DE102016204359A1 - Electrohydraulic control system of a drive unit of a watercraft - Google Patents

Abstract

Disclosed is an electro-hydraulic control system for a watercraft, with which a drive unit can be pivoted about two independent axes via two independent pressure supply devices. The one pivoting movement leads to a control of the watercraft. A reliability of this control of the vessel is increased by the fact that in an emergency operation, the pressure supply device of the other pivotal movement can be connected to the control of the vessel.

Description

The invention relates to an electrohydraulic system for controlling the drive unit of a watercraft according to the preamble of patent claim 1.

"Drive unit" is preferably to be understood as a device which forms a link between an engine (for example a diesel engine) and a propeller (or two propellers arranged behind one another) in terms of power flow and device technology. In this case, the engine is arranged in the interior of the watercraft, and the drive unit protrudes at least partially down or rear out of the watercraft display, so that it is submerged at least in sections under water. Often drive shaft sections are provided in such drive units, which are angled to each other via universal joints.

In electrohydraulic systems for controlling the propulsion unit of a watercraft, it is known to provide a first hydraulic actuator for pivoting the propulsion unit including the propeller coupled thereto about a vertical axis so as to control the vessel, and further comprising a second hydraulic actuator for pivoting the propulsion unit to provide a horizontal transverse axis, so as to trim the vessel and bring it faster in the aspired horizontal plane and thus in a stable position. Thus, at high acceleration and at high speed an excessive lowering of the stern and lifting the bow of the vessel prevented and / or optimally aligned the thrust direction of the propeller, thus increasing the efficiency of the drive.

From the prior art it is known for the above two functions to provide two separate systems or two separate units, wherein a so-called control motor-pump unit hereinafter the actuator for the control (rudder) and a separate in the Subsequent so-called tilt motor-pump unit supplies the actuator for the tilt (trim).

A disadvantage of such electro-hydraulic control systems is that no emergency operation is possible because there is no redundant system structure. If an error occurs in the system or in the aggregate for the control, the vessel is unable to maneuver and thus relies on outside help.

In contrast, the invention is based on the object to provide an electro-hydraulic control system for a watercraft, in which a failure of the control motor-pump unit does not lead to a maneuverability of the vessel.

This object is achieved by an electrohydraulic actuating system for a drive unit of a watercraft having the features of patent claim 1.

The claimed electro-hydraulic control system serves to pivot and position a drive unit of a watercraft, in particular of motor boats and yachts. The claimed electro-hydraulic control system has on the one hand a hydraulic Steueraktorik which is designed for pivoting or rotating the drive unit including its propeller about an approximately vertical axis and thus to control the vessel, and on the other hand has a hydraulic tilting reactor, which is used for pivoting or rotating the Drive unit is formed about an approximately horizontal transverse axis and thus for trimming the watercraft or its propeller, on. In this case, the control actuator is connectable or connected to a control motor-pump unit, while the tilt reactor is connectable or connected to a tilt motor-pump unit. According to the invention, the tilt motor-pump unit can be connected to the control actuator via a change-over valve arrangement for emergency operation. This provides redundancy for the control (rudder function) of the watercraft, which increases the availability and usability of the electro-hydraulic control system and thus the safety for the driver or crew and passengers of the watercraft. Despite the malfunction in its actual engine-pump unit, the watercraft can be driven back into a harbor on its own without help or assistance from the outside.

Further advantageous embodiments of the invention are described in the dependent claims.

In order to enable a particularly failsafe switching to emergency operation, the reversing valve arrangement is preferably manually operable and thus independent of any power supply and external control. Alternatively, a user-friendly remote-controlled operation may be provided. Both concepts can be realized simultaneously.

In a particularly preferred embodiment, a first tilting working line or a first working connection of the tilting motor-pump unit via a first switching valve of Umschaltventilanordnung with a first control working line is connected, while corresponding to a second tilting working line or a second working connection of the inclination Motor pump unit over a second switching valve of the changeover valve assembly is connectable to a second control working line.

The two changeover valves can each be formed by a 3/2-way valve designed as a ball valve.

If the two changeover valves are mechanically coupled in such a way that they can always be actuated synchronously, it is possible to switch over the entire actuating system into emergency operation with a single changeover movement.

