The invention relates to the field of unmanned control methods, in particular to a course control system and method for an unmanned surface vehicle. The control system comprises an upper computer, a transmission station and a lower computer. The control method includes the set steps that an expected course is input in a human-computer interaction interface of an upper computer operating deck and transmitted to the lower computer through the transmission station; information is acquired and transmitted, wherein unmanned surface vehicle comprehensive information acquired by the lower computer is transmitted into the upper computer through the transmission station; and control is conducted, wherein the upper computer conducts calculation and processing according to the received unmanned surface vehicle comprehensive information, a rudder angle delta is output and transmitted to the lower computer, and the rudder direction is automatically changed through a course control device, so that the course of the unmanned surface vehicle is adjusted. The system and method have the beneficial effects that maneuverability is high, robustness is strong, a stepping motor and a bevel gear wheel are simultaneously adopted for driving the steering course control device, the control accuracy is higher, steering is more accurate, and the application prospect is good.

Course control system and method for unmanned surface vehicle

The invention relates to a processing method of an eccentric full-revolving steering oar device base. The eccentric full-revolving steering oar device base comprises a round base panel, wherein the base panel is provided with an eccentric round hole and is in an annular shape, the bottom surface of the base panel is provided with an inner tube body and an outer tube body, the axial line of the inner tube body is coincident with the axial line of the eccentric round hole, the axial line of the outer tube body is coincident with the axial line of the peripheral wall of the base panel, and a knee plate is arranged between the inner tube body and the outer tube body. The processing method is characterized by comprising the following steps of 1, a processing step of the base panel, the inner tube body and the outer tube body; 2, a combination positioning step; 3, a whole welding step; and 4, a machining and hole drilling step. Compared with the prior art, the processing method has the following advantages that 1, the utilization rate of materials is improved, and the consumption of welding materials is reduced; 2, the welding deformation is perfectly controlled, and the precision requirement of equipment is met; 3, the node production requirement is met through reducing the manufacturing and processing time; 4, the transportation cost is reduced; 5, the integral manufacturing cost is reduced.

Processing method of eccentric full-revolving steering oar device base

The invention discloses a pod propulsion device for a ship, belonging to the field of propulsion devices for ships. The propulsion device comprises support columns, a motor, a motor shell and propellers, wherein the upper ends of the support columns are connected with a swing mechanism of a ship; the lower ends of the support columns are connected with the motor shell; a motor is installed in the motor shell; the output end of the motor is connected with the propellers; an installation part is arranged at the lower ends of the support columns; a plurality of through holes are formed along the outer edge of the installation part; a plurality of screw holes are formed in the upper side wall of the motor shell; a bolt is arranged in each screw hole; the support columns are connected with the motor shell through the bolts; the front edges and tail edges of the support columns are respectively provided with a front edge fin plate and a tail edge fin plate which are protruded outwards; the front edge fin plate and the tail edge fin plate are positioned on the same plane; each of the front edge fin plate and the tail edge fin plate is of a streamline structure; a front cone cover is arranged at the front end of the motor shell; and the front cone cover is detachably connected with the installation part and the motor shell respectively. According to the invention, by optimizing the structure of the propulsion device, the maximum service speed of the propulsion device is increased.

Pod propulsion device for ship

The invention discloses an axial oil distributor, which comprises an oil distribution ring, an oil distribution shaft, a hydraulic control check valve, two locking oil cylinder end covers and a locking piston. The oil distribution ring comprises an advancing oil cavity and a backing oil cavity, and an advancing oil pipe and a backing oil pipe are arranged in a shaft hole of the oil distribution shaft and communicated with the advancing oil cavity and the backing oil cavity respectively. The backing oil pipe is communicated with a rod cavity of a variable-pitch oil cylinder of a controllable-pitch propeller, the hydraulic control check valve is communicated with the advancing oil pipe, an oil outlet of the hydraulic control check valve is communicated with a rodless cavity of the variable-pitch oil cylinder of the controllable-pitch propeller, and a hydraulic control port of the hydraulic control check valve is communicated with the backing oil pipe. The two locking oil cylinder end covers and the oil distribution shaft form a locking oil cylinder, and a piston rod of the locking piston is used for preventing a piston rod of the variable-pitch oil cylinder from moving towards the locking oil cylinder axially. The problem of failure in bidirectional pitch locking of the controllable-pitch propeller of an existing axial oil distributor is effectively solved.

