JP2001334995A - Steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering device which can move a ship in the transverse direction while maintaining the azimuth without reducing the moving speed in the transverse direction by the output of a bow thruster. SOLUTION: This steering device comprising a propulsion propeller for obtaining the propulsion force in the longitudinal direction of a hull, a rudder and the bow thruster for obtaining the propulsion force in the transverse direction of the hull, comprises an operating means which enables the heeling operation including the heel in the longitudinal direction and the transverse direction of the full from the upright stop position and a controller for outputting the signal to control the movement of the propulsion propeller and the bow thruster based on the setting by the operating means. The controller controls the blade angle of the bow thruster so as to obtain the maximum value of the propulsion force in the transverse direction outputted thereby in the setting that the azimuth of the bull is maintained, and the hull is moved in the transverse direction, and the controller also controls the blade angle of the propulsion propeller and the angle of the rudder are corrected in the azimuth deviation to the hull so as to obtain the turning moment required for maintaining the azimuth.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joystick type steering device.

[0002]

2. Description of the Related Art In a ship, for example, a work boat for performing various operations in a harbor or the like, in addition to a boat maneuvering device that usually performs a main operation of the hull, a joystick type so-called joystick type that operates the hull in an emergency or the like. The device is mounted.

[0003] This boat maneuvering device is mounted on a hull provided with a propulsion propeller comprising a variable pitch propeller for obtaining propulsion force in the front-rear direction, a rudder, and a bow thruster having a variable pitch propeller for obtaining propulsion force in the lateral direction of the hull. In the ship maneuvering device, a tilting operation including tilting in the hull longitudinal direction and the hull lateral direction from the upright stop position is possible, and an operation lever for setting the movement of the hull according to the tilting direction, and based on the setting by the operation lever, A controller for outputting a signal for controlling the movement of the propeller and the rudder and the bow thruster.

Conventionally, this ship maneuvering device performs the following control when the hull is moved laterally. When the hull is moved in the lateral direction, the operation lever of the marine vessel maneuvering device is tilted in the lateral direction of the hull. FIG. 6 is an explanatory view schematically showing control in the case where the hull moves in the lateral direction without maintaining the azimuth, and FIG. 7 is an explanatory view schematically showing control in the case where the hull moves in the lateral direction while maintaining the azimuth. is there. A propelling propeller 2 and a rudder 3 are provided at the stern of the hull 1, and a bow thruster 4 is provided at the bow.

[0005] Here, the rudder 3 receives the propulsive force of the propulsion propeller 2 in the longitudinal direction of the hull and converts it into propulsive force in the lateral direction of the hull. The bow thruster 4 directly outputs a propulsion force in the lateral direction of the hull. The moving speed of the hull 1 in the lateral direction is determined by the lateral propulsion output by the bow thruster 4.

In the case where the hull moves in the lateral direction without maintaining the azimuth of the hull, the wing angle of the bow thruster 4 is controlled so as to obtain the maximum value of the lateral thrust output from the bow thruster 4, and the wing angle and the wing angle of the propeller 2 are controlled. The angle of the rudder 3 is controlled so as to obtain a lateral driving force of a magnitude corresponding to the lateral driving force of the bow thruster 4. That is, since there is no restriction of maintaining the azimuth of the hull 1, the wing angle of the bow thruster 4 is set to the maximum value to maximize the output, thereby maximizing the speed of the lateral movement of the hull 1.

When the hull 1 moves in the lateral direction while maintaining the azimuth of the hull, for example, if the bow of the hull 1 is inclined rightward in the lateral movement direction, the magnitude of the thrust of the bow thruster 4 is reduced (for example, 30%). Reduced to 70% propulsion)
The wing angle of the propulsion propeller 2 and the angle of the rudder 3 are increased to compensate for the reduction in the lateral propulsion force of the bow thruster 4 (Example 30).
% To give 130% propulsion), and give the hull 1 a moment giving the direction and magnitude so as to correct the azimuth deviation of the hull 1 and return to the normal azimuth, and turn the hull 1 To maintain a normal azimuth position. In other words, a moment for correcting the heading deviation is obtained by a combination of the propulsion force based on the output of the bow thruster 4 and the propulsion force based on the combination of the output of the propulsion propeller 2 and the angle of the rudder 3, thereby maintaining the orientation of the hull. FIGS. 8A to 8C are diagrams (related to the passage of time) showing the states of respective parts for explaining the control mode in the lateral movement while maintaining the azimuth shown in FIG. 7, and FIG. FIG. 4 is a diagram illustrating a size of a blade angle of the bow thruster 4, in which a blade angle smaller than a maximum blade angle is set, and output is suppressed to be low. FIG. 8B
Indicates the magnitude of the setting of the angle of the rudder 3, which is set to the maximum magnitude. FIG. 8C shows the magnitude of the setting of the wing angle of the propulsion propeller 2, which is set to a size that compensates for the wing angle of the bow thruster 4.