Preferably, the first switching valve is connected via a first connecting line to an input port of a first shuttle valve, whose further input port is connected to a first working port of the control motor-pump unit, and whose output port is connected to the Steueraktorik. Correspondingly, the second change-over valve is connected via a second connecting line to an input connection of a second change-over valve whose further input connection is connected to a second working connection of the control motor-pump unit and whose output connection is connected to the control actuator. Each time the operating mode is changed, the shuttle valves switch automatically.

Preferably, the control circuit comprises a hydraulically-releasable double check valve having in each of the two control working lines a check valve whose opening direction is directed from the output of the associated shuttle valve to the control actuator. The respective valve body is acted upon by the pressure of the respective other control working line in the opening direction of the check valve.

It is device-technically simple if the adjusting device has exactly one tank, which can be connected or connected to both motor-pump units or to the four working lines. If the tank is at least partially transparent, the level can be easily controlled. Device technology and manufacturing technology is simple, if the entire tank is made in one piece and transparent.

The first tilting working line is connectable to the tank via a hydraulically operated check valve and a tank line, an opening direction of the check valve being directed from the tank to the tilting reactor, and a valve body of the check valve being subject to the pressure of the second tilting working line in the opening direction of the check valve is charged. Thus, e.g. in the case of a closed circuit and in the case of one or more identical differential cylinders, the difference between the ground space connected to the first tilting working pipe and the rod space is returned to the tank.

Preferably, a shock valve designed as a pressure limiting valve is connected to the second tilting working line, which opens a connection from the second tilting working line to the tank line when an adjustable maximum pressure of the second tilting working line is exceeded in relation to the tank line.

Preferably, a designed as a pressure relief valve shock valve of the first control working line is provided, which opens a connection from the first control working line to the second control working line when exceeding an adjustable maximum pressure of the first control working line relative to the second control working line. In addition, designed as a pressure relief valve shock valve of the second control working line is provided, which opens a connection from the second control working line to the first control working line when exceeding an adjustable maximum pressure of the second control working line relative to the first control working line. These two maximum pressures are preferably set to the same value in order to achieve a symmetrical behavior of the control actuator during retraction and extension of the differential cylinders. Furthermore, a shock valve designed as a pressure limiting valve of the first tilting working line can be provided, which opens a connection from the first tilting working line to the second tilting working line when an adjustable maximum pressure of the first tilting working line is exceeded relative to the second tilting working line.

In order to achieve a symmetrical effect of the control function of the actuating system according to the invention to the left and to the right, it is preferred if the control actuator has two oppositely supplied and oppositely directed identical differential cylinder. To the first control working line, a bottom space of a differential cylinder and an annular space of the other differential cylinder are connected. To the second control working line, an annular space of a differential cylinder and a bottom space of the other differential cylinder are connected. This compensates for a volume balance during a positioning movement.

In order to be able to generate a higher lifting force than the lowering force when tilting or trimming the drive unit, it is preferred if the tilting reactor has two identically constructed differential cylinders of the same type. As already mentioned, the first tilting direction in the lifting direction Working line connected to the two bottom spaces of the two differential cylinders, and the two annular chambers of the two differential cylinders are connected to the acting in the lowering second tilting working line.

For monitoring the achieved or set position of the drive unit on the one hand in the control direction and on the other hand in the direction of tilting, the positions of the respective piston rods of the differential cylinders can be detectable via a respective position sensor. This is necessary for the "autopilot" and "auto-trim" function of the vessel.

Preferably, the two motor-pump units each have a variable speed electric motor and a reversible pump. Then, an electronic engine control, which is connected to the position sensors and with the variable speed electric motors, be provided which regulates the power supply of the two variable speed electric motors in response to a setpoint and the position sensors, the direction of rotation of the respective pump, the direction of movement of the control or Inclination actuators (retraction or extension of the differential cylinder) determined. This can be dispensed with lossy directional valves. Furthermore, no hydraulic pilot lines are needed, which would have to extend from the driver's cab to the adjusting device, and which could run empty and then contain air. Such loss of pressure medium in the pilot lines is disadvantageous for reasons of environmental protection and for reasons of too long response time, in particular the control function.

