Multi-interface compatible marine actuator high-reliability real-time data acquisition and control system

Abstract

The application discloses a kind of multi-interface compatible marine actuator high-reliability real-time data acquisition and control system, it is related to the field of ship automation, including: communication module, for adapting CAN bus, RS-485, Modbus, Ethernet four kinds of communication protocol and interface, the data interaction passage between each ship equipment is built;Trigger module is used to receive the acquisition trigger instruction of ship actuator state sensing signal, obtains position, speed, acceleration, load data according to preset timing;The application can adapt to multiple communication modes, automatically match access device protocol and reasonably allocate transmission priority, avoid data conflict, ensure that the data interaction of each kind of equipment of ship is smooth and efficient.

Description

Technical Field

[0001] This invention relates to the field of marine automation technology, specifically to a highly reliable real-time data acquisition and control system for marine actuators with multiple compatible interfaces. Background Technology

[0002] Ship actuators are an important component of ship automation systems, and their operating status and performance are directly related to the safety and reliability of the ship.

[0003] The invention patent application with application number 202111201910.2 discloses a marine steering gear auxiliary control system and its control method. The application aims to solve the problem that "when the ship is at low speed or in an emergency, the selection of steering strategy mainly comes from the crew's personal steering experience, which is very easy to cause ship safety accidents due to crew's violation of regulations or misoperation".

[0004] However, in the operation scenarios of ship actuators, traditional marine data acquisition and control systems usually only support a single communication interface (such as CAN bus or RS-485), which is difficult to meet the diverse and complex communication needs of modern ship equipment.

[0005] To address this, we propose a highly reliable real-time data acquisition and control system for marine actuators that is compatible with multiple interfaces. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a highly reliable real-time data acquisition and control system for marine actuators with multiple compatible interfaces, which can effectively solve the problems of the existing technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions; This invention discloses a highly reliable real-time data acquisition and control system for marine actuators with multiple compatible interfaces, comprising: The system comprises the following modules: a communication module for adapting to four communication protocols and interfaces (CAN bus, RS-485, Modbus, and Ethernet) and establishing data exchange pathways between various shipboard devices; a trigger module for receiving acquisition trigger commands from the ship's actuator status sensor signals and acquiring position, speed, acceleration, and load data according to a preset timing sequence; an adapter module for amplifying, filtering, and isolating the acquired analog signals and forwarding them to the conversion module after processing; a conversion module for caching and packaging the acquired data using an embedded processor or FPGA, and synchronously completing data format conversion between different communication protocols; an output module for generating control signals based on the processed data and preset control strategies and outputting them to the ship's actuators to control their execution; and a maintenance module for real-time monitoring of the system module's operational health, switching redundant hardware and providing anomaly feedback based on the monitoring results. The communication module is interactively connected to the triggering module via a local area network. The triggering module is interactively connected to the adaptation module via a local area network. The adaptation module is interactively connected to the conversion module and the output module via a local area network. The output module is interactively connected to the maintenance module via a local area network.

[0008] Furthermore, the communication module automatically completes interface adaptation by identifying the communication protocol frame header identifier, baud rate, and data bit length of the access device; Communication priorities are allocated based on the safety level of ship equipment and the real-time data requirements. Data transmission from core actuators has a higher priority than that from auxiliary equipment, and emergency control data has a higher priority than status monitoring data. When there is a conflict in the transmission of multi-protocol data, the emergency data is preempted by a preset urgency flag through time-slice rotation and emergency data preemption mechanism.

[0009] Furthermore, the triggering instructions in the triggering module include device status abnormality triggering, timed periodic triggering, and external control instruction triggering, with the preset sampling timing following: ; In the formula: The real-time sampling period; The basic sampling period; These are the motion state weighting coefficients; For the real-time speed of the executing agency; For real-time acceleration; This is the duration of the previous sampling period; Design the actuator to its maximum speed; Weighting coefficients for load impact; For real-time load data; Design the maximum load for the actuator; When two or more triggering conditions are met simultaneously, the operation is performed according to the preset triggering priority matrix, which is pre-calibrated based on the ship's navigation safety requirements.

[0010] Furthermore, the signal processing flow in the adaptation module is as follows: Adaptive amplification: The amplification factor is dynamically adjusted according to the amplitude of the input analog signal. ; In the formula: This is the magnification factor; This is the magnification factor; The optimal input reference amplitude for analog-to-digital conversion; The original analog signal amplitude; This is the maximum allowable amplification factor for the hardware. Filtering: First, random noise is eliminated using Kalman filtering, then signal fluctuations are smoothed using dynamic window moving average filtering. The size of the filtering window is adjusted in real time based on the signal change rate. ; In the formula: This refers to the size of the real-time filtering window; For the largest and smallest filtering windows; Adjust the sensitivity coefficient for the window; The amplitude of the currently sampled signal; The amplitude of the previous sampled signal; This is the current sampling period; The rate of change of the reference signal; Opto-isolation: Complete electrical isolation between the input and output sides is achieved through industrial-grade magnetic isolation chips.

