CN108423148B - Control device and method for pod propulsion ship - Google Patents

Abstract

The invention discloses a control device and a method for a pod propulsion ship, comprising a data acquisition module, a signal processing module, a communication module, a system controller and an executing mechanism, wherein the control device comprises the data acquisition module, the signal processing module, the communication module, the system controller and the executing mechanism, wherein a control handle is used for converting a control signal of a driver into an electric signal and transmitting the electric signal to the signal processing module; the signal processing module is connected with the system controller through the communication module, the system controller drives the executing mechanism, and the executing mechanism is composed of a first pod propeller and a second pod propeller. The invention realizes the control of the pod propulsion ship which is difficult to complete by conventional propellers such as translation, oblique movement, in-situ rotation, quick reversing and the like at any navigational speed, and greatly improves the maneuverability and maneuverability of the ship.

Description

A control device and method for pod propelling a ship

technical field

The invention belongs to the technical field of ship intelligent control, and in particular relates to a control device and method for a pod to propel a ship.

Background technique

With the vigorous development of international trade, the world's shipping volume continues to increase, and port transportation operations are becoming increasingly heavy. Therefore, the port traffic is becoming increasingly busy, the navigation density is increasing, the channel becomes narrower, and the entry and exit ports are becoming more and more crowded, so that ship collisions and stranding accidents occur from time to time.

At present, after more than 20 years of development abroad, the pod propulsion technology has a very complete propeller design scheme and a mature propulsion control strategy. From engineering ships and icebreakers to the current luxury cruise ships, chemical tankers, oil tankers, etc., the application range of pod propulsion in the field of ship propulsion has gradually expanded. The intelligent control system for the pod propulsion in the prior art cannot satisfy the complex and highly maneuverable maneuvering of the ship, and avoid water traffic accidents when the ship enters and leaves the port.

Contents of the invention

The technical problem to be solved by the present invention is to provide a control device and method for a pod-propelled ship, so that the pod-propelled ship can complete translation, oblique shift, in-situ rotation, fast reversing and other manipulations that are difficult for conventional propellers at any speed, and greatly improve the maneuverability and maneuverability of the ship.

The technical solution adopted by the present invention to solve the technical problem is to provide a control device for pod propulsion ships, including a data acquisition module, a signal processing module, a communication module, a system controller and an actuator, wherein the data acquisition module includes a joystick, a first propeller speed sensor, a second propeller speed sensor, a first angle sensor, and a second angle sensor, wherein the joystick is used to convert the driver's manipulation signal into an electrical signal and transmit it to the signal processing module; the signal processing module is connected to the system controller through the communication module, and the system controller drives the actuator. The first pod propeller includes a first propeller motor and a first rotation control motor, and the second pod propeller includes a second propeller motor and a second rotation control motor; the first angle sensor monitors the rotation angle of the first pod propeller in real time, and the second angle sensor monitors the rotation angle of the second pod propeller in real time, and transmits the rotation angle signal to the signal processing module; The electrical signal is converted into a numerical signal that the system controller can recognize, and the numerical signal is sent to the system controller. The system controller compares the numerical signal and outputs an action signal to the actuator.

According to the above technical solution, the first propeller motor and the first rotary control motor are installed in the first pod propeller, and the first pod propeller is installed on the left side of the tail of the pod propelled ship; the second propeller motor and the second rotary control motor are installed on the second pod propeller, and the second pod propeller is installed on the right side of the pod propulsion ship tail.

