrated pitch controller according to claim 1, characterized in that: The system alarm circuit has multiple alarm functions, including an alarm reset circuit, an alarm output and pitch lock circuit, an instruction signal and pitch signal deviation alarm circuit, an instruction signal out-of-range alarm circuit, a feedback signal out-of-range alarm circuit, and a power failure alarm circuit; The alarm reset circuit is used to clear the alarm signal and re-enter the monitoring state by manually pressing the reset button when an alarm occurs; the alarm output and pitch lock circuit disconnects the proportional valve control signal when an alarm occurs, locks the pitch, and prevents the pitch from continuing to adjust; the command signal and pitch signal deviation alarm circuit is used to detect the deviation between the command signal and the pitch feedback signal. When the deviation exceeds the preset threshold, the alarm is triggered and the pitch is locked; the command signal out-of-range alarm circuit detects the maximum and minimum values ​​of the command signal and triggers an alarm when it exceeds the preset range; the feedback signal out-of-range alarm circuit is used to monitor whether the feedback signal exceeds the set maximum and minimum values. When it exceeds the range, the alarm is triggered and the pitch is locked; The power failure alarm circuit is used to detect the power supply voltage. When the power supply voltage is lower than the preset value, an alarm is triggered and the pitch is locked.

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