Steering control system of steering oar and steering oar

Abstract

The utility model discloses a steering control system of a steering oar and the steering oar, the steering control system comprises an instruction pinger, a control unit, a direct current motor driver, a steering motor, a direct current power supply module, an alternating current power supply module, a rectifier and a feedback unit, the instruction pinger is connected with the control unit; the control unit is connected with the feedback unit and the direct current motor driver, the direct current motor driver is connected with the steering motor, the direct current power supply module and the alternating current power supply module are connected with the direct current motor driver, and the rectifier is connected with the alternating current power supply module; the number of the steering motor is one or more. According to the steering control system of the full-rotation steering oar, the rotating speed and the torque of the steering motor are independently controlled through the control unit, and accurate and rapid steering control over a ship can be achieved; the steering motor supplies power in two ways, namely alternating current and direct current, the alternating current is converted into direct current through rectification, the two ways are supplied to the steering motor at the same time, and the safety redundancy of the system is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of azimuth rudder propellers, and in particular relates to a steering control system of an azimuth rudder propeller and an azimuth rudder propeller comprising the steering control system. Background Art

[0002] Traditional steering systems are mostly driven by hydraulics or AC motors. While hydraulic drive systems can provide significant thrust, their complex structure and high maintenance requirements have made them increasingly unsuitable for modern ships. While AC motor systems offer high power density, they suffer from slower response times, lower accuracy, and poor environmental adaptability. Furthermore, AC motors cannot operate with two power lines. Switching between power lines results in a disconnection in one line, preventing uninterrupted power supply. A power outage in one line can disrupt the entire system. Utility Model Content

[0003] In view of this, in order to overcome the defects of the prior art, the present invention provides an improved steering control system for an azimuthally rotating propeller.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A steering control system for an azimuth propeller includes a command transmitter, a control unit, a DC motor driver, a steering motor, a DC power module, an AC power module, a rectifier, and a feedback unit. The command transmitter is connected to the control unit, which is connected to both the feedback unit and the DC motor driver. The DC motor driver is connected to the steering motor, the DC power module and the AC power module are both connected to the DC motor driver, and the rectifier is connected to the AC power module. There may be one or more steering motors. The steering control system of this utility model is a closed-loop control system.

[0006] The control unit independently controls the speed and torque of the steering motor (DC motor). The number of motors in the steering motor group is increased or decreased based on changes in the steering load. This allows precise control of the rudder angle in complex navigation environments, enabling accurate and rapid ship steering. The DC motor driver also features a simple structure, eliminating complex hydraulic devices and piping, making system maintenance easier and reducing ship repair costs. Furthermore, the steering motor is powered by two circuits: one AC and one DC. The AC is converted to DC through rectification, and both circuits simultaneously supply the steering motor. Even if one circuit is disconnected, the other circuit can still provide uninterrupted power, increasing system redundancy.

[0007] According to some preferred embodiments of the present invention, the steering motor is a DC motor. The DC motor's high-precision speed regulation, combined with real-time feedback and closed-loop control, facilitates precise rudder angle control and improves the vessel's steering accuracy. The DC motor's rapid response enables the system to achieve rapid and flexible steering adjustments under any navigational conditions, enhancing the vessel's operability. Furthermore, compared to hydraulic steering systems, DC motor systems offer greater energy efficiency, reducing reliance on hydraulic oil, thereby reducing energy consumption and operating costs. The use of a DC motor also eliminates AC power losses in cable-powered power supplies.

[0008] According to some preferred implementation aspects of the present invention, the DC motor driver includes a first input terminal, a second input terminal, a first output terminal and a second output terminal, and the DC output terminal of the DC power supply module is connected to the first input terminal of the DC motor driver.

[0009] According to some preferred implementation aspects of the present invention, the AC output end of the AC power supply module is connected to the input end of the rectifier, the output end of the rectifier is connected to the second input end of the DC motor driver, the rectifier is used to rectify the AC power output by the AC power supply module and output DC power to the DC motor driver, and the DC power supply module and the AC power supply module supply power simultaneously.

