Three-dimensional variable controller and method based on rudder angle and thrust of ship

Abstract

The invention discloses a three-dimensional variable controller based on a ship rudder angle and thrust, and the controller comprises a) a data collection unit which is used for obtaining the real-time navigational speed of a ship, the real-time rotating speed of a ship propeller, and possible other related navigation parameters; b) a three-dimensional variable control algorithm unit; c) a dynamic control unit; the normal stop input unit is used for receiving an external normal stop instruction and sending a signal to the dynamic control unit after receiving the instruction so as to relieve the limitation on the rudder angle of the ship; e) a human-computer interaction interface HMI unit; and f) a navigation data recorder VDR interface unit which is connected with the three-dimensional variable control algorithm unit and is used for comprehensively recording key information in the navigation process. According to the method, the sailing state and the environmental parameters of the ship are monitored in real time, and the safe operation range of the current ship rudder angle is dynamically calculated and determined, so that accurate control over the steering engine is achieved, ship overturning caused by too large restoring torque is prevented, and the sailing safety of the ship is effectively guaranteed.

Description

Technical Field

[0001] The invention relates to a three-dimensional variable controller and method based on a ship's rudder angle and thrust, and belongs to the technical field of ship control. Background Art

[0002] During the navigation process of a ship, the control of the steering gear is crucial to the stability and safety of the ship. Traditional steering gear control systems often only make simple rudder angle adjustments based on the ship's heading deviation, while ignoring the impact of ship speed, propeller speed, and environmental parameters (such as wind direction, water flow speed, etc.) on steering gear control. Therefore, under harsh navigation conditions, such as strong winds and rapids, traditional steering gear control methods may cause the rudder blades to rotate excessively, increase the risk of damage to the rudder blades, and may even cause serious accidents such as ship capsizing. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a three-dimensional variable controller and method based on the ship's rudder angle and thrust, which dynamically calculates and determines the safe operating range of the current ship's rudder angle by real-time monitoring of the ship's navigation status and environmental parameters, thereby achieving precise control of the steering gear and preventing the ship from capsizing due to excessive restoring torque, thereby effectively ensuring the safety of the ship's navigation.

[0004] Technical solution: To solve the above technical problems, the present invention provides a ship rudder angle limiting controller based on ship speed and propeller speed, comprising:

[0005] a) Data acquisition unit, used to obtain the real-time speed of the ship, the real-time speed of the ship's propeller and other possible relevant navigation parameters (such as wind direction, water flow speed, etc.);

[0006] b) a three-dimensional variable control algorithm unit, connected to the data acquisition unit, for obtaining real-time speed data of the ship and real-time rotation speed data of the ship's propeller, and based on these data, dynamically calculating and determining the safe operating range of the current ship's rudder angle through a preset three-dimensional variable control algorithm;

[0007] c) A dynamic control unit connected to the three-dimensional variable control algorithm unit and the rudder angle control input of the ship's steering gear, for receiving the safe operating range data output by the three-dimensional variable control algorithm unit, and comparing it with the real-time collected rudder angle data. When the real-time rudder angle exceeds the safe operating range, the left / right rudder angle locking mechanism of the ship's steering gear is dynamically controlled to prevent the steering gear from outputting excessive left or right turns on the rudder blade;

[0008] d) a normal stop input unit, used to receive an external normal stop command, and after receiving the command, send a signal to the dynamic control unit to release the restriction on the ship's rudder angle;

[0009] e) a human-machine interface HMI unit, connected to the data acquisition unit, the three-dimensional variable control algorithm unit and the dynamic control unit, for displaying real-time ship speed, propeller speed, rudder angle data and safe operating range, and triggering an audible and visual alarm when it is detected that the rudder angle exceeds a preset safe range; at the same time, the HMI unit also supports the setting of safety thresholds for ship speed, propeller speed and rudder angle;

[0010] f) A navigation data recorder (VDR) interface unit is connected to the three-dimensional variable control algorithm unit and is used to comprehensively record key information during the navigation process, including speed, propeller speed, rudder angle data, alarm records and any operation records related to the navigation.

[0011] Preferably, the data acquisition unit comprises:

[0012] a) Doppler log, used to accurately measure the real-time speed of the ship;

[0013] b) Propeller dynamometer, used to measure the real-time speed of the ship's propeller and the thrust that may be generated;

[0014] c) Additional sensors, such as anemometers, current meters, etc., are used to obtain environmental parameters to assist in the calculation of the three-dimensional variable control algorithm.

