CN109426270A - A kind of unmanned boat attitude control system partly latent based on PLC - Google Patents
A kind of unmanned boat attitude control system partly latent based on PLC Download PDFInfo
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- CN109426270A CN109426270A CN201710716332.3A CN201710716332A CN109426270A CN 109426270 A CN109426270 A CN 109426270A CN 201710716332 A CN201710716332 A CN 201710716332A CN 109426270 A CN109426270 A CN 109426270A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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Abstract
The unmanned boat attitude control system partly latent based on PLC that the invention discloses a kind of, including main body, the both side surface of the main body is equipped with fixed plate, the side surface of fixed plate is equipped with regulating device, the surface of main body is respectively equipped with PLC programmable controller and compass, the input terminal of PLC programmable controller and the output end of PC machine connect, and the input terminal of PC machine and the output end of compass connect.Based on the unmanned boat attitude control system partly latent of PLC, the moving equilibrium of semi-submersible type unmanned boat in water is realized with a kind of novel control program, there is certain technological guidance's meaning for the research and development of semi-submersible type unmanned boat and its related latent device, it can satisfy the job requirements of semi-submersible type unmanned boat, resource exploration can be completed well, the job tasks such as information search, greatly reduce the risk of some tasks, also the feasible region of task has been expanded, to bring more economic benefits, has vast potential for future development.
Description
Technical field
The present invention relates to unmanned boat technical field partly latent, specially a kind of unmanned boat gesture stability partly latent system based on PLC
System.
Background technique
Currently, there are no a kind of relatively mature semi-submersible type unmanned boat attitude control systems at home, to guarantee half
Submersible unmanned boat can automatically adjust according to oneself state and keep posture.
The prior art is largely underwater operation robot balance control system.Underwater operation robot is man-machine by machine
Body, pusher, air bag, balancing device, five part of work machine hand composition.Wherein balancing device is buoyancy tank and is referred to according to control
The propeller for carrying out thrust adjusting is enabled, underwater robot is realized by the thrust distribution of propeller and the positive moment effect of buoyancy tank
Posture balancing.This method has the following problems: there is presently no the balance control systems specifically for unmanned boat partly latent.It is partly latent
Unmanned boat and underwater robot structure difference, there is also larger differences for working environment.Underwater robot generally have a volume compared with
Big buoyancy tank plays a part of providing positive torque in water, due to working under water, working environment relative to it is partly latent nobody
Ship it is also more stable close to water meter.Unmanned boat structure partly latent is different, provides positive buoyancy without distinctive buoyancy tank, this is vertical
Balance increases difficulty；And arrangement balance propeller is not easy in unmanned boat structure partly latent, so finding a kind of alternative solution pair
It is most important for unmanned boat partly latent.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the existing defects, provides a kind of unmanned boat appearance partly latent based on PLC
State control system can satisfy the job requirements of semi-submersible type unmanned boat, can complete resource exploration well, and information search etc. is made
Industry task greatly reduces the risk of some tasks, can effectively solve the problems in background technique.
To achieve the above object, the invention provides the following technical scheme: a kind of unmanned boat gesture stability partly latent based on PLC
System, including main body, the both side surface of the main body are equipped with fixed plate, and the side surface of fixed plate is equipped with regulating device, main body
Side surface be respectively equipped with PLC programmable controller and compass, the input terminal of PLC programmable controller and the output end electricity of PC machine
Connection, the input terminal of PC machine are electrically connected with the output end of compass, and the input terminal of PC machine and the output end of Kalman filter electricity
Connection.
As a preferred technical solution of the present invention, the regulating device includes that the driving of fixed plate side surface is arranged in
Device, the input terminal of driver are electrically connected with the output end of PLC programmable controller, and the side surface of fixed plate is equipped with stepper motor,
The input terminal of stepper motor is electrically connected with the output end of driver, and the output shaft of stepper motor is connected by shaft coupling and driving screw rod
It connects, driving screw rod is threadedly coupled with the screw hole that sliding block side surface opens up.
As a preferred technical solution of the present invention, sliding rail is equipped between two side plates of the fixed plate, sliding block exists
The outer surface of sliding rail is slidably connected.
