Precise control device and method for steering angle of top flow machine

Abstract

The invention relates to a top flow machine steering angle accurate control device and method, the device comprises a steering mechanism and a pedal mechanism, the steering mechanism comprises a steering main shaft, a steering motor and a steering controller, the steering main shaft is provided with a main shaft gear, one side of the main shaft gear is rotatably provided with a synchromesh gear, and the synchromesh gear is provided with a main shaft angle sensor; an output shaft of the steering motor is meshed with the main shaft gear and the synchronous gear through a driving gear; the pedal mechanism comprises a bidirectional pedal, a pedal angle sensor and a pedal controller, the pedal angle sensor is installed on the bidirectional pedal, and the steering controller is in communication connection with the pedal controller. Closed-loop control over the steering angle of the steering mechanism is achieved through the action angle of the pedal mechanism, the consistency of relative actions of the steering mechanism and the pedal mechanism is guaranteed, the control accuracy of the steering mechanism is improved, and the driving experience of operators is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of steering control, and in particular to a device and method for precisely controlling the steering angle of a top flow machine. Background Art

[0002] A top-flow machine is a small marine propeller powered by a battery, with the motor shaft extending directly to drive the propeller. It is usually used as an auxiliary power source in fishing and leisure occasions to control the course of the ship or achieve automatic positioning of the ship. During the operation of the top-flow machine, the steering mechanism is generally used to control the rotation of the main shaft to change the direction of the propeller, thereby achieving the purpose of controlling the direction of the ship.

[0003] At present, the top-flow machines on the market usually control the steering of the top-flow machine main shaft through two methods: wire control or electric control. The wire control method uses a steel cable to connect the pedal control device to achieve synchronization of the steering angle and the pedal control angle, but its structure is complex and difficult to achieve; the electric method controls through the steering motor, but its control angle is not accurate, which reduces the driving experience of the operator.

[0004] Based on the above technical problems, the present application proposes a device and method for accurately controlling the steering angle of a top flow machine. Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for accurately controlling the steering angle of a top flow machine to solve the technical problems mentioned in the background technology. The purpose of the present invention is achieved through the following technical solutions: A device for accurately controlling the steering angle of a top-flow machine comprises a steering mechanism and a pedal mechanism. The steering mechanism comprises a steering spindle, a spindle angle sensor, a steering motor and a steering controller. A spindle gear is arranged on the steering spindle. A synchronous gear is rotatably mounted on one side of the spindle gear, and the spindle angle sensor is mounted on the synchronous gear. A driving gear is fixed to the output shaft of the steering motor, and the spindle gear and the synchronous gear are both meshed with the driving gear. The spindle angle sensor and the steering motor are both electrically connected to the steering controller. The pedal mechanism comprises a bidirectional pedal, a pedal angle sensor and a foot controller. The pedal angle sensor is mounted on the bidirectional pedal, and the pedal angle sensor is electrically connected to the foot controller. The steering controller is communicatively connected to the foot controller.

[0006] Furthermore, the gear ratio between the synchronous gear and the main shaft gear is 1:1.

[0007] Furthermore, the spindle angle sensor is a Hall angle sensor, a magnet is installed at one end of the synchronous gear, the magnet is located at the rotation center of the synchronous gear, and the spindle angle sensor is installed at the magnet at intervals.

[0008] Furthermore, the bidirectional pedal includes a base and a pedal, a rotating shaft is fixed in the middle of the lower end surface of the pedal, and the pedal is pivotally connected to the upper side of the base through the rotating shaft; a pedal angle sensor is installed on the base, and the pedal is connected to the pedal angle sensor through a transmission mechanism; a reset mechanism is arranged between the base and the pedal, and when there is no external force, the reset mechanism keeps the pedal in a horizontal state.

[0009] Furthermore, the transmission mechanism includes an arcuate tooth plate and a driven gear, the arcuate tooth plate is fixed to the lower end surface of the pedal, and the arcuate tooth plate is coaxially arranged with the rotating shaft; the driven gear is fixedly connected to the detection shaft of the pedal angle sensor, and the arcuate tooth plate is meshingly arranged with the driven gear.

[0010] Furthermore, the steering mechanism also includes a housing, in which the main shaft gear, synchronous gear, main shaft angle sensor, steering motor and steering controller are all installed, the steering main shaft passes through the housing, and the steering main shaft is rotationally connected to the housing.