[0015] 3. The ship rudder angle limiting controller based on ship speed and propeller speed according to claim 1, characterized in that: the three-dimensional variable control algorithm unit also includes:

[0016] a) A limit steering angle calculation module, which is used to calculate the limit steering angle of the ship under current conditions according to the real-time speed, propeller speed and environmental parameters;

[0017] b) A safety range determination module is used to determine the safe operating range of the rudder angle based on the limit steering angle and in combination with preset safety parameters (such as safety margin, ship type, load, etc.).

[0018] c) Environmental parameter compensation module, which is used to dynamically adjust the limit steering angle and safe operating range according to the real-time acquired environmental parameters (such as wind direction, water flow speed, etc.) to improve control accuracy and safety.

[0019] 4. The ship rudder angle limiting controller based on ship speed and propeller speed according to claim 1, characterized in that: the dynamic control unit also includes:

[0020] a) a real-time comparison module, used for comparing the rudder angle data collected in real time with the safe operating range data output by the three-dimensional variable control algorithm unit;

[0021] b) A locking signal output module is used to send a locking signal to the ship's steering gear when the real-time rudder angle exceeds the safe operating range, so as to control it to stop further steering operations or adjust it to a safe range.

[0022] c) Fault detection and alarm module, which is used to detect faults in the data acquisition unit, the three-dimensional variable control algorithm unit or the steering gear system, and trigger an alarm when a fault is detected, and take necessary safety measures (such as automatically placing the steering gear in the neutral position).

[0023] Preferably, the normal stop input unit further comprises:

[0024] a) A command receiving module, used to receive a normal stop command from an external control device (such as a cab control console);

[0025] b) a limit release signal output module, used to send a limit release signal to the dynamic control unit after receiving a normal stop command to restore normal control of the ship's rudder angle.

[0026] Preferably, the HMI unit further comprises:

[0027] a) Data display module, used to display the ship speed, propeller speed, rudder angle data and safe operating range in real time on the display screen;

[0028] b) A manual setting module, which is used to receive the safety threshold set by the crew through an input device (such as a keyboard, a touch screen, etc.), and transmit the set value to the three-dimensional variable control algorithm unit or the dynamic control unit for adjustment.

[0029] c) Historical data query module allows crew members to query and view past navigation data, including speed, propeller speed, rudder angle changes and alarm records, so as to conduct performance analysis and fault diagnosis.

[0030] Preferably, the VDR interface unit further comprises:

[0031] a) Data recording module, used to store the collected ship speed, propeller speed, rudder angle data and any navigation-related operation records in the VDR device according to the preset format and time interval;

[0032] b) Data export module, used to export the data stored in the VDR device to an external storage medium or analysis system for subsequent analysis and review when necessary.

[0033] c) Data encryption module, used to encrypt data stored in the VDR device to ensure data security and privacy.

[0034] Preferably, the locking signal output module is composed of two normally closed contacts of two relays connected in series to the left / right rudder control output circuit of the servo, and accurately compares the real-time feedback of the rudder angle, and dynamically controls the output of the left / right rudder angle of the servo, thereby effectively cutting off the servo's excessive left or right turn output for the rudder blade.

[0035] A method for using the above-mentioned three-dimensional variable controller based on ship rudder angle and thrust comprises the following steps:

[0036] a) Real-time collection of ship speed data, propeller speed data and other relevant navigation parameters;

[0037] b) Based on the real-time collected data, dynamically calculate and determine the safe operating range of the current ship rudder angle through a three-dimensional variable control algorithm;

[0038] c) comparing the rudder angle feedback data collected in real time with the safe operating range;

[0039] d) When the real-time rudder angle exceeds the safe operating range, dynamically control the left / right rudder angle locking mechanism of the ship's steering gear to limit the excessive output of the steering gear;

[0040] e) Display real-time ship speed, propeller speed, rudder angle data and safe operating range through the human-machine interface (HMI), and trigger an audible and visual alarm when the rudder angle is detected to be beyond the preset safe range;

[0041] f) Support manual setting of ship speed, propeller speed and rudder angle through HMI;

[0042] g) Comprehensively record key information during the voyage into the Voyage Data Recorder (VDR) and ensure the security and privacy of the data;

[0043] h) After the voyage, export the voyage data through the HMI or VDR interface unit for analysis and review.

[0044] Preferably, the step b) comprises the following steps:

[0045] B1) The limit steering angle of the ship speed-rudder angle is to find the corresponding limit steering angle in the preset limit steering angle curve of the ship speed-rudder angle according to the current ship speed through the limit steering angle query algorithm;

[0046] B2) the limit steering angle of the propeller speed-rudder angle of the ship, according to the current propeller speed, through the limit steering angle query algorithm, find the corresponding limit steering angle in the preset limit steering angle curve of the propeller speed-rudder angle of the ship;

[0047] B3) determining the limit steering angle, taking the smaller value of the limit steering angle of the ship speed-rudder angle and the limit steering angle of the propeller speed-rudder angle as the limit steering angle under the current conditions;

[0048] B4) Based on the limit steering angle, combined with environmental parameters (such as wind direction, water flow speed, etc.), the limit steering angle obtained by preliminary calculation is compensated and adjusted to obtain the final rudder angle limit steering angle.