As a preferred technical solution of the present invention, the input terminal of the PC machine is electrically connected with the output end of transformer,
The input terminal of transformer is electrically connected with the output end of power supply.
As a preferred technical solution of the present invention, the input terminal of the PC machine and the output end of sensor group are electrically connected
It connects.
Compared with prior art, the beneficial effects of the present invention are: based on PLC unmanned boat attitude control system partly latent,
The moving equilibrium of semi-submersible type unmanned boat in water is realized with a kind of novel control program, semi-submersible type unmanned boat is in water
When navigation, trim is inevitable with rolling and their coupled motions, which has used multiple technologies means,
Using compass as Posture acquisition device, compass is mainly used for acquiring variable quantity of the unmanned boat partly latent relative to reference attitude,
And this variation is sent to PC machine through serial ports, PC machine receives these signals and information and karr by merge sensor group
The information that the analysis of graceful filter is optimized, issues corresponding information and is sent to gesture stability program, automatically with sliding formwork control
Algorithm is core and the Multiple Optimization strategy that robust adaptive is added, and finally exports control parameter, is sent to PLC through serial ports program
Programmable controller is controlled by PLC programmable controller, greatly strengthens the robustness of unmanned boat posture balancing, energy
The balance of enough good realization semi-submersible type unmanned boats in water, the function that the initiative of manipulation is also significantly improved, and realized
Also it greatly increases, for driving stepper motor, stepper motor slides to realize nobody by driving screw rod band movable slider driver
The balance of ship athletic posture, sliding block are slidably connected in the outer surface of sliding rail, and when sliding is more stable, and driver can control step
Into the revolving speed and revolution of motor, band movable slider moves to specific position along line slide rail, change unmanned boat partly latent stress or
Torque, so that the imbalance of external disturbance bring posture is offset, by acquiring the movement of attitude signal and two sliding blocks, nothing in real time
People's ship can offset external disturbance bring to the greatest extent and vertically and horizontally disturb and vertical and horizontal Coupled Disturbances, realize it is partly latent nobody
The posture balancing of ship and holding there is certain technological guidance to anticipate the research and development of semi-submersible type unmanned boat and its related latent device
Justice can satisfy the job requirements of semi-submersible type unmanned boat, can complete resource exploration well, the job tasks such as information search,
The risk of some tasks is greatly reduced, the feasible region of task has also been expanded, to bring more economic benefits, is had
Standby vast potential for future development, while of simple structure and strong practicability, whole exquisite simple, feasibility is extremely strong, processing easy to process,
It can be mass, have the requirement of commodity production completely.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is regulating device structural schematic diagram of the present invention；
Fig. 3 is present invention electrical connection schematic diagram.
In figure: 1 main body, 2 fixed plates, 3 stepper motors, 4 driving screw rods, 5 sliding blocks, 6 sliding rails, 7 PLC programmable controllers,
8 drivers, 9 compass, 10 PC machine, 11 Kalman filter, 12 sensor groups, 13 power supplys, 14 transformers.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of unmanned boat gesture stability partly latent system based on PLC
System, including main body 1, the both side surface of main body 1 are equipped with fixed plate 2, and the side surface of fixed plate 2 is equipped with regulating device, main body 1
Side surface is respectively equipped with PLC programmable controller 7 and compass 9, uses compass 9 and is used as Posture acquisition device, PLC programmable control
The input terminal of device 7 processed is electrically connected with the output end of PC machine 10, and the input terminal of PC machine 10 is electrically connected with the output end of transformer 14, is become
The input terminal of depressor 14 is electrically connected with the output end of power supply 13, and the input terminal of PC machine 10 is electrically connected with the output end of compass 9, and PC
The input terminal of machine 10 is electrically connected with the output end of Kalman filter 11, the input terminal of PC machine 10 and the output end of sensor group 12
