Marine high-precision electronic actuator

Abstract

The invention belongs to the technical field of marine electromechanical control, and discloses a marine high-precision electronic actuator which comprises a shell. An indication structure is arranged on the peripheral wall of the shell; the integrated electromechanical driving module is mounted in the shell; the integrated electromechanical driving module is connected with a pointer arranged on the outer side of the shell, the swing amplitude of the indicating structure is controlled, and the position deviation and the correction effect are visually observed. The control unit is electrically connected with the integrated electromechanical driving module and is used for controlling and adjusting the movement of the integrated electromechanical driving module; and the photoelectric sensor is electrically connected with the control unit, converts the received optical signal into an electric signal and transmits the electric signal to the control unit. According to the marine actuator, the integrated electromechanical driving module is arranged, the marine actuator which is high in precision, quick in response and capable of saving energy is provided, and the problems that an actuating mechanism is low in reliability and insufficient in control precision in the marine environment are solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of marine electromechanical control, and particularly relates to a high-precision actuator for engine rail pressure control of a key system of a ship, which is particularly suitable for a high-reliability and dynamic response demand scene in a harsh marine environment. BACKGROUND

[0002] The marine actuator needs to be operated for a long time under harsh working conditions of high temperature, high humidity, high salt fog and continuous vibration. The prior art has the following problems:

[0003] Insufficient precision: the traditional hydraulic or pneumatic actuator is affected by medium fluctuation, and the position control error is often more than ±1.5%, which is difficult to meet the precise control demand;

[0004] Slow dynamic response: the mechanical transmission chain is long and cannot adapt to the emergency control demand of the ship;

[0005] Low energy efficiency: the traditional actuator has high energy consumption, which is not matched with the green trend of the ship. SUMMARY

[0006] To solve the above problems, the application provides a marine high-precision electronic actuator.

[0007] Compared with the prior art, the application provides a marine high-precision electronic actuator, which comprises,

[0008] A shell, the shell peripheral wall is provided with an indication structure;

[0009] An integrated electromechanical drive module is installed in the interior of the shell; the integrated electromechanical drive module is connected with the indication structure arranged on the outside of the shell, controls the swing amplitude of the indication structure, and directly observes the position deviation and correction effect;

[0010] A control unit is electrically connected with the integrated electromechanical drive module, controls and adjusts the movement of the integrated electromechanical drive module;

[0011] A photoelectric sensor is electrically connected with the control unit, converts the received optical signal into an electrical signal and transmits the electrical signal to the control unit.

[0012] According to the application, further, the control panel has a closed-loop control unit, integrates a high-resolution encoder, and has a temperature compensation algorithm combined with the high-resolution encoder, which corrects the position deviation in real time. The temperature compensation algorithm is,

[0013] V_comp = V_raw + k * (Pos-Pos_ref)

[0014] Wherein, V_raw: original sensor output; Pos: current position; Pos_ref: reference position; K: sensitivity coefficient; V_comp: compensated output. The control algorithm embeds adaptive PID + feedforward compensation, and the dynamic response time is less than or equal to 200 ms.

[0015] According to the application, further, the integrated electromechanical drive module comprises an integrated joint module, and the output end of the integrated joint module is connected with a second output shaft, the second output shaft is connected with the indicating structure after penetrating through the outer peripheral wall of the corresponding side shell, and direct transmission of movement is realized.

[0016] According to the application, further, the integrated joint module is a motor assembly, the first output shaft of the motor assembly is connected with the second output shaft, power is transmitted to the second output shaft through the first output shaft, and then the power is transmitted to the indicating structure.

[0017] According to the application, further, the outer peripheral wall of the shell is further provided with a dial, and the change scale of the indicating structure can be directly observed.

[0018] According to the application, further, the motor drive circuit adopts a SiC MOSFET module.

[0019] According to the application, further, the peripheral wall of the shell is provided with a plurality of filler functions.

[0020] According to the application, further, the outer side of the shell is provided with a light guide rod for transmitting a light signal to a photoelectric sensor, and the light guide rod emits a light signal to the photoelectric sensor.

