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A signal processing method and device for an azimuth thruster rudder angle sensor

A technology of azimuth propeller and rudder angle sensor, which is applied in the direction of ship propulsion, propulsion parts, transportation and packaging, etc., can solve the problem of affecting ship navigation, the detection value of rudder angle is not evenly distributed, and the rudder angle of azimuth propeller cannot be solved. Adjust to the exact position, etc.

Active Publication Date: 2019-07-09
WUHAN MARINE MACHINERY PLANT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Affected by the measurement accuracy of the rudder angle sensor, the detection values ​​of each rudder angle by the rudder angle sensor are not evenly distributed within the detection range of the rudder angle sensor. In fact, it may not be a complete linear relationship. At present, the linear relationship is directly used to convert the digitized value of the analog signal output by the rudder angle sensor into an angle value, and the error is relatively large. Use the converted angle value to adjust the rudder of the azimuth propeller. angle, it will cause the rudder angle of the azimuth thruster to be unable to be adjusted to the exact position, and the thrust direction of the ship will deviate, which will affect the navigation of the ship

Method used

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  • A signal processing method and device for an azimuth thruster rudder angle sensor
  • A signal processing method and device for an azimuth thruster rudder angle sensor
  • A signal processing method and device for an azimuth thruster rudder angle sensor

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Embodiment 1

[0071] The embodiment of the present invention provides a method for processing the signal of the rudder angle sensor of the azimuth thruster, see figure 1 , the processing method includes:

[0072] Step 101: Obtain analog signal values ​​output by the rudder angle sensor when the rudder angles of the azimuth propeller are 0°, 90°, 180°, and 270° respectively.

[0073] In this embodiment, the rudder angle sensor is a sensor for detecting the rudder angle of the azimuth thruster, which can be implemented specifically by using an angle sensor. The rudder angle sensor will output an analog signal of corresponding size when detecting the rudder angle of the azimuth propeller. The analog signal is theoretically a current signal of 4-20mA or a voltage signal of 0-10V. Due to the limitation of the detection range, the minimum value of the analog signal output by the rudder angle sensor may be greater than 4mA or 0V, and the maximum value may be less than 20mA or 10V.

[0074] In pr...

Embodiment 2

[0112] The embodiment of the present invention provides a method for processing the signal of the rudder angle sensor of the azimuth thruster, see figure 2 , the processing method includes:

[0113] Step 201: Obtain the analog signal value output by the rudder angle sensor.

[0114] Specifically, step 201 is similar to step 101 and will not be described in detail here.

[0115] Step 202: Digitize the analog signal value output by the rudder angle sensor to obtain a digitized value.

[0116] Specifically, step 202 is similar to step 102, and will not be described in detail here.

[0117] Step 203: Convert the digitized value into an initial converted value according to the first linear relationship between the digitized value and the initial converted value.

[0118] Specifically, step 203 is similar to step 103 and will not be described in detail here.

[0119] Step 204: Subtract the initial conversion value corresponding to the analog signal value from the initial conver...

Embodiment 3

[0170] An embodiment of the present invention provides a signal processing device for the rudder angle sensor of an azimuth thruster, which is suitable for realizing the processing method provided in Embodiment 1, see image 3 , the processing unit includes:

[0171] The first acquisition module 301 is used to acquire the analog signal values ​​output by the rudder angle sensor when the rudder angles of the azimuth thrusters are 0°, 90°, 180°, and 270° respectively;

[0172] The first digitization module 302 is used to digitize each analog signal value output by the rudder angle sensor respectively to obtain a digitized value;

[0173] The first initial conversion module 303 is used to convert each digitized value into an initial conversion value according to the first linear relationship between the digitized value and the initial conversion value, and the value range of the digitized value in the first linear relationship is the rudder angle sensor The value range of the ou...

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Abstract

The invention discloses a processing method and device of full-revolving-propulsor rudder angle sensor signals, and belongs to the technical field of ship propulsion. The processing method includes the steps that analog signal values output by a rudder angle sensor are obtained respectively when rudder angles of a full-revolving propulsor are 0 degree, 90 degrees, 180 degrees and 270 degrees; all the analog signal values output by the rudder angle sensor are digitized respectively, and digitized numeric values are obtained; according to the first linear relationship between the digitized numeric values and initial conversion values, all the digitized numeric values are converted into the initial conversion values respectively; rudder-angle conversion values are determined respectively when the rudder angles of the full-revolving propulsor are 0 degree, 90 degrees, 180 degrees and 270 degrees; according to the rudder-angle conversion values when the rudder angles of the full-revolving propulsor are 0 degree, 90 degrees, 180 degrees and 270 degrees, the second linear relationship, the third linear relationship, the fourth linear relationship and the fifth linear relationship between the rudder-angle conversion values and the rudder angles of the full-revolving propulsor are determined. According to the processing method and device of full-revolving-propulsor rudder angle sensor signals, the control accuracy is increased.

Description

technical field [0001] The invention relates to the technical field of ship propulsion, in particular to a method and device for processing signals from a rudder angle sensor of an azimuth thruster. Background technique [0002] The azimuth thruster is a propeller or ducted thruster that can rotate 360° around the vertical axis, and the control of the thrust direction of the ship can be realized by adjusting the rudder angle. Generally, when the rudder angle is 0°, the thrust direction of the ship is toward the bow, and the ship has the power to move forward; when the rudder angle is 180°, the thrust direction of the ship is toward the stern, and the ship has the power to retreat. [0003] During the voyage, the rudder angle of the azimuth thruster is usually monitored in real time by the rudder angle sensor, and at the same time, the rudder angle adjustment command is issued according to the navigation needs to control the rudder angle of the azimuth thruster. If the actua...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H5/125
CPCB63H5/1252B63H2005/1258
Inventor 肖源赵丽雄池飞飞高海涛李霞林
Owner WUHAN MARINE MACHINERY PLANT
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