According to the above technical scheme, the following steps are included. Step 1 divides the horizontal plane of the ship into four regions I, II, III and IV according to the line connecting the thrust point and the center of gravity. The range of the I region is (φ, 180°-φ], the range of the III region is (180°+φ, 360°-φ], the range of the II region is (-φ, φ], the range of the IV region is (180°-φ, 180°+φ], and φ is half of the angle between the boundaries of the II and IV regions; When obliquely shifting in areas Ⅰ and Ⅲ, the driver outputs the handle amplitude angle signal γ by controlling the joystick_jand handle azimuth signal λ_j, through the system controller, the speed of the first propeller motor and the second propeller motor, the rotation angles of the first rotation control motor and the second rotation control motor are adjusted; Step 2, the horizontal plane area II and IV are divided into straight travel area, left transition area and right transition area. (180°-φ/2, 180°+φ/2], the scope of the left transition zone is (180°+φ/2, 180°+φ], and the scope of the right transition zone is (180°-φ, 180°-φ/2]. In order to solve the problem that the rotation angle of the pod propeller is greatly deflected in a short time when the pod propelled the ship’s driving state from straight travel to large-scale tilt. The pod propellers are all forward or reverse, and the driver controls the handle amplitude angle signal of the joystickγ_jControl the pod to propel the moving speed of the ship, and control the handle azimuth signal λ of the joystick_jControl the small deflection of the pod propeller; step 3, when the pod propelled the ship to move in the left transition area and the right transition area, by making one of the first pod propeller and the second pod propeller rotate 90°, the other pod propeller kept its original position, and by changing the rotating speed of the pod propeller rotating 90°, different oblique angles and oblique speeds were realized.

The joystick outputs three control quantities: the handle amplitude angle signal γ _j controls the moving speed of the pod-propelled ship; the handle azimuth signal λ _j controls the moving direction of the pod-propelled ship; the knob rotation angle signal τ _j corrects the pod-propelled ship's course. The joystick swings around the base in the y-axis direction, and outputs the handle amplitude angle signal γ _j ; at the same time, the joystick can rotate around its axis, and outputs the handle azimuth angle signal λ _j , and the joystick head is provided with a knob that can rotate around the axis (it is stipulated that turning to the left is negative, and turning to the right is positive), and the output knob rotation angle signal τ _j .

According to the above technical solution, in the first step, when the pod propelled the ship to move obliquely in the I and III areas, the driver outputs the handle amplitude angle signal γ _j and the handle azimuth angle signal λ _j through the control handle, specifically, when the ship moves obliquely in the upper half of the I area (φ<λ _j <90°), the speed of the first pod propeller: Among them, γ _jmax is the maximum amplitude angle of the handle, n _max is the maximum rotational speed of the propeller, the rotation angle of the propeller of the first pod: α ₁ =λ _j ; the rotational speed of the propeller of the second pod: Rotation angle of the propeller of the second pod: α ₂ =180°-λ _j ; when moving obliquely in the lower half of area I (90°<λ _j <180°-φ), the speed of the propeller of the first pod: /> Rotation angle of the propeller of the first pod: α ₁ =λ _j ; speed of the propeller of the second pod: /> Rotation angle of the propeller of the second pod: α ₂ =180°-λ _j .

According to the above technical scheme, when external factors (wind, wave, current, etc.) affect the deflection of the bow, the driver outputs the knob rotation angle signal τ _j through the control handle head knob, and adjusts the rotation angles of the first pod propeller and the second pod propeller through the action of the system controller. Among them, τ _jmax is the maximum rotation angle of the knob, and the rotation angle of the propeller of the second pod: When the bow deviates to the left, the rotation angle of the thrusters of the first pod: Second pod thruster rotation angle: />

The beneficial effects produced by the present invention are as follows: 1. A whole set of intelligent control system for the pod-propelled ship is developed, which can realize the normal operation of the pod-propelled ship under different operating conditions and reduce the difficulty of operation.

2. The present invention optimizes the distribution of thrust to the propeller through the pseudo-inverse algorithm, and fully utilizes the 360° full-rotation characteristics of the pod propulsion, so that the double pods can cooperate to generate vector force in any direction, so that the ship can complete the manipulation that is difficult for conventional propellers such as translation, oblique movement, in-situ rotation, and fast reversing at any speed, and greatly improves the maneuverability and maneuverability of the ship.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

FIG. 1 is a schematic diagram of the overall composition of an embodiment of the present invention.

