Protection control method and equipment for ship model speed regulator and storage medium

Abstract

The invention discloses a protection control method and device for a ship model speed regulator and a storage medium, and relates to the technical field of ship model low-voltage protection, and the protection control method for the ship model speed regulator comprises the steps: obtaining a voltage protection threshold value and a real-time voltage value of a battery; comparing the voltage protection threshold value with a preset mode voltage threshold value, and selecting a corresponding protection control mode to work; acquiring a plurality of voltage interval parameters and preset control conditions associated with the voltage interval parameters according to the selected protection control mode; and performing matching based on the real-time voltage value and the plurality of voltage interval parameters, determining the belonging voltage interval parameter, and working according to a preset control condition under the belonging voltage interval parameter, so that a corresponding protection control mode is selected according to the voltage protection threshold value and the detected real-time voltage value of the battery, and the real-time voltage value of the battery is detected. And matching the real-time voltage value with different voltage interval parameters, and working according to the preset control condition to prolong the service life of the battery.

Description

Technical Field

[0001] This application relates to the field of low-voltage protection for ship models, and in particular to protection and control methods, equipment and storage media for ship model speed governors. Background Technology

[0002] In the current field of remote-controlled boat models, the power system mostly uses high-discharge-rate lithium polymer batteries paired with brushless motors and electronic speed controllers. Due to the high density of water, the propeller experiences significant fluid resistance during acceleration or high-speed navigation, causing a surge in battery output current (often reaching 50A-300A). However, the low-voltage protection (LVC) of existing electronic speed controllers has significant drawbacks when applied to boat models: firstly, false alarms lead to erroneous shutdowns. Because the load is extremely high at startup, the discharge demand is substantial, and the large current causes the battery voltage to drop, resulting in a sudden stop upon startup. The problems are as follows: First, there is a lack of low-voltage protection. Second, there is a lack of graded protection strategies, and most of the electronic speed controllers are controlled in a single mode, which can only achieve full power output, reduced power output, or complete power cut-off. It cannot provide an effective "hill driving mode" when the battery is low to take into account both the battery over-discharge protection and the boat's low-speed return. Third, there is a lack of user intent recognition function, which cannot adapt to the different needs of racing players and recreational players. It uses a uniform logic to process protection thresholds. Therefore, in practical applications, this defect may cause the model boat to lose battery power at critical moments, increasing the risk of loss of control or damage. Summary of the Invention

[0003] The main purpose of this application is to provide a protection and control method, device and storage medium for a model boat speed controller, which aims to solve the technical problem that model boat speed controllers often use a single battery low-voltage protection mode, resulting in the inability of the model boat to effectively balance performance and safety when the power is insufficient.

[0004] To achieve the above objectives, this application proposes a protection and control method for a ship model speed governor, the method comprising:

[0005] Obtain the battery's voltage protection threshold and real-time voltage value;

[0006] The voltage protection threshold is compared with the preset mode voltage threshold, and the corresponding protection control mode is selected for operation.

[0007] Based on the selected protection control mode, obtain multiple voltage range parameters and preset control conditions associated with each voltage range parameter;

[0008] Based on the real-time voltage value and multiple voltage range parameters, the corresponding voltage range parameters are determined, and the system operates according to the preset control conditions under the corresponding voltage range parameters.

[0009] In one embodiment, the step of obtaining the battery's voltage protection threshold and real-time voltage value includes:

[0010] When the ship model speed controller receives the valid throttle signal for more than a first preset time, it starts continuous monitoring of the real-time voltage value of the battery.

[0011] In one embodiment, the protection control mode includes a first protection control mode and a second protection control mode. The step of comparing the voltage protection threshold with a preset mode voltage threshold and selecting the corresponding protection control mode to operate includes:

[0012] If the voltage protection threshold is higher than the preset mode voltage threshold, the first control protection mode is selected;

[0013] If the voltage protection threshold is equal to or lower than the preset mode voltage threshold, the second control protection mode is selected. In one embodiment, when the selected protection control mode is the first control protection mode, the step of obtaining multiple voltage range parameters and preset control conditions associated with each voltage range parameter according to the selected protection control mode includes:

[0014] When the real-time voltage value is within the first voltage range parameter, the maximum operating power of the ship model speed controller is controlled to be the first operating power.

[0015] When the real-time voltage value is within the second voltage range parameter, the maximum operating power of the ship model speed controller is controlled to the second operating power, and a low-voltage warning strategy is activated.

[0016] When the real-time voltage value is within the third voltage range parameter, the maximum operating power of the ship model speed controller is controlled to the third operating power, and the low voltage warning strategy is activated again.

[0017] Wherein, the first voltage range is greater than the second voltage range, the second voltage range is greater than the third voltage range, the first operating power is greater than or equal to the second operating power, and the second operating power is greater than or equal to the third operating power.

[0018] In one embodiment, when the selected protection control mode is the second control protection mode, the step of obtaining multiple voltage range parameters and preset control conditions associated with each voltage range parameter according to the selected protection control mode includes:

[0019] When the real-time voltage value is within the fourth voltage range parameter, the maximum operating power of the ship model speed controller is controlled to be the fourth operating power.

[0020] When the real-time voltage value is within the fifth voltage range parameter, the maximum operating power of the ship model speed controller is controlled to the fifth operating power, and a low voltage warning strategy is activated.

[0021] When the real-time voltage value is within the sixth voltage range parameter, the maximum operating power of the ship model speed controller is controlled to the sixth operating power, and the low voltage warning strategy is activated again.

[0022] Wherein, the fourth voltage range is greater than the fifth voltage range, the fifth voltage range is greater than the sixth voltage range, the fourth operating power is greater than or equal to the fifth operating power, and the fifth operating power is greater than or equal to the sixth operating power.

