阅读说明：本技术 一种船舶全回转主推控制方法及系统 (Ship full-rotation main thrust control method and system ) 是由 王晓原 夏媛媛 姜雨函 朱慎超 季施礼 崔永久 王曼曼 于 2020-05-25 设计创作，主要内容包括：本发明提供一种船舶全回转主推控制方法及系统,该方法包括：获取主推启动指令,根据预设转速与转速限定范围的第一判断结果启动变频器和主推电机；判断当前主推转速是否达到预设转速,如当前主推转速未达到预设转速,则产生控制变频器频率的第一控制指令；判断是否有新的转速指令,如有新的转速指令则根据新的转速指令与转速限定范围的第二判断结果产生对变频器的频率进行调整的第二控制指令；获取主推方向指令,根据当前主推方向角度与给定角度的第三判断结果产生对主推转向电机的第三控制指令。本发明避免全回转主推在过高转速、过低转速的情况下运行对船舶安全性造成的威胁,实现对智能船舶全回转主推转速、方向的自动控制。(The invention provides a full-rotation main thrust control method and system for a ship, wherein the method comprises the following steps: acquiring a main push starting instruction, and starting the frequency converter and the main push motor according to a first judgment result of a preset rotating speed and a rotating speed limited range; judging whether the current main pushing rotation speed reaches a preset rotation speed or not, and if the current main pushing rotation speed does not reach the preset rotation speed, generating a first control instruction for controlling the frequency of the frequency converter; judging whether a new rotating speed instruction exists or not, and if so, generating a second control instruction for adjusting the frequency of the frequency converter according to the new rotating speed instruction and a second judgment result of the rotating speed limited range; and acquiring a main pushing direction instruction, and generating a third control instruction for the main pushing steering motor according to a third judgment result of the current main pushing direction angle and the given angle. The invention avoids the threat to the safety of the ship caused by the operation of the full-rotation main thruster under the conditions of overhigh rotating speed and overlow rotating speed, and realizes the automatic control of the rotating speed and the direction of the full-rotation main thruster of the intelligent ship.)

1. A ship full-rotation main thrust control method is characterized by comprising the following steps:

s1: acquiring a main push starting instruction, judging whether an input instruction of a preset rotating speed exists or not, and starting a frequency converter and a main push motor according to a first judgment result of the preset rotating speed and a rotating speed limited range;

s2: judging whether the current main pushing rotation speed reaches a preset rotation speed or not, if the current main pushing rotation speed does not reach the preset rotation speed, generating a first control instruction for controlling the frequency of the frequency converter until the current main pushing rotation speed reaches the preset rotation speed and stably operating;

s3: judging whether a new rotating speed instruction exists or not, if not, continuously judging whether a parking instruction exists or not, if so, generating a second control instruction for adjusting the frequency of the frequency converter according to the new rotating speed instruction and a second judgment result of a rotating speed limited range until the current main pushing rotating speed reaches a preset rotating speed and stably operates;

s4: and acquiring a main pushing direction instruction, and generating a third control instruction for the main pushing steering motor according to the current main pushing direction angle and a third judgment result of a given angle in the main pushing direction instruction.

2. The method for controlling the full-rotation main thrust of the ship according to claim 1, wherein the step S1 of determining whether there is an input command of a preset rotation speed and starting the frequency converter and the main thrust motor according to a first determination result of the preset rotation speed and a rotation speed limit range comprises:

if no input instruction of the preset rotating speed exists, a rotating speed setting prompt instruction is sent, whether a rotating speed input instruction exists is judged again, if no rotating speed input instruction exists, the rotating speed of the main pushing motor is set to be the lowest value of the allowable rotating speed, and the frequency converter and the main pushing motor are started;

if an input instruction of a preset rotating speed exists, judging according to the preset rotating speed and a rotating speed limiting range to obtain a first judgment result;

when the first judgment result shows that the preset rotating speed is higher than the maximum rotating speed limit, sending an alarm instruction with overhigh preset rotating speed and a rotating speed reset instruction, if the reset rotating speed generated by responding to the rotating speed reset instruction is received, eliminating the alarm, if the reset rotating speed generated by responding to the rotating speed reset instruction is not received yet, setting the preset rotating speed of the main push motor as the highest value of the allowable rotating speed, and starting the frequency converter and the main push motor;

when the first judgment result is that the preset rotating speed is lower than the minimum rotating speed limit, sending an alarm instruction with excessively low preset rotating speed and a rotating speed reset instruction, if the reset rotating speed generated by responding to the rotating speed reset instruction is received, eliminating the alarm, if the reset rotating speed generated by responding to the rotating speed reset instruction is not received yet, setting the preset rotating speed of the main push motor to be the lowest value of the allowable rotating speed, and starting the frequency converter and the main push motor;

and when the first judgment result shows that the preset rotating speed is in the critical rotating speed, sending a preset critical alarm instruction and a rotating speed resetting instruction, eliminating the alarm if a reset rotating speed generated in response to the rotating speed resetting instruction is received, setting the preset rotating speed of the main push motor as the upper limit value of the critical rotating speed or the lower limit value of the critical rotating speed if the reset rotating speed generated in response to the rotating speed resetting instruction is not received, and starting the frequency converter and the main push motor, wherein the upper limit value of the critical rotating speed is the maximum rotating speed, and the lower limit value of the critical rotating speed is the minimum rotating speed.

3. The method for controlling the full-turning main propulsion of the ship according to claim 1, wherein the step of continuing to judge whether there is a stop command if there is no new rotation speed command in step S3 comprises:

if no new rotating speed instruction exists, whether a parking instruction exists is continuously judged, if so, the frequency converter and the main pushing motor are parked, and if not, whether the rotating speed is in a rotating speed limiting range is judged according to the current main pushing rotating speed;

if the current main pushing rotation speed is not higher than the highest value of the rotation speed limit range, continuously judging whether the current main pushing rotation speed is lower than the lowest value of the rotation speed limit range, and if the current main pushing rotation speed is higher than the highest value of the rotation speed limit range, setting the preset rotation speed of the main pushing motor as the highest value of the allowable rotation speed;

if the current main pushing rotating speed is not lower than the lowest value of the rotating speed limit range, continuously judging whether the current main pushing rotating speed is in the critical rotating speed of the rotating speed limit range, and if the current main pushing rotating speed is lower than the lowest value of the rotating speed limit range, setting the preset rotating speed of the main pushing motor as the lowest value of the allowable rotating speed;

if the current main pushing rotating speed is not in the critical rotating speed of the rotating speed limit range, the stable operation of the current main pushing rotating speed is maintained, and if the current main pushing rotating speed is in the critical rotating speed of the rotating speed limit range, the preset rotating speed of the main pushing motor is set as the upper limit value of the critical rotating speed.