[0049] A three-dimensional variable controller based on ship rudder angle and thrust includes a data acquisition unit, a three-dimensional variable control algorithm unit, a dynamic control unit, a normal stop input unit, a human-machine interface (HMI) unit and a voyage data recorder (VDR) interface unit. Among them:

[0050] 1. The data acquisition unit is used to obtain the real-time speed of the ship, propeller speed and other possible relevant navigation parameters (such as wind direction, water flow speed, etc.). The unit includes a Doppler speed meter, a propeller dynamometer and additional sensors.

[0051] 2. The three-dimensional variable control algorithm unit is connected to the data acquisition unit to obtain real-time speed data and propeller speed data, and based on these data, dynamically calculate and determine the safe operating range of the current ship rudder angle through the preset three-dimensional variable control algorithm. The unit also includes a limit steering angle calculation module, a safety range determination module, and an environmental parameter compensation module.

[0052] 3. The dynamic control unit is connected to the three-dimensional variable control algorithm unit and the rudder angle control input of the ship's steering gear to receive the safe operating range data and compare it with the real-time collected rudder angle data. When the real-time rudder angle exceeds the safe operating range, the left / right rudder angle locking mechanism of the ship's steering gear is dynamically controlled. The unit also includes a real-time comparison module, a locking signal output module, and a fault detection and alarm module.

[0053] 4. The normal stop input unit is used to receive an external normal stop command, and after receiving the command, it sends a signal to the dynamic control unit to release the restriction on the ship's rudder angle.

[0054] 5. The human-machine interface (HMI) unit is connected to the data acquisition unit, the three-dimensional variable control algorithm unit and the dynamic control unit to display the real-time speed, propeller speed, rudder angle data and the safe operating range, and trigger an audible and visual alarm when the rudder angle is detected to be beyond the preset safe range. The unit also supports the setting of safety thresholds for ship speed, propeller speed and rudder angle, and includes a data display module, a manual setting module and a historical data query module.

[0055] 6. The voyage data recorder (VDR) interface unit is connected to the three-dimensional variable control algorithm unit to comprehensively record key information during the voyage, including speed, propeller speed, rudder angle data, alarm records, and any operation records related to the voyage. The unit also includes a data recording module, a data export module, and a data encryption module.

[0056] The method of using the three-dimensional variable controller based on ship rudder angle and thrust described in the present invention comprises the following steps: real-time collection of ship speed data, propeller speed data and other relevant navigation parameters; dynamic calculation and determination of the safe operating range of the current ship rudder angle based on the real-time collected data; comparison of the real-time collected rudder angle feedback data with the safe operating range; when the real-time rudder angle exceeds the safe operating range, dynamically controlling the left / right rudder angle locking mechanism of the ship steering gear; receiving an external normal stop command and releasing the restriction on the ship rudder angle when necessary; displaying real-time data and triggering an alarm through a human-computer interaction interface; supporting manual setting of the ship speed, propeller speed and rudder angle; comprehensively recording key information during navigation in a navigation data recorder; and exporting the navigation data for analysis and review after the navigation ends.

[0057] The present invention realizes precise control of the ship's steering gear by comprehensively considering the influence of the ship's speed, propeller speed and environmental parameters on the safe operating range of the rudder angle; reduces the risk of damage to the rudder blade under severe water flow conditions; when the ship's speed, propeller speed and rudder blade angle do not match, preventive measures can be taken quickly to prevent the ship from capsizing due to excessive restoring torque; and improves the safety and stability of the ship's navigation.

[0058] Beneficial effects: Compared with the present invention, the present invention has the following advantages:

[0059] The present invention innovatively adds a rudder angle limit controller between the control loop between the steering instrument and the steering gear. The controller integrates the relationship between the ship speed, propeller speed and the ship rudder angle, and constructs the control algorithm of the ship rudder's limit rudder angle at a certain speed and considering the propeller speed. The algorithm dynamically calculates and determines the safe operating range of the rudder angle according to the current real-time speed and propeller speed of the ship, combines the real-time feedback of the rudder angle to accurately compare, dynamically controls the locking output mechanism of the left / right rudder angle of the steering gear, effectively locks the steering instrument for the left or right turn output of the steering gear, reduces the potential damage risk of the steering gear and ensures the safety of the ship's navigation. In addition, the present invention adds an emergency stop input function to the controller to ensure that the restrictions on the ship's rudder angle operation can be safely and smoothly lifted when necessary, thereby meeting the diverse navigation needs and enhancing the flexibility and reliability of the system. The emergency cut-off circuit adopts power-on enable, and when the module fails, the steering gear can operate normally. At the same time, the controller also integrates a human-machine interface (HMI) module. Once it is detected that the rudder angle exceeds the preset safety range, the module will immediately trigger an audible and visual alarm reminder to warn the crew in time. In addition, the HMI module also supports manual setting of safety thresholds for ship speed, propeller speed and rudder angle, so that the steering gear can be precisely controlled for different ship types and different navigation environments, effectively improving the accuracy and response speed of ship control. The controller is also equipped with a navigation data recorder (VDR) interface for comprehensively recording key information during navigation, providing valuable data resources for subsequent navigation performance analysis, troubleshooting and crew training. In summary, the three-dimensional dynamic variable controller based on ship rudder angle and thrust and its method proposed in the present invention effectively solve the problem of insufficient steering gear control caused by the lack of comprehensive consideration of ship speed, propeller speed and rudder blade extreme steering angle, and reduce the risk of damage to the rudder blade under severe water flow conditions; at the same time, when the ship speed, propeller speed and rudder blade angle do not match, preventive measures can be taken quickly to prevent the ship from capsizing due to excessive overturning moment, thereby effectively ensuring the safety of ship navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 is a system architecture diagram of the present invention;

[0061] Figure 2 It is the actual control diagram of the steering gear of the present invention;

[0062] Figure 3 It is a flow chart of the algorithm of the three-dimensional dynamic variable controller of the present invention;

[0063] Figure 4 The limit steering angle surface diagram of the relationship between ship speed-propeller speed-rudder angle of the present invention;

[0064] Figure 5 The invention relates to a left / right rudder angle locking mechanism of a steering gear. DETAILED DESCRIPTION

[0065] The present invention will be further described below in conjunction with the accompanying drawings.

[0066] like Figures 1 to 5 As shown, a ship rudder angle limiting controller based on ship speed and propeller speed includes:

[0067] a) Data acquisition unit, used to obtain the real-time speed of the ship, the real-time speed of the ship's propeller and other possible relevant navigation parameters (such as wind direction, water flow speed, etc.);

[0068] b) a three-dimensional variable control algorithm unit, connected to the data acquisition unit, for obtaining real-time speed data of the ship and real-time rotation speed data of the ship's propeller, and based on these data, dynamically calculating and determining the safe operating range of the current ship's rudder angle through a preset three-dimensional variable control algorithm;

[0069] c) A dynamic control unit connected to the three-dimensional variable control algorithm unit and the rudder angle control input of the ship's steering gear, for receiving the safe operating range data output by the three-dimensional variable control algorithm unit, and comparing it with the real-time collected rudder angle data. When the real-time rudder angle exceeds the safe operating range, the left / right rudder angle locking mechanism of the ship's steering gear is dynamically controlled to prevent the steering gear from outputting excessive left or right turns on the rudder blade;

[0070] d) a normal stop input unit, used to receive an external normal stop command, and after receiving the command, send a signal to the dynamic control unit to release the restriction on the ship's rudder angle;

[0071] e) a human-machine interface HMI unit, connected to the data acquisition unit, the three-dimensional variable control algorithm unit and the dynamic control unit, for displaying real-time ship speed, propeller speed, rudder angle data and safe operating range, and triggering an audible and visual alarm when it is detected that the rudder angle exceeds a preset safe range; at the same time, the HMI unit also supports the setting of safety thresholds for ship speed, propeller speed and rudder angle;

[0072] f) A navigation data recorder (VDR) interface unit is connected to the three-dimensional variable control algorithm unit and is used to comprehensively record key information during the navigation process, including speed, propeller speed, rudder angle data, alarm records and any operation records related to the navigation.

[0073] In the present invention, the data acquisition unit includes: a) a Doppler speed log for accurately measuring the real-time speed of the ship;

[0074] b) Propeller dynamometer, used to measure the real-time speed of the ship's propeller and the thrust that may be generated;

[0075] c) Additional sensors, such as anemometers, current meters, etc., are used to obtain environmental parameters to assist in the calculation of the three-dimensional variable control algorithm.

[0076] In the present invention, the three-dimensional variable control algorithm unit also includes:

[0077] a) A limit steering angle calculation module, which is used to calculate the limit steering angle of the ship under current conditions according to the real-time speed, propeller speed and environmental parameters;

[0078] b) A safety range determination module is used to determine the safe operating range of the rudder angle based on the limit steering angle and in combination with preset safety parameters (such as safety margin, ship type, load, etc.).

[0079] c) Environmental parameter compensation module, which is used to dynamically adjust the limit steering angle and safe operating range according to the real-time acquired environmental parameters (such as wind direction, water flow speed, etc.) to improve control accuracy and safety.