Fig. 2 is a schematic diagram of the structural composition of the joystick of the present invention.

Fig. 3 is a schematic diagram of the joystick amplitude angle signal of the present invention.

Fig. 4 is a schematic diagram of the area division of the control strategy in the present invention.

Fig. 5 is a schematic diagram of the status and stress of the thruster of the oblique pod in zone I of the present invention.

Fig. 6 is a schematic diagram of the control strategy IV area division and the front vehicle of the present invention.

Fig. 7 is a schematic diagram of the propeller status and stress of the oblique pod in the right transition zone of the II zone according to the present invention.

Fig. 8 is a schematic diagram of the status and stress of the thruster of the oblique pod in the left transition zone of zone II of the present invention.

Fig. 9 is a schematic diagram of the pod propulsion state and the stress situation when the yaw of the pod-propelled ship is adjusted in a small range according to the present invention.

In the figure: 001. joystick; 002. data acquisition module; 003. signal processing module; 004. system controller; 005. actuator; 006. first pod propeller; 007. second pod propeller; 5. The second rotary control motor; 016. Straight running area; 017. Left transition area; 018. Right transition area; 019. Base; 020. Knob.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In the embodiment of the present invention, as shown in FIG. 1 , a control system for a pod propelled ship is provided, including a data acquisition module 002 , a signal processing module 003 , a communication module, a system controller 004 and an actuator 005 . The data acquisition module 002 is composed of a joystick 001, propeller speed sensors 008, 012 and angle sensors 010, 014. The joystick 001 can swing around the base in the y-axis direction, and output the handle amplitude angle signal γ _j ; at the same time, the joystick 001 can rotate around its axis, and output the handle azimuth angle signal λ _j . The head of the joystick 001 is provided with a knob 018 that can rotate around the axis (it is stipulated that turning to the left is negative, and turning to the right is positive), and the rotation angle signal τ _j of the knob 018 is output. The propeller rotation speed sensors 008 and 012 are installed inside the pod propeller to monitor the rotation speed of the propeller shaft in real time and transmit the rotation speed signal to the signal processing module 003 . The angle sensors 010 and 014 monitor the rotation angle of the pod propeller in real time, and transmit the rotation angle signal to the signal processing module 003 . The signal processing module 003 converts the electrical signals collected by the sensors of the data collection module 002 into numerical signals recognizable by the system controller 004, and then transmits the numerical signals to the system controller 004 through the communication module. The system controller 004 is composed of a single-chip microcomputer. By analyzing the data transmitted from the signal processing module 003 in real time, it outputs action signals to the actuator 005 according to the control strategy, forming a closed-loop negative feedback system. The communication module is used to realize the communication between the data acquisition module 002, the signal processing module 003 and the system controller 004, so that the system controller 004 can detect and control the whole control system in real time. The actuator 005 is composed of a propulsion motor installed in two sets of pod propellers and a rotary motor that drives the two sets of pod propellers to rotate.

Further, the driver controls the swing amplitude of the joystick 001 to output the handle amplitude angle signal γ _j to control the moving speed of the pod to propel the ship; controls the rotation angle of the joystick 001 to output the azimuth signal λ _j of the handle to control the moving direction of the pod; controls the rotation angle of the head knob 020 of the joystick 001 to output a rotation angle signal τ _j to correct the course of the pod to propel the ship.

As shown in Fig. 2, the control strategy involved in the control system divides the horizontal plane into four areas: I, II, III, and IV according to the line connecting the thrust point and the center of gravity. The range of the I area is (φ, 180°-φ], the range of the II area is (-φ, φ], the range of the III area is (180°+φ, 360°-φ], and the range of the IV area is (180°-φ, 180°+φ] (φ is half of the angle between the boundaries of the II and IV areas). When moving in areas Ⅰ and Ⅲ, lateral movement is mainly considered, and when moving in areas Ⅱ and Ⅳ, straight travel is mainly considered.