[0010] According to some preferred implementation aspects of the present invention, the first output end of the DC motor driver is connected to the stator winding of the steering motor, and the second output end of the DC motor driver is connected to the rotor of the steering motor.

[0011] According to some preferred implementation aspects of the present invention, the first output terminal of the DC motor driver is used to output excitation power, and the second output terminal of the DC motor driver is used to output armature power.

[0012] According to some preferred implementation aspects of the present invention, the DC motor driver also includes a first signal receiving end and a second signal receiving end, the first signal receiving end is used to receive the first signal output by the control unit, and the second signal receiving end is used to receive the second signal output by the control unit.

[0013] According to some preferred implementation aspects of the present invention, the first signal is a speed signal of the steering motor, and the second signal is a torque signal of the steering motor.

[0014] According to some preferred implementation aspects of the present invention, the feedback unit is used to collect the real-time speed, real-time torque, rudder angle, and blade speed of the steering motor and feed them back to the control unit; the steering control system also includes a remote monitoring and fault diagnosis unit, which is connected to the control unit. The remote monitoring and fault diagnosis unit is used to monitor and analyze the ship's operating data in real time to identify existing problems or faults, and provide fault diagnosis and solution suggestions, so that the system can automatically adjust or alarm in abnormal situations, ensure the long-term stable operation of the system, and improve the safety of the ship's navigation. The remote monitoring and fault diagnosis unit can connect the control unit to the ship's central control system through a communication interface to achieve real-time data monitoring, adjustment, and maintenance.

[0015] The control system uses closed-loop control. The command transmitter issues a steering command, and the control unit uses pulse width modulation (PWM) technology to output the steering motor's speed signal and torque signal to the DC motor driver according to a preset speed and torque model. The control unit also receives the steering motor's real-time speed, real-time torque, rudder angle, and blade speed in real time. The comparator in the control unit compares the real-time speed and real-time torque with the preset speed and torque model, and dynamically adjusts the steering motor's speed and torque to eliminate errors and accurately adjust the rudder angle. In addition, the control unit of the utility model also includes a safety protection module that can automatically take protective measures when an overload or other abnormality is detected.

[0016] The utility model also provides an azimuth steering propeller comprising the steering control system described above.

[0017] Compared with the existing technology, the benefits of the present invention are as follows: the steering control system of the full-rotation propeller of the present invention independently controls the speed and torque of the steering motor through the control unit, thereby realizing precise and rapid steering control of the ship; the steering motor is powered by two circuits, one AC and one DC, the AC is converted into DC through rectification, and the two circuits are simultaneously supplied to the steering motor, which is conducive to increasing the safety redundancy of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a schematic structural diagram of a steering control system in a preferred embodiment of the present utility model;

[0020] Among them: command transmitter-1, control unit-2, DC motor driver-3, first input terminal-31, second input terminal-32, first output terminal-33, second output terminal-34, first signal receiving terminal-35, second signal receiving terminal-36, steering motor-4, DC power module-5, AC power module-6, rectifier-7, feedback unit-8, remote monitoring and fault diagnosis unit-9, rudder angle feedback module-10. DETAILED DESCRIPTION

[0021] In order to help those skilled in the art better understand the technical solutions of the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0022] like Figure 1 As shown, in this embodiment, the full-rotation propeller includes a steering control system, which is a closed-loop control system and includes a command transmitter 1, a control unit 2, a DC motor driver 3, a steering motor 4, a DC power supply module 5, an AC power supply module 6, a rectifier 7, a remote monitoring and fault diagnosis unit 9, a feedback unit 8, and a steering angle feedback module 10. Among them, the steering motor 4 is a DC motor, the command transmitter 1 is connected to the control unit 2, the control unit 2 is connected to the DC motor driver 3, the feedback unit 8, and the remote monitoring and fault diagnosis unit 9, the feedback unit 8 is also connected to the steering motor 4 and the steering angle feedback module 10, the DC motor driver 3 is connected to the steering motor 4, the DC power supply module 5 and the AC power supply module 6 are both connected to the DC motor driver 3, and the rectifier 7 is connected to the AC power supply module 6.