[0080] In the present invention, the dynamic control unit further includes:

[0081] a) a real-time comparison module, used for comparing the rudder angle data collected in real time with the safe operating range data output by the three-dimensional variable control algorithm unit;

[0082] b) A locking signal output module is used to send a locking signal to the ship's steering gear when the real-time rudder angle exceeds the safe operating range, so as to control it to stop further steering operations or adjust it to a safe range.

[0083] c) Fault detection and alarm module, which is used to detect faults in the data acquisition unit, the three-dimensional variable control algorithm unit or the steering gear system, and trigger an alarm when a fault is detected, and take necessary safety measures (such as automatically placing the steering gear in the neutral position).

[0084] In the present invention, the normal stop input unit further includes:

[0085] a) A command receiving module, used to receive a normal stop command from an external control device (such as a cab control console);

[0086] b) a limit release signal output module, used to send a limit release signal to the dynamic control unit after receiving a normal stop command to restore normal control of the ship's rudder angle.

[0087] 6. The three-dimensional variable controller based on ship rudder angle and thrust according to claim 1, characterized in that the HMI unit further comprises:

[0088] a) Data display module, used to display the ship speed, propeller speed, rudder angle data and safe operating range in real time on the display screen;

[0089] b) A manual setting module, which is used to receive the safety threshold set by the crew through an input device (such as a keyboard, a touch screen, etc.), and transmit the set value to the three-dimensional variable control algorithm unit or the dynamic control unit for adjustment.

[0090] c) Historical data query module allows crew members to query and view past navigation data, including speed, propeller speed, rudder angle changes and alarm records, so as to conduct performance analysis and fault diagnosis.

[0091] In the present invention, the VDR interface unit further comprises:

[0092] a) Data recording module, used to store the collected data of ship speed, propeller speed, rudder angle and any operation records related to navigation in the VDR device according to the preset format and time interval;

[0093] b) Data export module, used to export the data stored in the VDR device to an external storage medium or analysis system for subsequent analysis and review when necessary.

[0094] c) Data encryption module, used to encrypt data stored in the VDR device to ensure data security and privacy.

[0095] In the present invention, the locking signal output module is composed of two normally closed contacts of two relays connected in series to the left / right rudder control output circuit of the servo, and combined with the real-time feedback of the rudder angle for precise comparison, the output of the left / right rudder angle of the servo is dynamically controlled to effectively cut off the servo's excessive left or right turn output for the rudder blade.

[0096] A method for using the above three-dimensional variable controller based on ship rudder angle and thrust comprises the following steps:

[0097] a) Real-time collection of ship speed data, propeller speed data and other relevant navigation parameters;

[0098] b) Based on the real-time collected data, dynamically calculate and determine the safe operating range of the current ship rudder angle through a three-dimensional variable control algorithm;

[0099] c) comparing the rudder angle feedback data collected in real time with the safe operating range;

[0100] d) When the real-time rudder angle exceeds the safe operating range, dynamically control the left / right rudder angle locking mechanism of the ship's steering gear to limit the excessive output of the steering gear;

[0101] e) Display real-time ship speed, propeller speed, rudder angle data and safe operating range through the human-machine interface (HMI), and trigger an audible and visual alarm when the rudder angle is detected to be beyond the preset safe range;

[0102] f) Support manual setting of ship speed, propeller speed and rudder angle through HMI;

[0103] g) Comprehensively record key information during the voyage into the Voyage Data Recorder (VDR) and ensure the security and privacy of the data;

[0104] h) After the voyage, export the voyage data through the HMI or VDR interface unit for analysis and review.

[0105] In the present invention, the step b) includes the following steps:

[0106] B1) The limit steering angle of the ship speed-rudder angle is to find the corresponding limit steering angle in the preset limit steering angle curve of the ship speed-rudder angle according to the current ship speed through the limit steering angle query algorithm;

[0107] B2) the limit steering angle of the propeller speed-rudder angle of the ship, according to the current propeller speed, through the limit steering angle query algorithm, find the corresponding limit steering angle in the preset limit steering angle curve of the propeller speed-rudder angle of the ship;

[0108] B3) determining the limit steering angle, taking the smaller value of the limit steering angle of the ship speed-rudder angle and the limit steering angle of the propeller speed-rudder angle as the limit steering angle under the current conditions;

[0109] B4) Based on the limit steering angle, combined with environmental parameters (such as wind direction, water flow speed, etc.), the limit steering angle obtained by preliminary calculation is compensated and adjusted to obtain the final rudder angle limit steering angle.