4. The method for controlling the full-rotation main thrust of the marine vessel according to claim 2, wherein the step S3 of generating the second control command for adjusting the frequency of the frequency converter according to the new rotational speed command and the second determination result of the rotational speed limit range comprises:

determining a new preset rotating speed according to the new rotating speed instruction, and judging the new preset rotating speed and a rotating speed limiting range to obtain a second judgment result;

when the second judgment result shows that the new preset rotating speed is higher than the maximum rotating speed limit, sending a new alarm instruction of overhigh preset rotating speed and a rotating speed reset instruction, if the reset rotating speed generated by responding to the rotating speed reset instruction is received, eliminating the alarm, if the reset rotating speed generated by responding to the rotating speed reset instruction is not received yet, setting the new preset rotating speed as the highest value of the allowable rotating speed, and adjusting the frequency of the frequency converter;

when the second judgment result is that the new preset rotating speed is lower than the minimum rotating speed limit, sending a new alarm command with too low preset rotating speed and a rotating speed reset command, if the reset rotating speed generated by responding to the rotating speed reset command is received, eliminating the alarm, if the reset rotating speed generated by responding to the rotating speed reset command is not received yet, setting the new preset rotating speed as the lowest value of the allowable rotating speed, and adjusting the frequency of the frequency converter;

and when the second judgment result shows that the new preset rotating speed is in the critical rotating speed, sending a new preset critical alarm instruction and a rotating speed resetting instruction, if the reset rotating speed generated in response to the rotating speed resetting instruction is received, eliminating the alarm, if the reset rotating speed generated in response to the rotating speed resetting instruction is not received, setting the new preset rotating speed as the upper limit value of the critical rotating speed or the lower limit value of the critical rotating speed, and adjusting the frequency of the frequency converter.

5. The vessel full-rotation main propulsion control method according to claim 1, wherein the step S4 of generating the third control command for the main propulsion steering motor according to the third determination result of the current main propulsion direction angle and the given angle in the main propulsion direction command comprises:

when the third judgment result is that the current main push direction angle is smaller than the given angle, judging whether the preset condition is met;

if the preset condition is met, the third control instruction indicates that the main push steering motor rotates reversely, whether the preset angle is reached or not is continuously judged, if the preset angle is reached, the third control instruction indicates that the main push steering motor stops, and if the preset angle is not reached, the main push steering motor continues to rotate until the preset angle is reached;

if the preset condition is not met, the third control instruction is that the main push steering motor rotates forwards, whether the given angle is reached is continuously judged, if the given angle is reached, the third control instruction is that the main push steering motor stops, and if the given angle is not reached, the main push steering motor continues to rotate until the given angle is reached;

when the third judgment result is that the current main push direction angle is larger than or equal to the given angle, judging whether the preset condition is met;

if the preset condition is met, the third control instruction is that the main push steering motor rotates forwards, whether the given angle is reached is continuously judged, if the given angle is reached, the third control instruction is that the main push steering motor stops, and if the given angle is not reached, the main push steering motor continues to rotate until the given angle is reached;

and if the preset condition is not met, the third control instruction indicates that the main push steering motor rotates reversely, whether the preset angle is reached or not is continuously judged, if the preset angle is reached, the third control instruction indicates that the main push steering motor stops, and if the preset angle is not reached, the main push steering motor continues to rotate until the preset angle is reached.

6. The vessel full-rotation main thrust control method according to claim 5, wherein the preset conditions are as follows:

the current main push direction angle-the given angle is less than or equal to the given angle + (360-the current main push direction angle).

7. The utility model provides a boats and ships full gyration owner pushes away control system which characterized in that, it includes:

the main push motor is used for providing thrust for ship navigation;

the main pushing steering motor is used for adjusting the main pushing direction of the ship;

the frequency converter is connected with the main push motor and the main push steering motor and is used for controlling the main push motor and the main push steering motor by changing the frequency;

the sensing equipment is connected with the main push motor and the main push steering motor and is used for acquiring the current main push rotating speed of the main push motor and the current main push direction angle of the main push steering motor;

the controller is connected with the sensing equipment, the main push motor and the main push steering motor and is used for acquiring the current main push rotating speed and the current main push direction angle;

the decision mechanism is connected with the controller and used for acquiring a main push starting instruction, judging whether an input instruction of a preset rotating speed exists or not and starting the frequency converter and the main push motor according to a first judgment result of the preset rotating speed and a rotating speed limited range; judging whether the current main pushing rotation speed reaches a preset rotation speed or not, if the current main pushing rotation speed does not reach the preset rotation speed, generating a first control instruction for controlling the frequency of the frequency converter until the current main pushing rotation speed reaches the preset rotation speed and stably operating; judging whether a new rotating speed instruction exists or not, if not, continuously judging whether a parking instruction exists or not, if so, generating a second control instruction for adjusting the frequency of the frequency converter according to the new rotating speed instruction and a second judgment result of a rotating speed limited range until the current main pushing rotating speed reaches a preset rotating speed and stably operates; and acquiring a main pushing direction instruction, and generating a third control instruction for the main pushing steering motor according to the current main pushing direction angle and a third judgment result of a given angle in the main pushing direction instruction.

8. The vessel full-swing main thrust control system of claim 7, further comprising:

the switch is connected with the controller and the decision mechanism;

and the upper computer is connected with the switch and used for acquiring a main push starting instruction and a main push direction instruction, sending the main push starting instruction and the main push direction instruction to the controller and displaying the current main push rotating speed, the current main push steering angle and alarm information.

9. The vessel full-swing main thrust control system of claim 7, further comprising:

the steering worm gear is mechanically connected with the main pushing steering motor and adjusts the main pushing direction under the driving of the main pushing steering motor;

the main pushing propeller is mechanically connected with the main pushing motor and rotates under the driving of the main pushing motor to provide thrust for ship navigation.

10. The vessel full-swing main thrust control system according to claim 9, wherein the sensing device comprises:

the rotating speed sensor is used for acquiring information aiming at the main pushing propeller to obtain the current main pushing rotating speed;

and the angle sensor is used for acquiring information aiming at the steering worm gear and the steering worm to obtain the current main push direction angle.

Technical Field

The invention relates to the technical field of intelligent ships, in particular to a full-rotation main push control method and system for a ship.

Background

The full-rotation propeller is also called as a Z-shaped propeller, a Z-axis propeller, an omnidirectional propeller, a rudder propeller, a steering propeller and a rotation propeller, and is a propeller which enables the propeller to rotate 360 degrees around a vertical axis under the action of a bevel gear device, a worm gear device and the like and has two functions of propelling and operating a ship. The direction of the thrust can be changed freely along with the change of the position of the full-rotation propeller, so that the ship turns around in situ, advances and retreats freely, and the maneuverability are greatly improved.

