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 an onboard system, a miniature speed reduction stepping motor and an incremental encoder, wherein the interface comprises an RS485 interface, a motor interface, an encoder 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 is larger than the inclination angle to be adjusted, if so, executing the step S700, otherwise, executing the step S800;

s700: calculating an angle required to be reversed by the miniature speed reducing stepping motor when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted according to the speed reducing ratio of the miniature speed reducing stepping motor, wherein the miniature speed reducing stepping motor is reversed to reduce the inclination angle of the hydrofoil mechanism relative to the water surface, and executing the step S900;

s800: calculating the angle of the micro speed-reducing stepping motor required to rotate forwards when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted according to the speed reduction ratio of the micro speed-reducing stepping motor, wherein the micro speed-reducing stepping motor rotates forwards to increase the inclination angle of the hydrofoil mechanism relative to the water surface;

s900: when the onboard system of the device controls the micro speed-reducing stepping motor to rotate to the inclination angle to be adjusted, the micro speed-reducing stepping motor stops rotating, 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 inclination angle of the hydrofoil according to claim 1, wherein the miniature deceleration stepping motor comprises a first miniature deceleration stepping motor and a second miniature deceleration stepping motor.

3. A method for stepless control of hydrofoil tilt angle according to claim 2, characterized in that the incremental encoder comprises a first incremental encoder and a second incremental encoder.

4. The method for stepless control of the inclination angle of the hydrofoil as claimed in claim 3, wherein the first incremental encoder is mechanically connected to the first miniature deceleration stepping motor, is electrically connected to the device on-board system and feeds back the rotation angle of the first miniature deceleration stepping motor to the device on-board system in real time; the second incremental encoder is mechanically connected to the second miniature speed reduction stepping motor, electrically connected to the device onboard system and feeds back the rotation angle of the second miniature speed reduction stepping motor to the device onboard system in real time.

5. The method for stepless control of the inclination angle of the hydrofoil as claimed in claim 4, wherein the onboard system respectively performs servo control on the first miniature deceleration stepping motor and the second miniature deceleration stepping motor according to the angles fed back by the first incremental encoder and the second incremental encoder.

6. The method for stepless control of the inclination angle of hydrofoil of claim 5, wherein the servo control comprises double loop control of the position loop and the speed loop of the first and second miniature deceleration stepping motors respectively by using PID algorithm, wherein the position loop is used as the outer loop, the speed loop is used as the inner loop, the output of the position loop is used as the input of the speed loop, and the output of the speed loop is used as the control information for controlling the first and second miniature deceleration stepping motors, so as to respectively adjust and correct the rotation angles of the first and second miniature deceleration stepping motors in real time.

7. A device for stepless control of the inclination angle of a hydrofoil is characterized by comprising: a shipborne avionics system, an onboard system of the device, a first miniature speed reduction stepping motor, a second miniature speed reduction stepping motor, a first incremental encoder, a second incremental encoder and an RS485 interface, wherein,

shipborne avionics system: the system is used for resolving the attitude of the ship body, controlling the shipborne power device and controlling the angle of the hydrofoil;

installing an on-board system: the device comprises a first miniature speed reduction stepping motor, a second miniature speed reduction stepping motor, an external memory, a first micro speed reduction stepping motor, a second micro speed reduction stepping motor, a first micro speed reduction stepping motor and a second micro speed reduction stepping motor, wherein the first micro speed reduction stepping motor and the second micro speed reduction stepping motor are respectively connected with the external memory;

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

first miniature speed reduction step motor, the miniature speed reduction step motor of second: the hydrofoil device is used for rotating forwards and backwards and controlling the inclination angle of the hydrofoil, and is respectively coupled with the first incremental encoder and the second incremental encoder;

the first incremental encoder and the second incremental encoder are as follows: the device is used for respectively sensing the real-time rotating angles of the first miniature speed reduction stepping motor and the second miniature speed reduction stepping motor, sending the real-time rotating angles to the onboard system of the device, and mechanically connecting the first miniature speed reduction stepping motor and the second miniature speed reduction stepping motor respectively.

