The invention relates to the field of ship hydraulic steering engine control, and discloses a ship hydraulic steering engine follow-up steering control method which comprises the following steps: S1, acquiring a rudder angle pulse control range theta R; s2, detecting a rudder angle deviation value delta R of an actual rudder angle Ra and a rudder command Ro, and judging whether the rudder angle deviation value delta R is within a rudder angle pulse control range theta R or not; s3, when delta R is smaller than or equal to theta R, controlling a rudder by adopting interval pulses; and the electromagnetic valve is closed, and the first pulse interval time t0, the first pulse duration time t1, the second pulse interval time t2, the second pulse duration time t3, the third pulse interval time t4, the third pulse duration time t5 and the zero pulse duration time t6 of the electromagnetic valve are sequentially switched off. The problems that the positioning precision is reduced due to the ship hydraulic steering engine steering speed and steering engine abrasion, and a traditional switch type steering control method is not applicable can be solved.
本发明涉及船舶液压舵机控制领域,公开了一种船舶液压舵机随动操舵控制方法,包括:S1,获取舵角脉冲控制范围θR;S2,检测实际舵角Ra与舵令Ro的舵角偏差值ΔR,判断舵角偏差值ΔR是否在舵角脉冲控制范围θR内;S3,|ΔR|≤θR时,采用区间脉冲控制船舵;电磁阀吸合,依次断开电磁阀第一脉冲间隔时间t0,闭合第一脉冲持续时间t1,断开第二脉冲间隔时间t2,闭合第二脉冲持续时间t3,断开第三脉冲间隔时间t4,闭合第三脉冲持续时间t5,断开零脉冲持续时间t6的操作。本申请能够解决船舶液压舵机转舵速度和舵机磨损导致的定位精度下降,传统开关式操舵控制方法不适用的问题。
Ship hydraulic steering engine follow-up steering control method
一种船舶液压舵机随动操舵控制方法
2023-10-20
Patent
Electronic Resource
Chinese
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