CN207008408U - A kind of pod propulsion unmanned boat steering gear control system based on CAN - Google Patents
A kind of pod propulsion unmanned boat steering gear control system based on CAN Download PDFInfo
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- CN207008408U CN207008408U CN201720938939.1U CN201720938939U CN207008408U CN 207008408 U CN207008408 U CN 207008408U CN 201720938939 U CN201720938939 U CN 201720938939U CN 207008408 U CN207008408 U CN 207008408U
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Abstract
Unmanned ship servos control technical field is the utility model is related to, especially a kind of pod propulsion unmanned boat steering gear control system based on CAN, it is made up of PMU, master control system and CAN and servos control subsystem；PMU provides working power for the modules unit in master control system and servos control subsystem；Master control system carries out communication with servos control subsystem by CAN and is connected；Servos control subsystem include single-chip microcomputer and CAN transceiver coupled respectively, angular transducer, display module, for Driving Stepping Motor driver A and for driving the driver B of propeller, wherein stepper motor passes sequentially through the angle of coming about of a pair of bevel gears A, B and power transmission shaft control propeller；The utility model control structure is simple, strong antijamming capability, realizes the accurate control for angle of being come about to steering wheel, good guarantee is provided for the autonomous cruise of unmanned boat.
Description
Technical field
It the utility model is related to unmanned ship servos control technical field, especially a kind of pod propulsion based on CAN
Unmanned boat steering gear control system.
Background technology
Currently, with the sustainable exploitation utilization to water resource, the environmental monitoring to water resource is the important set of science and technology
Into part, environmental monitoring can provide comprehensive, multi-level science data for scientific research, resource detection, disaster alarm, but
It is that environmental monitoring for water resource is usually associated with dangerous and uncertain factor, once there is accident, is usually associated with huge
Life and property loss.Thus water surface unmanned boat arises at the historic moment, and be widely used in that to perform these instead of people dangerous and dull
Work.
The key that unmanned boat technology is realized is that accurate autonomous navigation, and the key technology of autonomous navigation is exactly to realize
Accurate control to steering wheel.However, when controlling existing unmanned boat autonomous navigation, problems with is run into：(1) master of unmanned boat
It is not sufficiently stable in communication between control system and subsystems, poor reliability, is easily disturbed by external environment；(2) it is existing
Some unmanned boats can not be warned independently at a distance according to the intensity of illumination of current environment to other ships, so as to cause nobody
Ship crashes because that could not be identified in time；(3) cost is high, various safeguard procedures are few, and basis can not work as in real time
The waters information of preceding navigation is accurately controlled the swing angle of steering wheel and the headway of ship.
The content of the invention
The purpose of this utility model seeks to solve the above mentioned problem that existing unmanned boat is run into autonomous navigation, is
This provides a kind of pod propulsion unmanned boat steering gear control system based on CAN.
Concrete scheme of the present utility model is：A kind of pod propulsion unmanned boat steering gear control system based on CAN, it is described
Unmanned boat has pod propulsion steering and propeller, and pod propulsion steering by forming drive connection stepper motor, nibbling successively
Bevel gear A, B and the power transmission shaft composition being integrated, stepper motor and power transmission shaft are installed on fixed mount, and propeller is lifted on biography
The lower end of moving axis；It is characterized in that：The steering gear control system is by PMU, master control system and CAN and steering wheel
Control subsystem forms；
The PMU provides work electricity for the modules unit in master control system and servos control subsystem
Source；
The master control system detects the data that servos control subsystem is sent in CAN in real time, and corresponding information is entered
Row preserves and computing, and corresponding message is thrown off to CAN according to result of calculation, servos control subsystem is detecting
Corresponding instruction is performed after the instruction that master control system is dished out at once；
The servos control subsystem includes single-chip microcomputer and CAN transceiver coupled respectively, angular transducer, shown
Show module, driver A and driver B；The communication connection that CAN transceiver is used to realize between CAN and single-chip microcomputer；Angle passes
Sensor is arranged on power transmission shaft, and is in real time believed the rudder angle feedback of the information of steering wheel according to current rudder angle to single-chip microcomputer, single-chip microcomputer
Breath controls the rotational angle of stepper motor by driver A in real time, and the trend of work of propeller is controlled by driver B.