[0011] A method for accurately controlling the steering angle of a top flow machine comprises the following steps: Step S1: Obtain the rotation angle of the pedal mechanism and the current angle of the steering mechanism ; Step S2: Rotation angle of the pedal mechanism obtained in step S1 , calculate the steering target angle ; Step S3: Compare the current angle of the steering mechanism Angle with steering target The difference, If the difference is greater than the set threshold, the steering mechanism is driven to move until the difference is within the set threshold range; Step S4, repeat the actions of step S1 to step S3.

[0012] Furthermore, in step S2, the steering target angle The calculation formula is: In the formula, is the maximum one-way steering angle of the steering mechanism starting from the stern direction, ≤180°, It is the maximum one-way tilt angle of the pedal mechanism.

[0013] The technical solution provided in the embodiments of the present application has at least the following technical effects or advantages: 1. By installing angle sensors on the steering mechanism and the pedal mechanism respectively, the closed-loop control of the steering angle of the steering mechanism is realized through the action angle of the pedal mechanism, which ensures the consistency of the relative actions of the steering mechanism and the pedal mechanism, improves the accuracy of the steering mechanism control, and improves the driving experience of the operator; 2. By setting a synchronous gear that moves synchronously with the main shaft gear and detecting the rotation angle of the synchronous gear through the main shaft angle sensor, the main shaft rotation angle can be accurately detected, ensuring the accuracy of steering control; 3. By installing the spindle angle sensor on the synchronous gear that rotates synchronously with the spindle at a 1:1 ratio, the relative position of the magnet and the spindle is kept consistent, which facilitates the positioning of the spindle angle sensor and reduces the control difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 This is a structural framework diagram of an embodiment of the present application; Figure 2 This is a schematic diagram of the steering mechanism structure of an embodiment of the present application; Figure 3 This is a schematic diagram of the steering mechanism from the bottom side of the embodiment of the present application; Figure 4 This is a three-dimensional diagram of the appearance of the pedal mechanism of the embodiment of the present application; Figure 5 This is a schematic diagram of the pedal mechanism structure of an embodiment of the present application; Figure 6 This is a flowchart of the embodiment of the present application.

[0016] Figure numerals: 1. steering mechanism; 11. housing; 12. steering spindle; 13. spindle angle sensor; 14. magnet; 15. synchronous gear; 16. driving gear; 17. steering motor; 18. spindle gear; 19. steering controller; 2. pedal mechanism; 21. two-way pedal; 211. base; 212. pedal; 213. rotating shaft; 214. arc gear plate; 215. driven gear; 22. pedal angle sensor; 23. foot controller. DETAILED DESCRIPTION

[0017] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0018] Example 1 like Figure 1-5 The device for accurately controlling the steering angle of a top flow machine shown in FIG. 1 includes a steering mechanism 1 and a pedal mechanism 2. Figure 1-Figure 3 As shown, the steering mechanism 1 includes a housing 11, which is a closed structure assembled from an upper housing and a lower housing, and a steering spindle 12 is installed through the housing 11. The steering spindle 12 is rotatably connected to the housing 11 through a bearing, so that the steering spindle 12 can rotate freely on the housing 11. A seal is installed at the connection between the steering spindle 12 and the housing 11 to prevent the inside of the housing 11 from getting wet.

[0019] like Figure 1-Figure 3 As shown, the housing 11 is equipped with a main shaft gear 18, a synchronous gear 15 and a steering motor 17. The main shaft gear 18 is fixedly mounted on the steering main shaft 12, so that the main shaft gear 18 rotates synchronously with the steering main shaft 12. The synchronous gear 15 is rotatably mounted in the housing 11 through a bearing, and the steering motor 17 is vertically mounted between the main shaft gear 18 and the synchronous gear 15 through a motor bracket. The output shaft of the steering motor 17 is equipped with a driving gear 16. The synchronous gear 15 and the main shaft gear 18 are symmetrically arranged on both sides of the driving gear 16, and the main shaft gear 18 and the synchronous gear 15 are both meshed with the driving gear 16. When the steering motor 17 drives the driving gear 16 to rotate, the driving gear 16 drives the steering main shaft 12 to rotate through the main shaft gear 18, thereby changing the direction of the top flow machine. At the same time, the driving gear 16 drives the synchronous gear 15 to rotate synchronously, so that the rotation angle of the synchronous gear 15 and the rotation angle of the main shaft gear 18 are always relatively consistent.

[0020] The gear ratio of the main shaft gear 18 to the synchronous gear 15 can be any ratio such as 1:1, 1:2, 2:1, 4:1, 1:4, etc. Preferably, the gear ratio of the synchronous gear 15 to the main shaft gear 18 is 1:1, at which time the rotation angles of the synchronous gear 15 and the main shaft gear 18 are completely synchronized, and the best control accuracy can be obtained.