[0011] Furthermore, the conversion module has a built-in acquisition cache and a processing cache, which work in parallel to enable the system to perform data acquisition and processing synchronously. The data packaging format consists of a core data header, auxiliary data segments, and CRC-32 check bits. The protocol conversion is performed based on a preset mapping table that stores four protocol frame structures, field rules, and conversion methods.

[0012] Furthermore, the preset control strategy in the output module is expressed as follows: ; In the formula: To control the output signal amount; This is the proportionality coefficient; This is for positional deviation; The integral coefficient; For integration time; These are the differential coefficients; This is the load compensation coefficient; Provides real-time load data for the actuator; Rated load for the actuator; This is the cumulative deviation correction factor; This represents the cumulative positional deviation over historical sampling periods; This represents the maximum permissible cumulative deviation.

[0013] Furthermore, the health monitoring of the maintenance module conforms to: ; In the formula: This represents the system health status coefficient. The weights for the positive parameters; This is the real-time measured value of the i-th positive parameter; This is the standard rated value for the i-th positive parameter; The weights for the inverse parameters; The safety threshold for the j-th inverse parameter; This is the real-time measured value of the j-th inverse parameter; Among them, when When the value is below the preset health threshold, redundant hardware switching is triggered. Abnormal feedback includes local audible and visual alarms and remote protocol reporting. Alarm information includes the abnormal module identifier, abnormal parameter value, and fault occurrence timestamp.

[0014] Furthermore, the positive parameters include at least the power supply voltage, operating current, interface connection success rate, and communication success rate, while the negative parameters include at least the communication delay, data transmission error rate, chip temperature, and processing unit occupancy rate.

[0015] Furthermore, the aforementioned ∈ (0,1], the value follows: Parameters used for data transmission and control of core actuators such as propulsion and steering are calibrated as high-level, taking values ​​within the range of (0.7, 1]; parameters used to assist the operation of actuators are calibrated as medium-level, taking values ​​within the range of (0.4, 0.7]; parameters that only affect the status monitoring function are calibrated as low-level, taking values ​​within the range of (0, 0.4], and The system dynamically adjusts based on parameter fluctuation trends. When the parameter fluctuation amplitude exceeds a preset fluctuation threshold, the corresponding... Automatically increases by 10%-30%; The ∈ (0,1], the value follows: Parameters that directly cause the core actuator to lose control due to a fault are calibrated as high-level and take values ​​within the range (0.7, 1]. Parameters that cause a decrease in system performance but do not affect emergency control are calibrated as medium-level and take values ​​within the range (0.4, 0.7). Parameters that only affect local data acquisition are calibrated as low-level and take values ​​within the range (0, 0.4). The parameters are dynamically adjusted according to the degree of fault accumulation. When the inverse parameter approaches the safety threshold for multiple consecutive sampling periods, the corresponding... The value is gradually increased according to a preset gradient, up to a maximum of twice the initial value.

[0016] Compared with the known prior art, the technical solution provided by this invention has the following beneficial effects: This invention is compatible with various communication methods, automatically matches access device protocols and rationally allocates transmission priorities to avoid data conflicts, ensuring smooth and efficient data interaction among various shipboard equipment. Simultaneously, it can dynamically adjust the sampling period based on the actuator's motion status, load conditions, and trigger condition priorities, improving the targeting and real-time performance of data acquisition. Furthermore, through adaptive amplification, multi-level filtering, and electrical isolation, it effectively reduces environmental interference and signal noise, ensuring accurate and reliable data acquisition. Finally, it optimizes control output by combining multi-dimensional parameters such as position deviation and load, thereby improving the actuator's response accuracy and operational stability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0018] Figure 1 This is a schematic diagram of a highly reliable real-time data acquisition and control system for a multi-interface compatible marine actuator. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] The present invention will be further described below with reference to embodiments.