Preferably, the control actuator and the tilt reactor are connectable or connected via a respective closed circuit with the associated motor-pump unit. This offers in particular together with the variable speed electric motors a higher energy efficiency than in the known from the prior art open circuits, the throttle control means higher losses. Furthermore, the pressure fluid volume to be circulated is low, so that preferably exactly one tank can be small. Thus, the adjusting device according to the invention is compact.

A particularly high reliability of the control function and also a redundancy of the tilt function can be achieved if two control motor-pump units and two tilt motor-pump units are provided.

A nominal size is suitable for several sizes of the control system according to the invention. This results in a reduction of the number of variants.

Several embodiments of an inventive electrohydraulic control system for a watercraft are shown in the drawings. With reference to the figures of these drawings, the invention will now be explained in more detail.

Show it

1 a hydraulic circuit diagram of the control system according to the invention in normal operation,

2 the hydraulic circuit diagram of the control system off 1 in emergency mode, and

3 an electrical circuit diagram of the control system of the invention from the 1 and 2 ,

1 shows the embodiment of the control system according to the invention in normal operation. It has a first motor-pump unit acting as a control motor-pump unit 1 is designated, and which serves to supply a control actuator. The Steueraktorik consists of two oppositely acting differential cylinders 4 . 5 for pivoting a propulsion unit of a water vehicle about an approximately vertical axis so as to laterally pivot the propeller and steer the vessel. Furthermore, the control system has a second motor-pump unit, which serves as a tilt motor-pump unit 2 is designated, and which serves to supply a Neigeaktorik, consisting of two in the same direction or parallel to each other connected differential cylinders 8th . 9 consists. These allow the propulsion unit to be pivoted about a horizontal transverse axis of the craft to prevent excessive lowering of the stern and lift of the bow during high acceleration or high speed travel, or to optimally align the propeller to trim the craft and make it faster to achieve the desired horizontal level and thus to a stable position in order to optimize the efficiency of the entire drive.

The supply of the Steueraktorik on the one hand and the tilting reactor on the other hand via a respective closed hydraulic circuit, wherein in a circle a first control working line 6 and a second control work line 7 are provided while in the other circle a first tilting working line 10 and a second tilting work line 11 are provided. The first control work line 6 branches to a floor space of a differential cylinder 4 and to an annulus of the other differential cylinder 5 the tax actor. The second control work line 7 branches to one Annular space of a differential cylinder 4 and to a floor space of the other differential cylinder 5 the tax actor. The first tilting work management 10 branches to the two floor spaces of the two differential cylinders 8th . 9 the tilting reactor. The second tilting work line 11 branches to the two annular spaces of the two differential cylinders 8th . 9 the tilting reactor.

The direction of rotation of the respective reversible pump of the motor-pump unit 1 . 2 determines the direction of movement of the control or inclination actuators (retraction or extension of the differential cylinders).

The two control working lines 6 . 7 are mutually connected via a respective pressure relief valve 3a . 3b connected. For each pressure relief valve 3a . 3b will be the pressure of the affected control work line 6 . 7 in the opening direction, while in the closing direction, the pressure of the other control working line 7 . 6 and each adjustable spring force acts. In the same way, the first tilting work line is 10 with a pressure relief valve 12 with the second tilting work line 11 connected, the pressure of the first tilting working line 10 in the opening direction, while the pressure of the second tilting working line 11 and the adjustable spring force act in the closing direction.

The first tilting work management 10 is to return a difference volume between the two floor spaces and the two annular spaces of the differential cylinder 8th . 9 the tilt reactor via a check valve 14 and a tank line 23 connected to a common tank T of the control system. An opening direction of the check valve 14 is from tank T to the first tilting work line 10 directed. The check valve 14 is hydraulically unlockable by means of the pressure of the second tilting working line 11 , which is connected to the non-return valve via a load pressure signaling line 14 is transmitted. In the tank line 23 is between the check valve 14 and the tank T a return filter with bypass valve 16 intended.

So also in the second tilting work line 11 no inadmissible pressure peaks occur, this is with a pressure relief valve 13 connected, the output side with the tank line 23 at a point between the check valve 14 and the return filter with bypass valve 16 connected is. This check valve 13 is in the opening direction from the pressure of the second tilting working line 11 and acted upon in the closing direction of the insignificant pressure of the tank T and the adjustable spring force.