[0110] Specific implementation method 1: ordinary ship

[0111] For an ordinary cargo ship or passenger ship, the three-dimensional variable controller based on ship rudder angle and thrust of the present invention can be implemented according to the following steps:

[0112] 1. Deployment of data acquisition unit:

[0113] a) Install a Doppler log on the ship to accurately measure the ship's real-time speed.

[0114] b) Install a propeller dynamometer to measure the real-time rotation speed and thrust generated by the ship's propeller.

[0115] c) Install additional sensors such as anemometers and current meters as needed to obtain environmental parameters such as wind direction, water flow speed, etc.

[0116] 2. Setting of three-dimensional variable control algorithm unit:

[0117] a) Setting a limit steering angle calculation module, which calculates the limit steering angle of the ship under current conditions through a preset algorithm according to the real-time speed, propeller speed and environmental parameters.

[0118] b) Setting a safety range determination module, which determines the safe operating range of the rudder angle based on the limit steering angle and combined with preset safety parameters (such as safety margin, ship type, load, etc.).

[0119] c) Setting an environmental parameter compensation module, which dynamically adjusts the limit steering angle and the safe operating range according to the environmental parameters obtained in real time.

[0120] 3. Implementation of dynamic control unit:

[0121] a) Deploy a real-time comparison module to compare the rudder angle data collected in real time with the safe operating range data output by the three-dimensional variable control algorithm unit.

[0122] b) Install a locking signal output module. When the real-time rudder angle exceeds the safe operating range, the module sends a locking signal to the ship's steering gear to control it to stop further steering operations or adjust it to a safe range.

[0123] c) Deploy a fault detection and alarm module to detect faults in the data acquisition unit, three-dimensional variable control algorithm unit or steering gear system, and trigger an alarm when a fault is detected, while taking necessary safety measures.

[0124] 4. Integration of normal stop input unit:

[0125] a) Install a command receiving module to receive normal stop commands from an external control device (such as a cab control console).

[0126] b) Deploy a release limit signal output module to send a release limit signal to the dynamic control unit after receiving a normal stop command to restore normal control of the ship's rudder angle.

[0127] 5. Design of human-machine interface (HMI) unit:

[0128] a) Design a data display module to display the ship speed, propeller speed, rudder angle data and safe operating range in real time on the display screen.

[0129] b) Implement a manual setting module to allow crew members to set safety thresholds through input devices (such as keyboards, touch screens, etc.).

[0130] c) Historical data query module, allowing crew members to query and view past voyage data for performance analysis and fault diagnosis.

[0131] 6. Deployment of Voyage Data Recorder (VDR) Interface Unit:

[0132] a) Deploy a data recording module to store the collected ship speed, propeller speed, rudder angle data and any navigation-related operation records in the VDR device according to a preset format and time interval.

[0133] b) Implement a data export module for exporting the data stored in the VDR device to an external storage medium or analysis system when necessary.

[0134] c) Deploy a data encryption module to encrypt the data stored in the VDR device to ensure data security and privacy.

[0135] Implementation of control methods:

[0136] 1. Collect ship speed data, propeller speed data and other relevant navigation parameters in real time.

[0137] 2. Based on the real-time collected data, the safe operating range of the current ship rudder angle is dynamically calculated and determined through a three-dimensional variable control algorithm.

[0138] 3. Compare the real-time collected rudder angle feedback data with the safe operating range, and take corresponding control measures based on the comparison results.

[0139] 4. When necessary, receive external normal stop commands and release restrictions on the ship's rudder angle.

[0140] 5. Display real-time data and trigger alarms through HMI, and support manual setting of ship speed, propeller speed and rudder angle.

[0141] 6. Comprehensively record key information during the voyage into the VDR and ensure data security and privacy.

[0142] 7. After the voyage, export the voyage data through the HMI or VDR interface unit for analysis and review.

[0143] Specific implementation method 2: Special ship type (full-revolving tugboat)

[0144] For a fully rotating tugboat, the three-dimensional variable controller based on the ship's rudder angle and thrust of the present invention is also applicable, but some adjustments and optimizations may be required according to the specific characteristics of the fully rotating tugboat. The following are the specific implementation steps:

[0145] 1. Adaptability adjustment of data acquisition unit:

[0146] a) As the fully revolving tugboat has higher maneuverability and maneuverability, it is necessary to ensure that the accuracy and response speed of the Doppler log and propeller dynamometer meet the requirements.

[0147] b) According to the maneuvering characteristics of the tugboat, it may be necessary to add additional sensors to monitor the ship's dynamic parameters such as roll and pitch.

[0148] 2. Optimization of three-dimensional variable control algorithm unit:

[0149] a) In the limit steering angle calculation module, the unique maneuvering characteristics of the full-turn tugboat, such as the ability to turn on the spot, are considered and the calculation of the limit steering angle is appropriately adjusted.