[0023] In one embodiment, the low-pressure alert strategy includes:

[0024] Start the second preset timer, so that after the timer ends, control the ship model speed governor to set the pause flag, enter the paused working state, and continuously monitor the throttle signal;

[0025] If the input value of the throttle signal is detected to return to the preset neutral position, the pause flag is reset to control the ship model speed governor to resume operation.

[0026] In one embodiment, the step of matching the real-time voltage value and multiple voltage range parameters to determine the voltage range parameters to which the operation belongs, and then operating according to the preset control conditions under the voltage range parameters, includes:

[0027] The real-time voltage value is matched with the voltage range defined by each voltage range parameter. When the real-time voltage value falls within the voltage range of a certain voltage range parameter, the voltage range parameter to which the real-time voltage value belongs is determined.

[0028] The ship model speed controller is controlled to operate according to the preset control conditions under the parameters of its voltage range.

[0029] In one embodiment, the step of matching the real-time voltage value and multiple voltage range parameters to determine the corresponding voltage range parameters, and then operating according to the preset control conditions under the corresponding voltage range parameters, includes the following:

[0030] Obtain the preset recovery voltage threshold;

[0031] When the received throttle signal reaches the maximum allowable threshold and the real-time voltage value reaches or exceeds the preset recovery voltage threshold, the third preset duration timing is started.

[0032] When the timer is complete, exit the selected protection control mode and adjust the maximum power of the model ship speed controller to the seventh working power.

[0033] In addition, to achieve the above objectives, this application also proposes a protection and control device for a model ship speed controller, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the protection and control method for the model ship speed controller as described above.

[0034] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the protection control method for the ship model speed governor as described above.

[0035] One or more technical solutions proposed in this application have at least the following technical effects:

[0036] The protection and control method of the model boat speed controller includes: acquiring the battery voltage protection threshold and real-time voltage value; comparing the voltage protection threshold with a preset mode voltage threshold and selecting the corresponding protection control mode for operation; acquiring multiple voltage range parameters and preset control conditions associated with each voltage range parameter according to the selected protection control mode; matching the real-time voltage value and multiple voltage range parameters to determine the voltage range parameter to which the model boat speed controller belongs, and operating according to the preset control conditions under the voltage range parameter. Thus, by selecting the corresponding protection control mode based on the user-input voltage protection threshold and the detected real-time battery voltage value, and by matching the real-time voltage value with different voltage range parameters under the corresponding protection control mode, and operating according to the preset control conditions under the voltage range parameter, over-discharge of the battery can be effectively avoided, extending battery life. Furthermore, by dynamically adjusting the protection control mode, the model boat speed controller can maintain stable operation while meeting various user needs. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart illustrating the first embodiment of the protection and control method for the ship model speed governor provided in this application;

[0040] Figure 2 A schematic diagram of the sub-process of step S100 provided for the protection and control method of the ship model speed controller in this application;

[0041] Figure 3 A schematic diagram of the sub-process of step S200 provided for the protection and control method of the ship model speed governor in this application;

[0042] Figure 4 A schematic diagram of the first sub-process of step S300 provided for the protection and control method of the ship model speed governor in this application;

[0043] Figure 5 A schematic diagram of the second sub-process of step S300 provided for the protection and control method of the ship model speed governor in this application;

[0044] Figure 6 A schematic diagram of the third sub-process of step S300 provided for the protection and control method of the ship model speed governor in this application;

[0045] Figure 7 A schematic diagram of the sub-process of step S400 provided for the protection and control method of the ship model speed controller in this application;

[0046] Figure 8 A schematic diagram of a second embodiment of the protection and control method for the ship model speed governor provided in this application;

[0047] Figure 9 This is a schematic diagram of the equipment structure involved in the protection and control method of the ship model speed regulator in the embodiments of this application.

[0048] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0050] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0051] Based on this, the embodiments of this application provide a protection and control method for a ship model speed governor, referring to... Figures 1 to 8 , Figure 1 This is a flowchart illustrating the first embodiment of a protection and control method for a ship model speed controller according to this application.

[0052] In this embodiment, the protection control method of the ship model speed governor includes steps S100~S400:

[0053] Step S100: Obtain the battery's voltage protection threshold and real-time voltage value;

[0054] Step S200: Compare the voltage protection threshold with the preset mode voltage threshold, and select the corresponding protection control mode to operate;

[0055] Step S300: Based on the selected protection control mode, obtain multiple voltage range parameters and preset control conditions associated with each voltage range parameter;

[0056] Step S400: Based on the real-time voltage value and multiple voltage range parameters, the corresponding voltage range parameters are matched to determine the operating conditions according to the preset control conditions under the corresponding voltage range parameters.

[0057] For ease of understanding, the following explains some key terms in this embodiment:

[0058] Battery voltage protection threshold: A voltage value input by the user, used to select a specific protection control mode based on the user's choice.

[0059] Real-time voltage value: The current voltage data of the battery is collected in real time by a voltage sensor or other detection device, which is used to dynamically monitor the working status of the battery.

[0060] Voltage range parameters: a series of voltage ranges divided according to the protection control mode. Each range corresponds to specific control conditions and is used to precisely manage the working behavior of the ship model speed governor.

[0061] Preset control conditions: Predefined operating rules or instruction sets for each voltage range, used to guide the specific working mode of the ship model speed controller within a specific voltage range, such as maximum operating power limit, activation of low voltage warning strategy, etc.

[0062] Preset mode voltage threshold: refers to the reference voltage value used to distinguish different protection control modes. By comparing the battery voltage protection threshold with this value, it is determined which protection strategy the system should adopt.

[0063] Protection control mode: refers to the working mode selected based on the comparison between the battery's voltage protection threshold and the preset mode voltage threshold. Different modes correspond to different voltage range parameters and preset control conditions to achieve differentiated protection strategies.

