CN103600826B - A kind of electromagnetic valve control hydraulic sterring engine stagewise control setup - Google Patents
A kind of electromagnetic valve control hydraulic sterring engine stagewise control setup Download PDFInfo
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- CN103600826B CN103600826B CN201310563549.7A CN201310563549A CN103600826B CN 103600826 B CN103600826 B CN 103600826B CN 201310563549 A CN201310563549 A CN 201310563549A CN 103600826 B CN103600826 B CN 103600826B
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- sterring engine
- hydraulic sterring
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Abstract
A kind of electromagnetic valve control hydraulic sterring engine stagewise control setup, comprises steering wheel speed adjustment circuit I, helm control circuit II, drives hydraulic sterring engine electromagnetic valve and rudder angle feedback mechanism, ordered rudder angle signal δ
cthe rudder angle feedback signal δ exported with rudder angle feedback mechanism
finput operational amplifier F sues for peace, op amp F exports and connects steering wheel speed adjustment circuit I and helm control circuit II, described steering wheel speed adjustment circuit I output-parallel helm control circuit II mouth also connects the left unit electromagnetic valve of driving hydraulic sterring engine through switch k, and another road mouth of described helm control circuit II connects the right unit electromagnetic valve of driving hydraulic sterring engine.Have the advantages that reliability is high, lower to the requirement of fluid, be not easy to produce trip rudder, and steering noise is little, speed can control, and improves servo antrol precision.
Description
Technical field
The present invention relates to a kind of electromagnetic valve control hydraulic sterring engine stagewise control setup, drive for boats and ships autopilot in the circuit of hydraulic sterring engine electromagnetic valve, particularly a kind of medium-and-large-sized hydraulic sterring engine of solenoid control is as the electromagnetic valve control hydraulic sterring engine stagewise control setup under the rotary vane type steering gear two-shipper group operating mode of below 900kN.m.
Background technology
What the servomechanism major part in current above water craft hydraulic sterring engine control system adopted is solenoid valve type servomechanism, and what all the other adopted is apportioning valve or servovalve, as the Kawasaki steering wheel of Japan.The advantage of solenoid valve type servomechanism is: structure is simple, and reliability is high, lower to the requirement of fluid.Although during steering, noise is comparatively large relative to proportional control servomechanism, and steering precision is lower, but still is widely used in the steering control system of above water craft.
Autopilot adopts the control of solenoid valve type servomechanism 400kN.m, 630kN.m hydraulic sterring engine, and under single fighter operating mode (speed of coming about is greater than 2.3 °/S), follow-up steering sensitivity and rudder angle tracking error are all less than 0.5 ° of rudder angle.Under two-shipper group and isolation bypass operating mode (speed of coming about is greater than 4.7 °/S), follow-up steering sensitivity index is generally at 0.7 ° ~ 0.9 ° rudder angle, follow-up steering follows precision about 0.8 ° of rudder angle, although precision can meet the requirement of existing national military standard and other relevant criterion, also maneuvering and control requirement generally can be met, but under the special operating situation that supply etc. requires steering precision higher, just can not meet the demands.Particularly rudder moment is greater than to the medium-and-large-sized hydraulic sterring engine of 630kN.m, as the rotary vane type steering gear of 900kN.m, because two-shipper group operating mode overshoot amount is larger, its servocontrol control accuracy will reduce further.
Summary of the invention
Its object of the present invention is just to provide a kind of electromagnetic valve control hydraulic sterring engine stagewise control setup, the problem of general electromagnetic valve control method deficiency under solving medium-and-large-sized hydraulic sterring engine two-shipper group operating mode.Have the advantages that reliability is high, lower to the requirement of fluid, be not easy to produce trip rudder, and steering noise is little, speed can control, and improves servo antrol precision.
Realize above-mentioned purpose and the technical scheme taked, comprise steering wheel speed adjustment circuit I, helm control circuit II, drive hydraulic sterring engine electromagnetic valve and rudder angle feedback mechanism, ordered rudder angle signal δ
cthe rudder angle feedback signal δ exported with rudder angle feedback mechanism
finput operational amplifier F sues for peace, op amp F exports and connects steering wheel speed adjustment circuit I and helm control circuit II, described steering wheel speed adjustment circuit I output-parallel helm control circuit II mouth also connects the left unit electromagnetic valve of driving hydraulic sterring engine through switch k, and another road mouth of described helm control circuit II connects the right unit electromagnetic valve of driving hydraulic sterring engine.
Compared with prior art the present invention has the following advantages.