[0021] Example: This embodiment presents a highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators, such as... Figure 1 As shown, it includes: The communication module is used to adapt to four communication protocols and interfaces: CAN bus, RS-485, Modbus, and Ethernet, to build a data interaction path between various ship equipment. The communication module automatically completes interface adaptation by identifying the communication protocol frame header identifier, baud rate, and data bit length of the access device. Communication priorities are allocated based on the safety level of ship equipment and the real-time data requirements. Data transmission from core actuators has a higher priority than that from auxiliary equipment, and emergency control data has a higher priority than status monitoring data. When there is a conflict in the transmission of multi-protocol data, the time-slice rotation and emergency data preemption mechanism are used to enable emergency data to be preempted by a preset urgency flag. The core actuators include the propulsion system, steering system, braking system, anchoring system, and roll reduction system, which are key equipment that directly affect the ship's navigation safety, power output, and attitude control. The auxiliary equipment includes ventilation equipment, lighting system, refrigeration equipment, fire-fighting auxiliary equipment, and water and power supply auxiliary modules, which are supporting equipment that provides support for the ship's operation but does not directly determine navigation safety. The trigger module is used to receive the acquisition trigger command of the status sensor signal of the ship's actuator and acquire position, speed, acceleration and load data according to the preset time sequence; The triggering module includes triggers for device status abnormalities, timed periodic triggers, and external control command triggers. The preset sampling timing follows the following rules: ; In the formula: The real-time sampling period; The basic sampling period; These are the motion state weighting coefficients; For the real-time speed of the executing agency; For real-time acceleration; This is the duration of the previous sampling period; Design the actuator to its maximum speed; Weighting coefficients for load impact; For real-time load data; Design the maximum load for the actuator; The above formula dynamically adjusts the real-time sampling period based on the real-time speed, acceleration, and load data of the actuator. It balances the influence of different factors on the sampling requirements by using motion state weighting coefficients and load influence weighting coefficients. The values ​​of the weighting coefficients are flexibly set according to the sensitivity requirements of the actuator to the dynamic response of speed and acceleration, and the degree of influence of load fluctuations on control accuracy and operational stability. This allows the sampling frequency to accurately adapt to the actual needs under different working conditions during ship navigation, ensuring the timely collection of key state data and avoiding invalid redundant sampling. When two or more triggering conditions are met simultaneously, the process is executed according to the preset triggering priority matrix, which is pre-calibrated based on the ship's navigation safety requirements. in, The preset value range is [0.1, 0.9]. The higher the sensitivity requirement of the actuator to dynamic changes in speed and acceleration, the better. The larger the value, the smaller the value; The preset value range is [0.1, 0.9]. The more significant the impact of load fluctuations on the control accuracy and operational stability of the actuator, the better. The larger the value, the smaller the value; In the actual operation of ship actuators, the rate of change of position feedback signals increases significantly during the steering gear's variable speed steering phase and the propeller's variable load navigation phase. This invention comprehensively considers the instantaneous velocity v and acceleration a of the actuator, where a·Δt represents the velocity change predicted based on the current acceleration, thereby adjusting the sampling frequency in advance to adapt to the upcoming rapid changes and avoiding control response delays caused by sampling lag. The swaying of the ship in waves causes significant fluctuations in the load F of actuators such as the steering gear and stabilizer fins. Traditional fixed sampling systems cannot capture the position deviations caused by sudden load changes in time. This invention uses the load influence weighting coefficient μ to automatically increase the sampling frequency under heavy load or variable load conditions, ensuring that the control system can respond promptly to load disturbances caused by changes in sea state. The adapter module is used to amplify, filter, and isolate the acquired analog signals, and then forward them to the conversion module after processing. The signal processing flow in the adapter module is as follows: Adaptive amplification: The amplification factor is dynamically adjusted according to the amplitude of the input analog signal. ; In the formula: This is the magnification factor; This is the magnification factor; The optimal input reference amplitude for analog-to-digital conversion; The original analog signal amplitude; This is the maximum allowable amplification factor for the hardware. The above formula determines the amplification factor with the optimal input reference amplitude for analog-to-digital conversion as the target. It is dynamically calculated based on the amplitude of the original analog signal and limited by the maximum allowable amplification factor in hardware. The value of the amplification factor is flexibly adjusted in combination with the fluctuation amplitude of the original analog signal and the intensity of electromagnetic interference in the ship environment. This ensures that analog signals of different amplitudes are all within the optimal processing range of analog-to-digital conversion after amplification, avoiding both the accuracy loss caused by the signal being too small and the distortion caused by the signal being too large. This adapts to the characteristics of unstable signal amplitude in the complex environment of a ship. When input signal Much lower than the reference amplitude hour, / A larger ratio results in a correspondingly higher amplification factor, ensuring that subsequent processing stages receive a signal of sufficient strength; when Approaching or exceeding When this ratio approaches 1 or less, the amplification factor decreases to avoid excessive amplification that introduces noise or signal distortion. Sensors in ship actuators operate in high-humidity, high-salt, and high-vibration environments for extended periods, making signal amplitude attenuation and fluctuation common phenomena. Traditional fixed-gain amplifiers cannot adapt to dynamic changes in signal quality. The adaptive amplification mechanism of this invention can dynamically adjust the gain according to the actual signal quality, ensuring the availability of weak signals while avoiding excessive amplification of normal signals. Filtering: First, random noise is eliminated using Kalman filtering, then signal fluctuations are smoothed using dynamic window moving average filtering. The size of the filtering window is adjusted in real time based on the signal change rate. ; In the