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 technical scheme provided by the invention application with the title of 2021103405692 and a method and a device for controlling the inclination angle of the hydrofoil discloses that the inclination angle of the hydrofoil and the horizontal plane is controlled by using an electric push rod, and the technical scheme has the beneficial effects of low price, stability, reliability and safe operation, but the precision is not high, only 0.2 degree can be achieved, and the inclination angle can only be adjusted under the static state of the hydrofoil boat, so that the inclination angle of the hydrofoil relative to the horizontal plane cannot be adjusted in the operation process of the hydrofoil boat.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a method for stepless control of the inclination angle of a hydrofoil, wherein a miniature speed reduction stepping motor is combined with an incremental encoder, the rotation angle of the motor is obtained in real time in the process of controlling the operation of the miniature speed reduction stepping motor, the inclination angle of the hydrofoil relative to a horizontal plane is accurately controlled through a servo control algorithm in the process of operating a hydrofoil ship, and the precision 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 an onboard system, a miniature speed reduction stepping motor and an incremental encoder, wherein the interface comprises an RS485 interface, a motor interface, an encoder 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 is larger than the inclination angle to be adjusted, if so, executing the step S700, otherwise, executing the step S800;

s700: calculating an angle required to be reversed by the miniature speed reducing stepping motor when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted according to the speed reducing ratio of the miniature speed reducing stepping motor, wherein the miniature speed reducing stepping motor is reversed to reduce the inclination angle of the hydrofoil mechanism relative to the water surface, and executing the step S900;

s800: calculating the angle of the micro speed-reducing stepping motor required to rotate forwards when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted according to the speed reduction ratio of the micro speed-reducing stepping motor, wherein the micro speed-reducing stepping motor rotates forwards to increase the inclination angle of the hydrofoil mechanism relative to the water surface;

s900: when the onboard system of the device controls the micro speed-reducing stepping motor to rotate to the inclination angle to be adjusted, the micro speed-reducing stepping motor stops rotating, 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 micro deceleration stepping motor comprises a first micro deceleration stepping motor and a second micro deceleration stepping motor.

Preferably, the incremental encoder comprises a first incremental encoder and a second incremental encoder.

Preferably, the first incremental encoder is mechanically connected to the first miniature speed reduction stepping motor, is electrically connected to the device onboard system, and feeds back the rotation angle of the first miniature speed reduction stepping motor to the device onboard system in real time; the second incremental encoder is mechanically connected to the second miniature speed reduction stepping motor, electrically connected to the device onboard system and feeds back the rotation angle of the second miniature speed reduction stepping motor to the device onboard system in real time.

Preferably, the onboard system respectively performs servo control on the first miniature speed reduction stepping motor and the second miniature speed reduction stepping motor according to the angles fed back by the first incremental encoder and the second incremental encoder.

Preferably, the servo control includes dual-loop control for the position loop and the speed loop of the first micro deceleration stepping motor and the second micro deceleration stepping motor respectively by using PID algorithm, wherein the position loop is used as an outer loop, the speed loop is used as an inner loop, the output of the position loop is used as the input of the speed loop, and the output of the speed loop is used as control information for controlling the first micro deceleration stepping motor and the second micro deceleration stepping motor, so as to respectively adjust and correct the rotation angle of the first micro deceleration stepping motor and the second micro deceleration stepping motor in real time.