[0064] In this embodiment, the battery voltage protection threshold can be manually input by the user through the speed controller's configuration interface, or automatically read through communication between the speed controller and the battery management system (BMS). Real-time voltage values ​​are typically continuously measured by voltage sensors integrated inside or outside the model boat speed controller, and the measurement results are transmitted to the speed controller for processing. For example, after the model boat is started, the speed controller can periodically sample the battery voltage through a voltage divider network to obtain its current operating voltage.

[0065] Subsequently, the acquired voltage protection threshold is compared with the preset mode voltage threshold to select the corresponding protection control mode for operation. Specifically, the preset mode voltage threshold is a fixed reference value used to distinguish different protection strategy preferences. For example, an intermediate voltage value can be set as the preset mode voltage threshold. When the user-set voltage protection threshold is greater than the preset mode voltage threshold, the system selects a conservative protection mode; or when the user-set voltage protection threshold is less than the preset mode voltage threshold, the system selects an aggressive protection mode. This comparison operation is usually performed by the microcontroller inside the speed controller.

[0066] Furthermore, based on the selected protection control mode, the system acquires multiple voltage range parameters and preset control conditions associated with each voltage range parameter. These parameters and conditions can be pre-stored in the speed controller's non-volatile memory, for example, in the form of a lookup table or configuration file. Once a specific protection control mode is determined, the speed controller loads a set of voltage range parameters corresponding to the selected protection control mode (e.g., defining multiple voltage ranges, such as high voltage range, medium voltage range, and low voltage range) and preset control conditions corresponding to each voltage range (e.g., within a certain voltage range, the maximum operating power is limited to a specific value, or a low voltage warning function is activated).

[0067] Finally, based on the real-time voltage value and multiple voltage range parameters, the voltage range parameter to which the real-time voltage value belongs is determined. The system then operates according to preset control conditions under this voltage range parameter. Specifically, the boat model speed controller compares the currently monitored real-time voltage value with the voltage ranges defined by the acquired voltage range parameters one by one. When the real-time voltage value falls within a specific voltage range, the voltage range parameter to which that real-time voltage value belongs is determined. Once the voltage range parameter is determined, the boat model speed controller executes the preset control conditions associated with that range. For example, if the real-time voltage value is in a lower voltage range, the boat model speed controller will limit the maximum PWM duty cycle of the transistor to reduce the maximum operating power output of the boat model, preventing battery over-discharge, while still allowing the boat model to sail at a lower speed.

[0068] In the above-mentioned solution of this application, a step is proposed to obtain the battery voltage protection threshold and real-time voltage value to start protection control. However, in this process, if monitoring is started as soon as the throttle signal is received, the protection may be falsely triggered due to a false low voltage caused by a surge in instantaneous current.

[0069] Furthermore, in step S100, the step of obtaining the battery's voltage protection threshold and real-time voltage value includes:

[0070] Step S110: When the ship model speed controller receives the effective throttle signal for more than a first preset time, it starts continuous monitoring of the real-time voltage value of the battery.

[0071] In this embodiment, the valid throttle signal is a control command indicating the output power of the power system of the model boat speed controller. This signal typically originates from a remote controller and is transmitted to the model boat speed controller via radio signals. The determination of a valid throttle signal is based on a user-preset value. For example, when the input value of the throttle signal exceeds a certain preset minimum starting threshold, it can be determined as a valid throttle signal; or, when the input value of the throttle signal is not zero, it can be determined as a valid throttle signal.

[0072] The first preset duration is a pre-set time length used to delay the start of a certain operation under specific conditions. The duration can be set according to the actual operating characteristics of the model boat, the battery discharge curve, and user experience. For example, the first preset duration can be set to between 0.5 seconds and 2 seconds to cover the initial stage of the model boat from a standstill to acceleration, or the first preset duration can be set to 1 second to ensure the stability of the throttle signal.

[0073] The continuous monitoring of the battery's real-time voltage upon startup refers to the boat model speed controller continuously and periodically measuring the voltage across the battery terminals after certain conditions are met. This monitoring can be achieved through a built-in voltage sampling circuit, for example, by sampling the battery voltage using an analog-to-digital converter (ADC) or a voltage divider network and inputting the sampled value to a microcontroller for processing; or by using a dedicated voltage detection chip to detect the battery voltage in real time and transmitting the detection result to the main control unit. Continuous monitoring means that once started, this process will continue uninterrupted until the boat model speed controller stops working or enters another specific state.

[0074] Through the above technical solution, this application introduces specific conditions to initiate voltage monitoring. Specifically, continuous monitoring of the battery's real-time voltage value only begins after the boat model's speed controller receives a valid throttle signal and maintains it for more than a first preset duration. This mechanism ensures that voltage monitoring only starts after the throttle signal has been stably output for a period of time, effectively avoiding the misjudgment of a low-voltage situation caused by a sudden drop in battery voltage due to the large current surge resulting from the boat model's instantaneous acceleration when the throttle signal is first activated. This significantly reduces the premature or false triggering of protection mechanisms, preventing the boat model from suddenly losing power due to "false warnings" during acceleration, thereby ensuring the continuity and reliability of the boat model's operation, improving the user experience, and reducing the difficulty of recovery caused by accidental shutdown.

[0075] In some of the solutions mentioned above in this application, a selection of protection control mode is proposed to implement a battery protection strategy. However, in the implementation process, there is a lack of specific mode definition and selection criteria, which makes the protection strategy unable to adapt to different user needs. For example, racing players prefer low voltage protection, while casual players prefer high voltage protection, resulting in a rigid protection mechanism that cannot achieve differentiated control.

[0076] In one embodiment, the protection control mode includes a first control protection mode and a second control protection mode. Step S200, which involves comparing the voltage protection threshold with a preset mode voltage threshold and selecting the corresponding protection control mode for operation, includes:

[0077] Step A210: If the voltage protection threshold is higher than the preset mode voltage threshold, select the first control protection mode;

[0078] Step B210: If the voltage protection threshold is equal to or lower than the preset mode voltage threshold, select the second control protection mode.