formula: This refers to the size of the real-time filtering window; For the largest and smallest filtering windows; Adjust the sensitivity coefficient for the window; The amplitude of the currently sampled signal; The amplitude of the previous sampled signal; This is the current sampling period; The rate of change of the reference signal; In the above formula, the size of the filtering window is based on the minimum filtering window and is dynamically adjusted according to the signal change rate. The sensitivity coefficient is adjusted by the window to balance the signal response speed and noise suppression effect. When the amplitude difference between the current sampled signal and the previous sampled signal is large and the signal changes rapidly, the window will automatically shrink to ensure the real-time signal response. When the signal changes slowly, the window will expand accordingly to better eliminate random noise. At the same time, the dual processing of Kalman filtering and dynamic window moving average filtering allows the signal to effectively get rid of noise interference and accurately reflect the actual operating status of the actuator. Opto-isolation: The input and output sides are completely electrically isolated using an industrial-grade magnetic isolation chip. The chip selection is determined based on the ship's electrical environment. The isolation voltage is not lower than the preset ship-grade isolation threshold. A current-limiting resistor and a transient suppression diode are connected in series on the input side to limit inrush current and clamp overvoltage signals. A filter capacitor is connected in parallel on the output side to eliminate signal jitter after isolation. The isolation channel adopts a single-channel independent design to avoid cross-interference of multiple signals. The isolated signal is output to the conversion module through differential transmission. in, The preset value range is [1.2, 3.5]. The value is larger when the amplitude fluctuation of the original analog signal is large and the electromagnetic interference in the ship environment is strong, and smaller when the signal amplitude is stable and close to the optimal input reference amplitude for analog-to-digital conversion. Calibrated based on noise suppression requirements; Calibrated by signal response speed requirements; The preset value range is [0.8, 2.5]. When the ship's actuator has high requirements for the real-time response of the signal, the value is larger, and when it is necessary to enhance the noise suppression effect, the value is smaller. The conversion module is used to perform buffering and packaging of acquired data based on an embedded processor or FPGA, and to simultaneously complete the data format conversion between different communication protocols. The conversion module has a built-in acquisition buffer and a processing buffer. The acquisition buffer and the processing buffer work in parallel to enable the system's data acquisition and processing to be performed synchronously. The data packaging format consists of a core data header, auxiliary data segments, and CRC-32 check bits. Protocol conversion is performed based on a preset mapping table that stores four protocol frame structures, field rules, and conversion methods. The mapping table can be dynamically updated by the maintenance module after verification without interrupting the conversion service. The hardware automatically switches between the embedded processor and FPGA according to the amount of data processed. The core data header includes key control data such as position and load. The four protocol frame structures include CAN bus (including frame ID and data field length), RS-485 (including start bit and data bit rules), Modbus (including function code and register address), and Ethernet (including frame header identifier and byte order). The output module is used to generate control signals based on the processed data and preset control strategies, and output them to the ship's actuators to control the ship's actuators to perform their functions. The preset control strategy in the output module is represented as follows: ; In the formula: To control the output signal amount; This is the proportionality coefficient; This is for positional deviation; The integral coefficient; For integration time; These are the differential coefficients; This is the load compensation coefficient; Provides real-time load data for the actuator; Rated load for the actuator; This is the cumulative deviation correction factor; This represents the cumulative positional deviation over historical sampling periods; This represents the maximum permissible cumulative deviation. The above formula comprehensively considers position deviation, cumulative deviation, and deviation change rate, while incorporating load compensation and cumulative deviation correction terms. The influence weight of each part is adjusted by proportional coefficient, integral coefficient, derivative coefficient, load compensation coefficient, and cumulative deviation correction coefficient. The value of each coefficient is flexibly set according to the magnitude of position deviation, ship response requirements, load fluctuation, and degree of cumulative deviation. It retains the precise adjustment of position deviation by traditional control strategies, while also making targeted corrections for real-time load changes of the actuator and cumulative deviations in long-term operation, thereby effectively improving the control accuracy and operational stability of ship actuators under complex working conditions. in, ∈[0.1, 5], the larger the value is when the position deviation is large or the ship needs to respond quickly to control commands, the smaller the value is when the position deviation is close to the target value or the actuator is prone to overshoot; ∈[0.01, 0.5], the larger the value is when the position deviation persists or when running at low speed and stable conditions, the smaller the value is when the dynamic response requirement is high or when there are high-frequency disturbances; ∈[0.05, 2], the larger the value is when the rate of change of position deviation is large or when it is necessary to suppress overshoot oscillation, the smaller the value is when the deviation change is stable or in the case of low-damping actuator. ∈[0.3, 3], the larger the value is when the real-time load is close to the rated load or the load fluctuates frequently, and the smaller the value is when the load is far below the rated load or the load is stable; ∈[0.1, 1.5], the value is larger when the cumulative position deviation is close to the maximum allowable cumulative deviation or when small deviations accumulate over a long period of time, and smaller when the cumulative deviation is small or the deviation can be quickly corrected; It should be noted that the integral term of a traditional PID controller While it can eliminate steady-state errors, during long-term ship voyages, continuous external disturbances such as ocean currents and waves can cause the actuators to remain in a state deviating from the ideal position for extended periods. If only integral term correction is relied upon, excessive integral accumulation may lead to integral saturation, thereby reducing control performance. This invention adds a cumulative deviation correction term. With load compensation items Working together, a dual compensation mechanism of "load feedforward + deviation feedback" is formed: when