The invention relates to the technical field of ship control, and discloses a pedal control method, a storage medium and a device, and the method comprises the following steps: obtaining the rotating speed and the rotating angle of a pedal; the pedal torque of a pedal motor is calculated according to the rotating speed of the pedal, and inductive FOC control is conducted on the pedal motor according to the pedal torque; calculating an expected output quantity of the equipment motor according to a mapping relation between the rotation angle of the pedal and the output quantity of the equipment motor; calculating the output torque of the equipment motor according to the difference value between the current output quantity and the expected output quantity of the equipment motor; and performing inductive FOC control on the equipment motor according to the output torque of the equipment motor, and when the output torque of the equipment motor exceeds the set maximum output torque, controlling the pedal motor to rotate reversely. By means of the pedal control method, the pedal can generate the resistance adapting to the rotating speed change through the pedal motor, the control precision of an operator on the pedal is improved, the pedal motor is reversely driven for feedback during overload, and damage to a mechanical structure is avoided.

    本发明涉及船舶控制技术领域,公开了一种脚踏控制方法、存储介质及装置,其中方法包括如下步骤:获取踏板的转速和旋转角度;根据踏板的转速计算踏板电机的踏板力矩,根据踏板力矩对踏板电机进行有感FOC控制;根据踏板的旋转角度与设备电机的输出量之间的映射关系计算设备电机的期望输出量;根据设备电机当前输出量与期望输出量之间的差值计算设备电机的输出力矩;根据设备电机的输出力矩对设备电机进行有感FOC控制,当设备电机的输出力矩超过其设定的最大输出力矩时,控制踏板电机反向旋转。使用该脚踏控制方法,可以通过踏板电机使踏板产生适应转速变化的阻力,提高操作者对踏板的控制精度,并在过载时反向驱动踏板电机反馈,避免机械结构损坏。


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    Title :

    Pedal control method, storage medium and device


    Additional title:

    一种脚踏控制方法、存储介质及装置


    Contributors:
    CHEN QIWEI (author)

    Publication date :

    2025-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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