[0079] In this embodiment, the protection control mode refers to a set of preset control strategies adopted by the boat model speed controller under different battery voltage ranges to protect the battery and maintain the operation of the boat model. This defines how the speed controller should adjust its operating parameters, such as maximum output power and whether to activate a low-voltage warning, when the battery is in different voltage ranges. Specifically, a first control protection mode and a second control protection mode are set to provide differentiated protection strategies for the boat model speed controller. For example, the first control protection mode may correspond to a battery life-oriented protection strategy, activating protection measures at higher voltages to extend battery life; while the second control protection mode may correspond to a performance-oriented protection strategy, allowing the battery to continue operating at lower voltages to extract more performance. In one implementation, the first control protection mode can be configured to start limiting power when the battery voltage drops slightly and enter a pause state more quickly; while the second control protection mode can be configured to start limiting power only when the battery voltage drops to a lower threshold and provide a longer low-voltage warning buffer time. In another implementation, these two modes can preset different voltage range parameters and corresponding maximum operating power curves to adapt to different application scenarios and user preferences.

[0080] The voltage protection threshold is a key voltage point set by the user to instruct the battery to select the corresponding protection control mode. This threshold can be configured according to battery type, usage scenario, or user preference. For example, racing enthusiasts might set it to a lower value (e.g., 2.8V / cell), while casual users might set it to a higher value (e.g., 3.4V / cell). The preset mode voltage threshold, on the other hand, is a fixed or configurable voltage value preset within the system. Its main function is to serve as a criterion for distinguishing different protection control modes. By comparing the user-set voltage protection threshold with this preset mode voltage threshold, the system can intelligently determine which protection strategy should be adopted. This comparison operation can be implemented through a hardware comparator or software logic. For example, in software implementation, the microcontroller (MCU) reads the voltage protection threshold and the preset mode voltage threshold, and then executes a simple conditional statement.

[0081] In another implementation, a small hysteresis interval can be introduced to avoid frequent mode switching when the two thresholds are close, thereby improving the stability of the system.

[0082] Selecting the corresponding protection control mode refers to the system activating or enabling a series of predefined control parameters and logic associated with the selected mode based on the comparison results. If a protection control mode is selected, the subsequent voltage monitoring, power limiting, and low-voltage warning behaviors of the ship model speed controller will follow the rules specified by that mode. This selection process can be achieved by setting a mode flag or calling the corresponding mode processing function. For example, when the first protection control mode is selected, the system will load the voltage range parameters, maximum operating power limit, and low-voltage warning strategy corresponding to the first protection control mode; when the second protection control mode is selected, the parameters corresponding to the second protection control mode will be loaded.

[0083] Specifically, during initialization, the boat model speed controller compares the user-set voltage protection threshold (e.g., 3.4V) with the baseline mode threshold (3.0V). When the voltage protection threshold is greater than the preset mode voltage threshold, it automatically selects the first control mode, i.e., the long-endurance protection mode. When the voltage protection threshold is equal to or less than the preset mode voltage threshold, it automatically selects the second control protection mode, i.e., the racing performance mode. For example, when a casual user sets a 3.4V protection threshold, the system enters the long-endurance protection mode, prioritizing battery life protection; when a racing user sets a 2.8V threshold, the system enters the racing performance mode, allowing power output to be maintained at a lower voltage than in the long-endurance protection mode, adapting to different user needs without requiring firmware updates.

[0084] In some of the solutions mentioned above in this application, multiple voltage range parameters and preset control conditions are proposed to achieve graded protection control. However, in the implementation process, after selecting the first control protection mode, it is necessary to specifically define the voltage range and the corresponding control action to ensure that the power is gradually reduced and the prompt strategy is activated when the battery voltage drops, so as to avoid false shutdown caused by instantaneous voltage drop. At the same time, a graded power reduction mechanism is provided so that the model boat can maintain low-speed operation and return to the shore under low voltage conditions, thus solving the defect of the traditional model boat speed controller directly cutting off the power supply.

[0085] In one embodiment, when the selected protection control mode is the first control protection mode, step S300, the step of obtaining multiple voltage range parameters and preset control conditions associated with each voltage range parameter according to the selected protection control mode, includes:

[0086] Step A310: When the real-time voltage value is within the first voltage range parameter, control the maximum operating power of the ship model speed controller to the first operating power;

[0087] Step A320: When the real-time voltage value is within the second voltage range parameter, control the maximum operating power of the ship model speed controller to the second operating power, and activate the low voltage warning strategy.

[0088] Step A330: When the real-time voltage value is within the third voltage range parameter, control the maximum operating power of the ship model speed controller to the third operating power, and restart the low voltage warning strategy.

[0089] Wherein, the first voltage range is greater than the second voltage range, the second voltage range is greater than the third voltage range, the first operating power is greater than or equal to the second operating power, and the second operating power is greater than or equal to the third operating power.

[0090] refer to Figure 4In this embodiment, the first voltage range parameter, the second voltage range parameter, and the third voltage range are all preset ranges used by the boat model speed controller to divide the real-time battery voltage value. For example, the first voltage range parameter is set to 3.4V≤V≤3.9V, the second voltage range parameter is set to 3.0V≤V<3.4V, and the third voltage range parameter is set to V<3.0V. The first operating power is the maximum power limit allowed to be output by the boat model speed controller under the first voltage range parameter (e.g., 100% of the maximum rated power), the second operating power is the maximum power limit allowed to be output by the boat model speed controller under the second voltage range parameter (e.g., 50% of the maximum rated power), and the third operating power is the maximum power limit allowed to be output by the boat model speed controller under the third voltage range parameter (e.g., 25% of the maximum rated power). Through this hierarchical control method, the battery of the boat model speed controller can be effectively protected, avoiding equipment damage or performance degradation due to excessively low voltage. Meanwhile, the introduction of low-pressure warning strategies (such as flashing LED indicators on the model boat speed controller or intermittent alarm sounds from a connected buzzer) can promptly remind users to take appropriate measures to ensure that the model boat speed controller operates within a safe operating range, or prompt users to control the model boat to return to shore in a timely manner.

