旋转驱动型自动舵系统研究
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摘要
国内仍有许多中小船舶采用带全液压转向器的舵机,无法安装采用电磁阀控制的新型自动舵系统。本文设计一种旋转驱动型自动舵系统,用于全液压转向舵机的自动化改造。系统通过舵轮驱动器实现手动-自动操舵转换,在手动模式下,舵轮直接带动全液压转向器实现操舵;在自动模式下,由无刷电机带动全液压转向器实现操舵。系统采用CAN总线用于舵角信号和控制信号传输。仿真结果表明,所设计系统性能可靠、控制稳定,可以用于老旧船舶的自动舵改造,有效降低操舵强度,提高航迹精度,减少船舶燃油消耗。
There are still many small and medium-sized domestic ships with full hydraulic steering gear, which cannot be installed with solenoid valve control of the autopilot. This article describes a rotary-driven autopilot system that can be used to retrofit such vessels. With the steering wheel drive unit, system achieves manual-automatic steering conversion. In manual, the steering wheel directly drives full hydraulic steering gear to achieve steering, automatic, driven by a full hydraulic steering brushless motor steering. The system uses CAN bus for rudder angle signal and control signal transmission. After a fishing boat test, the system has reliable performance and stable control and can be used for the automatic steering modification of old ships, which can effectively reduce the steering strength, provide track accuracy and reduce the fuel consumption of ships.
There are still many small and medium-sized domestic ships with full hydraulic steering gear, which cannot be installed with solenoid valve control of the autopilot. This article describes a rotary-driven autopilot system that can be used to retrofit such vessels. With the steering wheel drive unit, system achieves manual-automatic steering conversion. In manual, the steering wheel directly drives full hydraulic steering gear to achieve steering, automatic, driven by a full hydraulic steering brushless motor steering. The system uses CAN bus for rudder angle signal and control signal transmission. After a fishing boat test, the system has reliable performance and stable control and can be used for the automatic steering modification of old ships, which can effectively reduce the steering strength, provide track accuracy and reduce the fuel consumption of ships.
引文
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[6]严张凌,代茂.船舶自动舵自适应神经网络控制算法研究[J].舰船科学技术,2017,39(12):55-57.
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[11]王广平,马选谋.速度反馈信号的检测和处理[J].机械与电子,2004(8):59-62.
[12]叶贤淼,刘敬彪,于海滨.基于STM32F103的深海远程电机控制系统[J].电子器件,2010,33(3):370-373.
[13]LIN C L,JAN H Y,SHIEH N C.GA-based multi-objective PID control for a lineal brushless DC motor[J].IEEETransactions on Mechatronics,2003,8(1):56-65.
[14]范世伟.船舶自动舵的设计与应用[D].大连:大连海事大学,2012.
[15]PIKE B.Automatic autopilot[M].Power&Motoryacht,2009.
[16]濮良贵,纪名刚.机械设计[M].北京:高等教育出版社,2001.
[2]刘宏达,李殿璞,马忠丽.一种新型的智能船舶自动舵设计[J].仪器仪表学报,2006,27(1):570-572.
[3]潘为刚,周风余.基于ARM的小型船舶自动操舵系统的设计与实现[J].航海技术,2009(4):55.
[4]张云峰,胡国仁.遗传优化算法在船舶航向混合智能控制中的应用[J].舰船科学技术,2017,39(16):22-24.
[5]ZHANG X K,FENG Y X.Control algorithm of YUPENGship autopilot based on tangent function nonlinear feedback[J].Journal of Measurement Sciences and instrumentation,2017,8(1):78-83.
[6]严张凌,代茂.船舶自动舵自适应神经网络控制算法研究[J].舰船科学技术,2017,39(12):55-57.
[7]徐本国.浅析小型渔船摆缸式液压舵机舵角限位器的设置[J].中国水产,2008(8):72-73.
[8]夏长亮.无刷直流电机控制系统[M].北京:科学出版社,2009
[9]MICROCHIP Technology Inc.AN885 Brushless DC(BLDC)Motor Fundamentals,2003
[10]曾建安,曾岳南.MOSFET和IGBT驱动器IR2136及其在电机控制中的作用[J].电机技术,2005(1):13-15.
[11]王广平,马选谋.速度反馈信号的检测和处理[J].机械与电子,2004(8):59-62.
[12]叶贤淼,刘敬彪,于海滨.基于STM32F103的深海远程电机控制系统[J].电子器件,2010,33(3):370-373.
[13]LIN C L,JAN H Y,SHIEH N C.GA-based multi-objective PID control for a lineal brushless DC motor[J].IEEETransactions on Mechatronics,2003,8(1):56-65.
[14]范世伟.船舶自动舵的设计与应用[D].大连:大连海事大学,2012.
[15]PIKE B.Automatic autopilot[M].Power&Motoryacht,2009.
[16]濮良贵,纪名刚.机械设计[M].北京:高等教育出版社,2001.