Compared with a conduit propeller and a flat propeller, the full-rotation propeller has better left, right, front and back maneuverability when the ship sails, because the conduit propeller has larger thrust when going ahead, but has poorer thrust when backing off, and the maneuverability is not ideal; on the contrary, the flat-turn propeller can obtain good operation performance, but has complex mechanism, high cost and easy damage. The full-circle-turning propeller can completely convert the thrust of the propeller into the action of the rudder force to facilitate the operation of the ship although the full-circle-turning propeller does not have a rudder, and the unit power thrust of the full-circle-turning propeller is large, and the backward thrust and the forward thrust are basically the same. The full-rotation propeller is arranged at the stern of the ship to generate thrust so as to realize the motion of the ship, the shape of the stern of the ship can be simplified, the resistance of the ship is reduced, and the whole ship can be lifted out of a cabin without entering a dock when the propeller breaks down, so that the maintenance work is greatly simplified. The full-rotation propeller can be suitable for various engineering ships, such as tugboats, jacking wheels, floating crane ships, dredge ships, ferries, flat-bottomed boats for operation and the like, and has wide market application prospect and military significance.

The main thruster is a main power device of the ship, can provide power required by navigation for the ship, and is the heart of the whole ship. However, the existing main push control for unmanned ships still cannot be separated from manual control to realize intelligent control.

The above drawbacks are expected to be overcome by those skilled in the art.

Disclosure of Invention

Technical problem to be solved

In order to solve the problems in the prior art, the invention provides a full-rotation main push control method and system for a ship, and solves the problem that the main push control of an unmanned ship in the prior art cannot be separated from manual control to realize intelligent control.

(II) technical scheme

In order to achieve the purpose, the invention adopts the main technical scheme that:

in one aspect, the invention provides a full-rotation main thrust control method for a ship, which comprises the following steps:

s1: acquiring a main push starting instruction, judging whether an input instruction of a preset rotating speed exists or not, and starting a frequency converter and a main push motor according to a first judgment result of the preset rotating speed and a rotating speed limited range;

s2: judging whether the current main pushing rotation speed reaches a preset rotation speed or not, if the current main pushing rotation speed does not reach the preset rotation speed, generating a first control instruction for controlling the frequency of the frequency converter until the current main pushing rotation speed reaches the preset rotation speed and stably operating;

s3: judging whether a new rotating speed instruction exists or not, if not, continuously judging whether a parking instruction exists or not, if so, generating a second control instruction for adjusting the frequency of the frequency converter according to the new rotating speed instruction and a second judgment result of a rotating speed limited range until the current main pushing rotating speed reaches a preset rotating speed and stably operates;

s4: and acquiring a main pushing direction instruction, and generating a third control instruction for the main pushing steering motor according to the current main pushing direction angle and a third judgment result of a given angle in the main pushing direction instruction.

In an exemplary embodiment of the present invention, the determining whether there is an input command of a preset rotation speed and starting the frequency converter and the main push motor according to a first determination result of the preset rotation speed and the rotation speed limit range in step S1 includes:

if no input instruction of the preset rotating speed exists, a rotating speed setting prompt instruction is sent, whether a rotating speed input instruction exists is judged again, if no rotating speed input instruction exists, the rotating speed of the main pushing motor is set to be the lowest value of the allowable rotating speed, and the frequency converter and the main pushing motor are started;

if an input instruction of a preset rotating speed exists, judging according to the preset rotating speed and a rotating speed limiting range to obtain a first judgment result;

when the first judgment result shows that the preset rotating speed is higher than the maximum rotating speed limit, sending an alarm instruction with overhigh preset rotating speed and a rotating speed reset instruction, if the reset rotating speed generated by responding to the rotating speed reset instruction is received, eliminating the alarm, if the reset rotating speed generated by responding to the rotating speed reset instruction is not received yet, setting the preset rotating speed of the main push motor as the highest value of the allowable rotating speed, and starting the frequency converter and the main push motor;

when the first judgment result is that the preset rotating speed is lower than the minimum rotating speed limit, sending an alarm instruction with excessively low preset rotating speed and a rotating speed reset instruction, if the reset rotating speed generated by responding to the rotating speed reset instruction is received, eliminating the alarm, if the reset rotating speed generated by responding to the rotating speed reset instruction is not received yet, setting the preset rotating speed of the main push motor to be the lowest value of the allowable rotating speed, and starting the frequency converter and the main push motor;

and when the first judgment result shows that the preset rotating speed is in the critical rotating speed, sending a preset critical alarm instruction and a rotating speed resetting instruction, eliminating the alarm if a reset rotating speed generated in response to the rotating speed resetting instruction is received, setting the preset rotating speed of the main push motor as the upper limit value of the critical rotating speed or the lower limit value of the critical rotating speed if the reset rotating speed generated in response to the rotating speed resetting instruction is not received, and starting the frequency converter and the main push motor, wherein the upper limit value of the critical rotating speed is the maximum rotating speed, and the lower limit value of the critical rotating speed is the minimum rotating speed.

In an exemplary embodiment of the invention, the step of continuing to determine whether there is a parking instruction if there is no new speed instruction in step S3 includes:

if no new rotating speed instruction exists, whether a parking instruction exists is continuously judged, if so, the frequency converter and the main pushing motor are parked, and if not, whether the rotating speed is in a rotating speed limiting range is judged according to the current main pushing rotating speed;

if the current main pushing rotation speed is not higher than the highest value of the rotation speed limit range, continuously judging whether the current main pushing rotation speed is lower than the lowest value of the rotation speed limit range, and if the current main pushing rotation speed is higher than the highest value of the rotation speed limit range, setting the preset rotation speed of the main pushing motor as the highest value of the allowable rotation speed;

if the current main pushing rotating speed is not lower than the lowest value of the rotating speed limit range, continuously judging whether the current main pushing rotating speed is in the critical rotating speed of the rotating speed limit range, and if the current main pushing rotating speed is lower than the lowest value of the rotating speed limit range, setting the preset rotating speed of the main pushing motor as the lowest value of the allowable rotating speed;

if the current main pushing rotating speed is not in the critical rotating speed of the rotating speed limit range, the stable operation of the current main pushing rotating speed is maintained, and if the current main pushing rotating speed is in the critical rotating speed of the rotating speed limit range, the preset rotating speed of the main pushing motor is set as the upper limit value of the critical rotating speed.

In an exemplary embodiment of the invention, the generating of the second control command for adjusting the frequency of the frequency converter according to the new rotational speed command and the second determination result of the rotational speed limit range in step S3 includes:

determining a new preset rotating speed according to the new rotating speed instruction, and judging the new preset rotating speed and a rotating speed limiting range to obtain a second judgment result;

when the second judgment result shows that the new preset rotating speed is higher than the maximum rotating speed limit, sending a new alarm instruction of overhigh preset rotating speed and a rotating speed reset instruction, if the reset rotating speed generated by responding to the rotating speed reset instruction is received, eliminating the alarm, if the reset rotating speed generated by responding to the rotating speed reset instruction is not received yet, setting the new preset rotating speed as the highest value of the allowable rotating speed, and adjusting the frequency of the frequency converter;

when the second judgment result is that the new preset rotating speed is lower than the minimum rotating speed limit, sending a new alarm command with too low preset rotating speed and a rotating speed reset command, if the reset rotating speed generated by responding to the rotating speed reset command is received, eliminating the alarm, if the reset rotating speed generated by responding to the rotating speed reset command is not received yet, setting the new preset rotating speed as the lowest value of the allowable rotating speed, and adjusting the frequency of the frequency converter;

and when the second judgment result shows that the new preset rotating speed is in the critical rotating speed, sending a new preset critical alarm instruction and a rotating speed resetting instruction, if the reset rotating speed generated in response to the rotating speed resetting instruction is received, eliminating the alarm, if the reset rotating speed generated in response to the rotating speed resetting instruction is not received, setting the new preset rotating speed as the upper limit value of the critical rotating speed or the lower limit value of the critical rotating speed, and adjusting the frequency of the frequency converter.