[0021] According to the application, further, the integrated joint module is a planetary gear reduction box, which is used for position positioning.

[0022] According to the application, further, the integrated joint module is a magneto-electric encoder, which is used for position positioning.

[0023] Compared with the prior art, the application has the beneficial effects that: by arranging the integrated electromechanical drive module, a high-precision, fast-response and energy-saving marine actuator is provided, and the problems of low reliability and insufficient control accuracy of the actuator in the marine environment are solved.

[0024] By adopting the integrated joint module (including a brushless motor, a planetary gear reduction box and a magneto-electric encoder for position positioning), the gear box is cancelled, the backlash error is eliminated, and the correction accuracy is improved.

[0025] By integrating a high-resolution encoder and a temperature compensation algorithm, the position deviation is further corrected in real time and efficiently, and the control accuracy is less than or equal to ±0.3%. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The first perspective view of the structure of the marine high-precision electronic actuator of the present application;

[0027] Figure 2 The second perspective view of the structure of the marine high-precision electronic actuator of the present application.

[0028] Figure 3 The A-AA cross-sectional structure of the present application; Figure 2

[0029] Figure 4 The control panel of the present application;

[0030] Figure 5 The installation position of the light guide rod of the present application;

[0031] Figure 6 The third perspective view of the structure of the marine high-precision electronic actuator of the present application.

[0032] Wherein, 100 - the shell, 1 - the motor assembly, 2 - the first output shaft, 3 - the packing gland, 4 - the pointer, 5 - the dial, 6 - the second output shaft, 7 - the control panel, 8 - the light guide rod, 9 - the photoelectric sensor. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] The present application provides a marine high-precision electronic actuator, please refer to Figure 1 , Figure 2 and Figure 6 , comprising a shell 100, the inside of the shell 100 is provided with an integrated electromechanical drive module, the integrated electromechanical drive module is connected with a pointer 4 arranged outside the shell 100, and the swing amplitude of the pointer 4 is controlled; the outside circumferential wall of the shell 100 is further provided with a dial 5, so that the change scale of the pointer 4 can be directly observed, that is, the position deviation of the ship can be observed. Compared with the prior art, the gear box connecting structure between the traditional hydraulic or pneumatic device and the pointer 4 is cancelled, the backlash error is eliminated, the deviation caused in the motion transmission process is reduced, the transmission precision is improved, the position control error is more accurate, and the control precision is improved.

[0035] The circumferential wall of the shell 100 is provided with a plurality of packing glands 3, so as to realize the flexible packing compression sealing of the gland of the shell 100 and ensure the sealing property of the gland. ​

[0036] Specifically, please refer to Figure 3 The integrated electromechanical drive module comprises an integrated joint module, and the output end of the integrated joint module is connected with a second output shaft 6. The second output shaft 6 penetrates through the outer peripheral wall of the corresponding side of the shell 100 and is connected with the pointer 4, so as to realize direct transmission of movement. The integrated joint module can select a planetary gear reduction box and a magneto-electric encoder for position positioning, and the motor assembly 1 is the best choice. The first output shaft 2 of the motor assembly 1 is connected with the second output shaft 6. The power is transmitted to the second output shaft 6 through the first output shaft 2, and then the power is transmitted to the pointer 4. The motor drive circuit adopts a SiC MOSFET module, the switching frequency is increased to 100 kHz, and the current response time is shortened. Compared with the gear box, the output shaft is a rigid mechanical component, has high transmission efficiency, small friction loss, and simple structure, and is also convenient for subsequent maintenance; the gear box contains a gear set, has large gear meshing friction loss, low transmission efficiency, and complex structure, and is not easy to maintain and maintain.

[0037] Please refer to Figure 3 、 Figure 4 and Figure 5 The shell 100 is also provided with a control panel 7 electrically connected with the integrated joint module. Correspondingly, the shell 100 is provided with a photoelectric sensor 9 electrically connected with the control panel 7, and the outer side of the shell 100 is provided with a light guide rod 8 for transmitting light signals to the photoelectric sensor 9. The light guide rod 8 emits light signals to the photoelectric sensor 9, the photoelectric sensor 9 converts the received light signals into electrical signals and transmits them to the control panel 7, and the control panel 7 controls and adjusts the initial motive power of the integrated joint module according to the received electrical signals, so as to quickly change and correct the position deviation.