[0150] b) In the safety range determination module, the safe operating range is set more precisely according to the load, draft and other parameters of the full-revolving tugboat.

[0151] c) In the environmental parameter compensation module, strengthen the monitoring and compensation of environmental parameters such as wind direction and water flow speed to ensure the maneuvering stability of the full-revolving tugboat in complex environments.

[0152] 3. Customized implementation of dynamic control unit:

[0153] a) As the fully revolving tugboat has higher maneuverability, the dynamic control unit needs to be able to respond to changes in the rudder angle more quickly and take corresponding control measures.

[0154] b) In the locking signal output module, the ability to recognize and process the unique maneuvering modes of the full-revolving tugboat (such as turning on the spot, lateral movement, etc.) is increased.

[0155] 4. Integration and testing of normal stop input unit:

[0156] a) Ensure that the command receiving module can accurately receive the normal stop command from the control console in the cab of the full-revolving tugboat.

[0157] b) Customized design of the release signal output module to ensure that normal control of the rudder angle of the full-turn tugboat can be quickly restored after receiving the normal stop command.

[0158] 5. Customized design of human-machine interface (HMI) unit:

[0159] a) Based on the maneuvering characteristics of the fully revolving tugboat, the HMI unit is customized to better display real-time data, trigger alarms and support manual settings.

[0160] b) Add the display and monitoring function of the special maneuvering modes of the full-revolving tugboat (such as turning on the spot, lateral movement, etc.).

[0161] 6. Deployment and testing of the Voyage Data Recorder (VDR) interface unit:

[0162] a) Ensure that the data recording module can fully record the key information of the fully revolving tugboat during the maneuvering process.

[0163] b) Customize the data export module to export the data stored in the VDR device to an external storage medium or analysis system for subsequent analysis and review.

[0164] Customized implementation of control methods:

[0165] 1. Customized control method is implemented according to the maneuvering characteristics of the fully revolving tugboat.

[0166] 2. The unique characteristics of the full-revolving tugboat are fully considered in terms of real-time data collection, dynamic calculation of safe operating range, and comparison of rudder angle feedback data.

[0167] 3. When necessary, receive external normal stop commands and release restrictions on the rudder angle of the full-turn tugboat.

[0168] 4. Display real-time data and trigger alarms through HMI, and support manual setting of the full-turn tugboat speed, propeller speed and rudder angle.

[0169] 5. Comprehensively record key information during the voyage into the VDR and ensure data security and privacy.

[0170] 6. After the voyage, export the voyage data through the HMI or VDR interface unit for analysis and review to evaluate the maneuverability and safety of the tugboat.

[0171] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A ship rudder angle limit controller based on ship speed and propeller speed, characterized in that: include: a) A data acquisition unit, used to obtain the real-time speed of the ship, the real-time speed of the ship's propeller and other possible relevant navigation parameters; b) a three-dimensional variable control algorithm unit, connected to the data acquisition unit, for obtaining real-time speed data of the ship and real-time speed data of the ship's propeller, and dynamically calculating and determining the safe operating range of the current ship's rudder angle through a preset three-dimensional variable control algorithm; c) a dynamic control unit, connected to the three-dimensional variable control algorithm unit and the rudder angle control input of the ship steering gear, for receiving the safe operating range data output by the three-dimensional variable control algorithm unit, and comparing it with the rudder angle data collected in real time, and dynamically controlling the left / right rudder angle locking mechanism of the ship steering gear when the real-time rudder angle exceeds the safe operating range; d) a normal stop input unit, used to receive an external normal stop command, and after receiving the command, send a signal to the dynamic control unit to release the restriction on the ship's rudder angle; e) a human-machine interface HMI unit, connected to the data acquisition unit, the three-dimensional variable control algorithm unit and the dynamic control unit, for displaying real-time ship speed, propeller speed, rudder angle data and safe operating range, and triggering an audible and visual alarm when it is detected that the rudder angle exceeds a preset safe range; at the same time, the HMI unit also supports the setting of safety thresholds for ship speed, propeller speed and rudder angle; f) A navigation data recorder (VDR) interface unit is connected to the three-dimensional variable control algorithm unit and is used to comprehensively record key information during the navigation process, including speed, propeller speed, rudder angle data, alarm records and any operation records related to the navigation.

2. The ship rudder angle limiting controller based on ship speed and propeller speed according to claim 1 is characterized in that: The data acquisition unit comprises: a) Doppler log, used to accurately measure the real-time speed of the ship; b) Propeller dynamometer, used to measure the real-time speed of the ship's propeller and the thrust that may be generated; c) Additional sensors for acquiring environmental parameters to assist in the calculation of the three-dimensional variable control algorithm.