In an exemplary embodiment of the present invention, the generating of the third control command to the main steering motor according to the third determination result of the current main steering angle and the given angle of the main steering angle in step S4 includes:

when the third judgment result is that the current main push direction angle is smaller than the given angle, judging whether the preset condition is met;

if the preset condition is met, the third control instruction indicates that the main push steering motor rotates reversely, whether the preset angle is reached or not is continuously judged, if the preset angle is reached, the third control instruction indicates that the main push steering motor stops, and if the preset angle is not reached, the main push steering motor continues to rotate until the preset angle is reached;

if the preset condition is not met, the third control instruction is that the main push steering motor rotates forwards, whether the given angle is reached is continuously judged, if the given angle is reached, the third control instruction is that the main push steering motor stops, and if the given angle is not reached, the main push steering motor continues to rotate until the given angle is reached;

when the third judgment result is that the current main push direction angle is larger than or equal to the given angle, judging whether the preset condition is met;

if the preset condition is met, the third control instruction is that the main push steering motor rotates forwards, whether the given angle is reached is continuously judged, if the given angle is reached, the third control instruction is that the main push steering motor stops, and if the given angle is not reached, the main push steering motor continues to rotate until the given angle is reached;

and if the preset condition is not met, the third control instruction indicates that the main push steering motor rotates reversely, whether the preset angle is reached or not is continuously judged, if the preset angle is reached, the third control instruction indicates that the main push steering motor stops, and if the preset angle is not reached, the main push steering motor continues to rotate until the preset angle is reached.

In an exemplary embodiment of the present invention, the preset condition is:

the current main push direction angle-the given angle is less than or equal to the given angle + (360-the current main push direction angle).

On the other hand, the invention also provides a full-rotation main thrust control system of a ship, which comprises:

the main push motor is used for providing thrust for ship navigation;

the main pushing steering motor is used for adjusting the main pushing direction of the ship;

the frequency converter is connected with the main push motor and the main push steering motor and is used for controlling the main push motor and the main push steering motor by changing the frequency;

the sensing equipment is connected with the main push motor and the main push steering motor and is used for acquiring the current main push rotating speed of the main push motor and the current main push direction angle of the main push steering motor;

the controller is connected with the sensing equipment, the main push motor and the main push steering motor and is used for acquiring the current main push rotating speed and the current main push direction angle;

the decision mechanism is connected with the controller and used for acquiring a main push starting instruction, judging whether an input instruction of a preset rotating speed exists or not and starting the frequency converter and the main push motor according to a first judgment result of the preset rotating speed and a rotating speed limited range; judging whether the current main pushing rotation speed reaches a preset rotation speed or not, if the current main pushing rotation speed does not reach the preset rotation speed, generating a first control instruction for controlling the frequency of the frequency converter until the current main pushing rotation speed reaches the preset rotation speed and stably operating; judging whether a new rotating speed instruction exists or not, if not, continuously judging whether a parking instruction exists or not, if so, generating a second control instruction for adjusting the frequency of the frequency converter according to the new rotating speed instruction and a second judgment result of a rotating speed limited range until the current main pushing rotating speed reaches a preset rotating speed and stably operates; and acquiring a main pushing direction instruction, and generating a third control instruction for the main pushing steering motor according to the current main pushing direction angle and a third judgment result of a given angle in the main pushing direction instruction.

In an exemplary embodiment of the present invention, further comprising:

the switch is connected with the controller and the decision mechanism;

and the upper computer is connected with the switch and used for acquiring a main push starting instruction and a main push direction instruction, sending the main push starting instruction and the main push direction instruction to the controller and displaying the current main push rotating speed, the current main push steering angle and alarm information.

In an exemplary embodiment of the present invention, further comprising:

the steering worm gear is mechanically connected with the main pushing steering motor and adjusts the main pushing direction under the driving of the main pushing steering motor;

the main pushing propeller is mechanically connected with the main pushing motor and rotates under the driving of the main pushing motor to provide thrust for ship navigation.

In one exemplary embodiment of the present invention, a sensing device includes:

the rotating speed sensor is used for acquiring information aiming at the main pushing propeller to obtain the current main pushing rotating speed;

and the angle sensor is used for acquiring information aiming at the steering worm gear and the steering worm to obtain the current main push direction angle.

(III) advantageous effects

The invention has the beneficial effects that: according to the ship full-rotation main push control method and system provided by the embodiment of the invention, the running state of the full-rotation main push can be monitored through the sensor and the controller, the main push can be timely controlled when the full-rotation main push has the conditions of critical rotating speed, over-high rotating speed and over-low rotating speed, the threat of the full-rotation main push on the safety of a ship caused by running under the conditions of critical rotating speed, over-high rotating speed and over-low rotating speed is avoided, and the automatic control on the rotating speed and direction of the full-rotation main push of an intelligent ship is realized.

Drawings

Fig. 1 is a flowchart of a full-rotation main thrust control method for a ship according to an embodiment of the present invention;

fig. 2 is a schematic composition diagram of a full-rotation main thrust control system of a ship according to another embodiment of the present invention;

fig. 3 is a schematic diagram of a hardware structure of the full-rotation main propulsion control system of the ship in fig. 2 according to another embodiment of the invention;

FIG. 4 is a logic diagram of the decision process of steps S1 and S2 according to the embodiment of the present invention;

FIG. 5 is a logic diagram of the decision process of step S3 according to the embodiment of the present invention;

FIG. 6 is a logic diagram of the decision process of step S4 according to the embodiment of the present invention.

Detailed Description

For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The invention provides a full-rotation main push control method and system for a ship, which solve the problem that an intelligent ship full-rotation main push control system completely separated from manual control does not exist in the field of intelligent ship design, solve the starting and stopping problems of full-rotation main push of an intelligent ship in an automatic control state, solve the problem that the safety of the ship is threatened when the full-rotation main push is in a critical rotating speed state and a rotating speed is over-high/over-low state in the operation process, and solve the problem of automatic control of the full-rotation main push direction and the main push rotating speed of the intelligent ship.