[0008]

As described above, in the conventional joystick maneuvering device, when the hull is moved in the lateral direction while maintaining the azimuth, the moment balance for correcting the azimuth deviation of the hull and maintaining the azimuth is maintained. In consideration of this, the propulsion force based on the output of the bow thruster and the propulsion force based on the combination of the output of the propulsion propeller and the rudder are calculated, and the superposition of these results to obtain the moment for turning the hull.

However, in such a control for moving the hull in the lateral direction while maintaining the azimuth, the wing angle of the bow thruster is suppressed to a value smaller than the maximum value depending on the direction of the azimuth deviation of the hull as described above. The output of the bow thruster may be kept below the maximum value. As a result, the moving speed in the lateral movement of the hull is suppressed to be lower than the maximum value, and the lateral moving speed is reduced.

It is an object of the present invention to provide a boat maneuvering device capable of moving a hull in the lateral direction while maintaining the azimuth without lowering the lateral moving speed due to the output of the bow thruster.

[0011]

According to a first aspect of the present invention, there is provided a boat maneuvering device, comprising: a propulsion propeller comprising a variable pitch propeller for obtaining a propulsion force in a longitudinal direction of a hull; a rudder; and a variable pitch propeller for obtaining a propulsion force in a lateral direction of the hull. In a boat maneuvering device mounted on a hull provided with a bow thruster having a tilting operation, a tilting operation including a tilting in a longitudinal direction of the hull and a lateral direction of the hull can be performed from an upright stop position, and the movement of the hull is set according to the tilting direction. Operating means, comprising a controller that outputs a signal for controlling the movement of the propulsion propeller and the rudder and the bow thruster based on the setting by the operating means,
The controller controls the wing angle of the bow thruster so as to obtain the maximum value of the lateral thrust output by the bow thruster, and sets the propeller propeller in a setting in which the hull is moved in the lateral direction without maintaining the heading. The wing angle and the angle of the rudder are controlled so as to obtain a lateral propulsion force of a magnitude corresponding to the lateral thrust force of the bow thruster, and the setting is to move the hull in the hull lateral direction while maintaining the azimuth, The wing angle of the bow thruster is controlled to obtain the maximum value of the lateral propulsion force output by the bow thruster, and the wing angle and the rudder angle of the propulsion propeller are corrected for azimuth deviation with respect to the hull to a predetermined value. It is characterized in that control is performed so as to obtain a turning moment necessary for maintaining the azimuth.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a side view schematically showing a hull provided with the boat maneuvering device of the present invention, and FIG. 2 is a plan view schematically showing the hull. As shown in FIGS. 1 and 2, a propulsion propeller 12 and a rudder 13 are provided at the stern of the hull 11. The propulsion propeller 12 is composed of a variable pitch propeller for obtaining propulsion in the hull longitudinal direction. A bow thruster 14 having a variable pitch propeller is provided. Here, the rudder 13 receives the propulsive force of the propulsion propeller 12 in the hull front direction and converts it into the propulsive force in the lateral direction of the hull. The bow thruster 14 directly outputs the propulsive force in the lateral direction of the hull. The moving speed of the hull 1 in the lateral direction is determined by the lateral thrust output from the bow thruster 14.