[0021] like Figure 1-Figure 3As shown, a spindle angle sensor 13, a magnet 14 and a steering controller 19 are also installed in the housing 11. The magnet 14 is installed on the upper side of the synchronous gear 15, and the center of the magnet 14 is located on the rotation center of the synchronous gear 15. The spindle angle sensor 13 is a Hall angle sensor, which is installed in the housing 11 and is located directly above the magnet 14. When in use, the spindle angle sensor 13 determines the angle of the synchronous gear 15 by measuring the output voltage of the Hall element in the magnetic field of the magnet 14, and then obtains the angle of the steering spindle 12.

[0022] like Figure 1 As shown, the steering motor 17 and the spindle angle sensor 13 are electrically connected to the steering controller 19 through wires. The steering controller 19 is used to obtain the angle signal detected by the spindle angle sensor 13 and output a control signal to the steering motor 17 .

[0023] like Figure 1 , Figure 4 , Figure 5 As shown, the pedal mechanism 2 includes a bidirectional pedal 21, a pedal angle sensor 22 and a foot controller 23. The pedal angle sensor 22 and the foot controller 23 are both installed on the bidirectional pedal 21. The pedal angle sensor 22 is electrically connected to the foot controller 23 through a wire, and the foot controller 23 is communicatively connected to the steering controller 19 through a data bus.

[0024] When in use, the foot controller 23 obtains the inclination angle of the two-way pedal 21 through the pedal angle sensor 22 and converts it into the steering target angle of the steering spindle 12, and transmits the steering target angle of the steering spindle 12 to the steering controller 19 through the data bus. The steering controller 19 compares the current angle of the steering spindle 12 with the target angle, and controls the steering motor 17 to drive the steering spindle 12 to rotate to the target angle.

[0025] like Figure 4 , Figure 5 As shown, the bidirectional pedal 21 includes a base 211 and a pedal 212. A rotating shaft 213 is fixed to the middle of the lower end surface of the pedal 212. The pedal 211 is pivotally connected to the upper side of the base 212 through the rotating shaft 213, so that the pedal 211 can tilt forward and backward around the rotating shaft 213. A reset mechanism is installed between the base 211 and the pedal 212. The reset mechanism can be a reset spring. At least two reset springs are installed on both sides of the rotating shaft 213. When there is no external force, the reset spring keeps the pedal 212 in a horizontal state.

[0026] The pedal angle sensor 22 is mounted on the base 211, and the pedal 212 is connected to the pedal angle sensor 22 through a transmission mechanism. Specifically, the transmission mechanism includes an arc-shaped toothed plate 214 and a driven gear 215, the arc-shaped toothed plate 214 is fixed to the lower end surface of the pedal 212, and the arc-shaped toothed plate 214 is coaxial with the rotating shaft 213. The driven gear 215 is fixedly connected to the detection shaft of the pedal angle sensor 22, and the arc-shaped toothed plate 214 is meshed with the driven gear 215. When the pedal 212 is actuated, the arc-shaped toothed plate 214 rotates relatively around the rotating shaft 213, and the detection shaft of the pedal angle sensor 22 is driven to rotate through the driven gear 215, thereby realizing the detection of the inclination angle of the pedal 212. Preferably, the pedal angle sensor 22 is an integrated Hall angle sensor.

[0027] Example 2 like Figure 6 As shown, a method for accurately controlling the steering angle of a top flow machine using the device in Example 1 includes the following steps: Step S1: Obtain the rotation angle of the pedal mechanism through the pedal angle sensor ; Get the current angle of the steering mechanism through the spindle angle sensor ; Step S2: The pedal controller adjusts the rotation angle of the pedal mechanism according to the rotation angle obtained in step S1. , calculate the steering target angle ; In the formula, is the maximum one-way steering angle of the steering mechanism starting from the stern direction, ≤180°, this embodiment The steering mechanism can rotate 180° clockwise and counterclockwise starting from the stern direction. is the maximum unidirectional tilt angle of the pedal mechanism, that is, the maximum angle at which the pedal tilts forward or backward. It is 19°.

[0028] Step S3: The foot controller turns to the target angle The data is sent to the steering controller via the data bus, and the steering controller compares the current angle of the steering mechanism Angle with steering target The difference, If the difference is greater than the set threshold, the steering mechanism is driven to act until the difference is within the set threshold.