Fig. 1 is a flowchart of a ship full-rotation main thrust control method according to an embodiment of the present invention, as shown in fig. 1, specifically including the following steps:

step S1: acquiring a main push starting instruction, judging whether an input instruction of a preset rotating speed exists or not, and starting a frequency converter and a main push motor according to a first judgment result of the preset rotating speed and a rotating speed limited range;

step S2: judging whether the current main pushing rotation speed reaches a preset rotation speed or not, if the current main pushing rotation speed does not reach the preset rotation speed, generating a first control instruction for controlling the frequency of the frequency converter until the current main pushing rotation speed reaches the preset rotation speed and stably operating;

step S3: judging whether a new rotating speed instruction exists or not, if not, continuously judging whether a parking instruction exists or not, if so, generating a second control instruction for adjusting the frequency of the frequency converter according to the new rotating speed instruction and a second judgment result of a rotating speed limited range until the current main pushing rotating speed reaches a preset rotating speed and stably operates;

step S4: and acquiring a main pushing direction instruction, and generating a third control instruction for the main pushing steering motor according to the current main pushing direction angle and a third judgment result of a given angle in the main pushing direction instruction.

Corresponding to the above method, fig. 2 is a schematic composition diagram of a full-rotation main thrust control system of a ship according to another embodiment of the present invention, as shown in fig. 2, the system includes: a main push motor 210, a main push steering motor 220, a frequency converter 230, a sensing device 240, a controller 250 and a decision mechanism 260.

The main push motor 210 is used for providing thrust for ship navigation; the main push steering motor 220 is used for adjusting the main push direction of the ship; the frequency converter 230 is connected with the main push motor 210 and the main push steering motor 220, and is used for controlling the main push motor and the main push steering motor by changing frequency; the sensing device 240 is connected with the main push motor 210 and the main push steering motor 220, and is used for acquiring the current main push rotating speed of the main push motor and the current main push direction angle of the main push steering motor; the controller 250 is connected with the sensing device 240, the main pushing motor 210 and the main pushing steering motor 220, and is used for acquiring the current main pushing speed and the current main pushing direction angle; the decision mechanism 260 is connected to the controller 250, and is configured to obtain a main push start instruction, determine whether there is an input instruction of a preset rotation speed, and start the frequency converter and the main push motor according to a first determination result of a preset rotation speed and a rotation speed limited range; judging whether the current main pushing rotation speed reaches a preset rotation speed or not, if the current main pushing rotation speed does not reach the preset rotation speed, generating a first control instruction for controlling the frequency of the frequency converter until the current main pushing rotation speed reaches the preset rotation speed and stably operating; judging whether a new rotating speed instruction exists or not, if not, continuously judging whether a parking instruction exists or not, if so, generating a second control instruction for adjusting the frequency of the frequency converter according to the new rotating speed instruction and a second judgment result of a rotating speed limited range until the current main pushing rotating speed reaches a preset rotating speed and stably operates; and acquiring a main pushing direction instruction, and generating a third control instruction for the main pushing steering motor according to the current main pushing direction angle and a third judgment result of a given angle in the main pushing direction instruction.

In an exemplary embodiment of the present invention, the system further includes: the switch 270 and the upper computer 280, wherein the switch 270 is connected with the controller 250 and the decision mechanism 260; the upper computer 280 is connected with the switch 270 and is used for acquiring a main push starting instruction and a main push direction instruction, sending the main push starting instruction and the main push direction instruction to the controller, and displaying a current main push rotating speed, a current main push steering angle and alarm information.

Fig. 3 is a schematic diagram of a hardware structure of the vessel full-rotation main thrust control system in fig. 2 according to another embodiment of the present invention, as shown in fig. 3, the system includes: the system comprises an information integration platform 301, a switch 302, a PLC 303, a frequency converter 304, a main push steering motor 305, a main push motor 306, a packing worm gear 307, a main push propeller 308, an angle sensor 309, a speed sensor 310, an HMI311 and an interface converter 312.

In an exemplary embodiment of the present invention, the decision mechanism is disposed in the information integration platform 301, and the information integration platform 301 is configured to display the rotation speed and direction information of the controlled full-rotation main push. An intelligent ship decision algorithm is carried in the ship control system, and control decision can be carried out on the full-rotation main push according to the state of the controlled full-rotation main push, various parameters of the ship collected in the ship navigation process and environmental parameters, such as the rotating speed of the full-rotation main push and the propelling direction of the full-rotation main push. The switch 302 is used for connecting the intelligent ship information platform 301, the HMI311 and the PLC 303 and transmitting data, so that the intelligent ship full-rotation main push control system becomes a whole of data intercommunication. The information integration platform 301 is connected with the HMI311 and the PLC 303 through an exchanger and a network cable to realize Ethernet communication and exchange data.

In an exemplary embodiment of the invention, the controller is realized by a PLC 303, and a PLC control program of the full-rotation main push of the intelligent ship is loaded inside, and the controller receives decision information of the information integration platform, and specifically controls the rotation speed, the propulsion direction, and the like of the full-rotation main push of the intelligent ship. The USS communication protocol is used between the PLC 303 and the frequency converter 304, and the frequency converter is controlled by the PLC.

In an exemplary embodiment of the present invention, the frequency converter 304 employs a frequency conversion technology and a microelectronic technology, controls the power control device of the ac motor by changing the frequency of the working power supply of the motor, and provides overcurrent, overvoltage, overload protection and the like for the full-rotation main propulsion of the smart ship. The frequency converter 304 is electrically connected with the main push motor 305 and the main push steering motor 306, and the frequency converter controls the main push motor and the main push steering motor by changing the output frequency. The frequency of the frequency converter refers to the frequency for controlling the positive and negative alternation of the magnetic poles of the three-phase asynchronous motor, the rotating speed of the motor can be controlled along with the frequency change of the magnetic pole alternation, and the adjustment of the frequency converter is the adjustment of the rotating speed of the motor. The adjustment mode is to input 16-system control characters to the appointed interface of the frequency converter by using a PRIFIBUS-DP bus or a MODBUS (RTU) and an analog quantity conversion input mode to set the finishing frequency.

In an exemplary embodiment of the present invention, the components for realizing the full-circle main push specifically include a main push steering motor 305, a main push motor 306, a steering worm gear 307 and a main push propeller 308. The steering worm gear 307 is mechanically connected with the main pushing steering motor 305, the main pushing propeller 308 is mechanically connected with the main pushing motor 306, the output of thrust and the conversion of direction are realized through different mechanical traditions, the steering worm gear 307 adjusts the main pushing direction under the driving of the main pushing steering motor 305, and the main pushing propeller 308 rotates under the driving of the main pushing motor 306 to provide thrust for the navigation of the ship. The main pushing steering motor 305 is used for converting electric energy transmitted by the intelligent ship power station into mechanical energy, and the direction of the full-rotation main pushing of the intelligent ship is adjusted through a steering worm gear 307 connected with the main pushing steering motor. The main pushing motor 306 is a device for converting electric energy into mechanical energy, and utilizes an electrified coil to generate a rotating magnetic field and act on a rotor to form magnetoelectric power rotating torque. The motor mainly comprises a stator and a rotor, the direction of the forced movement of the electrified conducting wire in the magnetic field is related to the current direction and the direction of the magnetic induction wire (magnetic field direction), and the working principle of the motor is that the magnetic field exerts force on the current to enable the motor to rotate. The main pushing motor 306 is used for converting electric energy transmitted by the intelligent ship power station into mechanical energy, transmitting the mechanical energy to the main pushing propeller 308 through the mechanical transmission device, and driving the main pushing propeller 308 to rotate, so that thrust required by ship navigation is generated.