3. The ship rudder angle limiting controller based on ship speed and propeller speed according to claim 1 is characterized in that: The three-dimensional variable control algorithm unit also includes: a) A limit steering angle calculation module, which is used to calculate the limit steering angle of the ship under current conditions according to the real-time speed, propeller speed and environmental parameters; b) a safety range determination module, used to determine the safe operating range of the rudder angle based on the limit steering angle and in combination with preset safety parameters; c) Environmental parameter compensation module, used to dynamically adjust the limit steering angle and safe operating range according to the environmental parameters obtained in real time to improve control accuracy and safety.

4. The ship rudder angle limiting controller based on ship speed and propeller speed according to claim 1, characterized in that: The dynamic control unit also includes: a) a real-time comparison module, used for comparing the rudder angle data collected in real time with the safe operating range data output by the three-dimensional variable control algorithm unit; b) A locking signal output module, used to send a locking signal to the ship's steering gear when the real-time rudder angle exceeds the safe operating range; c) A fault detection and alarm module, which is used to detect faults in the data acquisition unit, the three-dimensional variable control algorithm unit or the steering gear system, and trigger an alarm when a fault is detected.

5. The three-dimensional variable controller based on ship rudder angle and thrust according to claim 1, characterized in that: The normal stop input unit also includes: a) a command receiving module, used for receiving a normal stop command from an external control device; b) a limit release signal output module, used to send a limit release signal to the dynamic control unit after receiving a normal stop command to restore normal control of the ship's rudder angle.

6. The three-dimensional variable controller based on ship rudder angle and thrust according to claim 1, characterized in that: The HMI unit further comprises: a) Data display module, used to display the ship speed, propeller speed, rudder angle data and safe operating range in real time on the display screen; b) A manual setting module, which is used to receive the safety threshold set by the crew through an input device, and transmit the set value to the three-dimensional variable control algorithm unit or the dynamic control unit for adjustment. c) Historical data query module allows crew members to query and view past navigation data, including speed, propeller speed, rudder angle changes and alarm records.

7. The three-dimensional variable controller based on ship rudder angle and thrust according to claim 1, characterized in that: The VDR interface unit also includes: a) Data recording module, used to store the collected ship speed, propeller speed, rudder angle data and any navigation-related operation records in the VDR device according to the preset format and time interval; b) A data export module, used to export the data stored in the VDR device to an external storage medium or analysis system when necessary; c) Data encryption module, used to encrypt data stored in the VDR device.

8. The three-dimensional variable controller based on ship rudder angle and thrust according to claim 4 is characterized in that: The locking signal output module: the normally closed contacts of the two relays are connected in series to the left / right rudder control output circuit of the steering gear, combined with the real-time feedback of the rudder angle for accurate comparison, and dynamically controls the output of the left / right rudder angle of the steering gear.

9. A method for using the three-dimensional variable controller based on ship rudder angle and thrust according to any one of claims 1 to 8, characterized in that: The following steps are involved: a) Real-time collection of ship speed data, propeller speed data and other relevant navigation parameters; b) Based on the real-time collected data, dynamically calculate and determine the safe operating range of the current ship rudder angle through a three-dimensional variable control algorithm; c) comparing the rudder angle feedback data collected in real time with the safe operating range; d) When the real-time rudder angle exceeds the safe operating range, dynamically control the left / right rudder angle locking mechanism of the ship's steering gear to limit the excessive output of the steering gear; e) Display real-time ship speed, propeller speed, rudder angle data and safe operating range through the human-machine interface HMI, and trigger an audible and visual alarm when the rudder angle is detected to be beyond the preset safe range; f) Support manual setting of ship speed, propeller speed and rudder angle through HMI; g) Comprehensively record key information during the voyage into the voyage data recorder (VDR); h) After the voyage, export the voyage data through the HMI or VDR interface unit for analysis and review.

10. The three-dimensional variable controller method based on ship rudder angle and thrust according to claim 9, characterized in that: The step b) includes the following steps: B1) The limit steering angle of the ship speed-rudder angle is to find the corresponding limit steering angle in the preset limit steering angle curve of the ship speed-rudder angle according to the current ship speed through the limit steering angle query algorithm; B2) the limit steering angle of the propeller speed-rudder angle of the ship, according to the current propeller speed, through the limit steering angle query algorithm, find the corresponding limit steering angle in the preset limit steering angle curve of the propeller speed-rudder angle of the ship; B3) determining the limit steering angle, taking the smaller value of the limit steering angle of the ship speed-rudder angle and the limit steering angle of the propeller speed-rudder angle as the limit steering angle under the current conditions; B4) Based on the limit steering angle, combined with environmental parameters, the limit steering angle obtained by preliminary calculation is compensated and adjusted to obtain the final rudder angle limit steering angle.

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