In the two tilt working lines 10 . 11 is between each tilt motor-pump unit 2 and the pressure relief valves 12 . 13 as a 3/2-way valve in ball valve design formed switching valve 15a . 15b intended. The two changeover valves 15a . 15b are mechanically coupled to each other so that they are always synchronized, and form a Umschaltventilanordnung 15 , In the in 1 shown position of the Umschaltventilanordnung 15 is the tilt motor pump unit 2 with the two differential cylinders 8th . 9 connected to the tilting reactor. Thus, the two closed hydraulic circuits of the two functions of the adjusting device according to the invention - apart from the common tank T - are separated from each other.

All four working pipes 6 . 7 . 10 . 11 are connected via a respective designed as a check valve suction valve with the tank T. The tank T has a ventilation valve 17 and a filling opening 18 on. Furthermore, a level indicator 19 intended.

To an unintentional uncontrolled movement of the two differential cylinders 4 . 5 to prevent the Steueraktorik is between the two control working lines 6 . 7 a double check valve 21 provided in each of the two control working lines 6 . 7 a hydraulic pilot check valve, the opening direction of the control motor-pump unit 1 to the two differential cylinders 4 . 5 the Steueraktorik is addressed. From the other control work line 7 . 6 is transmitted via a load pressure signaling line, the pressure to the respective check valve, so that this is a return free, if in the other serving as a feed control working line 7 . 6 the working pressure increases.

The double check valve 21 serves to keep the position of the control actuator without energy expenditure, so that the control motor-pump unit 1 Do not constantly run just to keep the rudder of the vessel on the same course. This is the double check valve 21 a kind of detent. In addition, the double-check valve 21 Prevent too high pressure up to the control motor pump unit 1 when one or both of the pressure relief valves serving as shock valves 3a . 3b to open.

By the arrangement of the two serving as shock valves pressure relief valves 3a . 3b between the actors 4 . 5 and the double check valve 21 can occur at external loads on the differential cylinders 4 . 5 Both pulling and pushing, by opening one or both pressure relief valves 3a . 3b when the adjustable maximum pressure is exceeded on the Pressure relief valves 3a . 3b , a connection ("short circuit") between the control working lines 6 . 7 be generated. This (or this) allows moving the differential cylinder 4 . 5 up to the internal mechanical stroke limitation. This allows the drive unit to yield and dodge the external loads to mitigate or prevent eventual overload or damage to the control circuit. The same applies analogously to the tilt circuit.

To enable an emergency operation of the control system according to the invention, the two changeover valves 15a . 15b the changeover valve arrangement 15 via a respective connecting line 24a . 24b with an input of a shuttle valve 22a . 22b whose respective further input via a respective section of the respective control working line 6 . 7 with the control motor pump unit 1 connected is. To a respective output of the shuttle valves 22a . 22b is above the respective other section of the respective control work line 6 . 7 connected the Steueraktorik.

In the in 1 Normal operation shown are the connecting lines 24a . 24b via the changeover valves 15a . 15b from the tilt work lines 10 . 11 separated, so that when pressure rises at one of the two control working lines 6 . 7 the corresponding shuttle valve 22a . 22b connects the other input to the output, so that the control motor-pump unit 1 over the control work lines 6 . 7 connected to the control actuator.

If necessary to maintain the maneuverability of the vessel absolutely necessary control motor-pump unit 1 should fail, the Umschaltventilanordnung 15 be manually switched, whereby the actuator in an emergency operation according to 2 is switched. By the operation of the Umschaltventilanordnung 15 becomes the tilt motor-pump unit 2 from the two differential cylinders 8th . 9 the Neigeaktorik separated and instead via the two connecting lines 24a . 24b and over the two shuttle valves 22a . 22b so with the two control working lines 6 . 7 connected that now the tilt motor pump unit 2 the two differential cylinders 4 . 5 can supply the Steueraktorik. Because now the pressure in the connecting lines 24a . 24b is higher than in the with the control motor-pump unit 1 connected sections of the control work lines 6 . 7 , the shuttle valves switch to the in 2 shown positions and connect their respective first input to its output. Therefore, the tilt reactor is no longer being serviced, but the control mechanism essential for a return of the craft to a port can be maintained.