An apparatus for stepless control of hydrofoil tilt angle, comprising: a shipborne avionics system, an onboard system of the device, a first miniature speed reduction stepping motor, a second miniature speed reduction stepping motor, a first incremental encoder, a second incremental encoder and an RS485 interface, wherein,

shipborne avionics system: the system is used for resolving the attitude of the ship body, controlling the shipborne power device and controlling the angle of the hydrofoil;

installing an on-board system: the device comprises a first miniature speed reduction stepping motor, a second miniature speed reduction stepping motor, an external memory, a first micro speed reduction stepping motor, a second micro speed reduction stepping motor, a first micro speed reduction stepping motor and a second micro speed reduction stepping motor, wherein the first micro speed reduction stepping motor and the second micro speed reduction stepping motor are respectively connected with the external memory;

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

first miniature speed reduction step motor, the miniature speed reduction step motor of second: the hydrofoil device is used for rotating forwards and backwards and controlling the inclination angle of the hydrofoil, and is respectively coupled with the first incremental encoder and the second incremental encoder;

the first incremental encoder and the second incremental encoder are as follows: the device is used for respectively sensing the real-time rotating angles of the first miniature speed reducing stepping motor and the second miniature speed reducing stepping motor, sending the real-time rotating angles to the onboard system of the device, and respectively coupling the first miniature speed reducing stepping motor and the second miniature speed reducing stepping motor.

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, a miniature speed reduction stepping motor and an incremental encoder, wherein the interface comprises an RS485 interface, a motor interface, an encoder interface and an external memory interface;

the miniature speed reduction stepping motor comprises a first miniature speed reduction stepping motor and a second miniature speed reduction stepping motor.

The incremental encoder comprises a first incremental encoder and a second incremental encoder. In the embodiment of the invention, two 1024-line incremental encoders are adopted as the first incremental encoder and the second incremental encoder.

The first incremental encoder is mechanically connected to the first miniature speed reduction stepping motor, is electrically connected to the device onboard system and feeds back the rotation angle of the first miniature speed reduction stepping motor to the device onboard system in real time; the second incremental encoder is mechanically connected to the second miniature speed reduction stepping motor, electrically connected to the device onboard system and feeds back the rotation angle of the second miniature speed reduction stepping motor to the device onboard system in real time.

In the embodiment provided by the invention, the mechanical connection between the incremental encoder and the miniature speed reduction stepping motor is coaxial.

And the onboard system respectively performs servo control on the first miniature speed reduction stepping motor and the second miniature speed reduction stepping motor according to the angles fed back by the first incremental encoder and the second incremental encoder.

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 so as to input the current state of the hydrofoil mechanism to the shipborne avionic system, so that the shipborne avionic system can know the current state of the hydrofoil mechanism conveniently, and reference data is provided for the control of the following hydrofoil mechanism.

S300: and the onboard system of the device receives a starting instruction sent by the shipborne 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.

If the stepless control function of the hydrofoil mechanism is not activated, even if the onboard system receives a command for controlling the hydrofoil to rotate to a specific angle, which is issued by the onboard system, the onboard system does not execute specific control operation, and under the condition, the onboard system feeds back the stepless control function of the hydrofoil mechanism to be not activated.

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 is larger than the inclination angle to be adjusted, if so, executing the step S700, otherwise, executing the step S800;

s700: calculating an angle required to be reversed by the miniature speed reducing stepping motor when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted according to the speed reducing ratio of the miniature speed reducing stepping motor, wherein the miniature speed reducing stepping motor is reversed to reduce the inclination angle of the hydrofoil mechanism relative to the water surface, and executing the step S900;

because a miniature speed reduction stepping motor is used, before specific control is carried out, an onboard system of the device calculates the actual angle of the motor to be rotated when the hydrofoil mechanism is adjusted to the target inclination angle according to the speed reduction ratio of the speed reduction stepping motor. In the embodiment provided by the invention, the reduction ratio of the used miniature speed reduction stepping motor is 30: 1, i.e. the motor rotates 30 turns and the reduction mechanism rotates 1 turn.