In an exemplary embodiment of the invention, the sensing device comprises a rotational speed sensor 310 and an angle sensor 309, the rotational speed sensor 310 is used for information acquisition for the main propeller, and the angle sensor 309 is used for information acquisition for the steering worm gear. The rotation speed sensor 310 is used for acquiring the current rotation speed (i.e. the current main pushing rotation speed) of the intelligent ship full-rotation propeller, providing corresponding parameter information for the rotation speed control of the full-rotation main pushing by the PLC 303, and providing a basis for the decision of the intelligent ship information integration platform on the full-rotation main pushing control. The angle sensor 309 is used for acquiring the current angle (i.e. the current main push direction angle) of the intelligent ship full-rotation propeller, providing corresponding parameter information for the direction control of the full-rotation main push by the PLC, and providing a basis for the decision of the intelligent ship information integration platform on the full-rotation main push control.

In an exemplary embodiment of the invention, the upper computer of the PLC is implemented by the HMI311, supports an ethernet data interface, and is communicatively connected to the switch 302 through the ethernet interface. The intelligent ship full-rotation main push system is used for displaying various working state parameter information of the full-rotation main push to maintenance personnel when the intelligent ship full-rotation main push fails and needs manual maintenance.

In an exemplary embodiment of the present invention, the interface converter 312 is configured to convert the communication modes and the communication protocols of the rotation speed sensor and the angle sensor into the communication modes and the communication protocols that can be recognized and used by the PLC, and transmit the parameter information collected by the rotation speed sensor and the angle sensor to the PLC, so as to implement closed-loop control. Therefore, the rotation speed sensor and the angle sensor are connected with the PLC by using the interface converter, and further data information transmission is realized.

The steps of the method shown in fig. 1 are described in detail below based on the hardware architecture shown in fig. 3:

as shown in fig. 1, in step S1, a main push start command is obtained, whether there is an input command of a preset rotation speed is determined, and the frequency converter and the main push motor are started according to a first determination result of the preset rotation speed and the rotation speed limit range.

In an exemplary embodiment of the present invention, in this step, the main push start instruction may be obtained by the upper computer. The step S1 of determining whether there is an input command of a preset rotation speed and starting the frequency converter and the main driving motor according to a first determination result of the preset rotation speed and the rotation speed limit range includes:

11) if the input instruction of the preset rotating speed does not exist, a rotating speed setting prompt instruction is sent, whether the rotating speed input instruction exists is judged again, if the rotating speed input instruction does not exist, the rotating speed of the main pushing motor is set to be the lowest value of the allowable rotating speed, and the frequency converter and the main pushing motor are started.

12) If the input instruction of the preset rotating speed exists, judging according to the preset rotating speed and the rotating speed limiting range to obtain a first judgment result. And when the first judgment result shows that the preset rotating speed is higher than the maximum rotating speed limit, sending an alarm instruction with overhigh preset rotating speed and a rotating speed resetting instruction, eliminating the alarm if the reset rotating speed generated by responding to the rotating speed resetting instruction is received, setting the preset rotating speed of the main push motor as the highest value of the allowable rotating speed if the reset rotating speed generated by responding to the rotating speed resetting instruction is not received, and starting the frequency converter and the main push motor. And when the first judgment result shows that the preset rotating speed is lower than the minimum rotating speed limit, sending an alarm instruction with excessively low preset rotating speed and a rotating speed resetting instruction, eliminating the alarm if the reset rotating speed generated by responding to the rotating speed resetting instruction is received, setting the preset rotating speed of the main push motor to be the lowest value of the allowable rotating speed if the reset rotating speed generated by responding to the rotating speed resetting instruction is not received, and starting the frequency converter and the main push motor. And when the first judgment result shows that the preset rotating speed is in the critical rotating speed, sending a preset critical alarm instruction and a rotating speed resetting instruction, eliminating the alarm if a reset rotating speed generated in response to the rotating speed resetting instruction is received, setting the preset rotating speed of the main push motor as the upper limit value of the critical rotating speed or the lower limit value of the critical rotating speed if the reset rotating speed generated in response to the rotating speed resetting instruction is not received, and starting the frequency converter and the main push motor, wherein the upper limit value of the critical rotating speed is the maximum rotating speed, and the lower limit value of the critical rotating speed is the minimum rotating speed.

As shown in fig. 1, in step S2, it is determined whether the current main-propulsion rotation speed reaches the preset rotation speed, and if the current main-propulsion rotation speed does not reach the preset rotation speed, a first control instruction for controlling the frequency of the frequency converter is generated until the current main-propulsion rotation speed reaches the preset rotation speed and stably operates.

In an exemplary embodiment of the present invention, the step mainly compares the current main-pushing rotation speed (i.e. the actual rotation speed) with the preset rotation speed, and gives decision information according to the comparison result. If the current main pushing rotating speed is up to the preset rotating speed, the current main pushing rotating speed is maintained to stably run, and if the current main pushing rotating speed is not up to the preset rotating speed, the current main pushing rotating speed is waited to change to meet the preset rotating speed through the control of the frequency converter.

FIG. 4 is a logic diagram of the decision process of steps S1 and S2 according to the embodiment of the present invention, as shown in FIG. 4:

after a main push starting instruction is received, judging whether a preset rotating speed is input currently, if so, further judging whether the preset rotating speed is higher than the maximum rotating speed limit, if not, continuously judging whether the preset rotating speed is lower than the minimum rotating speed limit, if not, continuously judging whether the preset rotating speed is in a critical rotating speed, if not, starting a frequency converter, and starting a main push motor;

if the preset rotating speed is judged to be not input when the preset rotating speed is judged to be input, giving rotating speed setting prompt instruction information, judging whether a rotating speed input instruction exists again, and if the rotating speed is judged not to be input, setting the rotating speed to be the lowest value of the allowed rotating speed, and further starting a frequency converter and a main pushing motor; if the judgment result when judging whether the rotating speed input instruction exists is that the rotating speed is input, the step goes to a judgment frame for judging whether the preset rotating speed is higher than the maximum rotating speed, and the subsequent judgment is carried out.

If the judgment result when judging whether the preset rotating speed is higher than the maximum rotating speed is that the preset rotating speed is higher than the maximum rotating speed limit, sending an over-high alarm of the preset rotating speed, continuously judging whether the rotating speed input is reset, if the reset rotating speed input is judged, eliminating the alarm, and turning to a judgment frame for judging whether the preset rotating speed is higher than the maximum rotating speed limit, and carrying out subsequent judgment. If the rotation speed input is not reset, the rotation speed preset value is set to be the highest speed limit allowed, and then the frequency converter is started and the main pushing motor is started.