PMU described in the utility model includes batteries, reverse protection device, high pressure protector, low
Press protection device and DC/AC inverters and DC/DC converters；The reverse protection device is used for the battery in batteries
And occur both positive and negative polarity it is reversed when, start reversal connection protection function；The high pressure protector is used for the output voltage in batteries
Higher than system work rated voltage when, decompression processing is carried out to the output voltage of batteries；The low-voltage protection device is used
In when the output voltage of batteries is less than the rated voltage that system works, starts stand-by power supply and system is powered；Institute
DC/AC inverters are stated to be used to the dc source of batteries output being reverse into AC power so that master control system uses；It is described
DC/DC converters are processed for the use of servos control subsystem for the dc source of batteries output to be carried out into decompression.
Master control system described in the utility model includes master controller and CAN analyzers；It is provided with and is used in master controller
Ship carries out ship datebase, map data base and the ship-handling rule database of autonomous navigation in fixed waters；CAN points
Analyzer is communicated for master controller with CAN, and CAN communication is converted into USB communications.
Master control system is additionally provided with light sensor described in the utility model；When light sensor detects that unmanned boat is worked as
When preceding light intensity is weaker, clearance lamps peculiar to vessel is controlled to open in real time by master controller, so that other ships are carried out to unmanned boat
Identification.
The model STM32F103RCT6 of single-chip microcomputer described in the utility model, CH340G strings are loaded with single-chip microcomputer upper plate
Mouth mold block, jtag interface module and A/D modular converters and GPS+ Big Dipper locating modules；The CH340G serial port modules are used for single
The communication of piece machine and computer and the download of program；Jtag interface module is used for the on-line debugging of SCM program；The A/D conversions
Module is used for the data that acquisition angles sensor real-time Transmission comes；The GPS+ Big Dippeves locating module is used to obtain nobody in real time
The latitude and longitude information of ship；The display module selects OLED display screen.
CAN described in the utility model has the twisted-pair shielded wire of anti-electromagnetic interference, at the both ends of twisted-pair shielded wire
The resistance that parallel connection matches with it.
Bevel gear A described in the utility model is arranged on the output shaft of stepper motor, and bevel gear B is arranged on power transmission shaft
On, the part that bevel gear A is meshed with bevel gear B is to account for the upper 90 ° of center of circle angular zones of bevel gear B so that the rudder angle fluctuation of steering wheel
Scope is -45 °~45 °；The flange to differ on the power transmission shaft equipped with a thickness, equipped with corresponding with flange on fixed mount
Proximity switch, proximity switch connection single-chip microcomputer.
Angular transducer described in the utility model selects rudder angle measuring instrument, between rudder angle measuring instrument and the upper end of power transmission shaft
It is connected by shaft coupling.
The utility model has advantages below：
(1) the utility model control structure is simple, ingenious in design, and unmanned boat is substantially increased by CAN communication
Antijamming capability between master control system and subsystems in communication, the security of unmanned boat traveling was so both ensure that,
And can carries out pretreatment in advance with making host computer high-performance to corresponding data simultaneously, avoids executive subsystem and carries out complexity
Computing, so as to improve the overall performance of system；
(2) the utility model provides multiple protection functions in PMU, it is ensured that the main system of unmanned boat and
The normal powered operation of servos control subsystem；
(3) the utility model is supervised in real time using light sensor to the light intensity of unmanned boat current driving environment
Survey, and when light intensity is weaker, control clearance lamps peculiar to vessel to open in real time by master controller, so that other ships enter to unmanned boat
Row identification, avoids the generation of crash in water accident；
(4) rotating range of steering wheel is arranged on -45 °~45 ° by the utility model, and is controlled from mechanical structure with software
On double protection is carried out to the rotary state of steering wheel, it is ensured that unmanned boat carries out safety, capable at a high speed in the range of defined rudder angle
Sail；
(5) the utility model uses the servos control subsystem of closed-loop control, has reached the essence for angle of being come about to unmanned boat
Really control, meets demand of most of users to podded propeller servos control, the autonomous cruise for unmanned boat provides
Good guarantee.