the load F increases, Provides basic compensation force (feedforward control) for rapid response to load changes; while Based on actual position deviation Further adjustments to the compensation amount (feedback control) compensate for the deficiencies of feedforward compensation. This dual mechanism avoids the lag inherent in relying solely on the integral term, significantly improving response speed under heavy load or rapid load changes. In ship steering systems, when a ship turns at high speed, the hydrodynamic load on the rudder blade increases dramatically. If only the integral term of the PID controller is relied upon, the response speed will be slow. The load compensation term of this invention can provide compensation force in advance based on load sensor data, while the cumulative deviation correction term performs rapid secondary correction when the compensation force is insufficient. To avoid integral saturation, the system sets a limiting protection in the integral term, and the cumulative deviation correction term is only activated when the load fluctuation exceeds 20% of the rated load, ensuring that the two have clear division of labor and do not interfere with each other under different operating conditions. The maintenance module is used to monitor the health status of system modules in real time, and switch redundant system hardware and provide feedback on anomalies based on the monitoring results. The health monitoring of the maintenance module follows these rules: ; In the formula: This represents the system health status coefficient. The weights for the positive parameters; This is the real-time measured value of the i-th positive parameter; This is the standard rated value for the i-th positive parameter; The weights for the inverse parameters; The safety threshold for the j-th inverse parameter; This is the real-time measured value of the j-th inverse parameter; The above formula calculates the system health status coefficient by weighting forward and reverse parameters. Forward parameters are selected from indicators such as power supply voltage and operating current that reflect the normal operating capability of the system. Reverse parameters are selected from indicators such as communication delay and data transmission error rate that reflect the operating risk of the system. The weights of different parameters are classified according to their impact on core actuators, auxiliary equipment or status monitoring functions. The weights are dynamically adjusted according to the fluctuation trend of parameters and the degree of fault accumulation. When the health status coefficient is lower than the preset threshold, the system can seamlessly switch redundant hardware and provide detailed abnormal information. In the end, the system's operating status is monitored comprehensively and accurately, ensuring the continuity and reliability of the ship's actuator control. Among them, when When the value is less than the preset health threshold, redundant hardware switching is triggered. During the switching process, the current control parameters and data transmission status are cached to achieve seamless connection of control signals, maintain continuous data transmission and control output, and abnormal feedback includes local audible and visual alarms and remote protocol reporting. Alarm information includes abnormal module identifier, abnormal parameter value, and fault occurrence timestamp. Positive parameters include at least power supply voltage, operating current, interface connection success rate, and communication success rate; negative parameters include at least communication latency, data transmission error rate, chip temperature, and processing unit utilization. ∈ (0,1], the value follows: Parameters used for data transmission and control of core actuators in propulsion and steering, such as core power supply voltage and critical interface connection success rate weights, are calibrated as high-level and take values ​​within the range of (0.7, 1]. Parameters used for auxiliary actuator operation, such as auxiliary power supply branch operating current, are calibrated as medium-level and take values ​​within the range of (0.4, 0.7). Parameters that only affect status monitoring functions, such as non-critical interface communication success rate, are calibrated as low-level and take values ​​within the range of (0, 0.4). The system dynamically adjusts based on parameter fluctuation trends. When the parameter fluctuation amplitude exceeds a preset fluctuation threshold, the corresponding... Automatically increases by 10%-30%; ∈ (0,1], the value follows: Parameters that directly cause the core actuator to lose control due to a fault are calibrated as high-level and take values ​​within the range (0.7, 1]. Parameters that cause a decrease in system performance but do not affect emergency control are calibrated as medium-level and take values ​​within the range (0.4, 0.7). Parameters that only affect local data acquisition are calibrated as low-level and take values ​​within the range (0, 0.4). The parameters are dynamically adjusted according to the degree of fault accumulation. When the inverse parameter approaches the safety threshold for multiple consecutive sampling periods, the corresponding... The value is gradually increased according to a preset gradient, up to a maximum of twice the initial value; During long-term sea voyages, hardware degradation in ship actuators is often gradual (e.g., hydraulic oil leakage, motor winding aging, sensor drift). While single-sample parameter deviations may not be significant, continuous fluctuations or slow drifts are early signs of failure. Traditional fixed-weight health scoring methods are insensitive to these gradual faults and prone to missed detections. The dynamic weight adjustment mechanism of this invention monitors parameter fluctuation trends: when the fluctuation amplitude of a parameter exceeds a preset fluctuation threshold (this threshold is pre-calibrated according to the parameter type; for example, the fluctuation threshold for power supply voltage can be set to ±5% of the nominal value), the system determines that the parameter has entered an unstable state and automatically increases its weight by 10%-30%, making the health coefficient more sensitive to changes in this parameter. This allows for early detection of potential faults, triggering warnings or redundancy switching before complete hardware failure. For inverse parameters (e.g., temperature rise, vibration, communication delay), when their actual value approaches the safety threshold for multiple consecutive sampling cycles (e.g., chip temperature exceeds 80℃ for three consecutive cycles, while the safety threshold is 90℃), the weight gradually increases according to a preset gradient, up to a maximum of twice the initial value, ensuring the health coefficient can quickly respond to dangerous conditions. To avoid erroneous switching, this invention employs multiple criteria: redundant switching is only triggered when the health coefficient H is continuously below the threshold or when the single sudden drop is too large. The communication module interacts with the triggering module via a local area network. The triggering module interacts with the adaptation module via a local area network. The adaptation module interacts with the conversion module and the output module via a local area network. The output module interacts with the maintenance module via a local area network.