[0091] Specifically, through the above technical solution, in the first control and protection mode, this application can limit the maximum PWM duty cycle of the transistor based on the real-time changes in the battery voltage value, as a limit on the maximum operating power allowed by the boat model speed controller, thus achieving refined hierarchical control of the boat model speed controller's operating power. When the real-time voltage value is within the first voltage range parameter, the boat model is allowed to output at the first operating power as the maximum power. As the battery voltage drops to the second voltage range parameter, the boat model speed controller allows the boat model to output at the second operating power as the maximum power and activates a low-voltage warning strategy. This not only effectively reduces the battery's discharge load and slows down the rate of further voltage drop, but also avoids false shutdowns due to voltage false alarms caused by instantaneous high current by promptly alerting the user, providing the user with warning and operation time. When the voltage further drops to the third voltage range parameter, the boat model speed controller allows the boat model to output at the second operating power as the maximum power. This improves the user experience and the safety of the boat model, solving the problem of the "one-size-fits-all" power cut-off in the first control and protection mode causing the boat model to float in the middle of the water.

[0092] In one embodiment, when the selected protection control mode is the second control protection mode, step S300, the step of obtaining multiple voltage range parameters and preset control conditions associated with each voltage range parameter according to the selected protection control mode, includes:

[0093] Step B310: When the real-time voltage value is within the fourth voltage range parameter, control the maximum operating power of the ship model speed controller to the fourth operating power.

[0094] Step B320: When the real-time voltage value is within the fifth voltage range parameter, control the maximum operating power of the ship model speed controller to the fifth operating power and activate the low voltage warning strategy.

[0095] Step B330: When the real-time voltage value is within the sixth voltage range parameter, control the maximum operating power of the ship model speed controller to the sixth operating power, and restart the low voltage warning strategy.

[0096] Wherein, the fourth voltage range is greater than the fifth voltage range, the fifth voltage range is greater than the sixth voltage range, the fourth operating power is greater than or equal to the fifth operating power, and the fifth operating power is greater than or equal to the sixth operating power.

[0097] refer to Figure 5 In this embodiment, the fourth, fifth, and sixth voltage range parameters are all preset ranges used by the boat model speed controller to divide the real-time battery voltage values. For example, the fourth voltage range parameter is set to 3.0V≤V≤3.9V, the fifth voltage range parameter is set to 2.8V≤V<3.0V, and the sixth voltage range parameter is set to V<2.8V. The fourth operating power is the maximum power limit allowed to be output by the boat model speed controller under the corresponding fourth voltage range parameter (e.g., 100% of the maximum rated power), the fifth operating power is the maximum power limit allowed to be output by the boat model speed controller under the corresponding fifth voltage range parameter (e.g., 50% of the maximum rated power), and the sixth operating power is the maximum power limit allowed to be output by the boat model speed controller under the corresponding sixth voltage range parameter (e.g., 25% of the maximum rated power). Through this hierarchical control method, the battery protection mechanism of the boat model speed controller can be further optimized, avoiding unstable equipment performance or unexpected shutdown due to voltage fluctuations. Meanwhile, the introduction of the low-pressure warning strategy can more accurately remind users to take corresponding measures to ensure that the boat model speed controller operates within a safer working range, or prompt users to control the boat model to return to shore in time.

[0098] Specifically, through the above technical solution, in the second control and protection mode, this application can dynamically adjust the maximum PWM duty cycle of the transistor during operation based on the real-time changes in the battery voltage value, serving as a limit on the maximum operating power allowed by the model boat speed controller, thus achieving more refined hierarchical control of the model boat speed controller's operating power. When the real-time voltage value is within the fourth voltage range parameter, the model boat is allowed to output at the fourth operating power as the maximum power. As the battery voltage drops to the fifth voltage range parameter, the model boat speed controller allows the model boat to output at the fifth operating power as the maximum power and activates a low-voltage warning strategy. This not only effectively reduces the battery's discharge load and slows down the rate of further voltage drop, but also avoids false shutdowns due to voltage false alarms caused by instantaneous high current by promptly alerting the user, providing users with longer warning and operation time. When the voltage further drops to the sixth voltage range parameter, the model boat speed controller allows the model boat to output at the sixth operating power as the maximum power, thereby further improving the user experience and the safety of the model boat, and solving the problem of malfunction caused by a single threshold judgment in the second control and protection mode.

[0099] In some of the embodiments described above in this application, a low-voltage alert strategy is proposed to take action when the voltage is low in order to protect the battery and maintain the power of the vessel. However, in its implementation, users often fail to notice the low voltage state of the battery in time, thus missing the best time to deal with it. As a result, the vessel may be stranded on the water due to accidental shutdown or the user's inability to intervene in time, making it difficult to recover.

[0100] Furthermore, in the activation of the low-voltage alert strategy in steps A320, A330, B320, and B330, the low-voltage alert strategy includes:

[0101] Step S301: Start the second preset duration timer, so that after the timer ends, control the ship model speed governor to set the pause flag, enter the pause working state, and continuously monitor the throttle signal;

[0102] Step S302: If the input value of the throttle signal is detected to return to the preset neutral position, the pause flag is reset to control the ship model speed governor to resume operation.

[0103] In this embodiment, starting the second preset timer means that when a specific low-voltage condition is met, the boat model speed controller begins a preset countdown. This timer can be implemented by the microcontroller inside the boat model speed controller via software timer, for example, by setting a counter that decrements in each system clock cycle until it reaches zero; alternatively, it can be implemented by a hardware timer module, for example, by configuring a dedicated timer chip or a timer peripheral within the microcontroller, which triggers an interrupt or sets a flag after the preset time is reached. The purpose of this timer is to provide a buffer period, preventing immediate shutdown due to a momentary voltage drop, thereby reducing the possibility of erroneous operation.

