阅读说明：本技术 无极控制水翼倾斜角的方法及装置 (Method and device for stepless control of hydrofoil inclination angle ) 是由 梁效宁 任波 于 2021-07-30 设计创作，主要内容包括：本发明公开了无极控制水翼倾斜角的方法及装置,其特征在于,通过电动推杆结合姿态传感器,在无极控制电动推杆的上升/下降过程中实时调节水翼机构相对于水面倾斜角角度；此外,由于姿态传感器的检测精度达到0.01度,在无极控制电动推杆的上升/下降过程中实时调节水翼机构相对于水面倾斜角角度的精度能够达到0.08度。因此,本发明具有控制精度高、稳定可靠、运行安全且能够在水翼船运行过程中调节倾斜角的有益效果。(The invention discloses a method and a device for steplessly controlling the inclination angle of a hydrofoil, which are characterized in that the inclination angle of a hydrofoil mechanism relative to the water surface is adjusted in real time in the ascending/descending process of a steplessly controlled electric push rod by combining an electric push rod with an attitude sensor; in addition, the detection precision of the attitude sensor reaches 0.01 degree, and the precision of adjusting the inclination angle of the hydrofoil mechanism relative to the water surface in real time in the ascending/descending process of the stepless control electric push rod can reach 0.08 degree. Therefore, the invention has the advantages of high control precision, stability, reliability, safe operation and capability of adjusting the inclination angle in the operation process of the hydrofoil ship.)

1. A method for stepless control of the inclination angle of a hydrofoil is characterized by comprising the following steps:

s100: the electrodeless control device of the hydrofoil mechanism is powered on and initializes the system clock and each interface, wherein,

the electrodeless control device comprises a device on-board system, an electric push rod and an attitude sensor, wherein the interface comprises an RS485 interface, an electric push rod control interface, an attitude sensor communication interface and an external memory interface;

s200: the device onboard system reads the inclination angle of the hydrofoil mechanism relative to the water surface, which is stored in the external memory, and the electrodeless control device feeds back the inclination angle of the hydrofoil mechanism relative to the water surface to the shipborne avionic system for inputting the current state of the hydrofoil mechanism to the shipborne avionic system;

s300: the device on-board system receives a starting instruction sent by the ship-mounted avionic system, and activates the stepless control function of the inclination angle of the hydrofoil mechanism in the stepless control device relative to the water surface;

s400: the onboard system of the device receives control information sent by the shipborne avionic system, analyzes the inclination angle to be adjusted contained in the control information and sends response information after the control information is received to the shipborne avionic system;

s500: judging whether the current inclination angle is equal to the inclination angle to be adjusted, if so, ending the process, otherwise, executing the step S600;

s600: judging whether the current inclination angle of the hydrofoil mechanism relative to the water surface is larger than the inclination angle to be adjusted, if so, executing a step S700, otherwise, executing a step S800;

s700: the attitude sensor detects the inclination angle of the hydrofoil mechanism relative to the water surface when the electric push rod reverse stroke descends by taking an attitude acquisition cycle as an interval, and feeds back the current inclination angle to the device onboard system, and the device onboard system calculates the descending displacement of the corresponding electric push rod reverse stroke when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted, wherein the descending of the electric push rod reverse stroke is used for reducing the inclination angle of the hydrofoil mechanism relative to the water surface, and the step S900 is executed;

s800: the attitude sensor detects the inclination angle of the hydrofoil mechanism relative to the water surface when the positive stroke of the electric push rod rises by taking an attitude acquisition cycle as an interval, and feeds the current inclination angle back to the device onboard system, and the device onboard system calculates the rising displacement of the positive stroke of the electric push rod corresponding to the hydrofoil mechanism when the inclination angle to be adjusted is adjusted, wherein the rising of the positive stroke of the electric push rod is used for increasing the inclination angle of the hydrofoil mechanism relative to the water surface;

s900: when the onboard system of the device controls the ascending/descending displacement of the forward/reverse stroke of the electric push rod to enable the inclination angle of the hydrofoil mechanism relative to the water surface to be equal to the inclination angle to be adjusted, the electric push rod stops ascending/descending, stores the current inclination angle to an external memory and feeds back the current inclination angle to the shipborne avionic system through the RS485 interface.