By adopting electromagnetic valve (solenoid directional control valve) servomechanism that controls, have reliability high, lower to the requirement of fluid, be not easy to produce the advantages such as trip rudder, its shortcoming is that steering noise is comparatively large, speed is uncontrollable.Autopilot adopts the method for step control electromagnetic valve servomechanism, and overcome this shortcoming that control accuracy under two-shipper group operating mode is low, the rotary vane type steering gear steering being specially adapted to below 900kN.m controls.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 1 is this principle of device schematic block diagram;
Fig. 2 is this device electrical schematic diagram;
Fig. 3 is this device embodiment control circuit figure;
Fig. 4 is this device embodiment control circuit structure instruction diagram.
Detailed description of the invention
This device comprises steering wheel speed adjustment circuit I, helm control circuit II, drives hydraulic sterring engine electromagnetic valve and rudder angle feedback mechanism, as shown in Figure 2, and ordered rudder angle signal δ
cthe rudder angle feedback signal δ exported with rudder angle feedback mechanism
finput operational amplifier F sues for peace, op amp F exports and connects steering wheel speed adjustment circuit I and helm control circuit II, described steering wheel speed adjustment circuit I output-parallel helm control circuit II mouth also connects the left unit electromagnetic valve of driving hydraulic sterring engine through switch k, and another road mouth of described helm control circuit II connects the right unit electromagnetic valve of driving hydraulic sterring engine.
Described op amp F is comparator N5A, the reverse termination ordered rudder angle of comparator N5A and the difference △ δ feeding back rudder angle, termination adjustable resistance R93 in the same way, comparator N5A exports a road and connects and door D2A, another road connects and door D2B, describedly export termination and door D2B with door D2A, export to connect with door D2B and control aerotron V37, V38, as shown in Figure 3.
Under steering wheel is operated in two-shipper group operating mode, steering wheel comes about speed within the scope of 4.7 °/S ~ 5.6 °/S.Electromagnetic valve work is on off state, during work, flow is unadjustable, the speed of coming about can not regulate, because Hydraulic Pump, valve member exist regular hour constant, when stopping rudder, although control signal turns off, but just stop motion after steering wheel need wait for the regular hour, because the speed of coming about is large, thus overshoot amount is large, the operating needs under causing steering precision can not meet special operating situation thus.
Principle of work
As shown in Figure 1, when the speed of coming about of steering wheel is not more than 2.7 °/S, follow-up steering sensitivity and rudder angle are followed precision and all can be met the demands.Thus, under two-shipper group operating mode, carrying out according to the difference of ordered rudder angle and actual rudder angle the speed of coming about has level to regulate, and when the absolute value of rudder angle difference is less than certain value, only has the electromagnetic valve work of a servomechanism, identical when speed of coming about and single fighter.When the absolute value of rudder angle difference is greater than certain value, the servomechanism electromagnetic valve of two units works simultaneously, and satisfied height is come about the requirement of speed.。
As shown in Figure 2, during two-shipper group operating mode, ordered rudder angle signal δ
cthe rudder angle feedback signal δ exported with rudder angle feedback mechanism
finput operational amplifier F sues for peace, and exports Δ δ=δ
c-δ
fto steering wheel speed adjustment circuit I and helm control circuit II.Steering wheel speed adjustment circuit receives Δ δ=δ
c-δ
fsignal carries out computing, when | Δ δ | be less than given value, switch k disconnects, cut off the left unit electromagnetic valve of diagram, only have right unit work, steering wheel speed is identical with single fighter, when | Δ δ | be greater than given value, left and right unit electromagnetic valve works simultaneously, and steering wheel speed is now two unit speeds.
Concrete practical circuit, as shown in Figure 3, its circuit structure is shown in Fig. 4.Use test through reality, the regulation of electrical circuit is convenient, and result of use is better, reaches designing requirement.Under two-shipper group operating mode, to follow precision index identical with the servo-actuated index under single fighter operating mode for follow-up steering sensitivity index and rudder angle.
In Fig. 3, ordered rudder angle enters N5A comparator with the difference △ δ of feedback rudder angle, sets by R93 opportunity and the rudder angle difference that two-shipper group is converted to single fighter.Such as, two set state, current rudder angle is right 5 °, and setting R93 to △ δ is 5 °.When ordered rudder angle is set to left 25 °, steering wheel rotates, during to left 20 °, comparator N5A exports high level, and (work of AB unit is selected to be high level, high level is exported with door D2A), export high level with door D2B, control aerotron V37, V38 saturation conduction, namely the steering turning off this unit exports, and namely two-shipper group becomes single fighter.Steering wheel continues to rotate in single fighter state, to left 25 °.
Following table 1-3 is that under adopting the single, double unit operating mode of certain type autopilot of electromagnetic valve step control circuit, follow-up steering sensitivity index one group surveys correlation data.
Table 1 follow-up steering sensitivity
Following table 2, table 3 are that rudder angle follows precision index contrast measured data.