[0104] The step of setting the pause flag on the boat model speed controller after the timing ends means that when the second preset time is completed, a status indicator inside the boat model speed controller is set to the "pause" state. This pause flag can be a Boolean variable stored in the microcontroller's memory, where a specific value (e.g., 1) is written to indicate the pause state; alternatively, it can be a specific bit in the control register, where setting this bit indicates that the system has entered pause mode. Setting this flag clearly identifies that the current system is in a paused state, providing a clear logical basis for subsequent recovery operations.

[0105] Entering the paused operation state means that the boat model speed controller stops outputting power to the boat model's power system (such as the motor), but its control circuitry and monitoring functions remain active. For example, the boat model speed controller can stop outputting PWM (Pulse Width Modulation) signals, thereby cutting off the power supply to the motor; or, it can limit the maximum operating power of the motor to zero. In this state, the boat model will lose power, but the boat model speed controller can still continue to perform monitoring tasks and wait for user commands.

[0106] The continuous monitoring of the throttle signal refers to the ship model's speed controller continuously reading and analyzing the throttle input signal from the remote control or other control sources while in a paused state. This can be achieved by periodically reading the input value of the analog-to-digital converter (ADC) (if the throttle signal is analog) or by detecting changes in the state of the digital input pins (if the throttle signal is digital or the pulse width of a PWM signal). The purpose of continuous monitoring is to understand the user's operational intentions in real time so that it can respond promptly when the user issues a resumption command.

[0107] The detection that the throttle signal input value has returned to a preset neutral position means that the system compares the currently monitored throttle signal input value with a preset neutral value or range. For example, for PWM signals, the neutral position typically corresponds to a specific pulse width (e.g., 1500 microseconds); for analog signals, it corresponds to a specific voltage value. When the detected throttle signal input value matches this neutral position, it indicates that the user has returned the throttle lever to the stop or standby position, which is generally considered a safe and clear resumption signal.

[0108] The reset pause flag bit refers to the process by which the boat model governor clears the previously set pause flag bit or restores it to its default "non-pause" state when the throttle signal is detected to have returned to the preset neutral position. For example, this can be done by setting a Boolean variable stored in memory to 0 or clearing the corresponding bit in the control register. This operation signifies that the system is ready to exit the pause state and resume responding to throttle commands.

[0109] The resumption of operation of the boat model speed controller means that after the pause flag is reset, the speed controller re-enables its power output function and controls the boat model's motor according to the current throttle signal input value. For example, it restarts outputting a PWM signal to drive the motor and adjusts the motor speed and power according to the throttle signal input value. At this time, the boat model will be able to regain power and move according to the user's operation.

[0110] Specifically, for example, in the first control and protection mode, when the real-time voltage value falls into the voltage range of 3.0V≤V<3.4V, the system activates a low-voltage warning strategy: the timer starts timing according to the second preset duration (e.g., 5 seconds), while the maximum power is limited to 50%. After the timing ends, the system sets the pause flag, forcibly controls the boat model speed controller to stop power output, and continuously monitors the throttle signal. When the throttle signal is detected to return to the center (approximately 1500us), the pause flag is reset, allowing the boat model speed controller to receive the throttle signal again, so as to drive the motor to work according to the throttle signal. In this way, after the boat model is paused due to low voltage, it can safely resume low-speed navigation according to the user's explicit instructions, effectively avoiding the problem of the boat model being stuck on the water surface and difficult to recover, and significantly improving the user experience and the operability of the boat model.

[0111] In some of the solutions mentioned above in this application, a speed controller for the model ship is proposed based on real-time voltage value and voltage range parameter matching. However, in the implementation process, the real-time voltage value of the battery may fluctuate instantaneously when the battery supplies power to the load, which may lead to inaccurate range judgment and cause defects such as false triggering of protection or failure to trigger protection.

[0112] In one embodiment, step S400, the step of matching the real-time voltage value and multiple voltage range parameters to determine the voltage range parameters to which the operation is performed according to the preset control conditions under the voltage range parameters, includes:

[0113] Step S410: Match the real-time voltage value with the voltage range defined by each voltage range parameter. When the real-time voltage value falls within the voltage range of a certain voltage range parameter, determine the voltage range parameter to which the real-time voltage value belongs.

[0114] Step S420: Control the ship model speed regulator to operate according to the preset control conditions under the parameters of its voltage range.

[0115] In this embodiment, the real-time voltage value is matched with the voltage range defined by each voltage range parameter. The real-time voltage value is the instantaneous voltage output by the battery, and its value fluctuates due to load changes. The voltage range parameter is a pre-defined voltage range with clear upper and lower limits, used for graded management of the battery voltage. Matching the real-time voltage value with each preset voltage range aims to determine the specific level of the current battery voltage, thereby enabling targeted application of appropriate protection and control strategies. This matching process can be accomplished by comparing the real-time voltage value with the upper and lower limits of each voltage range parameter. For example, if the real-time voltage value is greater than or equal to the lower limit of a range and less than the upper limit of that range, it is considered to fall within that range. Alternatively, a lookup table can be used, where the real-time voltage value is taken as input and its corresponding voltage range parameter is directly retrieved through a pre-established mapping relationship.

[0116] When the real-time voltage value falls within the voltage range of a certain voltage range parameter, the system determines the voltage range parameter to which the real-time voltage value belongs. This is a crucial decision-making step in the matching process, designed to accurately identify the specific operating range of the current battery voltage. If the range is determined, the subsequent control strategy continues to execute, thus avoiding fuzzy judgments and ensuring control accuracy. When the real-time voltage value meets the upper and lower limits of a certain voltage range parameter, the system records the identifier or index of that voltage range parameter as the current range parameter.