Brief description of the drawings
Fig. 1 is control structure block diagram of the present utility model；
Fig. 2 is the structural representation of steering wheel in the utility model;
Fig. 3 is control flow chart of the utility model to steering wheel.
In figure：1-propeller, 2-stepper motor, 3-bevel gear A, 4-bevel gear B, 5-power transmission shaft, 6-fixed mount,
7-PMU, 8-master control system, 9-CAN, 10-servos control subsystem, 11-single-chip microcomputer, 12-CAN
Transceiver, 13-angular transducer, 14-display module, 15-driver A, 16-driver B, 17-batteries, 18-
Reverse protection device, 19-high pressure protector, 20-low-voltage protection device, 21-DC/AC inverters, 22-DC/DC conversions
Device, 23-stand-by power supply, 24-master controller, 25-CAN analyzers, 26-light sensor, 27-clearance lamps, 28-
CH340G serial port modules, 29-jtag interface module, 30-A/D modular converters, 31-GPS+ Big Dipper locating modules, 32-method
Orchid, 33-proximity switch, 34-shaft coupling, 35-photoelectric switch.
Embodiment
Referring to Fig. 1-2, a kind of pod propulsion unmanned boat steering gear control system based on CAN, the unmanned boat, which has, to be hung
Cabin formula steering and propeller 1, pod propulsion steering by forming drive connection stepper motor 2 successively, engagement is integrated
Bevel gear A3, bevel gear B4 and power transmission shaft 5 are formed, and stepper motor 2 and power transmission shaft 5 are installed on fixed mount 6, and propeller 1 lifts
In the lower end of power transmission shaft 5；The steering gear control system is by PMU 7, master control system 8 and CAN 9 and steering wheel control
Subsystem 10 forms；
The PMU 7 provides work for the modules unit in master control system 8 and servos control subsystem 10
Make power supply；
The master control system 8 detects the data that servos control subsystem 10 is sent in CAN 9 in real time, will believe accordingly
Preserved and computing is ceased, and corresponding message, servos control subsystem 10 are thrown off to CAN 9 according to result of calculation
Perform corresponding instruction at once after the instruction that master control system 8 is dished out is detected；
The CAN 9 has the twisted-pair shielded wire of anti-electromagnetic interference, in the parallel connection and its phase of the both ends of twisted-pair shielded wire
The resistance of matching, Direct Communication distance can reach 10km, and highest communication speed reaches 1Mbps.
As shown in figure 1, CAN 9 has two live wires：CAN_H lines and CAN_L lines, the magnitude of voltage phase in two lines
When together and being 2.5V, that is, it is 0 to represent logic state；When the level on CAN_H lines is increased to 3.5V, the level on CAN_L lines will
To 1.5V, when voltage difference reaches 2V, that is, it is 1 to represent logic state.CAN belongs to multi-node serial communication, any section
Other nodes that point is sent information on line in a broadcast manner, other nodes can leave required information according to demand.Its
Information is transmitted in a manner of frame, and according to the difference of function, frame is divided into 4 kinds：Data frame, erroneous frame, remote frame and
Overload frame, last domain of each frame are made a concession position by seven and formed.All CAN nodes use identifier in the present system
Mask pattern, CAN nodes can be only received by good several specific marks set in advance under using identifier mask pattern
The message that tally used in ancient times as credentials or a warrant point sends over, the message that other nodes send over is filtered out on hardware, using such pattern in node
Can ensure that single-chip microcomputer 11 receives and handled useful information in the case of more, it is very big improve single-chip microcomputer 11 to information at
The ability of reason；
The servos control subsystem 10 includes single-chip microcomputer 11 and CAN transceiver 12 coupled respectively, angle pass
Sensor 13, display module 14, driver A15 and driver B16；CAN transceiver 12 is used to realize CAN 9 and single-chip microcomputer 11
Between communication connection；Angular transducer 13 is arranged on power transmission shaft 5, and in real time by the rudder angle feedback of the information of steering wheel to single-chip microcomputer
11, single-chip microcomputer 11 controls the rotational angle of stepper motor 2 according to current rudder angle information by driver A15 in real time, and passes through
Driver B16 controls the trend of work of propeller 1.