2. The method for stepless control of the tilt angle of the hydrofoil according to claim 1, wherein the electric push rod comprises a first electric push rod and a second electric push rod, wherein the first electric push rod and the second electric push rod respectively control the tilt angle of the left/right hydrofoil mechanism relative to the water surface.

3. The method for stepless control of hydrofoil tilt angle of claim 1, wherein said attitude sensor is electrically connected to and in two-way communication with a device on-board system.

4. The method for stepless control of the hydrofoil inclination angle of claim 1 is characterized in that the first electric push rod and the second electric push rod are electrically connected to and controlled by a device on-board system.

5. The method for stepless control of hydrofoil inclination angle according to claim 1 is characterized in that the attitude acquisition period is 10 milliseconds.

6. A device for stepless control of the inclination angle of a hydrofoil is characterized by comprising: a shipborne avionic system, an onboard device system, a first electric push rod, a second electric push rod, an attitude sensor and an RS485 interface, wherein,

shipborne avionics system: the RS485 interface is electrically connected with the onboard system of the device and is used for resolving the attitude of the ship body, controlling the onboard power device and controlling the angle of the hydrofoil;

installing an on-board system: the RS485 interface is electrically connected with the shipborne avionic system and used for receiving data sent by the shipborne avionic system, feeding back information to the shipborne avionic system, calculating and respectively controlling the forward/reverse stroke lifting/lowering displacement of the first electric push rod and the second electric push rod, and storing the current lifting/lowering displacement into an external memory of the onboard system;

an RS485 interface: the coupling device is used for electrically connecting the shipborne avionic system and the device onboard system and realizing data communication between the shipborne avionic system and the device onboard system;

first electric putter, second electric putter: the lifting/lowering displacement of the forward/reverse stroke of the first electric push rod and the second electric push rod is adjusted, and the angle of the inclination angle of the left/right hydrofoil mechanism relative to the water surface is controlled automatically;

an attitude sensor: and the device on-board system is electrically connected with the device on-board system and used for detecting the inclination angle of the hydrofoil mechanism relative to the water surface and feeding back the current inclination angle to the device on-board system.

Technical Field

The invention belongs to the field of mechanical device control technology and hydrofoil ships, and relates to a method and a device for steplessly controlling the inclination angle of a hydrofoil.

Background

Controlling the hydrofoils of a hydrofoil craft involves control of the contraction and extension of the hydrofoils and the angle of inclination of the hydrofoils to the horizontal. The final aim is to realize the adjustment of the center of gravity of the whole ship body and further realize the adjustment of the lift force when the ship body runs at high speed no matter the contraction and the extension of the hydrofoil or the inclination angle of the hydrofoil and the horizontal plane are controlled.

In the field of hydrofoil vessels, it is important to control the inclination angle of the hydrofoil with respect to the horizontal plane, and the accuracy requirement for the control angle is high. In the prior art, in the technical scheme adopted for controlling the inclination angle of the hydrofoil and the horizontal plane, the main problems are as follows: 1. the precision is not high; 2. most hydrofoils can only adjust the angle of inclination of the hydrofoils relative to the horizontal at rest.

The invention provides a method and a device for controlling the inclination angle of a hydrofoil, and an invention application with application number 2021103405692, and discloses a technical scheme for controlling the inclination angle of the hydrofoil and a horizontal plane by using an electric push rod, wherein the technical scheme has the advantages of low price, stability, reliability and safe operation, but the precision is not high, and a displacement sensor can only be adjusted in a stepping way, so that the precision of adjusting the inclination angle of a hydrofoil mechanism relative to the water surface can only reach 0.2 degree, and the inclination angle can only be adjusted under the static state of a hydrofoil ship, namely, the inclination angle of the hydrofoil relative to the horizontal plane can not be adjusted in the operation process of the hydrofoil ship.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a method for steplessly controlling the inclination angle of a hydrofoil, wherein the inclination angle of a hydrofoil mechanism relative to the water surface is adjusted in real time in the ascending/descending process of a steplessly controlled electric push rod by combining an electric push rod with an attitude sensor; in addition, the detection precision of the attitude sensor reaches 0.01 degree, so that the precision of adjusting the inclination angle of the hydrofoil mechanism relative to the water surface in real time in the ascending/descending process of the stepless control electric push rod can reach 0.08 degree. Therefore, the invention has the advantages of high control precision, stability, reliability, safe operation and capability of adjusting the inclination angle in the operation process of the hydrofoil ship.