Furthermore, at the four differential cylinders 4 . 5 . 8th . 9 respective position sensors 26 . 28 . 30 . 32 arranged over which the position of the movable piston rods and thus the respective achieved by the actuator deflection of the drive unit is detected. This is necessary for the "autopilot" and "auto-trim" function of the vessel.

3 shows an electrical circuit diagram of the control system according to the invention from the 1 and 2 , It is a control box or control cabinet 34 of the water vehicle in which an electronic controller 36 and an electronic engine control 38 are arranged. The electronic controller 36 will have a connection 39 powered by a 12 / 24VDC electrical system and is electronic with a higher level control 40 of the watercraft and with a respective electrical signal line 42 connected to the control units on the one hand for the control of the vessel and on the other hand for its trim. Furthermore, the electronic controller 36 via respective signal lines 44 with the position sensors 26 . 28 . 30 . 32 the piston rods of the differential cylinder 4 . 5 . 8th . 9 (see. 2 ) connected. Finally, the electronic controller 36 with the engine control 38 connected via a respective signal line 46 with the two variable speed electric motors of the pump motor units 1 . 2 connected is.

In a preferred embodiment of the control system according to the invention has the control motor-pump unit 1 a nominal flow rate of about 3 liters per minute and the tilt motor-pump unit 2 a nominal flow rate of about 2 liters per minute.

In a preferred embodiment of the control system according to the invention, the two pressure relief valves 3a . 3b of the closed circuit for the control each set to about 100 bar.

In a preferred embodiment of the control system according to the invention, the pressure relief valves 12 . 13 of the inclination working group set to about 220 bar.

Disclosed is an electro-hydraulic control system for a watercraft, with which a drive unit can be pivoted about two independent axes via two independent pressure supply devices. The one pivoting movement leads to a control of the watercraft. A reliability of this control of the vessel is increased by the fact that in an emergency operation, the pressure supply device of the other pivotal movement can be connected to the control of the vessel.

LIST OF REFERENCE NUMBERS

1

Control the motor-pump unit

2

Tilt motor-pump unit

3a

Pressure relief valve

3b

Pressure relief valve

4

differential cylinders

5

differential cylinders

6

first control work line

7

second control work line

8th

differential cylinders

9

differential cylinders

10

first tilting work management

11

second tilting work line

12

Pressure relief valve

13

Pressure relief valve

14

check valve

15

transfer valve

15a

switching valve

15b

switching valve

16

Return filter with bypass valve

17

Ventilation valve

18

fill opening

19

level indicator

21

Double check valve, hydraulically unlockable

22a

first shuttle valve

22b

second shuttle valve

23

tank line

24a

first connection line, emergency operation

24b

second connection line, emergency operation

26

position sensor

28

position sensor

30

position sensor

32

position sensor

34

switch cabinet

36

electronic regulator

38

Electronic engine control

39

connection

40

higher-level control

42

signal line

44

signal line

46

signal line

Claims (15)