Stepper motor 2 uses in the present embodiment model HY86DJ80, maximum moment for 4.2N*m stepper motor, and
The direction controlling of unmanned boat is realized by model M860H driver A15.The rated voltage of stepper motor 2 is 48V, electric current
Size can be actually needed according to user, realize control to electric current, stepping by changing the toggle switch on driver A15
The step angle of motor 2 is 1.8 °, then can make the rotation precision of steering wheel by bevel gear A3 and bevel gear B4 that gearratio is 1/5
Reach 0.36 °, it is already possible to meet the requirement of most of ship controls.Driver A15 is realized to stepping with seven toggle switch
Seven grades of micro-stepping controls of motor 2, it is possible to achieve the step angle more segmented, and eight grades of current controls, different electric currents is exported,
It is convenient to be realized in different working environments to the more accurately control of stepper motor 2.The driver have low vibration, small noise and
Respond fast advantage.
Further, the driver A15 is used to receive the pulse that single-chip microcomputer 11 is sent and controls stepper motor 2 to rotate phase
The angle answered, because propeller 1 uses structure for pod, this just brings great convenience to control, so stepper motor 2
Gear engagement structure is used in transmission, to solve the problems, such as unmanned boat steering, such structure design can realize full angle
Steering, structure for pod is rotated with the rotation of stepper motor 2.So only need to control the rotation of stepper motor 2 can
Quickly to control the change in unmanned boat direction, and it is swift in response by testing the mechanical mechanism, error is smaller.
Propeller 1 described in the present embodiment is used to provide power to unmanned boat.The propeller 1 that unmanned boat is equipped divides for pump
Spray formula propulsion electric machine, duct propulsion electric machine and pod propulsion propulsion electric machine.Propeller 1 in the utility model used in unmanned boat is
Po Er VPM200 gondola propulsion electric machines, the rated voltage of the propulsion electric machine is 48V, and rated current is 56A, and its rated power is
2688W, maximum thrust 170KG, and stepless speed regulation can be realized, its control principle is that 0V to 2.4V is to turn clockwise,
2.6V to 5V is rotate counterclockwise, and propeller 1 is stopped between 2.4V to 2.6V.
PMU 7 described in the present embodiment includes batteries 17, reverse protection device 18, high pressure protector
19th, low-voltage protection device 20 and DC/AC inverters 21 and DC/DC converters 22；The reverse protection device 18 is used to store
Battery in battery pack 17 and occur both positive and negative polarity it is reversed when, start reversal connection protection function；The high pressure protector 19 is used for
When the output voltage of batteries 17 is higher than the rated voltage that system works, the output voltage of batteries 17 is carried out at decompression
Reason；The low-voltage protection device 20 is used for when the output voltage of batteries 17 is less than the rated voltage that system works, low pressure
Protection device 20 can control photoelectric switch 35, and power supply is converted into stand-by power supply 23 is powered to system；Institute
DC/AC inverters 21 are stated to be used to the 48V dc sources that batteries 17 export being reverse into 220V AC powers for master control system
System uses；The dc source that the DC/DC converters 22 are used to export batteries 17 carries out decompression and is processed for steering wheel control
Subsystem uses.
Master control system 8 described in the present embodiment includes master controller 24 and CAN analyzers 25；It is provided with master controller 24
For ship ship datebase, map data base and the ship-handling rule database of autonomous navigation are carried out in fixed waters；
CAN analyzers 25 are communicated for master controller 24 with CAN 9, and CAN communication is converted into USB communications, can be simultaneously
The different bus of two-way CAN baud rates is gathered, and realizes two-way CAN communication, can be used as CAN gateways real when needing
The high low speed collocation of existing CAN communication.
Master control system 8 described in the present embodiment is additionally provided with light sensor 26；When light sensor 26 detects nobody
When the current light intensity of ship is weaker, clearance lamps 27 peculiar to vessel is controlled to open in real time by master controller 24, so that other ships are to nothing
People's ship is identified, and prevents the generation of collision accident.