[0023] Specifically, the DC motor driver 3 includes a first input terminal 31, a second input terminal 32, a first output terminal 33, a second output terminal 34, a first signal receiving terminal 35, and a second signal receiving terminal 36. The DC output terminal of the DC power supply module 5 is connected to the first input terminal 31 of the DC motor driver 3. The AC output terminal of the AC power supply module 6 is connected to the input terminal of a rectifier 7. The output terminal of the rectifier 7 is connected to the second input terminal 32 of the DC motor driver 3. The AC power output by the AC power supply module 6 is rectified by the rectifier 7 and then output as DC power to the DC motor driver 3. The DC power supply module 5 and the AC power supply module 6 supply power simultaneously. This configuration allows the steering motor 4 to be powered by two power channels: one AC and one DC. The AC is converted to DC through rectification, and both channels supply the steering motor 4 simultaneously. Even if one channel is disconnected, the other channel can still provide uninterrupted power, thereby increasing the safety redundancy of the system.

[0024] Furthermore, a first output terminal 33 of the DC motor driver 3 is connected to the stator winding of the steering motor 4 to supply excitation power to the steering motor 4. A second output terminal 34 of the DC motor driver 3 is connected to the rotor of the steering motor 4 to supply armature power to the steering motor 4. A first signal receiving terminal 35 of the DC motor driver 3 is used to receive a first signal output by the control unit 2, i.e., a speed signal of the steering motor 4. A second signal receiving terminal 36 of the DC motor driver 3 is used to receive a second signal output by the control unit 2, i.e., a torque signal of the steering motor 4. In this embodiment, the control system employs closed-loop control. When the command transmitter 1 issues a steering command, the control unit 2 uses PWM technology to output a speed signal (first signal) and a torque signal (second signal) of the steering motor 4 to the DC motor driver 3 according to a preset speed and torque model. The DC motor driver 3 then further controls the speed and torque of the steering motor 4 to achieve ship steering.

[0025] Furthermore, by connecting the feedback unit 8 to the steering motor 4, the rudder angle feedback module 10, and the control unit 2, the feedback unit 8 can collect the real-time speed and torque of the steering motor 4, as well as the rudder angle and blade speed of the azimuth propeller, and promptly feed back these collected real-time data to the control unit 2. Based on the real-time speed, torque, rudder angle, and blade speed of the steering motor 4 received in real time, the control unit 2 compares the real-time speed and torque with the preset speed and torque models through a comparator in the control unit 2, dynamically adjusts the speed and torque of the steering motor 4, and achieves independent control of the speed and torque of the steering motor 4 to eliminate errors and accurately adjust the rudder angle. In addition, the control unit 2 also includes a safety protection module that can automatically take protective measures when an overload or other abnormality is detected, which helps to improve system safety.

[0026] Furthermore, the remote monitoring and fault diagnosis unit 9 is connected to the control unit 2. The remote monitoring and fault diagnosis unit 9 can connect the control unit 2 to the central control system of the ship through the communication interface, so as to monitor and analyze the ship's operating data in real time to identify existing problems or faults, and provide fault diagnosis and solution suggestions, so that the system can automatically adjust or alarm under abnormal circumstances, ensure the long-term stable operation of the system, and improve the safety of ship navigation.

[0027] Furthermore, the number of steering motors 4 in this embodiment is one. In other embodiments, multiple steering motors 4 may be provided. Specifically, while outputting a constant speed, the steering motor 4 calculates its torque output model based on load characteristics. Based on torque and speed feedback, the number of steering motors 4 in the steering motor group can be adjusted (increasing or decreasing the number of steering motors 4 in operation according to changes in the steering load). Increasing the number of steering motors 4 reduces the proportion of the load borne by each steering motor 4 in the steering motor group, thereby increasing the redundancy of the steering motors 4. For a steering control system with multiple steering motors 4, if a single steering motor 4 fails, the loss of steering load capacity will not affect the entire steering control system because the load borne by the single steering motor 4 is small. This effectively improves steering control stability while also saving energy.