The invention comprises the following steps:

s100: the electrodeless control device of the hydrofoil mechanism is powered on and initializes the system clock and each interface, wherein,

the electrodeless control device comprises a device on-board system, an electric push rod and an attitude sensor, wherein the interface comprises an RS485 interface, an electric push rod control interface, an attitude sensor communication interface and an external memory interface;

s200: the device onboard system reads the inclination angle of the hydrofoil mechanism relative to the water surface, which is stored in the external memory, and the electrodeless control device feeds back the inclination angle of the hydrofoil mechanism relative to the water surface to the shipborne avionic system for inputting the current state of the hydrofoil mechanism to the shipborne avionic system;

s300: the device on-board system receives a starting instruction sent by the ship-mounted avionic system, and activates the stepless control function of the inclination angle of the hydrofoil mechanism in the stepless control device relative to the water surface;

s400: the onboard system of the device receives control information sent by the shipborne avionic system, analyzes the inclination angle to be adjusted contained in the control information and sends response information after the control information is received to the shipborne avionic system;

s500: judging whether the current inclination angle is equal to the inclination angle to be adjusted, if so, ending the process, otherwise, executing the step S600;

s600: judging whether the current inclination angle of the hydrofoil mechanism relative to the water surface is larger than the inclination angle to be adjusted, if so, executing a step S700, otherwise, executing a step S800;

s700: the attitude sensor detects the inclination angle of the hydrofoil mechanism relative to the water surface when the electric push rod reverse stroke descends by taking an attitude acquisition cycle as an interval, and feeds back the current inclination angle to the device onboard system, and the device onboard system calculates the descending displacement of the corresponding electric push rod reverse stroke when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted, wherein the descending of the electric push rod reverse stroke is used for reducing the inclination angle of the hydrofoil mechanism relative to the water surface, and the step S900 is executed;

s800: the attitude sensor detects the inclination angle of the hydrofoil mechanism relative to the water surface when the positive stroke of the electric push rod rises by taking an attitude acquisition cycle as an interval, and feeds the current inclination angle back to the device onboard system, and the device onboard system calculates the rising displacement of the positive stroke of the electric push rod corresponding to the hydrofoil mechanism when the inclination angle to be adjusted is adjusted, wherein the rising of the positive stroke of the electric push rod is used for increasing the inclination angle of the hydrofoil mechanism relative to the water surface;

s900: when the onboard system of the device controls the ascending/descending displacement of the forward/reverse stroke of the electric push rod to enable the inclination angle of the hydrofoil mechanism relative to the water surface to be equal to the inclination angle to be adjusted, the electric push rod stops ascending/descending, stores the current inclination angle to an external memory and feeds back the current inclination angle to the shipborne avionic system through the RS485 interface.

Preferably, the electric push rod comprises a first electric push rod and a second electric push rod, wherein the first electric push rod and the second electric push rod respectively control the inclination angle of the left/right hydrofoil mechanism relative to the water surface.

Preferably, the attitude sensor is electrically connected to and in bidirectional communication with the device on-board system.

Preferably, the first and second electric push rods are electrically connected to and controlled by the device on-board system.

Preferably, the gesture acquisition period is 10 milliseconds.