Table 2 rudder angle tracking error (unit I)
Table 3 rudder angle tracking error (unit I and II)
From above-mentioned data, after adopting electromagnetic valve step control technology, under two-shipper group operating mode, it is identical with the servo-actuated index under single fighter operating mode that follow-up steering sensitivity index and the rudder angle of autopilot follow precision index.
The maneuvering and control of steering wheel under special operation condition
General steering wheel is all made up of four oil cylinders, and two one group, each group can work independently, and also can work simultaneously.Therefore, when one or a group oil cylinder fault, during the situations such as leakage of oil, automatically by a group oil cylinder isolation in bad order, or in case of emergency, manually a group oil cylinder is isolated by (electronic), and namely a group oil cylinder quits work.Under single fighter operating mode, as there is this situation, the kinematic velocity of steering wheel will double, and reach the two-shipper group kinematic velocity under nominal situation, and this situation is generally referred to as to isolate bypass.When servo-actuated, generation is shaken by rudder angle control, and thus just must reduce steering sensitivity and follow precision to meet the Control requirements under steering wheel special operation condition, this is a kind of way." simple and easy " mode of steering can also be adopted to manipulate rudder angle, although it is more difficult that this mode of steering handles rudder angle, labour intensity is also large, but control circuit can be made to become simple, reliability also can improve greatly, this is worth, because isolation bypass must be a kind of special operation condition unexpectedly, the probability that this fault occurs is very little.
Claims (2)
1. an electromagnetic valve control hydraulic sterring engine stagewise control setup, comprises steering wheel speed adjustment circuit I, helm control circuit II, drives hydraulic sterring engine electromagnetic valve and rudder angle feedback mechanism, it is characterized in that, ordered rudder angle signal δ
cthe rudder angle feedback signal δ exported with rudder angle feedback mechanism
finput operational amplifier F sues for peace, op amp F exports and connects steering wheel speed adjustment circuit I and helm control circuit II, described steering wheel speed adjustment circuit I output-parallel helm control circuit II mouth also connects the left unit electromagnetic valve of driving hydraulic sterring engine through switch k, and another road mouth of described helm control circuit II connects the right unit electromagnetic valve of driving hydraulic sterring engine.
2. a kind of electromagnetic valve control hydraulic sterring engine stagewise control setup according to claim 1, it is characterized in that, described op amp F is comparator N5A, the reverse termination ordered rudder angle of comparator N5A and the difference △ δ feeding back rudder angle, termination adjustable resistance R93 in the same way, comparator N5A export a road and connect and door D2A, and another road connects and door D2B, describedly export termination and door D2B with door D2A, export to connect with door D2B and control aerotron V37, V38.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310563549.7A CN103600826B (en) | 2013-11-14 | 2013-11-14 | A kind of electromagnetic valve control hydraulic sterring engine stagewise control setup |
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| CN201310563549.7A CN103600826B (en) | 2013-11-14 | 2013-11-14 | A kind of electromagnetic valve control hydraulic sterring engine stagewise control setup |
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| CN103600826B true CN103600826B (en) | 2016-04-13 |
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| CN113335470B (en) * | 2021-07-16 | 2022-07-26 | 中国船舶重工集团公司第七0七研究所九江分部 | Wave direction self-adaptive fluid momentum wheel active control stabilizing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES2125163B1 (en) * | 1996-04-09 | 1999-10-01 | Univ Coruna | FEEDBACK SYSTEM OF A VESSEL SERVO-TIMON TELEMOTOR. |
| JP5433617B2 (en) * | 2011-03-30 | 2014-03-05 | 三菱重工業株式会社 | Ship steering apparatus and control method thereof |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2125163A1 (en) * | 2007-02-20 | 2009-12-02 | Linde AG | Production of gas products from raw synthesis gas |
| CN101289114A (en) * | 2007-12-26 | 2008-10-22 | 广州文冲船厂有限责任公司 | Electro-hydraulic proportional twin rudders follow-up synchronization operation controlled system |
| CN102275633A (en) * | 2010-06-10 | 2011-12-14 | 史震 | Novel pump control system of electric hydraulic steering engine |
| CN103140421A (en) * | 2010-12-27 | 2013-06-05 | 川崎重工业株式会社 | Ship steering gear and ship steering method |
| CN202295274U (en) * | 2011-11-02 | 2012-07-04 | 江苏吉信远望船舶设备有限公司 | Automatic steering engine control device for seagoing vessel |
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| CN203581375U (en) * | 2013-11-14 | 2014-05-07 | 中国船舶重工集团公司第七0七研究所九江分部 | Hierarchical control device of hydraulic steering engine controlled by electromagnetic valves |
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