[0028] The control process of the steering control system in this embodiment is briefly described below:

[0029] When steering is required, the command transmitter 1 outputs a steering command, the control unit 2 obtains the steering command and uses PWM technology to output the speed signal and torque signal of the steering motor 4 to the DC motor driver 3 according to the preset speed and torque model. The DC motor driver 3 outputs the speed signal and torque signal to the corresponding connected steering motor 4 to make the steering motor 4 operate.

[0030] At the same time, the feedback unit 8 collects the real-time speed, real-time torque, steering angle of the steering propeller and blade speed of the steering motor 4 in real time, and transmits these data to the control unit 2 in real time. The control unit 2 compares the real-time speed and real-time torque with the preset speed and torque model through the comparator in the control unit 2 based on the received real-time speed, real-time torque, steering angle of the steering propeller and blade speed of the steering motor 4, dynamically adjusts the speed and torque of the steering motor 4, and transmits the dynamically adjusted speed and torque of the steering motor 4 to the DC motor driver 3 again, so that the steering motor 4 operates according to the adjusted speed and torque, thereby eliminating the speed error and torque error and accurately adjusting the steering angle.

[0031] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A steering control system for an azimuth propeller, characterized in that: It includes a command transmitter, a control unit, a DC motor driver, a steering motor, a DC power supply module, an AC power supply module, a rectifier and a feedback unit. The command transmitter is connected to the control unit, the control unit is connected to the feedback unit and the DC motor driver, the DC motor driver is connected to the steering motor, the DC power supply module and the AC power supply module are both connected to the DC motor driver, and the rectifier is connected to the AC power supply module; the number of the steering motor is one or more.

2. The steering control system according to claim 1, characterized in that: The steering motor is a DC motor.

3. The steering control system according to claim 2, characterized in that: The DC motor driver includes a first input terminal, a second input terminal, a first output terminal, and a second output terminal. The DC output terminal of the DC power supply module is connected to the first input terminal of the DC motor driver.

4. The steering control system according to claim 3, characterized in that: The AC output end of the AC power supply module is connected to the input end of the rectifier, and the output end of the rectifier is connected to the second input end of the DC motor driver. The rectifier is used to rectify the AC power output by the AC power supply module and output DC power to the DC motor driver. The DC power supply module and the AC power supply module supply power simultaneously.

5. The steering control system according to claim 3, characterized in that: The first output end of the DC motor driver is connected to the stator winding of the steering motor, and the second output end of the DC motor driver is connected to the rotor of the steering motor.

6. The steering control system according to claim 5, characterized in that: The first output terminal of the DC motor driver is used to output excitation power, and the second output terminal of the DC motor driver is used to output armature power.

7. The steering control system according to claim 1, characterized in that: The DC motor driver further includes a first signal receiving end and a second signal receiving end, wherein the first signal receiving end is used to receive a first signal output by the control unit, and the second signal receiving end is used to receive a second signal output by the control unit.

8. The steering control system according to claim 7, characterized in that: The first signal is a speed signal of the steering motor, and the second signal is a torque signal of the steering motor.

9. The steering control system according to claim 1, characterized in that: The feedback unit is used to collect the real-time speed, real-time torque, rudder angle and blade speed of the steering motor and feed them back to the control unit; the steering control system also includes a remote monitoring and fault diagnosis unit, which is connected to the control unit. The remote monitoring and fault diagnosis unit is used to monitor and analyze the ship's operating data in real time to identify existing problems or faults, and provide fault diagnosis and solution suggestions.

10. An azimuth propeller, characterized in that: The invention comprises a steering control system according to any one of claims 1 to 9.

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