[0038] Further, the control panel 7 has a closed-loop control unit and integrates a high-resolution encoder with a resolution ≤0.001°. The high-resolution encoder is a commercially available electronic component, which will not be described here. The control panel 7 adopts a temperature compensation algorithm combined with the high-resolution encoder, which can correct the position deviation in real time and control the control accuracy within ≤±0.3%. The temperature compensation algorithm is

[0039] V_comp=V_raw+k*(Pos-Pos_ref)

[0040] Wherein, V_raw: original sensor output; Pos: current position; Pos_ref: reference position; K: sensitivity coefficient; V_comp: compensated output. The control algorithm is embedded with adaptive PID+feedforward compensation, and the dynamic response time is ≤200 ms.

[0041] The above are preferred embodiments of the present application, and those skilled in the art can make various modifications or improvements on the basis of the above embodiments without departing from the general concept of the present application, and these modifications or improvements shall also belong to the scope of protection of the present application.

Claims

1. A marine high-precision electronic actuator, characterized in that, The utility model relates to a position deviation correction device, including, The shell is provided with an indication structure on the peripheral wall; An integrated electromechanical drive module is installed in the interior of the shell; the integrated electromechanical drive module is connected with the indication structure arranged on the exterior of the shell, controls the swing amplitude of the indication structure, and directly observes the position deviation and correction effect; A control unit is electrically connected with the integrated electromechanical drive module, controls and regulates the movement of the integrated electromechanical drive module; A photoelectric sensor is electrically connected with the control unit, converts the received optical signal into an electrical signal and transmits it to the control unit.

2. A marine high precision electronic actuator as claimed in claim 1, characterized in that, The control panel has a closed-loop control unit, integrates a high-resolution encoder, and combines a temperature compensation algorithm with the high-resolution encoder to correct the position deviation in real time, and the temperature compensation algorithm is, V_comp=V_raw+k*(Pos-Pos_ref) Wherein, V_raw: original sensor output; Pos: current position; Pos_ref: reference position; K: sensitivity coefficient; V_comp: compensated output. The control algorithm embeds adaptive PID+feedforward compensation, and the dynamic response time is less than or equal to 200 ms.

3. A marine high precision electronic actuator as claimed in claim 1, characterized in that, The integrated electromechanical drive module includes an integrated joint module, and a second output shaft is connected to the output end of the integrated joint module; the second output shaft is connected with the indication structure after penetrating through the corresponding side of the peripheral wall of the shell, thereby realizing direct transmission of movement.

4. A high precision electronic actuator for marine use as claimed in claim 3, wherein, The integrated joint module is a motor assembly, a first output shaft of the motor assembly is connected with a second output shaft, power is transmitted to the second output shaft through the first output shaft, and then the power is transmitted to the indication structure.

5. A marine high precision electronic actuator as claimed in claim 1, characterized in that, The peripheral wall of the shell is further provided with a scale disc, which facilitates direct observation of the change scale of the indication structure.

6. A marine high precision electronic actuator as claimed in claim 4, characterized in that, The motor drive circuit adopts a SiC MOSFET module.

7. A marine high precision electronic actuator as claimed in claim 1, characterized in that, The peripheral wall of the shell is provided with a plurality of filler funnels.

8. A marine high precision electronic actuator as claimed in claim 1, characterized in that, A light guide rod is arranged on the exterior of the shell to transmit optical signals to the photoelectric sensor, and the light guide rod emits optical signals to the photoelectric sensor.

9. A marine high precision electronic actuator as claimed in claim 3, characterized in that, The integrated joint module is a planetary gear reduction box for position positioning.

10. A marine high precision electronic actuator as claimed in claim 3, characterized in that, The integrated joint module is a magneto-electric encoder for position positioning.

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