For example, if the current tilt angle is 5 degrees and the target tilt angle to be adjusted is 3 degrees, the hydrofoil mechanism needs to be adjusted by 2 degrees, and the tilt angle for adjusting the hydrofoil mechanism by 2 degrees can be calculated according to the known reduction ratio, and the miniature speed reduction stepping motor needs to rotate by 60 degrees. Since the current tilt angle is greater than the target tilt angle to be adjusted, the micro reduction stepper motor needs to be reversed by 60 degrees. After the inversion is completed by 60 degrees, step S900 is performed.

S800: calculating the angle of the micro speed-reducing stepping motor required to rotate forwards when the hydrofoil mechanism is adjusted to the inclination angle to be adjusted according to the speed reduction ratio of the micro speed-reducing stepping motor, wherein the micro speed-reducing stepping motor rotates forwards to increase the inclination angle of the hydrofoil mechanism relative to the water surface;

for example, if the current tilt angle value is 3.3 degrees and the target tilt angle value to be adjusted is 4.6 degrees, the hydrofoil mechanism needs to be adjusted by 1.3 degrees, and the tilt angle of the hydrofoil mechanism to be adjusted by 1.3 degrees can be calculated according to the known reduction ratio, and the miniature speed reduction stepping motor needs to rotate by 39 degrees. Because the current angle value of the inclination angle is smaller than the angle value of the target inclination angle to be adjusted, the micro speed-reducing stepping motor needs to rotate forwards by 39 degrees. After the normal rotation is completed by 39 degrees, step S900 is executed.

S900: when the onboard system of the device controls the micro speed-reducing stepping motor to rotate to the inclination angle to be adjusted, the micro speed-reducing stepping motor stops rotating, 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.

In addition, the servo control comprises double-loop control of a position loop and a speed loop of the first miniature speed-reducing stepping motor and the second miniature speed-reducing stepping motor respectively by adopting a PID algorithm, wherein the position loop is used as an outer loop, the speed loop is used as an inner loop, the output of the position loop is used as the input of the speed loop, and the output of the speed loop is used as control information for controlling the first miniature speed-reducing stepping motor and the second miniature speed-reducing stepping motor so as to respectively adjust and correct the rotation angles of the first miniature speed-reducing stepping motor and the second miniature speed-reducing stepping motor in real time.

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 mechanical connection of the incremental encoder to the miniature deceleration stepper motor, but only the electrical connection to the device on-board system. As shown in figure 2 of the drawings, in which,

an apparatus 100 for stepless control of hydrofoil tilt angle, comprising: a shipborne avionics system 101, an on-board device system 102, a first miniature deceleration stepper motor 1031, a second miniature deceleration stepper motor 1032, a first incremental encoder 1041, a second incremental encoder 1042, and an RS485 interface 105, wherein,

shipborne avionics system 101: the system is used for resolving the attitude of the ship body, controlling the shipborne power device and controlling the angle of the hydrofoil;

device on-board system 102: the device comprises an external memory, a first micro deceleration stepping motor 1031, a second micro deceleration stepping motor 1032, a second memory and a controller, wherein the external memory is used for receiving data sent by the ship-borne avionic system 101, feeding back information to respective forward and reverse rotation angles of the ship-borne avionic system 101, the first micro deceleration stepping motor 1031 and the second micro deceleration stepping motor 1032, and storing the current forward and reverse rotation angles to the on-board system 102;

RS485 interface 105: the coupling device is used for coupling 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 micro reduction stepping motor 1031, second micro reduction stepping motor 1032: the first incremental encoder 1041 and the second incremental encoder 1042 are coupled to the first incremental encoder 1041 and the second incremental encoder 1042 respectively for forward and backward rotation and controlling the tilt angle of the hydrofoil;

the first incremental encoder 1041 and the second incremental encoder 1042: the sensor is used for respectively sensing the real-time rotation angles of the first miniature deceleration stepping motor 1031 and the second miniature deceleration stepping motor 1032, sending the real-time rotation angles to the device on-board system 102, and mechanically connecting with the first miniature deceleration stepping motor 1031 and the second miniature deceleration stepping motor 1032 respectively.

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.