Device of electrodeless control hydrofoil angle of inclination, characterized by includes: a shipborne avionic system, an onboard device system, a first electric push rod, a second electric push rod, an attitude sensor and an RS485 interface, wherein,

shipborne avionics system: the RS485 interface is electrically connected with the onboard system of the device and is used for resolving the attitude of the ship body, controlling the onboard power device and controlling the angle of the hydrofoil;

installing an on-board system: the RS485 interface is electrically connected with the shipborne avionic system and used for receiving data sent by the shipborne avionic system, feeding back information to the shipborne avionic system, calculating and respectively controlling the forward/reverse stroke lifting/lowering displacement of the first electric push rod and the second electric push rod, and storing the current lifting/lowering displacement into an external memory of the onboard system;

an RS485 interface: the coupling device is used for electrically connecting the shipborne avionic system and the device onboard system and realizing data communication between the shipborne avionic system and the device onboard system;

first electric putter, second electric putter: the lifting/lowering displacement of the forward/reverse stroke of the first electric push rod and the second electric push rod is adjusted, and the angle of the inclination angle of the left/right hydrofoil mechanism relative to the water surface is controlled automatically;

an attitude sensor: and the device on-board system is electrically connected with the device on-board system and used for detecting the inclination angle of the hydrofoil mechanism relative to the water surface and feeding back the current inclination angle to the device on-board system.

The invention has the advantages of high control precision, stability, reliability, safe operation and capability of adjusting the inclination angle in the operation process of the hydrofoil ship.

Drawings

FIG. 1 is a general flow diagram of a method provided by the present invention;

fig. 2 is a functional block diagram of the device for stepless controlling the inclination angle of the hydrofoil provided by the invention.

Detailed Description

Fig. 1 shows a general flow chart of the method provided by the present invention. As shown in fig. 1, the method of the present invention comprises the steps of:

s100: the electrodeless control device of the hydrofoil mechanism is powered on and initializes the system clock and each interface, wherein,

the electrodeless control device comprises a device onboard system, an electric push rod and an attitude sensor, wherein the interface comprises an RS485 interface, an electric push rod control interface, an attitude sensor communication interface and an external memory interface. In particular, the amount of the solvent to be used,

the electric push rod comprises a first electric push rod and a second electric push rod, wherein the first electric push rod and the second electric push rod respectively control the inclination angle of the left/right hydrofoil mechanism relative to the water surface.

The attitude sensor is electrically connected to and in two-way communication with the device on-board system.

The first electric push rod and the second electric push rod are electrically connected to the device on-board system and controlled by the device on-board system.

S200: the device onboard system reads the inclination angle of the hydrofoil mechanism relative to the water surface, which is stored in the external memory, and the electrodeless control device feeds back the inclination angle of the hydrofoil mechanism relative to the water surface to the shipborne avionic system for inputting the current state of the hydrofoil mechanism to the shipborne avionic system;

s300: the device onboard system receives a starting instruction sent by the shipborne avionic system and activates a stepless control function of the inclination angle of the hydrofoil mechanism in the stepless control device relative to the water surface;

s400: the onboard system of the device receives control information sent by the shipborne avionic system, analyzes the inclination angle to be adjusted contained in the control information and sends response information after the control information is received to the shipborne avionic system;

s500: judging whether the current inclination angle is equal to the inclination angle to be adjusted, if so, ending the process, otherwise, executing the step S600;

s600: judging whether the current inclination angle of the hydrofoil mechanism relative to the water surface is larger than the inclination angle to be adjusted, if so, executing a step S700, otherwise, executing a step S800;

s700: the attitude sensor detects the inclination angle of the hydrofoil mechanism relative to the water surface when the reverse stroke of the electric push rod descends at intervals of 10 milliseconds, and feeds the current inclination angle back to the device onboard system, the device onboard system calculates the descending displacement of the reverse stroke of the electric push rod corresponding to the time when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted, wherein the descending of the reverse stroke of the electric push rod is used for reducing the inclination angle of the hydrofoil mechanism relative to the water surface, and the step S900 is executed;

for example, if the hydrofoil mechanism is currently at a 5 degree tilt angle to the water surface and the tilt angle to be adjusted is 3 degrees, the hydrofoil mechanism needs to be adjusted and reduced by 2 degrees. The device on-board system calculates the descending displacement of the reverse stroke of the electric push rod corresponding to the hydrofoil mechanism when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted, and controls the descending of the reverse stroke of the electric push rod, and the attitude sensor detects the inclination angle of the hydrofoil mechanism relative to the water surface when the reverse stroke of the electric push rod descends at intervals of 10 milliseconds of attitude acquisition period. When the inclination angle of the hydrofoil mechanism relative to the water surface is detected to be equal to 3 degrees, the electric push rod stops descending of the reverse stroke.