The hull 11 has a ship maneuvering device 15 of the present invention.
Is installed. The boat maneuvering device 15 of the present invention has a control panel 21 having a control lever 22 as an example of a control means, and a controller 23. The operation lever 22 is capable of performing a tilting operation including tilting in the longitudinal direction of the hull and in the lateral direction of the hull from the upright stop position, and sets the movement of the hull 11 in accordance with the tilting direction. The broken line in FIG. 2 indicates the operating direction of the operating lever. The controller 23 sends a signal for controlling the wing angle, the rotation speed and the rotation direction to the propulsion propeller 12 based on the setting by the operation lever 22,
A signal for controlling the direction and the angle with respect to 3 and a signal for controlling the blade angle, the rotation speed and the rotation direction with respect to the bow thruster 14 are output.

A case in which the boat maneuvering device 15 performs an operation of moving the hull 11 in the lateral direction will be described. In the case where the hull 11 is moved in the lateral direction, when the operation lever 22 is tilted in the lateral direction of the hull, the signal is sent to the controller 23.
Output to The controller 23 calculates the maximum value of the lateral thrust output from the bow thruster 14.

A case where the hull 11 is moved in the lateral direction without maintaining the azimuth by the marine vessel maneuvering device 15 will be described with reference to FIG. FIG. 3 is an explanatory diagram schematically showing control when the hull 11 moves in the lateral direction without maintaining the azimuth.

When the hull 11 is to be moved in the lateral direction without maintaining the bearing, the user selects "no bearing" by a setting switch (not shown) provided on the operation panel 21. Then, the blade angle of the bow thruster 14 is controlled so as to obtain the maximum value of the lateral thrust output by the bow thruster 14, and the propeller 12
Of the wing and the angle of the rudder 13 are controlled so as to obtain a lateral propulsion of a magnitude commensurate with the lateral propulsion of the bow thruster 4. Since there is no restriction of maintaining the orientation of the hull 11, the wing angle of the bow thruster 14 is set to the maximum value to maximize the output, thereby maximizing the propulsive force of the hull 11 in lateral movement.

That is, When the operation of tilting the operation lever 22 is performed, for example, in the rightward direction in the figure, the operation signal is output to the controller 23. The controller 23 sets the wing angle and the rotation speed of the bow thruster 14 to the maximum to maximize the hull lateral thrust, and sets the direction of the thrust to the bow thruster so as to be the same as the operation direction of the operation lever 22. It controls the direction of rotation of 14 and outputs a control signal to bow thruster 14. Further, the controller 23
The wing angle, rotation speed and rotation direction of the propeller 12 are such that a combination of the propeller 12 and the rudder 13 can provide a lateral propulsion having the same magnitude and the same direction as the lateral thrust output by the bow thruster 14. Control the rudder 1
3 and outputs a control signal to the propulsion propeller 12 and the rudder 13. As a result, the hull 11 moves in the right lateral direction in the figure without maintaining the bearing.

The case where the hull 11 is moved in the lateral direction while maintaining the azimuth by the marine vessel maneuvering device 15 will be described with reference to FIGS. FIG. 4 is a diagram schematically showing the control in the case where the ship moves in the lateral direction while maintaining the orientation of the hull.

When the hull 11 is to be moved in the lateral direction while maintaining its azimuth, the azimuth maintenance is selected by a setting switch (not shown) provided on the operation panel 21. Then, the wing angle of the bow thruster 14 is controlled so as to obtain the maximum value of the lateral thrust output by the bow thruster 14, and the azimuth deviation of the wing angle of the propulsion propeller 12 and the angle of the rudder 13 with respect to the hull 11 is corrected. Control to obtain the turning moment necessary to maintain the bearing. Thus, when the hull 11 is moved in the lateral direction, the azimuth of the hull 11 can be sufficiently maintained while the lateral propulsion by the output of the bow thruster 14 is maintained at the maximum value.

That is, when the operation lever 22 is tilted, for example, toward the right side in the figure, the operation signal is output to the controller 23. The controller 23 sets the blade angle and the rotation speed of the bow thruster 14 to the maximum to maximize the lateral thrust, and sets the direction of the thrust to the bow thruster 14 so as to be the same as the operation direction of the operation lever 22. , And outputs a control signal to the bow thruster 14. Further, the controller 23 corrects the azimuth deviation of the hull 11 in accordance with the propulsion force of the bow thruster 11 by combining the propulsion propeller 12 and the rudder 13 so that the hull 11 returns to a predetermined azimuth (for example, upward in the drawing). The wing angle, the rotation speed and the rotation direction of the propeller 12 are controlled so as to generate a lateral propulsion force for applying a moment to the hull 11 so as to cause the hull 11 to turn around the center of gravity. The angle is controlled, and the control signal is output to the propulsion propeller 12 and the rudder 13. The lateral propulsion force of the combination of the propulsion propeller 12 and the rudder 13 is larger than the maximum value of the lateral propulsion force output by the bow thruster 14 (for example, 15% by increasing 50%).
0% propulsion).