[0117] Based on this, controlling the boat model speed controller to operate according to preset control conditions under the parameters of its respective voltage range is the step in executing specific protection actions based on the voltage status. The preset control conditions are specific operating instructions for the boat model speed controller associated with each voltage range parameter, such as adjusting the maximum operating power or activating a low-voltage warning. By executing these conditions, effective battery protection and reasonable control of the boat model can be achieved. If the voltage range parameter is determined, the boat model speed controller will retrieve the control instructions associated with that range parameter from the preset control condition set and send them to the speed controller for execution. For example, if the range is the second voltage range, the control instructions might include reducing the maximum allowable output power of the boat model speed controller to a preset value. The boat model speed controller can also have a pre-set state machine; upon receiving an indication of the voltage range parameter, it automatically switches to the corresponding state and executes the predefined control logic in that state, such as limiting motor speed or current.

[0118] By precisely matching the real-time voltage value with the voltage range defined by preset voltage range parameters, this application effectively avoids misjudgments caused by instantaneous fluctuations in battery voltage (such as voltage drops due to high-current discharge). Only when the real-time voltage value stably falls within the voltage range of a specific voltage range parameter can its corresponding range be determined, significantly improving the accuracy and stability of voltage range judgment. Based on this accurately determined voltage range parameter, the model boat speed controller can operate according to preset control conditions, such as adjusting the maximum operating power in stages or activating a low-voltage warning strategy. This mechanism ensures that when the battery voltage is at a critical state, corresponding protection measures can be triggered promptly and accurately, avoiding unexpected shutdowns of the model boat due to false alarms and ensuring that the battery receives appropriate protection at different discharge stages, thereby extending battery life and improving user experience.

[0119] In some of the solutions mentioned above in this application, a low-voltage warning strategy is proposed to suspend operation and wait for recovery when the voltage is too low. However, in this process, when the battery voltage recovers, the system lacks a mechanism to automatically detect the voltage recovery and intelligently restore the maximum operating power. This causes the boat model speed controller to fail to respond to the voltage recovery and user operation intentions in a timely manner, which may result in performance recovery delay, low battery utilization efficiency, and poor user experience.

[0120] In one embodiment, step S400, which involves matching the real-time voltage value and multiple voltage range parameters to determine the corresponding voltage range parameters, and then operating according to the preset control conditions under the corresponding voltage range parameters, includes:

[0121] Step S500: Obtain the preset recovery voltage threshold;

[0122] Step S600: When the received throttle signal reaches the maximum allowable threshold and the real-time voltage value reaches or exceeds the preset recovery voltage threshold, the third preset duration timing is started.

[0123] Step S700: When the timing is complete, exit the selected protection control mode and adjust the maximum power of the ship model speed regulator to the seventh working power.

[0124] In this embodiment, the preset recovery voltage threshold is a preset reference value used by the system to determine whether the real-time battery voltage has fully recovered from a low-voltage state to a safe operating level. Its function is to provide a clear voltage recovery standard for the model boat speed controller, preventing premature restoration of high-power output before the voltage has stabilized or reached a sufficiently safe level, thereby protecting the battery and ensuring system stability. The preset recovery voltage threshold can be pre-stored in the model boat speed controller's non-volatile memory, such as EEPROM or flash memory, and loaded when the system starts. Users can configure and modify it via host computer software or physical buttons on the speed controller to suit different battery types or user preferences.

[0125] When the received throttle signal reaches the maximum allowable threshold and the real-time voltage value reaches or exceeds the preset recovery voltage threshold, a third preset duration timer is initiated. This timer comprehensively assesses the user's intention to restore full power output and the actual recovery status of the battery voltage to avoid false triggering and ensure safety. The throttle signal reaching the maximum allowable threshold indicates that the user wants the model boat to operate at maximum power, while the real-time voltage value reaching or exceeding the preset recovery voltage threshold confirms that the battery is ready to support high power output. Initiating the third preset duration timer introduces a time delay to filter out instantaneous voltage fluctuations or brief jitters in the throttle signal, ensuring the continuity and stability of the recovery conditions. The model boat speed controller can continuously monitor the input value of the throttle signal, such as through the pulse width of the PWM signal or the value of the digital signal. When the pulse width or value of the throttle signal is detected to reach or exceed the preset maximum allowable threshold (e.g., 90% or 100% throttle), and simultaneously the real-time battery voltage value is sampled by the ADC (analog-to-digital converter) and compared with the preset recovery voltage threshold, an internal timer is started when both conditions are met, initiating the third preset duration timer.

[0126] When the timer completes, the selected protection control mode is exited, and the maximum power of the model boat speed controller is adjusted to the seventh operating power. This is the core of power recovery, ensuring that after meeting user intent and battery safety conditions, the model boat speed controller can intelligently restore its normal or high-performance operating state, exiting the previously selected protection control mode (first or second control protection mode). The model boat speed controller then selects the corresponding seventh operating power level for recovery (e.g., 100% of the maximum rated power), thereby achieving differentiated power management under different modes. When the third preset duration timer reaches the preset time, the system will query the currently active protection control mode. Specifically, if the current mode is the first control protection mode, the maximum operating power limit of the model boat speed controller is lifted, and the operating power is set to the seventh operating power. If the current mode is the second control protection mode, the maximum operating power is set to the seventh operating power. Power adjustment can be achieved by modifying the upper limit of the PWM output duty cycle, limiting the motor current, or limiting the motor speed.

[0127] Among them, the seventh working power is greater than or equal to the first working power, the seventh working power is greater than or equal to the fourth working power, the preset recovery voltage threshold is greater than or equal to any voltage value in the first voltage range, and the preset recovery voltage threshold is greater than or equal to any voltage value in the fourth voltage range.