S800: the attitude sensor detects the inclination angle of the hydrofoil mechanism relative to the water surface when the positive stroke of the electric push rod rises at intervals of 10 milliseconds, and feeds the current inclination angle back to the device onboard system, and the device onboard system calculates the rising displacement of the positive stroke of the electric push rod corresponding to the adjustment of the hydrofoil mechanism to the inclination angle to be adjusted, wherein the rising of the positive stroke of the electric push rod is used for increasing the inclination angle of the hydrofoil mechanism relative to the water surface;

for example, if the hydrofoil mechanism is currently at an angle of 1.3 degrees relative to the water surface and the angle of inclination to be adjusted is 4.1 degrees, the hydrofoil mechanism needs to be adjusted and increased by 2.8 degrees. The device on-board system calculates the rising displacement of the positive stroke of the electric push rod corresponding to the hydrofoil mechanism when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted, controls the positive stroke of the electric push rod to rise, and the attitude sensor detects the inclination angle of the hydrofoil mechanism relative to the water surface when the positive stroke of the electric push rod rises by taking the attitude acquisition cycle of 10 milliseconds as an interval. When the inclination angle of the hydrofoil mechanism relative to the water surface is detected to be equal to 4.1 degrees, the electric push rod stops the rising of the positive stroke.

S900: when the onboard system of the device controls the ascending/descending displacement of the forward/reverse stroke of the electric push rod to enable the inclination angle of the hydrofoil mechanism relative to the water surface to be equal to the inclination angle to be adjusted, the electric push rod stops ascending/descending, stores the current inclination angle to an external memory and feeds back the current inclination angle to the shipborne avionic system through the RS485 interface.

The application also provides a device for stepless control of the inclination angle of the hydrofoil. Fig. 2 shows a functional block diagram of the device for stepless control of the inclination angle of the hydrofoil provided by the invention. In view of the simplicity of this functional block diagram, fig. 2 does not show the interface portion, as shown in fig. 2,

apparatus 100 for infinitely controlling the tilt angle of a hydrofoil, comprising: a shipborne avionics system 101, an on-board device system 102, a first electric putter 103, a second electric putter 104, an attitude sensor 105, and an RS485 interface (not shown), wherein,

shipborne avionics system 101: an RS485 interface (not shown) is adopted to be electrically connected with the onboard system 102 of the device and is used for calculating the posture of the ship body, controlling the onboard power device and controlling the angle of the hydrofoil;

device on-board system 102: the system is electrically connected with the shipborne avionic system 101 by adopting an RS485 interface (not shown) and is used for receiving data sent by the shipborne avionic system 101, feeding back information to the shipborne avionic system 101, calculating and respectively controlling the forward/backward stroke ascending/descending displacement of the first electric push rod 103 and the second electric push rod 104, and storing the current ascending/descending displacement into an external memory of the onboard system 102;

RS485 interface (not shown): the device is a coupling device and is used for electrically connecting the shipborne avionic system 101 and the device on-board system 102 and realizing data communication between the shipborne avionic system 101 and the device on-board system 102;

first electric push rod 103, second electric push rod 104: the device on-board system 102 is respectively and electrically connected with the left/right hydrofoil mechanism, the left/right hydrofoil mechanism and the water surface, and the left/right hydrofoil mechanism is respectively controlled by the left/right hydrofoil mechanism;

the attitude sensor 105: is electrically connected with the device on-board system 102 for detecting the tilt angle of the hydrofoil mechanism relative to the water surface and feeding back the current tilt angle to the device on-board system 102.

It is to be understood that the invention is not limited to the examples described above, but that modifications and variations are possible to those skilled in the art in light of the above teachings, and that all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.