The model STM32F103RCT6 of single-chip microcomputer 11 described in the present embodiment, CH340G is loaded with the upper plate of single-chip microcomputer 11
Serial port module 28, jtag interface module 29 and A/D modular converters 30 and GPS+ Big Dippeves locating module 31；The CH340G serial ports
Module 28 is used for single-chip microcomputer 11 and the communication of computer and the download of program；Jtag interface module 29 is used for the online of SCM program
Debugging；The A/D modular converters 30 are used for the data that the real-time Transmission of acquisition angles sensor 13 comes；The GPS+ Big Dippeves positioning
Module 31 be used in real time obtain unmanned boat latitude and longitude information, servos control subsystem 10 every 0.01 second by CAN 9 to
Master control system 8 is dished out real-time longitude and latitude data message；
The display module 14 selects OLED display screen, and display module 14 is carried out by SPI communication modes and single-chip microcomputer 11
Connection, corresponding write operation is carried out to the register in OLED display screen by SPI and can be achieved to control OLED display screen,
Control is very simple, and OLED display screen is also more accelerated than LCD display more power and energy saving, the speed of reaction.Therefore,
OLED display screen can be good at showing the real-time rudder angle information operational factor related to single-chip microcomputer 11 of unmanned boat, convenient debugging
Personnel get information about the state of single-chip microcomputer operation, are advantageous to the speed of Speeding up development.
Bevel gear A3 described in the present embodiment is arranged on the output shaft of stepper motor 2, and bevel gear B4 is arranged on power transmission shaft 5
On, the part that bevel gear A3 is meshed with bevel gear B4 is to account for the upper 90 ° of center of circle angular zones of bevel gear B4 so that the rudder angle ripple of steering wheel
Dynamic scope is -45 °~45 °；
The flange 32 to differ on the power transmission shaft 5 equipped with a thickness, equipped with relative with the flange 32 on fixed mount 6
The proximity switch 33 answered, proximity switch 33 connect single-chip microcomputer 11.When steering wheel works, the flange 32 can be 5 turns with power transmission shaft
Dynamic, the output voltage of proximity switch 33 can also change therewith, and single-chip microcomputer 11 is faced with this to judge whether the rudder angle of steering wheel rotation reaches
Dividing value, when steering wheel actual angle has exceeded the angle of security settings, single-chip microcomputer 11 will be controlled by driver A15 and walked
Stepper motor 2 is out of service.
Thus, the utility model carries out double protection from mechanical structure and in software control to the rotary state of steering wheel,
Ensure that unmanned boat carried out in the range of defined rudder angle safely, run at high speed.
Angular transducer 13 described in the present embodiment selects rudder angle measuring instrument, the upper end of rudder angle measuring instrument and power transmission shaft 5 it
Between be connected by shaft coupling 34.
Referring to Fig. 3, servos control subsystem 10 is as follows to the specific control flow of steering wheel rudder angle：
(1) angular transducer measurement is come about angle
The AD values that single-chip microcomputer collection acquisition angles sensor transmissions in servos control subsystem come, angular transducer
Resolution ratio is 12（4096）0.087 degree of precision.It is left-hand rotation less than 2000 by the 2000 of AD values be set to actual angle 0 degree,
It is right-hand rotation more than 2000.The helical teeth ratio on helical teeth and driver connecting rod on angular transducer is 1:2, if AD collection values
ForgetAD_temp[n], the AD values after sequence aregetAD[m], filtered AD values areRealAD, actual angle isAngle。
AD values are filtered, first take 12 AD values depositsgetAD_temp[n] array is rightgetAD_tempAfter [n] is ranked up
As a result it is stored ingetADIn [m], after sequencegetAD[m] carries out summation and takes average calculation formula as follows：
；
Then actual angle calculation formula is as follows：。
(2) instruction that host computer is sent in CAN is received, with 16 systemscharType is stored inCAN_buf[3] it is inner
Face;
(3) angle value and it is designated as in analysis instructionA, the angle value in being instructed due to CAN is with hexadecimalcharType,
Therefore need to parse the actual value of angle value, resolving is as follows：
JudgeCAN_buf[3] inCAN_buf[0] it is '+' or '-' number：
IfCAN_buf[0]='+', thenACalculation formula it is as follows：
A=（CAN_buf[1]-48）*10+（CAN_buf[2]-48）；
IfCAN_buf[0]='-', thenACalculation formula it is as follows：
A=-（CAN_buf[1]-48）*10-（CAN_buf[2]-48）.