If the judgment result when judging whether the preset rotating speed is lower than the minimum rotating speed limit is that the preset rotating speed is lower than the minimum rotating speed limit, sending an alarm of excessively low preset rotating speed, continuously judging whether the rotating speed is reset or not, if the reset rotating speed is judged to be input, eliminating the alarm, and turning to a judgment frame for judging whether the preset rotating speed is higher than the minimum rotating speed limit or not, and carrying out subsequent judgment. If the rotation speed input is not reset, the rotation speed preset value is set to be the lowest speed limit allowed, and then the frequency converter is started and the main pushing motor is started.

If the judgment result when judging whether the preset rotating speed is in the critical rotating speed is that the preset rotating speed is in the critical rotating speed, sending a preset critical alarm, continuously judging whether to reset the rotating speed input, if so, eliminating the alarm, and turning to a judgment frame for judging whether the preset rotating speed is higher than the highest rotating speed, and carrying out subsequent judgment. If the rotation speed input is not reset, the rotation speed preset value is set as the upper limit value or the lower limit value of the critical rotation speed, and then the frequency converter is started and the main push motor is started.

The relationship between the maximum rotation speed and the minimum rotation speed in this embodiment is an upper and lower limit value of the rotation speed, and the minimum rotation speed is to be maintained after the motor is started, which is the minimum rotation speed limit, and the maximum rotation speed limit is the maximum rotation speed which the motor cannot exceed under operation, and the system is provided with the maximum rotation speed protection.

After the frequency converter is started and the main pushing motor is started, whether the current main pushing rotating speed reaches the preset rotating speed or not needs to be judged, and if the current main pushing rotating speed reaches the preset rotating speed, the current rotating speed is maintained to stably run (namely, AA operation). And if the current rotating speed is judged not to reach the preset rotating speed, the frequency of the frequency converter is continuously changed, and whether the current rotating speed reaches the preset rotating speed is judged in a circulating mode at a fixed period.

In addition, as shown in fig. 4, after receiving the main push start command, the method further includes BB operation, which will be described later, in addition to determining whether a preset rotation speed is input.

As shown in fig. 1, in step S3, it is determined whether there is a new rotational speed command, if there is no new rotational speed command, it is continuously determined whether there is a stop command, and if there is a new rotational speed command, a second control command for adjusting the frequency of the frequency converter is generated according to the new rotational speed command and a second determination result of the rotational speed limit range until the current main-pushed rotational speed reaches the preset rotational speed and stably operates.

In an exemplary embodiment of the invention, the step of continuing to determine if there is a parking command if there is no new speed command comprises:

if no new rotating speed instruction exists, whether a parking instruction exists is continuously judged, if so, the frequency converter and the main pushing motor are parked, and if not, whether the rotating speed is in a rotating speed limiting range is judged according to the current main pushing rotating speed;

if the current main pushing rotation speed is not higher than the highest value of the rotation speed limit range, continuously judging whether the current main pushing rotation speed is lower than the lowest value of the rotation speed limit range, and if the current main pushing rotation speed is higher than the highest value of the rotation speed limit range, setting the preset rotation speed of the main pushing motor as the highest value of the allowable rotation speed;

if the current main pushing rotating speed is not lower than the lowest value of the rotating speed limit range, continuously judging whether the current main pushing rotating speed is in the critical rotating speed of the rotating speed limit range, and if the current main pushing rotating speed is lower than the lowest value of the rotating speed limit range, setting the preset rotating speed of the main pushing motor as the lowest value of the allowable rotating speed;

if the current main pushing rotating speed is not in the critical rotating speed of the rotating speed limit range, the stable operation of the current main pushing rotating speed is maintained, and if the current main pushing rotating speed is in the critical rotating speed of the rotating speed limit range, the preset rotating speed of the main pushing motor is set as the upper limit value of the critical rotating speed.

In an exemplary embodiment of the present invention, the generating of the second control command for adjusting the frequency of the frequency converter according to the new rotational speed command and the second determination result of the rotational speed limit range in the step includes:

determining a new preset rotating speed according to the new rotating speed instruction, and judging the new preset rotating speed and a rotating speed limiting range to obtain a second judgment result;

and when the second judgment result shows that the new preset rotating speed is higher than the maximum rotating speed limit, sending a new alarm instruction of overhigh preset rotating speed and a rotating speed reset instruction, eliminating the alarm if the reset rotating speed generated in response to the rotating speed reset instruction is received, and setting the new preset rotating speed as the highest value of the allowable rotating speed and adjusting the frequency of the frequency converter if the reset rotating speed generated in response to the rotating speed reset instruction is not received.

And when the second judgment result shows that the new preset rotating speed is lower than the minimum rotating speed limit, sending a new alarm command with excessively low preset rotating speed and a rotating speed reset command, eliminating the alarm if the reset rotating speed generated in response to the rotating speed reset command is received, and setting the new preset rotating speed as the lowest value of the allowable rotating speed and adjusting the frequency of the frequency converter if the reset rotating speed generated in response to the rotating speed reset command is not received.

And when the second judgment result shows that the new preset rotating speed is in the critical rotating speed, sending a new preset critical alarm instruction and a rotating speed resetting instruction, if the reset rotating speed generated in response to the rotating speed resetting instruction is received, eliminating the alarm, if the reset rotating speed generated in response to the rotating speed resetting instruction is not received, setting the new preset rotating speed as the upper limit value of the critical rotating speed or the lower limit value of the critical rotating speed, and adjusting the frequency of the frequency converter.

Fig. 5 is a logic diagram of the decision process in step S3 in the embodiment of the present invention, and fig. 5 shows a decision of the rotation speed adjustment control in the main propulsion operation, which specifically includes:

whether a new rotating speed instruction is input or not needs to be judged in the stable operation (AA operation) process after the main push is started, if no new rotating speed instruction is input, whether the main push is stopped or not is judged, if the judgment result is that the main push motor is not stopped, whether the current operating rotating speed of the main push motor is too high or not is judged, if the current operating rotating speed of the main push motor is not exceeded, whether the current operating rotating speed of the main push motor is too low or not is judged, if the current operating rotating speed of the main push motor is not lower than the rotating speed limit range, whether the current operating rotating speed of the main push motor is in the critical rotating speed or not is judged, and if the current operating rotating speed of the main push motor is not in the critical rotating speed, the current rotating speed is.

If the judgment result when judging whether a new rotating speed instruction is input is that a new rotating speed instruction is input, judging whether the preset rotating speed is higher than the maximum rotating speed limit or not, if not, continuously judging whether the preset rotating speed is lower than the minimum rotating speed limit or not, if not, continuously judging whether the preset rotating speed is in the critical rotating speed or not, and if not, setting frequency adjustment by a frequency converter;

if the judgment result when judging whether the new preset rotating speed is higher than the maximum rotating speed limit is that the preset rotating speed is higher than the maximum rotating speed limit, sending an over-high alarm of the preset rotating speed, continuously judging whether the rotating speed is reset or not, if the reset rotating speed is input, eliminating the alarm, and turning to a judgment frame for judging whether the preset rotating speed is higher than the maximum rotating speed or not, and carrying out subsequent judgment. And if the rotation speed input is not reset, setting the rotation speed preset value as the allowable highest speed limit, and further adjusting the frequency converter and the main push motor. Through judging a rotating speed instruction transmitted by the upper computer, if the rotating speed instruction given by the upper computer is larger than the rotating speed capable of being loaded by the mechanical structure of the ship, the rotating speed given by the upper computer cannot be executed, the maximum rotating speed set in the PLC program is called, meanwhile, an alarm is output to remind an operator that the numerical value is too large, and if the rotating speed instruction is readjusted by the operator to be below the maximum set value in the PLC program, the alarm is automatically released.