[0029] When in use, when the pedal is tilted forward, the steering spindle rotates counterclockwise; when the pedal is tilted backward, the steering spindle rotates clockwise. The relative action relationship between the pedal mechanism and the steering mechanism can also be reversed, that is, when the pedal is tilted forward, the steering spindle rotates clockwise; when the pedal is tilted backward, the steering spindle rotates counterclockwise.

[0030] Step S4, repeat the actions of step S1 to step S3.

[0031] The technical solution provided in the embodiments of the present application has at least the following technical effects or advantages: 1. By installing angle sensors on the steering mechanism and the pedal mechanism respectively, the closed-loop control of the steering angle of the steering mechanism is realized through the action angle of the pedal mechanism, which ensures the consistency of the relative actions of the steering mechanism and the pedal mechanism, improves the accuracy of the steering mechanism control, and improves the driving experience of the operator; 2. By setting a synchronous gear that moves synchronously with the main shaft gear and detecting the rotation angle of the synchronous gear through the main shaft angle sensor, the main shaft rotation angle can be accurately detected, ensuring the accuracy of steering control; 3. By installing the spindle angle sensor on the synchronous gear that rotates synchronously with the spindle at a 1:1 ratio, the relative position of the magnet and the spindle is kept consistent, which facilitates the positioning of the spindle angle sensor and reduces the control difficulty.

[0032] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A device for accurately controlling the steering angle of a top flow machine, characterized in that: include: A steering mechanism, the steering mechanism comprising a steering spindle, a spindle angle sensor, a steering motor and a steering controller, the steering spindle is provided with a spindle gear, one side of the spindle gear is rotatably mounted with a synchronous gear, and the spindle angle sensor is mounted at the synchronous gear; a driving gear is fixed to the output shaft of the steering motor, the spindle gear and the synchronous gear are both meshed with the driving gear; the spindle angle sensor and the steering motor are both electrically connected to the steering controller; The pedal mechanism comprises a bidirectional pedal, a pedal angle sensor and a foot controller, wherein the pedal angle sensor is mounted on the bidirectional pedal, and the pedal angle sensor is electrically connected to the foot controller; the steering controller is communicatively connected to the foot controller.

2. The device for accurately controlling the steering angle of a top flow machine according to claim 1, characterized in that: The gear ratio between the synchronous gear and the main shaft gear is 1:

1.

3. The device for accurately controlling the steering angle of a top flow machine according to claim 1, characterized in that: The spindle angle sensor is a Hall angle sensor. A magnet is installed at one end of the synchronous gear. The magnet is located at the rotation center of the synchronous gear. The spindle angle sensor is installed at intervals at the magnet.

4. The device for accurately controlling the steering angle of a top flow machine according to claim 1, characterized in that: The bidirectional pedal includes a base and a pedal, a rotating shaft is fixed in the middle of the lower end surface of the pedal, and the pedal is pivotally connected to the upper side of the base through the rotating shaft; the pedal angle sensor is installed on the base, and the pedal is connected to the pedal angle sensor through a transmission mechanism; a reset mechanism is arranged between the base and the pedal, and when there is no external force, the reset mechanism keeps the pedal in a horizontal state.

5. The device for accurately controlling the steering angle of a top flow machine according to claim 4, characterized in that: The transmission mechanism includes an arc-shaped toothed plate and a driven gear, wherein the arc-shaped toothed plate is fixed to the lower end surface of the pedal and is coaxially arranged with the rotating shaft; the driven gear is fixedly connected to the detection shaft of the pedal angle sensor, and the arc-shaped toothed plate is meshed with the driven gear.

6. The device for accurately controlling the steering angle of a top flow machine according to claim 1, characterized in that: The steering mechanism also includes a housing, the main shaft gear, the synchronous gear, the main shaft angle sensor, the steering motor and the steering controller are all installed in the housing, the steering main shaft passes through the housing, and the steering main shaft is rotatably connected to the housing.

7. A method for accurately controlling the steering angle of a top flow machine, characterized in that: The following steps are involved: Step S1: Obtain the rotation angle of the pedal mechanism and the current angle of the steering mechanism ; Step S2: Rotation angle of the pedal mechanism obtained in step S1 , calculate the steering target angle ; Step S3: Compare the current angle of the steering mechanism Angle with steering target The difference, If the difference is greater than a set threshold, the steering mechanism is driven to act until the difference is within the set threshold; Step S4, repeat the actions of step S1 to step S3.

8. A method for accurately controlling the steering angle of a top flow machine according to claim 7, characterized in that: The steering target angle in step S2 The calculation formula is: In the formula, is the maximum one-way steering angle of the steering mechanism starting from the stern direction, ≤180°, It is the maximum one-way tilt angle of the pedal mechanism.

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