Electrical connection, compass 9 is mainly used for acquiring variable quantity of the unmanned boat partly latent relative to reference attitude, and this variation is passed through serial ports
It send to PC machine 10, PC machine 10 receives these signals and by point of the information of merge sensor group 12 and Kalman filter 11
Analyse the information that is optimized, issue corresponding information automatically and be sent to gesture stability program, using sliding mode control algorithm as core simultaneously
The Multiple Optimization strategy of robust adaptive is added, finally exports control parameter, is sent to PLC programmable controller through serial ports program
7, it is controlled by PLC programmable controller 7, greatly strengthens the robustness of unmanned boat posture balancing, it being capable of good reality
The existing balance of semi-submersible type unmanned boat in water, the initiative of manipulation also significantly improve, and the function of realizing also greatly increases,
Regulating device includes the driver 8 that 2 side surface of fixed plate is arranged in, input terminal and the PLC programmable controller 7 of driver 8
Output end electrical connection, the mode that PLC programmable controller 7 controls driver 8 is method commonly used in the prior art, fixed plate 2
Side surface be equipped with stepper motor 3, the input terminal of stepper motor 3 is electrically connected with the output end of driver 8, stepper motor 3 it is defeated
Shaft is connect by shaft coupling with driving screw rod 4, and driving screw rod 4 is threadedly coupled with the screw hole that 5 side surface of sliding block opens up, driver
8 for driving stepper motor 3, and stepper motor 3 is slided with movable slider 5 by driving screw rod 4 to realize unmanned boat athletic posture
Balance is equipped with sliding rail 6 between two side plates of fixed plate 2, and sliding block 5 is slidably connected in the outer surface of sliding rail 6, when sliding more
Stablize, which realizes the moving equilibrium of semi-submersible type unmanned boat in water with a kind of novel control program, and half
When submersible unmanned boat navigates by water in water, trim is inevitable with rolling and their coupled motions, and driver 8 can be controlled
The revolving speed and revolution of stepper motor 3 processed, band movable slider 5 move to specific position along line slide rail 6, change unmanned boat partly latent
Stress or torque, to offset the imbalance of external disturbance bring posture, by acquiring attitude signal and two sliding blocks 5 in real time
Movement, unmanned boat can offset external disturbance bring to the greatest extent and vertically and horizontally disturb and vertical and horizontal Coupled Disturbances, realization
The posture balancing of unmanned boat partly latent and holding have certain skill for the research and development of semi-submersible type unmanned boat and its related latent device
Art directive significance can satisfy the job requirements of semi-submersible type unmanned boat, can complete resource exploration well, and information search etc. is made
Industry task, greatly reduces the risk of some tasks, has also expanded the feasible region of task, to bring more economy
Benefit has vast potential for future development, while of simple structure and strong practicability, and whole exquisite simple, feasibility is extremely strong, convenient for adding
Work processing, can be mass, have the requirement of commodity production completely.
When in use: variable quantity of the compass 9 to unmanned boat partly latent relative to reference attitude is acquired, and transmits corresponding letter
Number PC machine 10 is arrived, PC machine 10 receives these signals simultaneously by point of the information of merge sensor group 12 and Kalman filter 11
It analyses the information optimized and robust as core and is added using sliding mode control algorithm by the gesture stability program inside PC machine 10
Adaptive Multiple Optimization strategy, finally exports control parameter, is sent to PLC programmable controller 7 through serial ports program, PLC can
Programmable controller 7 transmits corresponding signal to driver 8, and driver 8 drives stepper motor 3, and stepper motor 3 passes through driving screw rod 4
Band movable slider 5 slides, and sliding block 5 moves to specific position along line slide rail 6, changes the stress (or torque) of unmanned boat partly latent,
To offset the imbalance of external disturbance bring posture, by acquiring the movement of attitude signal and two sliding blocks 5, unmanned boat in real time
External disturbance bring can be offset to the greatest extent vertically and horizontally to disturb and vertical and horizontal Coupled Disturbances, realize unmanned boat partly latent
Posture balancing and holding have certain technological guidance's meaning for the research and development of semi-submersible type unmanned boat and its related latent device.
