SU540258A1 - Autopilot - Google Patents

Description

one

This invention relates to the automatic control of moving objects, in particular, to automatic control, a course of court ha.

An autopilot (AP) is known, containing a adder, a rup position sensor, an iodine sensor and a predetermined course with a reference element. The output of the comparison element through the operational amplifier and the scale depot is connected to the input of the adder l.

An autopilot type ATS is known, in which, besides the listed signals, a signal is also used that is proportional to the integral of the angle of mismatch of the ship’s course over time 2.15

A disadvantage of the known autopilot models is the necessity of making them out with strong sea waves, as well as increased wear of the steering gear when the sea waves develop.

The closest technical solution to the present invention is an autopilot, which contains sensors of misalignment angle along the course and rudder angle, the outlets of which are. 25

They are connected to the first and second inputs of the amplifier, the vessel angular velocity sensor, the model of the vessel angular position, the input of which is connected to the rudder angle sensor, and the output to the third input of the MOQV amplifier 3j.

In the known autopilot for the contraction of the number of rolls per unit of time while simultaneously improving the quality of the stitching, the ship's velocity model was used, which allowed the use of the signal to be rejected; the angular velocity of the vessel a, usually obtained by differentiating the course sensor stenal.

In the well-known autopilot, the input from the angular velocity model of the vessel is a signal from the rudder angle sensor, and the output of the model is proportional to the component of the angular velocity of the vessel; on from control (rudder angle) S.

However, for the right and the course of the vessel with weak sea roughness, the control mechanism of the vessel is missing the component of the vessel’s angular velocity from the sea lead. Therefore, in the case of weak sea waves, the stabilization quality is lower than when controlling the autopilot tick Ai LSR. This is due to the fact that the parrying of disturbances from sea waves occurs topco when there is some mismatch in the course angle, and in the autopilot of the Azerbaijan Republic of Azerbaijan and the ADB, the control effect occurs with some anticipation. However, with increasing unrest at sea, autopilot type AR and ADB. Normally, they turn off and go to manual control of the ship’s smoke. This is dictated by the fact that in case of strong sea waves the control signal is overloaded with the component of the ship’s angular velocity from external disturbance and completely clogs the control channel. The purpose of the invention is to improve the accuracy of regulation. For this, the proposed autopilot contains a filter and a subtractor, to the first input of which a y-speed sensor is connected, and to the second output mode II of the ship’s angular velocity, the output of the subtractor is connected via a filter to the fourth input of the power amplifier. The drawing shows a block hem of the proposed device. The autopilot contains block 1 of the misalignment angle along the course, sensor 2 angular velocity of the vessel, sensor 3 of the rudder angle 3, filter 4, lever device 5, model of angular velocity of the vessel, power amplifier 7. The output of block 1 of the error angle along the course is connected to the first amplifier input 7 power. One of the outputs of the sensor 3 rudder relays connected to the input of the amplifier 7 power, and the other ic input model b of the angular velocity of the vessel. One of the outputs of model 0, the angular velocity of the vessel, is connected to the input of amplifier 7 washing, the other to the first input of the subtracter, 5. 5. The output of the angle 2 sensor is connected to the second input of the subtractive device. The ship's speed. The output of the subtractive device is connected to the input of the power amplifier 7 through the filter 4. The device operates as follows. When the ship deviates from the target course, a signal is generated at the output of the power amplifier that controls the steering drive. The rudder begins to deviate, and the angular velocity of the vessel appears under the action of the open rudder. In this case, at the output of the ship’s angular velocity model, the angular velocity of the ship is generated from the control action — the rudder transfer angle. At the output of the subtracting device, the difference between the full angular velocity signals of the vessel and the angular velocity component of the vessel and the signal of the angular velocity component from the control action from the output of the angular velocity model is obtained. This difference corresponds to the angular velocity of the vessel from sea waves (df / dt) (Jt, (df / dt) "constituting the angular speed of the vessel only from the effects of sea waves; -constituting the angular velocity of the vessel only from the influence of the rudder angle ; -full angular velocity of the vessel. If sea waves are absent (((p / d) s sQjfo the signal at the output of the subtracting device is zero. The signal from the output of the angular velocity model of the vessel, moreover, is directly fed to the amplification-power input. this signal is necessary Mo to provide the required margin of stability of the closed system {ship-autopilot-steering gear). The amplifier input also receives a signal from the rudder angle sensor, the output of the device deducting device is also connected to the input power amplifiers through a filter. The bandwidth of the filter is selected for a particular type This filter eliminates frequent rudder shifts with the development of sea waves. Such a filter allows you to drastically reduce the load on the steering gear during strong seas and does not alter the safety margin awn-system ship autopilot, steering gear. At the output of the power amplifier, a signal is generated that controls the steering actuator and provides the required control quality. The proposed device allows the ship to be controlled in any weather for a long time. The steering drive at the same time has a limited load, which prevents its jamming, overheating, increased wear and power consumption. In addition, the quality of stabilization of the vessel is significantly higher than that of the prototype, since the management involves information about the angular velocity of the vessel from the disturbing effect. Technical and economic efficiency is expressed in reducing the time of flight by 3–3% and the increased duration of equipment. steering gear, which can save about 5 thousand rubles. per year per vessel.

Formula

gaining

An autopilot containing sensors for the misalignment angle along the course, and for the rudder trim, the outputs of which are connected to the first and second inputs of the amplifier, carry the ship’s angular velocity sensor, the model of the ship’s angular velocity, the input of which is connected to the rudder angle sensor and the output to the third input is a power amplifier, characterized in that, with p & Lew. increase control accuracy, autopilot contains a filter and subtracting yciv. the device, to the first input of which the angular velocity sensor is connected, and to the second, the output of the angular velocity model of the vessel, the output

subtracting device through the filter on / keys to the fourth input of the power amplifier.

Sources of information taken into account in the examination:

1. Author's certificate

№ 460535, M. Kl. Q O5 D 1/00. 1973.

2.Technical encyclopedia Automation i production and industrial electronics, vol. 4 Mi, 1965, become. G. E. Schlefa Automatic control of underwater objects

the USSR

3. Authors certificate, No. 460534, M. Cl. Q O5D 1 / 00,1973

(prototype).