Electrohydraulic actuating system for a drive unit of a watercraft with a hydraulic control actuator ( 4 . 5 ), which is designed for pivoting the drive unit about an approximately vertical axis and thus for controlling the watercraft, and with a hydraulic tilting reactor ( 8th . 9 ), which is designed for pivoting the drive unit about an approximately horizontal transverse axis and thus for trimming the watercraft or the drive unit, wherein the control ( 4 . 5 ) with a control motor-pump unit ( 1 ), and wherein the tilt reactor ( 8th . 9 ) with a tilt motor-pump unit ( 2 ), characterized in that the tilt motor-pump unit ( 2 ) via a switching valve arrangement ( 15 ) with the control ( 4 . 5 ) is connectable. Electrohydraulic control system according to claim 1, wherein the switching valve arrangement ( 15 ) is manually operable. Electrohydraulic actuating system according to claim 1 or 2, wherein a first tilting working line ( 10 ) or a first working port of the tilt motor-pump unit ( 2 ) via a first switching valve ( 15a ) of the switching valve arrangement ( 15 ) with a first control working line ( 6 ) is connectable, and wherein a second tilting work line ( 11 ) or a second working port of the tilt motor pump unit ( 2 ) via a second changeover valve ( 15b ) of the switching valve arrangement ( 15 ) with a second control working line ( 7 ) is connectable. Electrohydraulic control system according to claim 3, wherein the two changeover valves ( 15a . 15b ) are mechanically coupled to each other so that they are always synchronously actuated. Electrohydraulic control system according to claim 3 or 4, wherein the first switching valve ( 15a ) via a first connecting line ( 24a ) with an input connection of a first shuttle valve ( 22a ) whose further input terminal is connected to a first working connection of the control motor / pump unit ( 1 ), and its output terminal with the control ( 4 . 5 ), and wherein the second switching valve ( 15b ) via a second connecting line ( 24b ) with an input connection of a second shuttle valve ( 22b ) whose further input terminal is connected to a second working port of the control motor-pump unit ( 1 ), and its output terminal with the control ( 4 . 5 ) connected is. Electrohydraulic control system according to claim 5, with a hydraulically releasable double check valve ( 21 ), which can be found in every control work 6 . 7 ) has a check valve whose opening direction from the output of the associated shuttle valve ( 22a . 22b ) to the taxation ( 4 . 5 ), and its valve body from the pressure of the respective other control working line ( 7 . 6 ) is acted upon in the opening direction of the check valve. Electrohydraulic control system according to one of claims 3 to 6, with exactly one tank (T) connected to both motor-pump units ( 1 . 2 ) or with the four working lines ( 6 . 7 . 10 . 11 ) is connectable. Electrohydraulic actuating system according to claims 3 and 7, wherein the first tilting working line ( 10 ) via a hydraulically releasable Check valve ( 14 ) and via a tank line ( 23 ) is connectable to the tank (T), wherein an opening direction of the check valve ( 14 ) from the tank (T) to the tilt reactor ( 8th . 9 ), and wherein a valve body of the check valve ( 14 ) from the pressure of the second tilting work line ( 11 ) in the opening direction of the check valve ( 14 ) is acted upon. Electrohydraulic actuating system according to Claim 8 with a pressure limiting valve ( 13 ) for limiting the pressure of the second tilting working line ( 11 ) which, when a predetermined maximum pressure of the second tilting working line ( 11 ) opposite the tank line ( 23 ) a connection from the second tilting work line ( 11 ) to the tank line ( 23 ) opens. Electrohydraulic actuating system according to one of Claims 3 to 9, having a pressure limiting valve ( 3b ) for limiting the pressure of the first control working line ( 6 ) which, when a predetermined maximum pressure of the first control working line ( 6 ) relative to the second control work line ( 7 ) a connection from the first control working line ( 6 ) to the second control work line ( 7 ) opens, and / or with a pressure relief valve ( 3a ) for limiting the pressure of the second control working line ( 7 ) which, when a predetermined maximum pressure of the second control working line ( 7 ) compared to the first control work line ( 6 ) a connection from the second control working line ( 7 ) to the first control work line ( 6 ) opens and / or with a pressure relief valve ( 12 ) for limiting the pressure of the first tilting work line ( 10 ), which, when a predetermined maximum pressure of the first tilting working line ( 10 ) compared to the second tilting work line ( 11 ) a connection from the first tilting work line ( 10 ) to the second tilting work line ( 11 ) opens. Electrohydraulic control system according to one of the preceding claims, wherein the control actuator two oppositely supplied differential cylinder ( 4 . 5 ) having. Electrohydraulic control system according to one of the preceding claims, wherein the tilting reactor two differential cylinders in the same direction supplied ( 8th . 9 ) having. Electrohydraulic control system according to claim 11 or 12, wherein positions of respective piston rods of the differential cylinders ( 4 . 5 . 8th . 9 ) via a respective position sensor ( 26 . 28 . 30 . 32 ) are detectable. Electrohydraulic actuating system according to one of the preceding claims, wherein the two motor-pump units ( 1 . 2 ) each have a variable speed electric motor and reversible pumps. Electrohydraulic control system according to claims 13 and 14, with an electronic engine control ( 38 ) with the position sensors ( 26 . 28 . 30 . 32 ) and connected to the variable speed electric motors.

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