[0022] In this embodiment, the communication module adapts to four communication protocols and interfaces: CAN bus, RS-485, Modbus, and Ethernet, to build a data interaction path between various ship equipment. The trigger module receives the acquisition trigger command of the ship's actuator status sensor signal and acquires position, speed, acceleration, and load data according to a preset timing sequence. The adaptation module amplifies, filters, and isolates the acquired analog signals and forwards them to the conversion module after processing. The conversion module then performs data caching and packaging based on the embedded processor or FPGA, and synchronously completes the data format conversion between different communication protocols. The output module further generates control signals based on the processed data and preset control strategies and outputs them to the ship's actuators to control their execution. Finally, the maintenance module monitors the health of the system modules in real time and switches redundant hardware and provides anomaly feedback based on the monitoring results.

[0023] The system in the above embodiments can adapt to the communication needs of various ship equipment, and its data acquisition response is flexible and accurate. It can effectively filter out interference, optimize signal quality, enable efficient data processing and protocol adaptation, and control output that fits the actual operating conditions.

[0024] Application example: During its transoceanic voyage, the XX ocean-going cargo ship employed this highly reliable real-time data acquisition and control system with multiple compatible interfaces to uniformly manage and control core actuators such as the ship's propulsion system and steering system, as well as auxiliary equipment such as ventilation and lighting systems.

[0025] The communication module automatically identifies the communication protocols of the access devices. The propulsion system transmits data via CAN bus, the steering system via Modbus protocol, the ventilation equipment via RS-485, and the navigation aids via Ethernet. The system allocates priorities according to safety level and real-time requirements. The power control data of the propulsion system has higher priority than the status data of the ventilation equipment. When a conflict occurs in the transmission of multiple protocols, the emergency steering control data of the steering system is transmitted first through a preemption mechanism.

[0026] The trigger module simultaneously receives both a timed periodic trigger command and a device status anomaly trigger command indicating that the steering system load slightly exceeds the safety threshold. According to a preset priority matrix, the device status anomaly trigger command is executed first. Based on the ship's real-time navigation data, the real-time sampling period is calculated to be 0.07 seconds to ensure timely detection of changes in the steering system's operating status.

