CN208044348U - System and device is debated in a kind of rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship - Google Patents
System and device is debated in a kind of rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship Download PDFInfo
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- CN208044348U CN208044348U CN201820277090.2U CN201820277090U CN208044348U CN 208044348 U CN208044348 U CN 208044348U CN 201820277090 U CN201820277090 U CN 201820277090U CN 208044348 U CN208044348 U CN 208044348U
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Abstract
The utility model is related to a kind of knowledges of the rudder for ship system accuracy of unmanned pure electric vehicle ship to debate system and device, including digitial controller, rudder system manipulation information setter, rudder system feedback information setter, location parameter acquisition device and speed parameter acquisition device, the digitial controller manipulates information setter, rudder system feedback information setter, location parameter acquisition device and speed parameter acquisition device with rudder system respectively and is connected.The utility model can obtain the degree of regulation of rudder angle.
Description
Technical field
The utility model is related to unmanned electric ship technical fields, more particularly to a kind of unmanned pure electric vehicle ship
System and device is debated in the knowledge of rudder for ship system accuracy.
Background technology
Automatic in unmanned boat navigation drives system, and the manipulation of rudder angle is to susceptibility, controllability, and by peripheral ring
The parameter etc. that border state influences, is very important.
Obtain rudder angle control process highly sensitive, stablize, reliable, precision, the output control information of rudder for ship system
The reality output effect obtained afterwards, and generate whole ship conversion drift rate number will be automatic Pilot ship influence most
Big.In order to grasp navigate by water automatically drive precision, under the technology development prospect of current ship, the control energy in terms of the speed of a ship or plane
Power reaches a standard very much, and especially pure electric vehicle ship, and the handling of the speed of a ship or plane will be very satisfactory.Ship only
The control for the index parameter that the knowledge of rudder system precision is debated, controls and responded is that extremely have challenge meaning.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of rudder for ship system accuracies of unmanned pure electric vehicle ship
System and device is debated in knowledge, can obtain the degree of regulation of rudder angle.
Technical solution adopted by the utility model to solve its technical problems is：A kind of unmanned pure electric vehicle ship is provided
System and device is debated in the knowledge of rudder for ship system accuracy, including digitial controller, rudder system manipulation information setter, rudder system feedback information give
Device, location parameter acquisition device and speed parameter acquisition device, it is given that the digitial controller manipulates information with rudder system respectively
Device, rudder system feedback information setter, location parameter acquisition device are connected with speed parameter acquisition device.
The master controller is also connected with water flow sensing unit device.
The master controller is also connected with auxiliary parameter acquisition device.
The location parameter acquisition device and speed parameter acquisition device are satellite positioning device.
The digitial controller is realized using DSP and FPGA.
Advantageous effect
Due to the adoption of the above technical solution, the utility model compared with prior art, has the following advantages that and accumulates
Pole effect：The given value that the utility model can acquire the rudder system manipulation of acquisition records its rudder angle after delay is stablized
Physical location parameter, then using the navigation deviation angle for acquiring ship after delayed aging.In order to improve identification precision, reduce
Extraneous interference, the utility model can also acquire the changing value of the speed of a ship or plane, detect the vector sum measuring environment temperature of instantaneous flow
And water flow temperature.
Description of the drawings
Fig. 1 is the block diagram of the utility model.
Specific implementation mode
With reference to specific embodiment, the utility model is expanded on further.It should be understood that these embodiments are merely to illustrate this
Utility model rather than limitation the scope of the utility model.In addition, it should also be understood that, in the content for having read the utility model instruction
Later, those skilled in the art can make various changes or modifications the utility model, and such equivalent forms equally fall within this Shen
It please the appended claims limited range.
System dress is debated in the rudder for ship system accuracy knowledge that the embodiment of the utility model is related to a kind of unmanned pure electric vehicle ship
It sets, as shown in Figure 1, including digitial controller, rudder system manipulation information setter, rudder system feedback information setter, position ginseng
Number acquisition device and speed parameter acquisition device, the digitial controller are anti-with rudder system manipulation information setter, rudder system respectively
Feedforward information setter, location parameter acquisition device are connected with speed parameter acquisition device.Wherein, the master controller also with water
Flow sensor arrangement is connected with auxiliary parameter acquisition device.
Digitial controller is made of DSP+FPGA devices, and the core important document of this system device, this core component are constituted with this
It completes embedded internal network and couples with data/address bus, there are many modes that this unit couples with subordinate's each unit,
Wherein there is the interface network of communication data, or directly contact the designated lane of logic controller, or couples number for storage unit
Ju Zhan transmission etc..This control device uses the framework of internal network, and control is implemented to all devices electrical system of subordinate
System and management, major function are start and stop, data transmission, the transmission of function control word etc..
The active coding of the present apparatus comes from the boat-carrying master controller of whole ship control system device, only in the shape that it is activated
Under condition, system unlatching, data path link transmitting-receiving could be implemented.
Rudder system manipulates source of the information setter as information content, and the given information of rudder system manipulation is mostly important and straight
It connects, rudder system manipulation information setter obtains this information first, and then the information is stored in digitial controller, then does follow-up
Data acquisition read, notebook data is also compared with previous status other than reading absolute value, calculates automatically opposite inclined
Shifting amount.