Axial oil distributor

The invention discloses a control system and method for multiple rudder propellers, and belongs to the technical field of ship control The control system comprises a synergistic controller and a plurality of operating handles arranged corresponding to the multiple rudder propellers in a one-to-one mode, and the control system is configured to have a first working state and a second working state;when the control system is in the first working state, the cooperative controller is used for controlling the multiple rudder propellers simultaneously according to a control signal generated by oneof the multiple operating handles; and when the control system is in the second working state, the cooperative controller is used for controlling the corresponding rudder propeller according to a control signal generated by each operating handle When the number of the rudder propellers is large, the control system can be switched to the first working state, only one operating handle needs to be operated to generate the control signal, the cooperative controller can control the multiple rudder propellers to rotate synchronously according to the control signal, the operation complexity is reduced, the error rate is greatly decreased, and operation is facilitated

Control system and method for multiple rudder propellers

The invention relates to a seawater-proof movable sealing device of ocean engineering equipment, in particular to a movable sealing device for a telescopic full-revolving rudder paddle, which is used on an ocean engineering boat and an ocean platform. The sealing performance of the telescopic full-revolving rudder paddle is ensured through four measures of a guide sleeve guide and filth clearing protection measure, a packing sealing measure, a lip-type sealing ring sealing measure and a lubrication and leakage check measure, through the efficient lubrication and the leakage check measure, the movable sealing device of the telescopic full-revolving rudder paddle is in an efficient controllable state in seawater, the work safety of the sealing device is improved, and the service life of the telescopic full-revolving rudder paddle is prolonged by more than 50 percent.

Movable sealing device for telescopic full-revolving rudder paddle

Hydraulic device for adjustable-pitch propeller with shaft-type oil distributor

High-power rudder propeller with guide pipe and detaching method for blades of propeller

A pod propelling device comprises an inclined strut (1), a propeller motor (2) and a propeller blade (3). A tail fin (4) extending downwards and protruding out of a shell of the propeller motor (2) is arranged on the lower portion of the inclined strut (1), and symmetrical aviation wing structures are adopted in the cross sections of the inclined strut (1) and the tail fin (4). According to the pod propelling device, the function of a rudder can be achieved through the additionally arranged tail fin structure, the steerability is enhanced, resistance can be reduced and lift force can be increased through the symmetrical aviation wing structures, and the steerability is further enhanced.

Pod propelling device

The invention provides a multifunctional emergency steering device of a full-circle-swinging steering oar The multifunctional emergency steering device comprises a bearing seat (3), a bearing (4), a transmission shaft (5) and an emergency gear (6), the lower portion of the bearing seat (3) is fixedly connected with a rotary unit cover plate (1), the bearing (4) is fixed in the bearing seat (3), the transmission shaft (5) and the bearing (4) are in interference fit, a hexagonal cylinder connector is arranged at the top of the transmission shaft (5), the emergency gear (6) is connected at the lower end of the transmission shaft (5) in a sleeved manner and is in transition fit with the transmission shaft (5), and the emergency gear (6) and a rotary supporting inner ring gear (4) are in meshed transmission A force-applying rod is connected in a sleeved manner and rotated, and rotary torque can be applied on a rotary shaft to realize manual steering; after the emergency steering device is locked, the rotary shaft and a propelling unit can be further locked to realize a function of fixing an oar angle The multifunctional emergency steering device is simple and compact in structure and complete in function, and steering control performance of the full-circle-swinging steering oar can be improved

Wang Jianqiang

Papers

Movable sealing device for telescopic full-revolving rudder paddle

Hydraulic device for adjustable-pitch propeller with shaft-type oil distributor

High-power rudder propeller with guide pipe and detaching method for blades of propeller

Pod propelling device

Multifunctional emergency steering device of full-circle-swinging steering oar