(4) recording desired angle value isA 1 , and handle can changeA 1 The condition of value is closed, and only final angle regulation reaches
It is required that when could change againA 1 Value.
(5) to parsingAValue pre-processed, in order to ensure the safety of ship's navigation, rudder angle is limited in-
Between 35~35 degree, then think to malfunction more than the scope, and corresponding angle is changed to the boundary value of its nearest neighbours.
(6) judgeAValue：IfAHeight is put in direction enable port by ＞ 0, servos control subsystem, at the same time and to making
Energy port sends pulse, and in order to prevent stepper motor from passing by, steering wheel can be made by being much smaller than to the pulse number of stepper motor transmission
RotateAThe pulse number of degree, at this moment stepper motor steering wheel will be driven to turn right one and be less thanAAngle；
Similarly, ifA＜ 0, then stepper motor steering wheel will be driven to turn left one and be less thanAAngle.
(7) conversion of the AD values of angular displacement is detected in the timer TIM5 on single-chip microcomputer, if the AD values of angular displacement are being advised
Fix time it is interior do not change, then at this moment only have two kinds of situations：A kind of is that steering wheel has gone to the angle specified, and another situation is
Stepper motor loses step, at this moment takes out current angle valueAngle。
(8) set at this moment the difference between expected angle and actual angle aserr, then calculateerrFormula it is as follows：err=∣A
∣-∣A 1 -Angle∣。
(9) it is righterrValue calculated：Iferr>=1, orderA=A-（A 1 -Angle）, and it is next to return to (5) progress
Secondary angle adjustment is knownErr ＜Untill 1.
(10) ifErr ＜1, then opening to changeA 1 The condition of value, it is convenient to instruct next time.
Claims (8)
1. a kind of pod propulsion unmanned boat steering gear control system based on CAN, the unmanned boat have pod propulsion steering
And propeller, pod propulsion steering by forming drive connection stepper motor, bevel gear A, B that engagement is integrated and transmission successively
Axle is formed, and stepper motor and power transmission shaft are installed on fixed mount, and propeller is lifted on the lower end of power transmission shaft；It is characterized in that：It is described
Steering gear control system is made up of PMU, master control system and CAN and servos control subsystem；
The PMU provides working power for the modules unit in master control system and servos control subsystem；
The master control system detects the data that servos control subsystem is sent in CAN in real time, and corresponding information is protected
Deposit and computing, and corresponding message is thrown off to CAN according to result of calculation, servos control subsystem is detecting master control
Corresponding instruction is performed after the instruction that system is dished out at once；
The servos control subsystem includes single-chip microcomputer and CAN transceiver coupled respectively, angular transducer, display mould
Block, driver A and driver B；The communication connection that CAN transceiver is used to realize between CAN and single-chip microcomputer；Angular transducer
It is on power transmission shaft, and in real time that the rudder angle feedback of the information of steering wheel is real according to current rudder angle information to single-chip microcomputer, single-chip microcomputer
When by driver A control stepper motor rotational angle, and pass through driver B control propeller trend of work.
2. a kind of pod propulsion unmanned boat steering gear control system based on CAN according to claim 1, it is characterized in that：
It is inverse that the PMU includes batteries, reverse protection device, high pressure protector, low-voltage protection device and DC/AC
Become device and DC/DC converters；The reverse protection device be used for battery in batteries and occur both positive and negative polarity it is reversed when,
Start reversal connection protection function；The high pressure protector is used for the specified electricity for being higher than system work in the output voltage of batteries
During pressure, decompression processing is carried out to the output voltage of batteries；The low-voltage protection device is used for the output electricity in batteries
Force down when the rated voltage of system work, start stand-by power supply and system is powered；The DC/AC inverters are used to store
The dc source of battery pack output is reverse into AC power so that master control system uses；The DC/DC converters are used for electric power storage
The dc source of pond group output carries out decompression and is processed for the use of servos control subsystem.