FIGS. 5A to 5C are diagrams (related to the passage of time) showing the state of each part for explaining the control mode in the case of moving in the lateral direction while maintaining the azimuth shown in FIG. FIG. 5A is a diagram showing the size of the wing angle of the bow thruster 14, which is set to the maximum wing angle. FIG. 5B is a diagram showing the magnitude of the setting of the angle of the rudder 13.
This is set to the maximum size. FIG. 5C shows the magnitude of the setting of the wing angle of the propelling propeller 12, which is larger than the wing angle when the hull 1 is moved in the lateral direction in consideration of the moment balance.
1 fluctuates according to the misalignment.

In this manner, the hull 11 can be moved in the lateral direction while maintaining the azimuth without lowering the moving speed in the lateral direction due to the output of the bow thruster. The operation of moving can be performed without any trouble by the conventionally performed control.

The present invention is not limited to the above-described embodiment, but can be implemented with various modifications.

[0024]

According to the first aspect of the present invention, when the hull is moved in the lateral direction, the lateral propulsion force generated by the bow thruster is maintained at a maximum value to reduce the lateral moving speed due to the bow thruster output. It is possible to sufficiently maintain the orientation of the hull without causing the hull to maintain its orientation.

[Brief description of the drawings]

FIG. 1 is a side view schematically showing a hull equipped with a boat maneuvering device according to an embodiment of the present invention.

FIG. 2 is a plan view schematically showing a hull provided with the boat maneuvering device in the embodiment.

FIG. 3 is an explanatory diagram showing a case where the hull is moved in the lateral direction by the boat maneuvering device of the embodiment.

FIG. 4 is an explanatory diagram showing a case where the hull is moved in a lateral direction by the boat maneuvering device of the embodiment.

FIG. 5 is a diagram showing a control mode when the hull is moved in the lateral direction by the boat maneuvering device of the embodiment.

FIG. 6 is an explanatory diagram showing a case where a hull is moved in a lateral direction by a conventional boat maneuvering device.

FIG. 7 is an explanatory diagram showing a case where a hull is moved in a lateral direction by a conventional boat maneuvering device.

FIG. 8 is a diagram showing a control mode when the hull is moved in a lateral direction by a conventional boat maneuvering device.

[Explanation of symbols]

 11 Hull, 12 Propeller, 13 Rudder, 14 Bow thruster, 15 Ship maneuvering device, 21 Operation panel, 22 Operation lever, 23 Controller.

Claims (1)

[Claims] 1. A boat maneuvering device mounted on a hull provided with a propulsion propeller comprising a variable pitch propeller for obtaining a propulsive force in a hull longitudinal direction, a rudder, and a bow thruster having a variable pitch propeller for obtaining a propulsive force in a lateral direction of the hull. An operating means for performing a tilting operation including a tilting of the hull in the longitudinal direction of the hull and a lateral direction of the hull from an upright stop position, and for setting the movement of the hull in accordance with the tilting direction; A controller for outputting a signal for controlling the movement of the propeller and the rudder and the bow thruster, wherein the controller is configured to move the hull in the lateral direction of the hull without holding the heading, and The blade angle of the propulsion propeller is controlled so as to obtain the maximum value of the lateral propulsion force output by the bow thruster. In a setting in which the rudder angle is controlled so as to obtain a lateral propulsion having a magnitude corresponding to the lateral thrust of the bow thruster, and the hull is held in the azimuth and is moved in the lateral direction of the hull, the wing angle of the bow thruster is changed. Control to obtain the maximum value of the lateral propulsion force output by the bow thruster,
And a wing angle and a rudder angle of the propulsion propeller are controlled so as to obtain a turning moment necessary for maintaining a predetermined azimuth by correcting an azimuth deviation with respect to the hull.