数字式航向航迹自动操舵仪的设计与实现  

Design and realization of digital course and track autopilot

作　　者：熊远生[1,2] 俞立[1] 徐建明[1] 

机构地区：[1]浙江工业大学信息工程学院,杭州310032 [2]嘉兴学院机电工程学院,嘉兴314001

出　　处：《中国惯性技术学报》2009年第2期175-178,共4页Journal of Chinese Inertial Technology

基　　金：浙江省科技计划项目(2007C21002)

摘　　要：设计了一种以ARM为核心的数字式航向航迹自动操舵仪。在分析系统总体框架的基础上,设计了系统的硬件结构和软件主程序框图,使用Bang-Bang控制实现舵角的随动控制,航向控制使用PID控制。该设计中,360°电位器实现舵角反馈,电子罗盘或电罗经采集航向,GPS给出地理位置信息,电位器及按键输入给定值,液晶显示系统信息,电磁阀驱动液压舵机。该自动操舵仪具有手动操舵、随动操舵、自动操舵和GPS操舵等多种工作模式。实验结果表明,该设计方案可行,具有较高的实用价值。The digital course and track autopilot based on the ARM was designed. Based on the analysis of overall framework of the system, the hardware structure and software frame chart of main program were designed. The rudder follow-up control was achieved by Bang-Bang control, and the course control was achieved by PID control. The rudder angle feedback was achieved by the 360° potentiometer; the course was collected through electronic compass or electric gyrocompass; the geography location was acquired by GPS; the input reference was set by potentiometer and key, the system information was displayed on LCD, and hydraulic steering gear was driven by solenoid valves. The autopilot has the mode of manual steering, follow-up steering, automatic steering and GPS steering. Test results show that the design ofautopilot is feasible and the autopilot is applicable.

关 键 词：船舶操纵 自动操舵仪 电子罗盘 GPS 

分 类 号：U666.1[交通运输工程—船舶及航道工程]