As shown in Figure 3, when the pod propelled the ship to move obliquely in the I and III areas, the driver outputs the amplitude angle signal γj and the handle azimuth angle signal λj by controlling the joystick 001, and the communication module sends the signal to the system controller 004, and the system controller 004 adjusts the speed and rotation angle of the pod propeller. Specifically: when moving obliquely in the upper half of area I (φ<λ _j <90°), the speed of propeller 006 of the first pod is: (wherein, γ _jmax is the maximum amplitude angle of the handle, and n _max is the maximum rotation speed of the propeller), the rotation angle of the first pod propeller 006: α ₁ =λ _j ; the rotation speed of the second pod propeller 007: Rotation angle of the second pod propeller 007: α ₂ =180°-λ _j . When moving obliquely in the lower half of area I (90°<λ _j <180°-φ), the first pod propeller 006 speed: /> Rotation angle of the first pod propeller 006: α ₁ =λ _j ; speed of the second pod propeller 007: /> Rotation angle of the second pod propeller 007: α ₂ =180°-λ _j .

As shown in Fig. 4 and Fig. 5, the horizontal area II and IV are divided into the straight travel area 016, the left transition area 017 and the right transition area 018 to solve the problem that the rotation angle of the pod propeller is greatly deflected in a short time when the driving state of the pod-propelled ship changes from straight travel to large-scale tilting. When the pod-propelled ship is moving in the straight-ahead zone 016, the first pod propeller 006 and the second pod propeller 007 are both forward or reverse, the driver controls the movement speed of the pod propulsion ship by controlling the swing range of the joystick 001, and controls the small deflection of the pod propeller by controlling the knob 018 on the head of the joystick 001. The speed of the first pod propeller 006 and the second pod propeller 007: Variation of deflection angle: Δα ₁ =Δα ₂ =τ _x η.

As shown in Figure 6, when the pod-propelled ship moves in the transition zones 017 and 018, one of the pod propellers is rotated by 90° while the other pod propeller remains in its original position, and the speed of the pod propeller is changed to achieve different tilting angles and speeds. Specifically: when the left transition zone 017 in Zone II is obliquely shifted, the first pod propeller 006 has a rotation angle of 0°, the second pod propeller 007 has a rotation angle of 270° (90° clockwise), and the rotation speed of the first pod propeller 006 is: Second pod thruster 007 RPM: /> When the right transition zone 018 in zone II is obliquely shifted, the first pod propeller 006 has a rotation angle of 90° (counterclockwise 90°), the second pod propeller 007 has a rotation angle of 0°, and the first pod propeller 006 rotates: /> Second pod thruster 007 RPM: />

As shown in Figure 7-9, when factors such as external wind, waves and currents affect the bow deflection, the driver outputs the rotation angle signal τ _j through the control handle 001 head knob 018, and the communication module sends the signal to the system controller 004, and the system controller 004 adjusts the rotation angle of the pod propeller. Specifically: when the bow of the ship deviates to the right, the rotation angle of the propeller 006 of the first pod: (wherein, τ _jmax is the maximum rotation angle of the knob), the second pod propeller 007 rotation angle: /> When the bow is deflected to the left, the turning angle of the first pod thruster 006: /> Second pod thruster 007 rotation angle: />

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should belong to the protection scope of the appended claims of the present invention.