[0027] The adapter module processes the collected analog signals from the steering system, dynamically adjusts the amplification factor based on the signal amplitude, and finally determines the amplification factor to be 2.1 times. First, Kalman filtering is used to eliminate random noise caused by the marine electromagnetic environment, and then dynamic window moving average filtering is used to smooth signal fluctuations. After calculation, the size of the filtering window is adjusted to 10. Subsequently, complete electrical isolation is achieved through an industrial-grade magnetic isolation chip. The isolation voltage meets the preset threshold for ship-grade protection. After avoiding cross-interference of multiple signals, the signal is forwarded to the conversion module.

[0028] The conversion module enables the acquisition buffer and processing buffer to work in parallel, synchronously completing data caching and packaging. The packaged data includes core data headers such as steering system position and load, auxiliary status data segments, and CRC-32 check bits. At the same time, it completes the conversion between Modbus protocol and internal system processing format according to the preset mapping table. Due to the large amount of data being processed, the hardware automatically switches to FPGA to perform the processing task.

[0029] Based on the processed steering system position deviation, real-time load, and other data, the output module calculates a control signal output of 2.3V in conjunction with a preset control strategy. This control signal is then output to the steering actuator to precisely correct the ship's course and avoid the risk of yaw.

[0030] The maintenance module monitors the real-time operating status of each module in the system, comprehensively calculating positive parameters such as power supply voltage and communication success rate, as well as negative parameters such as communication delay and chip temperature. The system health status coefficient is 0.82, higher than the preset health threshold, indicating that all modules are operating normally. During navigation, due to the harsh marine environment, the communication delay of a certain interface continuously increases. After calculation, the system health status coefficient drops to 0.63, reaching the redundancy switching threshold. The system immediately caches the current control parameters and data transmission status, seamlessly switching to redundant hardware to ensure uninterrupted heading control and data transmission. At the same time, it issues an audible and visual alarm locally and remotely reports the abnormal module identifier, the specific value of the communication delay, and the timestamp of the fault occurrence.

[0031] In summary, the system in the above embodiments can adapt to multiple communication methods, automatically match access device protocols and reasonably allocate transmission priorities to avoid data conflicts, and ensure smooth and efficient data interaction of various ship equipment. At the same time, it can dynamically adjust the sampling period according to the motion status of the actuator, load conditions and trigger condition priorities to improve the relevance and real-time performance of data acquisition. Furthermore, through adaptive amplification, multi-level filtering and electrical isolation processing, it effectively reduces environmental interference and signal noise to ensure accurate and reliable data acquisition. Finally, it optimizes the control output by combining multi-dimensional parameters such as position deviation and load, thereby improving the response accuracy and operational stability of the actuator.

[0032] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A highly reliable real-time data acquisition and control system for marine actuators with multiple compatible interfaces, characterized in that, include: The communication module is used to adapt to four communication protocols and interfaces: CAN bus, RS-485, Modbus, and Ethernet, to build a data interaction path between various ship equipment. The trigger module is used to receive the acquisition trigger command of the status sensor signal of the ship's actuator and acquire position, speed, acceleration and load data according to the preset time sequence; The adapter module is used to amplify, filter, and isolate the acquired analog signals, and then forward them to the conversion module after processing. The conversion module is used to perform buffering and packaging of acquired data based on an embedded processor or FPGA, and to simultaneously complete the data format conversion between different communication protocols. The output module is used to generate control signals based on the processed data and preset control strategies, and output them to the ship's actuators to control the ship's actuators to perform their functions. The maintenance module is used to monitor the health status of system modules in real time, and to switch redundant system hardware and provide feedback on anomalies based on the monitoring results.

2. The highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 1, characterized in that, The communication module automatically completes interface adaptation by identifying the communication protocol frame header identifier, baud rate, and data bit length of the access device. Communication priorities are allocated based on the safety level of ship equipment and the real-time data requirements. Data transmission from core actuators has a higher priority than that from auxiliary equipment, and emergency control data has a higher priority than status monitoring data. When there is a conflict in the transmission of multi-protocol data, the emergency data is preempted by a preset urgency flag through time-slice rotation and emergency data preemption mechanism.