[0128] This application also provides a protection control device for a model ship speed controller. The protection control device includes: at least one processor 20; and a memory 10 communicatively connected to the at least one processor 20. The memory 10 stores instructions that can be executed by the at least one processor 20, and the instructions are executed by the at least one processor 20 to enable the at least one processor 20 to execute the protection control method for the model ship speed controller in the above embodiment 1.

[0129] The following is for reference. Figure 9 This document illustrates a structural diagram of a protection and control device suitable for implementing embodiments of this application. The protection and control device in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 5 The protection and control device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0130] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the protection control device method in the above embodiments.

[0131] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0132] The aforementioned computer-readable storage medium may be included in the protection and control equipment; or it may exist independently and not be assembled into the protection and control equipment.

[0133] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the protection and control device, cause the protection and control device to perform a protection and control method for the model ship speed governor.

[0134] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0135] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0136] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0137] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the protection and control method of the above-described model ship speed controller, thereby solving the technical problem of the protection and control method of the model ship speed controller. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the protection and control method of the model ship speed controller provided in the above embodiments, and will not be repeated here.

Claims

1. A protection and control method for a ship model speed governor, characterized in that, The method includes: acquiring the battery's voltage protection threshold and real-time voltage value; comparing the voltage protection threshold with a preset mode voltage threshold and selecting a corresponding protection control mode for operation; acquiring multiple voltage range parameters and preset control conditions associated with each voltage range parameter based on the selected protection control mode; matching the real-time voltage value and the multiple voltage range parameters to determine the voltage range parameter to which the battery belongs, so as to operate according to the preset control conditions under the voltage range parameter.

2. The protection and control method for the ship model speed governor as described in claim 1, characterized in that, The steps of obtaining the battery voltage protection threshold and real-time voltage value include: when the model ship speed controller receives the effective throttle signal for more than a first preset time, it starts continuous monitoring of the real-time voltage value of the battery.

3. The protection and control method for the ship model speed governor as described in claim 1, characterized in that, The protection control mode includes a first control protection mode and a second control protection mode. The step of comparing the voltage protection threshold with the preset mode voltage threshold and selecting the corresponding protection control mode to operate includes: if the voltage protection threshold is higher than the preset mode voltage threshold, selecting the first control protection mode; if the voltage protection threshold is equal to or lower than the preset mode voltage threshold, selecting the second control protection mode.

4. The protection and control method for the ship model speed governor as described in claim 3, characterized in that, When the selected protection control mode is the first control protection mode, the step of obtaining multiple voltage range parameters and preset control conditions associated with each voltage range parameter according to the selected protection control mode includes: when the real-time voltage value is within the first voltage range parameter, controlling the maximum operating power of the model ship speed controller to the first operating power; when the real-time voltage value is within the second voltage range parameter, controlling the maximum operating power of the model ship speed controller to the second operating power and activating the low-voltage warning strategy; when the real-time voltage value is within the third voltage range parameter, controlling the maximum operating power of the model ship speed controller to the third operating power and activating the low-voltage warning strategy again; wherein, the first voltage range is greater than the second voltage range, the second voltage range is greater than the third voltage range, the first operating power is greater than or equal to the second operating power, and the second operating power is greater than or equal to the third operating power.

5. The protection and control method for the ship model speed governor as described in claim 4, characterized in that, When the selected protection control mode is the second protection control mode, the step of obtaining multiple voltage range parameters and preset control conditions associated with each voltage range parameter according to the selected protection control mode includes: when the real-time voltage value is in the fourth voltage range parameter, controlling the maximum operating power of the model ship speed controller to the fourth operating power; when the real-time voltage value is in the fifth voltage range parameter, controlling the maximum operating power of the model ship speed controller to the fifth operating power and activating the low-voltage warning strategy; when the real-time voltage value is in the sixth voltage range parameter, controlling the maximum operating power of the model ship speed controller to the sixth operating power and activating the low-voltage warning strategy again; wherein, the fourth voltage range is greater than the fifth voltage range, the fifth voltage range is greater than the sixth voltage range, the fourth operating power is greater than or equal to the fifth operating power, and the fifth operating power is greater than or equal to the sixth operating power.

6. The protection and control method for the ship model speed governor as described in claim 4 or 5, characterized in that, The low-pressure warning strategy includes: starting a second preset timer, so that after the timer ends, the boat model speed governor is controlled to set the pause flag, enter the paused working state, and continuously monitor the throttle signal; if the input value of the throttle signal is detected to return to the preset neutral position, the pause flag is reset to control the boat model speed governor to resume working.

7. The protection and control method for the ship model speed governor as described in claim 1, characterized in that, The step of matching the real-time voltage value with multiple voltage range parameters to determine the voltage range parameter to which the real-time voltage value belongs, and then operating according to the preset control conditions under the voltage range parameter, includes: matching the real-time voltage value with the voltage range defined by each voltage range parameter; when the real-time voltage value falls within the voltage range of a certain voltage range parameter, determining the voltage range parameter to which the real-time voltage value belongs; and controlling the ship model speed controller to operate according to the preset control conditions under the voltage range parameter.

8. The protection and control method for the ship model speed governor as described in claim 1, characterized in that, The step of matching the real-time voltage value and multiple voltage range parameters to determine the voltage range parameters to operate according to the preset control conditions under the voltage range parameters includes: obtaining a preset recovery voltage threshold; when the received throttle signal reaches the maximum allowable threshold and the real-time voltage value reaches or exceeds the preset recovery voltage threshold, starting a third preset duration timer; when the timer is completed, exiting the selected protection control mode and adjusting the maximum power of the model ship speed governor to the seventh operating power.

9. A protection and control device applied to a ship model speed governor, characterized in that, The protection and control device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the protection and control method for the ship model speed governor as described in any one of claims 1 to 8.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the protection control method for the ship model speed governor as described in any one of claims 1 to 8.

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