If the judgment result when judging whether the new preset rotating speed is lower than the minimum rotating speed limit is that the preset rotating speed is lower than the minimum rotating speed limit, sending a preset rotating speed too low alarm, continuously judging whether to reset rotating speed input, if the reset rotating speed input is judged, eliminating the alarm, and turning to a judgment frame for judging whether the preset rotating speed is higher than the minimum rotating speed limit or not, and carrying out subsequent judgment. If the rotation speed input is not reset, the rotation speed preset value is set as the lowest speed limit allowed, and then the frequency converter sets frequency adjustment.

If the judgment result when judging whether the new preset rotating speed is at the critical rotating speed is that the preset rotating speed is at the critical rotating speed, sending a preset critical alarm, continuously judging whether to reset rotating speed input, if so, eliminating the alarm, and turning to a judgment frame for judging whether the preset rotating speed is higher than the critical rotating speed limit, and carrying out subsequent judgment. If the rotation speed input is not reset, the rotation speed preset value is set as the upper limit value or the lower limit value of the critical rotation speed, and then the frequency converter sets frequency adjustment.

After the frequency adjustment is set by the frequency converter, whether the current main pushing rotating speed reaches a new preset rotating speed needs to be judged, and if the current main pushing rotating speed reaches the new preset rotating speed, the stable operation of the current main pushing rotating speed is maintained. And if the current rotating speed is judged not to reach the new preset rotating speed, the frequency of the frequency converter is continuously changed, and whether the current main pushing rotating speed reaches the new preset rotating speed or not is judged in a circulating mode at a fixed period.

As shown in fig. 1, in step S4, a main-push direction command is obtained, and a third control command for the main-push steering motor is generated according to a third determination result of the current main-push direction angle and a given angle in the main-push direction command.

In an exemplary embodiment of the present invention, the generating of the third control command for the main steering motor according to the third determination result of the current main steering angle and the given angle of the main steering command in the step includes:

when the third judgment result is that the current main push direction angle is smaller than the given angle, judging whether a preset condition is met, wherein the preset condition is as follows: the current main push direction angle-the given angle is less than or equal to a given angle + (360-the current main push direction angle), wherein the given angle belongs to an expected arrival angle transmitted to the bottom layer control unit by the upper computer control system.

If the preset condition is met, the third control instruction indicates that the main push steering motor rotates reversely, whether the preset angle is reached or not is continuously judged, if the preset angle is reached, the third control instruction indicates that the main push steering motor stops, and if the preset angle is not reached, the main push steering motor continues to rotate until the preset angle is reached;

if the preset condition is not met, the third control instruction is that the main push steering motor rotates forwards, whether the given angle is reached is continuously judged, if the given angle is reached, the third control instruction is that the main push steering motor stops, and if the given angle is not reached, the main push steering motor continues to rotate until the given angle is reached;

when the third judgment result is that the current main push direction angle is larger than or equal to the given angle, judging whether the preset condition is met;

if the preset condition is met, the third control instruction is that the main push steering motor rotates forwards, whether the given angle is reached is continuously judged, if the given angle is reached, the third control instruction is that the main push steering motor stops, and if the given angle is not reached, the main push steering motor continues to rotate until the given angle is reached;

and if the preset condition is not met, the third control instruction indicates that the main push steering motor rotates reversely, whether the preset angle is reached or not is continuously judged, if the preset angle is reached, the third control instruction indicates that the main push steering motor stops, and if the preset angle is not reached, the main push steering motor continues to rotate until the preset angle is reached.

Fig. 6 is a logic diagram of the decision process of step S4 in the embodiment of the present invention, which specifically includes:

judging whether a new main pushing direction instruction is input (namely BB operation in fig. 6), if so, judging whether a current main pushing direction angle (namely a current angle) is smaller than a given angle according to the given main pushing direction, if so, continuously judging according to a formula [ the current angle-the given angle is smaller than or equal to the given angle + (360-the current angle) ], if so, starting and reversing a main pushing steering motor, and then judging whether the given angle is reached, and if so, stopping the main pushing steering motor; if the main push steering motor does not reach the given angle, the main push steering motor continues to stably rotate, and whether the given angle is reached is judged in a circulating mode at a fixed period. If the judgment result according to the formula is negative, starting and positively rotating the main push steering motor, judging whether the main push steering motor reaches a given angle, and if the main push steering motor reaches the given angle, stopping the main push steering motor; if the main push steering motor does not reach the given angle, the main push steering motor continues to stably rotate, and whether the given angle is reached is judged in a circulating mode at a fixed period.

If the current main-push direction angle is larger than the given angle, continuing to judge according to a given formula [ the given angle-the current angle is smaller than or equal to the current angle + (360-the given angle) ], if the judgment result is yes, starting and positively rotating the main-push steering motor, then judging whether the given angle is reached, and if the given angle is judged to be reached, stopping the main-push steering motor; if the main push steering motor does not reach the given angle, the main push steering motor continues to stably rotate, and whether the given angle is reached is judged in a circulating mode at a fixed period. If the judgment result is negative according to the formula, the main push steering motor is started and rotates reversely, whether the set angle is reached needs to be judged, and if the set angle is judged, the main push steering motor stops; if the main push steering motor does not reach the given angle, the main push steering motor continues to stably rotate, and whether the given angle is reached is judged in a circulating mode at a fixed period.

After the main steering motor is stopped, the control returns to the judgment whether a new direction input (i.e., return to the BB operation) is made, and the subsequent judgment is made.

Based on the figures 1-6, the overall architecture of the ship full-rotation main push control system is built, the hardware devices are connected, the decision is made in the PLC according to the logics of the figures 4-6, and the automatic control process of the intelligent ship full-rotation main push device is completed.

In summary, the ship full-rotation main thrust control method and system provided by the embodiment of the invention have the following effects:

(1) the running state of the full-rotation main thruster can be monitored by using the PLC and the sensor, the main thruster can be timely controlled when the full-rotation main thruster has the conditions of critical rotating speed, overhigh rotating speed and overhigh rotating speed, and the threat to the safety of ships caused by the running of the full-rotation main thruster under the conditions of critical rotating speed, overhigh rotating speed and overlow rotating speed is avoided.

(2) The PLC is used, and the control logic and the control program of the PLC are designed to realize automatic control of the rotating speed and the direction of the full-rotation main push of the intelligent ship, so that the main push can work under the unmanned control condition.

And (3) the control of the full-rotation main push automatic start and stop of the intelligent ship is realized by using the PLC and the design of the control logic and the control program of the PLC.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present invention.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.