Claims (4)

1. A control method for pod propulsion ships, characterized in that, comprises the following steps, step 1, the horizontal plane of the ship is divided into I, II, III, IV four areas according to the point of thrust action and the line connecting the center of gravity, the I area range is (φ, 180 °-φ], the III area range is (180 °+φ, 360 °-φ], the II area range is (-φ, φ], the IV area range is (180 °-φ, 180 °+φ], and φ is II, IV Half of the angle between the boundary lines of the area; when the pod propels the ship to move obliquely in areas I and III, the driver outputs the amplitude angle signal of the handle through the control handle γ_jand handle azimuth signal λ_j, through the system controller, the speed of the first propeller motor and the second propeller motor, the rotation angles of the first rotation control motor and the second rotation control motor are adjusted; step 2, the horizontal plane area II and IV are divided into straight travel area, left transition area and right transition area. (180°-φ/2, 180°+φ/2], the range of the left transition zone is (180°+φ/2, 180°+φ], and the range of the right transition zone is (180°-φ, 180°-φ/2]; when the pod propelled the ship to move in the straight-ahead zone, both the first pod propeller and the second pod propeller are driving or reversing, and the driver controls the handle amplitude angle signal γ of the joystick_jControl the pod to propel the moving speed of the ship, and control the handle azimuth signal λ of the joystick_jControl the small deflection of the pod propeller; step 3, when the pod propels the ship to move in the left transition area and the right transition area, by making one of the first pod propeller and the second pod propeller rotate 90°, the other pod propeller keeps the original position, and by changing the rotating speed of the pod propeller rotating 90°, different tilting angles and tilting speeds are realized; the control device based on this method includes a data acquisition module, a signal processing module, a communication module, a system controller and an actuator, wherein the data acquisition module includes a joystick, a first The propeller speed sensor, the second propeller speed sensor, the first angle sensor and the second angle sensor, wherein the joystick is used to convert the driver's manipulation signal into an electrical signal and transmit it to the signal processing module; the signal processing module is connected with the system controller through the communication module, and the system controller drives the actuator. The actuator is composed of the first pod propeller and the second pod propeller. The angle sensor monitors the rotation angle of the second pod propeller in real time, and transmits the rotation angle signal to the signal processing module; the first propeller speed sensor monitors the first propeller motor speed in real time, and the second propeller speed sensor monitors the second propeller motor speed in real time, and transmits the speed signal to the signal processing module; the signal processing module converts the electrical signals collected by the joystick and each sensor into a numerical signal that can be recognized by the system controller, and sends the numerical signal to the system controller. The system controller compares the numerical signal and outputs an action signal to the actuator. 2. The control method for a pod-propelled ship according to claim 1, wherein in said step 1, when the pod-propelled ship moves obliquely in the I and III areas, the driver outputs the handle amplitude angle signal γ _j and the handle azimuth angle signal λ _j through the control handle, specifically, when the ship obliquely moves in the upper half of the I area, the speed of the first pod propeller: Among them, γ _jmax is the maximum amplitude angle of the handle, n _max is the maximum rotational speed of the propeller, the rotation angle of the propeller of the first pod: α ₁ =λ _j ; the rotational speed of the propeller of the second pod: /> Rotation angle of the propeller of the second pod: α ₂ =180°-λ _j ; when moving obliquely in the lower half of area I, the speed of the propeller of the first pod: Rotation angle of the propeller of the first pod: α ₁ =λ _j ; speed of the propeller of the second pod: Rotation angle of the propeller of the second pod: α ₂ =180°-λ _j . 3. The control method for the pod propelled ship according to claim 1 or 2, characterized in that, when external factors affect the bow deflection, the driver outputs the knob rotation angle signal τ _j through the control handle head knob, and adjusts the rotation angles of the first pod propeller and the second pod propeller through the action of the system controller, specifically: when the bow deviates to the right, the first pod propeller rotation angle: Among them, τ _jmax is the maximum rotation angle of the knob, and the rotation angle of the propeller of the second pod: /> Rotation angle of first pod propeller when the bow is turned left: /> Second pod thruster rotation angle: /> 4. The control method for a pod-propelled ship according to claim 1, wherein the first propeller motor and the first rotary control motor are installed in the first pod propeller, and the first pod propeller is installed on the left side of the tail of the pod-propelled ship; the second propeller motor and the second rotary control motor are installed on the second pod propeller, and the second pod propeller is installed on the right side of the tail of the pod-propelled ship.