The present invention realizes the moving equilibrium of semi-submersible type unmanned boat in water with a kind of novel control program, partly latent
When formula unmanned boat navigates by water in water, trim is inevitable with rolling and their coupled motions, which uses
Multiple technologies means use compass 9 and are used as Posture acquisition device, compass 9 be mainly used for acquiring unmanned boat partly latent relative to
The variable quantity of reference attitude, and this variation is sent to PC machine 10 through serial ports, PC machine 10 receives these signals and passes through fusion
The information that the analysis of the information and Kalman filter 11 of sensor group 12 is optimized issues corresponding information transmission automatically
To gesture stability program, using sliding mode control algorithm as core and the Multiple Optimization strategy of robust adaptive, finally output control is added
Parameter processed is sent to PLC programmable controller 7 through serial ports program, is controlled, greatly enhanced by PLC programmable controller 7
The robustness of unmanned boat posture balancing good can realize the balance of semi-submersible type unmanned boat in water, the active of manipulation
Property also significantly improve, and the function of realizing also greatly increases, and for driving stepper motor 3, stepper motor 3 passes through driver 8
Driving screw rod 4 slides the balance to realize unmanned boat athletic posture with movable slider 5, and sliding block 5 is slided in the outer surface of sliding rail 6 to be connected
It connects, when sliding is more stable, and driver 8 can control the revolving speed and revolution of stepper motor 3, and band movable slider 5 is along line slide rail 6
Specific position is moved to, the stress or torque of unmanned boat partly latent are changed, to offset the imbalance of external disturbance bring posture, is passed through
The movement of acquisition attitude signal and two sliding blocks 5, unmanned boat can offset to the greatest extent external disturbance bring in length and breadth in real time
To disturbance and vertical and horizontal Coupled Disturbances, realize posture balancing and the holding of unmanned boat partly latent, for semi-submersible type unmanned boat and
The research and development of the latent device of its correlation has certain technological guidance's meaning, can satisfy the job requirements of semi-submersible type unmanned boat, can
To complete resource exploration well, the job tasks such as information search greatly reduce the risk of some tasks, also expand
The feasible region of task has vast potential for future development, while structure is simple, practicability to bring more economic benefits
By force, whole exquisite simple, feasibility is extremely strong, processing easy to process, can be mass, and has the requirement of commodity production completely.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of unmanned boat attitude control system partly latent based on PLC, including main body (1), it is characterised in that: the main body (1)
Both side surface be equipped with fixed plate (2), the side surface of fixed plate (2) is equipped with regulating device, and the surface of main body (1) is respectively equipped with
PLC programmable controller (7) and compass (9), the input terminal of PLC programmable controller (7) and the output end of PC machine (10) are electrically connected
It connects, the input terminal of PC machine (10) is electrically connected with the output end of compass (9), and the input terminal and Kalman filter of PC machine (10)
(11) output end electrical connection.
2. a kind of unmanned boat attitude control system partly latent based on PLC according to claim 1, it is characterised in that: described
Regulating device includes driver (8) of the setting in fixed plate (2) side surface, the input terminal and PLC PLC technology of driver (8)
The output end of device (7) is electrically connected, and the side surface of fixed plate (2) is equipped with stepper motor (3), the input terminal of stepper motor (3) and drive
The output shaft of the output end electrical connection of dynamic device (8), stepper motor (3) is connect by shaft coupling with driving screw rod (4), and screw rod is driven
(4) screw hole opened up with sliding block (5) side surface is threadedly coupled.
3. a kind of unmanned boat attitude control system partly latent based on PLC according to claim 2, it is characterised in that: described
Sliding rail (6) are equipped between two side plates of fixed plate (2), sliding block (5) is slidably connected in the outer surface of sliding rail (6).
4. a kind of unmanned boat attitude control system partly latent based on PLC according to claim 1, it is characterised in that: described
The input terminal of PC machine (10) is electrically connected with the output end of transformer (14), the input terminal of transformer (14) and the output of power supply (13)
End electrical connection.
5. a kind of unmanned boat attitude control system partly latent based on PLC according to claim 1, it is characterised in that: described
The input terminal of PC machine (10) is electrically connected with the output end of sensor group (12).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710716332.3A CN109426270A (en) | 2017-08-21 | 2017-08-21 | A kind of unmanned boat attitude control system partly latent based on PLC |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710716332.3A CN109426270A (en) | 2017-08-21 | 2017-08-21 | A kind of unmanned boat attitude control system partly latent based on PLC |
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| CN109426270A true CN109426270A (en) | 2019-03-05 |
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Application publication date: 20190305 |