3. a kind of pod propulsion unmanned boat steering gear control system based on CAN according to claim 1, it is characterized in that：
The master control system includes master controller and CAN analyzers；It is provided with master controller and is used for ship in fixed waters progress
Ship datebase, map data base and the ship-handling rule database of autonomous navigation；CAN analyzers be used for master controller with
CAN is communicated, and CAN communication is converted into USB communications.
4. a kind of pod propulsion unmanned boat steering gear control system based on CAN according to claim 3, it is characterized in that：
The master control system is additionally provided with light sensor；When light sensor detects that the current light intensity of unmanned boat is weaker,
Clearance lamps peculiar to vessel is controlled to open in real time by master controller, so that unmanned boat is identified other ships.
5. a kind of pod propulsion unmanned boat steering gear control system based on CAN according to claim 1, it is characterized in that：
The model STM32F103RCT6 of the single-chip microcomputer, single-chip microcomputer upper plate be loaded with CH340G serial port modules, jtag interface module and
A/D modular converters and GPS+ Big Dipper locating modules；The CH340G serial port modules are used for communication and the journey of single-chip microcomputer and computer
The download of sequence；Jtag interface module is used for the on-line debugging of SCM program；The A/D modular converters sense for acquisition angles
The data that device real-time Transmission comes；The GPS+ Big Dippeves locating module is used for the latitude and longitude information for obtaining unmanned boat in real time；It is described
Display module selects OLED display screen.
6. a kind of pod propulsion unmanned boat steering gear control system based on CAN according to claim 1, it is characterized in that：
The CAN has the twisted-pair shielded wire of anti-electromagnetic interference, in the both ends of the twisted-pair shielded wire electricity in parallel to match with it
Resistance.
7. a kind of pod propulsion unmanned boat steering gear control system based on CAN according to claim 1, it is characterized in that：
The bevel gear A is arranged on the output shaft of stepper motor, and bevel gear B is arranged on power transmission shaft, bevel gear A and bevel gear B phases
The part of engagement is to account for the upper 90 ° of center of circle angular zones of bevel gear B so that the angular range of coming about of steering wheel is -45 °~45 °；The biography
The flange to differ on moving axis equipped with a thickness, is equipped with the proximity switch corresponding with flange on fixed mount, and proximity switch connects
Connect single-chip microcomputer.
8. a kind of pod propulsion unmanned boat steering gear control system based on CAN according to claim 1, it is characterized in that：
The angular transducer selects rudder angle measuring instrument, is connected between rudder angle measuring instrument and the upper end of power transmission shaft by shaft coupling.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240288A (en) * | 2018-08-31 | 2019-01-18 | 武汉理工大学 | Unmanned boat collision prevention paths planning method in the case of a kind of barrier based on trajectory unit |
| CN111232177A (en) * | 2020-02-18 | 2020-06-05 | 大连海事大学 | Marine electric steering engine servo device |
| CN111439359A (en) * | 2020-04-09 | 2020-07-24 | 浙江大学 | Submarine rudder with double-cam structure |
| CN112061320A (en) * | 2019-05-23 | 2020-12-11 | 哈尔滨理工大学 | Course control device and control method for unmanned surface vehicle |
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2017
- 2017-07-31 CN CN201720938939.1U patent/CN207008408U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240288A (en) * | 2018-08-31 | 2019-01-18 | 武汉理工大学 | Unmanned boat collision prevention paths planning method in the case of a kind of barrier based on trajectory unit |
| CN109240288B (en) * | 2018-08-31 | 2021-08-10 | 武汉理工大学 | Unmanned ship collision avoidance path planning method based on track unit under condition of obstacle |
| CN112061320A (en) * | 2019-05-23 | 2020-12-11 | 哈尔滨理工大学 | Course control device and control method for unmanned surface vehicle |
| CN112061320B (en) * | 2019-05-23 | 2022-12-02 | 哈尔滨理工大学 | Course control device for unmanned surface vehicle |
| CN111232177A (en) * | 2020-02-18 | 2020-06-05 | 大连海事大学 | Marine electric steering engine servo device |
| CN111439359A (en) * | 2020-04-09 | 2020-07-24 | 浙江大学 | Submarine rudder with double-cam structure |
| CN111439359B (en) * | 2020-04-09 | 2023-10-31 | 浙江大学 | Double cam structure diving device rudder |
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