3. The highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 1, characterized in that, The triggering module includes triggering commands for device status abnormalities, timed periodic triggering, and external control commands. The preset sampling timing follows the following: ； In the formula: The real-time sampling period; The basic sampling period; These are the motion state weighting coefficients; For the real-time speed of the executing agency; For real-time acceleration; This is the duration of the previous sampling period; Design the actuator to its maximum speed; Weighting coefficients for load effects; For real-time load data; Design the maximum load for the actuator; When two or more triggering conditions are met simultaneously, the operation is performed according to the preset triggering priority matrix, which is pre-calibrated based on the ship's navigation safety requirements.

4. The highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 1, characterized in that, The signal processing flow in the adaptation module is as follows: Adaptive amplification: The amplification factor is dynamically adjusted according to the amplitude of the input analog signal. ； In the formula: This is the magnification factor; This is the magnification factor; The optimal input reference amplitude for analog-to-digital conversion; The original analog signal amplitude; This is the maximum allowable amplification factor for the hardware. Filtering: First, random noise is eliminated using Kalman filtering, then signal fluctuations are smoothed using dynamic window moving average filtering. The size of the filtering window is adjusted in real time based on the signal change rate. ； In the formula: This refers to the size of the real-time filtering window; For the largest and smallest filtering windows; Adjust the sensitivity coefficient for the window; The amplitude of the currently sampled signal; The amplitude of the previous sampled signal; This is the current sampling period; The rate of change of the reference signal; Opto-isolation: Complete electrical isolation between the input and output sides is achieved through industrial-grade magnetic isolation chips.

5. The highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 1, characterized in that, The conversion module has a built-in acquisition cache and a processing cache, which work in parallel to enable the system to perform data acquisition and processing synchronously. The data packaging format consists of a core data header, auxiliary data segments, and CRC-32 check bits. The protocol conversion is performed based on a preset mapping table that stores four protocol frame structures, field rules, and conversion methods.

6. The highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 1, characterized in that, The preset control strategy in the output module is expressed as follows: ； In the formula: To control the output signal amount; This is the proportionality coefficient; This is for positional deviation; The integral coefficient; For integration time; These are the differential coefficients; This is the load compensation coefficient; Provides real-time load data for the actuator; Rated load for the actuator; This is the cumulative deviation correction factor; This represents the cumulative positional deviation over historical sampling periods; This represents the maximum permissible cumulative deviation.

7. A highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 1, characterized in that, The health monitoring of the maintenance module follows the following: ； In the formula: This represents the system health status coefficient. The weights for the positive parameters; This is the real-time measured value of the i-th positive parameter; This is the standard rated value of the i-th positive parameter; The weights of the inverse parameters; The safety threshold for the j-th inverse parameter; This is the real-time measured value of the j-th inverse parameter; Among them, when When the value is below the preset health threshold, redundant hardware switching is triggered. Abnormal feedback includes local audible and visual alarms and remote protocol reporting. Alarm information includes the abnormal module identifier, abnormal parameter value, and fault occurrence timestamp.

8. The highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 7, characterized in that, The positive parameters include at least the power supply voltage, operating current, interface connection success rate, and communication success rate, while the negative parameters include at least the communication delay, data transmission error rate, chip temperature, and processing unit occupancy rate.

9. A highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 7, characterized in that, The ∈ (0,1], the value follows: Parameters used for data transmission and control of core actuators such as propulsion and steering are calibrated as high-level, taking values ​​within the range of (0.7, 1]; parameters used to assist the operation of actuators are calibrated as medium-level, taking values ​​within the range of (0.4, 0.7]; parameters that only affect the status monitoring function are calibrated as low-level, taking values ​​within the range of (0, 0.4], and The system dynamically adjusts based on parameter fluctuation trends. When the parameter fluctuation amplitude exceeds a preset fluctuation threshold, the corresponding... Automatically increases by 10%-30%; The ∈ (0,1], the value follows: Parameters that directly cause the core actuator to lose control due to a fault are calibrated as high-level and take values ​​within the range (0.7, 1]. Parameters that cause a decrease in system performance but do not affect emergency control are calibrated as medium-level and take values ​​within the range (0.4, 0.7). Parameters that only affect local data acquisition are calibrated as low-level and take values ​​within the range (0, 0.4). The parameters are dynamically adjusted according to the degree of fault accumulation. When the inverse parameter approaches the safety threshold for multiple consecutive sampling periods, the corresponding... The value is gradually increased according to a preset gradient, up to a maximum of twice the initial value.

10. A highly reliable real-time data acquisition and control system for multi-interface compatible marine actuators according to claim 1, characterized in that, The communication module is interactively connected to the triggering module via a local area network. The triggering module is interactively connected to the adaptation module via a local area network. The adaptation module is interactively connected to the conversion module and the output module via a local area network. The output module is interactively connected to the maintenance module via a local area network.

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