After given information acts on rudder angle control device, system will make corresponding adjustment, and provide relative position change
The feedback information of change amount, rudder system feedback information setter will obtain the feedback information, which includes two parts content,
First, absolute variable quantity, second is that relative variation, the two is vital to the processing of follow-up data.Digitial controller
After receiving the feedback information that rudder system feedback information setter provides, so that it may to make the anticipation of identification precision, i.e., not consider
System index of performance ability under the conditions of extraneous factor.
Location parameter acquisition device is realized using GPS/ BEI-DOU position systems.It is fixed that satellite reception port is connected to GPS satellite
Position system and device can also be replaced with Beidou satellite system device if necessary, and system implements parameter reading to this device.It reads
The information taken includes the angle of absolute geographical location information and deviation.It is noted that the information read can also include
The variable parameter of absolute velocity information and speed.Digitial controller will be directly sent to after parameter acquiring.
Water flow sensing unit device is for the acquisition to waters parameter, including the speed of flow, temperature, direction, these parameters
Its respective relative displacement will be calculated after reading in time, is sent to digitial controller.Because in identification system, flow passes
The parameter of sensor arrangement acquisition can be used as the parameter of auxiliary, will be to accurately calculate to provide necessary auxiliary foundation.
In order to accomplish there is precise alignment to calculating later, therefore, environment temperature, the management parameters of remote system, system
Ordered sequence number of equipment etc., every all parameters for being related to equipment by auxiliary parameter acquisition device while will be recorded in
Case, can obtain in this way big data effective management and internet+data see management.
After this system installation, after the boat-carrying controller of unmanned ship sends out activation instruction, system just enters automatic running
Mechanism, all above-mentioned modules are directly passed to digitial controller after obtaining the information, digitial controller after obtaining these parameters,
Intermediate result is sent in the form of message.
The operational process of the present apparatus is as follows：In some moment, manipulate what the acquisition of information setter obtained by rudder system
The given value of rudder system manipulation, after delay is stablized, rudder system feedback information setter records the physical location ginseng of its rudder angle
Number, then using after delayed aging acquire ship navigation deviation angle, this navigation deviate angle come from GPS (or
The Big Dipper) satellite obtain data.While acquiring above-mentioned variable, system is simultaneously also acquired the changing value of the speed of a ship or plane,
Usually when adjusting rudder angle angle, it is to maintain the given constant of speed, to improve the identification precision of system, is reduced outer
The interference on boundary；At this point, the part as auxiliary variable, water flow sensing unit device also to the vector examinations of instantaneous flow,
To modify the influence that flow generates rudder system, in addition to these, also by auxiliary parameter acquisition device to environment temperature, water
Stream temperature measures, the auxiliary reference parameter that these information are calculated as variable, to improving the identification precision of whole device
Bring certain influence.
By the online or offline use of the present apparatus, since the function of the unmanned electric ship of its integrated correction is very bright
Aobvious, therefore, the navigation precision to improving unmanned electric ship brings prodigious benefit, to pushing unmanned ship
Using having played important effect.This system is suitable for the device of different rudder angle systems, as long as the rudder angle system is that have electrically
What execution, feedback parameter can obtain can realize.
Claims (5)
1. system and device, including digitial controller, the manipulation of rudder system are debated in a kind of rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship
Information setter, rudder system feedback information setter, location parameter acquisition device and speed parameter acquisition device, feature exist
In the digitial controller manipulates information setter, rudder system feedback information setter, location parameter with rudder system and obtains respectively
Device is connected with speed parameter acquisition device.
2. system and device is debated in the rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship according to claim 1, feature exists
In the digitial controller is also connected with water flow sensing unit device.
3. system and device is debated in the rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship according to claim 1, feature exists
In the digitial controller is also connected with auxiliary parameter acquisition device.
4. system and device is debated in the rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship according to claim 1, feature exists
In the location parameter acquisition device and speed parameter acquisition device are satellite positioning device.
5. system and device is debated in the rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship according to claim 1, feature exists
In the digitial controller is realized using DSP and FPGA.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820277090.2U CN208044348U (en) | 2018-02-27 | 2018-02-27 | System and device is debated in a kind of rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820277090.2U CN208044348U (en) | 2018-02-27 | 2018-02-27 | System and device is debated in a kind of rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship |
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| Publication Number | Publication Date |
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| CN208044348U true CN208044348U (en) | 2018-11-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287510A (en) * | 2018-02-27 | 2018-07-17 | 上海瑞华(集团)有限公司 | System and device is debated in a kind of rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287510A (en) * | 2018-02-27 | 2018-07-17 | 上海瑞华(集团)有限公司 | System and device is debated in a kind of rudder for ship system accuracy knowledge of unmanned pure electric vehicle ship |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20191217 Address after: 201812 Area C, 1st Building, No. 223 Jinyuan Third Road, Jiangqiao Town, Jiading District, Shanghai Patentee after: Shanghai Fengzi New Energy Shipping Technology Co., Ltd. Address before: 200335, Shanghai, Changning District, No. 8, No. 2, 5 Canton Road Patentee before: Shanghai Ruihua (Group) Co., Ltd. |