EP0035858A2 - Vorrichtung zum Steuern von Schiffen - Google Patents

Vorrichtung zum Steuern von Schiffen Download PDF

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Publication number
EP0035858A2
EP0035858A2 EP81300871A EP81300871A EP0035858A2 EP 0035858 A2 EP0035858 A2 EP 0035858A2 EP 81300871 A EP81300871 A EP 81300871A EP 81300871 A EP81300871 A EP 81300871A EP 0035858 A2 EP0035858 A2 EP 0035858A2
Authority
EP
European Patent Office
Prior art keywords
signals
propellers
hand lever
arithmetic circuit
maneuvering gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP81300871A
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English (en)
French (fr)
Other versions
EP0035858A3 (de
Inventor
Minoru A. Ishida
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ishikawajima Ship & Chemical Plant Co Ltd
Original Assignee
Ishikawajima Ship & Chemical Plant Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ishikawajima Ship & Chemical Plant Co Ltd filed Critical Ishikawajima Ship & Chemical Plant Co Ltd
Publication of EP0035858A2 publication Critical patent/EP0035858A2/de
Publication of EP0035858A3 publication Critical patent/EP0035858A3/de
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear

Definitions

  • This invention relates to a ship maneuvering gear, and more particularly to a maneuvering gear of a ship having two or more 360°-turning (also called Z-type) propulsion unit each of which units includes a propeller that can turn about a vertical shaft perpendicular to a propeller shaft thereof, so as to change the direction of propulsive force of the ship at will.
  • 360°-turning also called Z-type
  • propellers are turned in directions corresponding to a direction given by the lever to cause the ship to move ahead and turn, and the lever is also made to be inclined by a variable extent so that the propellers are turned broadside in proportion to the inclination of the lever, so as to control the speed of the ship.
  • the direction and the inclination (angle of push or pull down) of the one lever are detected as a vector quantity, and the vector quantity is decomposed into components along two horizontal axes, and instructions as to the directions of the two propellers are produced by complicated mathematical operations based on such components of the vector quantity.
  • the direction and the magnitude of the vector sum of the propulsive forces of the two propellers are controlled so as to coincide with the direction and the inclination of the lever.
  • the one-lever system of the prior art has a shortcoming in that the system requires complicated mathematical operations and a complicated arithmetic circuit is indispensable, because the direction and the inclination of the lever are detected as a composite vector quantity having components along two orthogonal coordinates and instructions as to the turning directions of the two propulsion units can be given only after the complicated mathematical operations based on the aforesaid components along the orthogonal coordinates.
  • an object of the present invention is to obviate the abovementioned shortcoming of the pior art, by providing an improved ship maneuvering gear.
  • the rotation and the inclination of one lever are separately detected by synchro motors (with a trademark of SELSYN motor) or potentiometers, and the thus detected rotation and inclination are applied to an arithmetic circuit so as to determine first quantity indicating a turn of two propellers proportionate to the rotation of the lever and second quantities indicating broadside turns of the propellers in proportion to the inclination of the lever for causing a change in the ship speed and to add the first and second quantities to produce an output signal which gives orientations to be assumed by the two propellers.
  • synchro motors with a trademark of SELSYN motor
  • potentiometers potentiometers
  • Another object of the invention is to substantially simplify the arithmetic circuit of the ship maneuvering gear.
  • 1 is a prime mover
  • 2 is a horizontal intermediate shaft
  • 3 is an upper bevel gear
  • 4 is a vertical intermediate shaft
  • 5 is a lower bevel gear
  • 6 is a propeller shaft
  • 7 p , 7 s are propellers
  • 8 p , 8 s are hydraulic motors
  • 9 is a worm shaft
  • 10 is a vertical turning shaft
  • 11 is an operating board
  • HL is a hand lever
  • P X , Py are synchro motors or potentiometers
  • SR is a slip ring
  • MC is an arithmetic circuit
  • A-P A-S are servo amplifiers
  • F p , F s are feedback detector means
  • T p , T s are s y nchro transmitters
  • R , R s are registers
  • S/A is a synchro analog converter
  • COMP is a phase comparator
  • AD is an adder
  • DS is a differential synchronizer
  • Fig. 1 through Fig. 5 illustrate an embodiment of the ship maneuvering gear according to the present invention as applied a ship with two 360°-turning propulsion (Z-type propulsion) units.
  • Figs. lA, 1B and 2 show the mechanism of a 360°-turning propulsion unit.
  • Output power from a prime mover 1 is transmitted to a port or starboard propeller 7 p or 7 s through a horizontal intermediate shaft 2, an upper bevel gear 3, a vertical intermediate shaft 4, a lower bevel gear 5, and a propeller shaft 6.
  • a hydraulic motor 8 p or 8 s is connected to a worm shaft 9, so as to turn the propeller 7 p or 7 s about the axis of a vertical turning shaft 10 by the movement of the worm shaft 9 activated by the hydraulic motor 8 p or 8 s .
  • Figs. 3 through 5 show the structure and formation of the ship maneuvering gear of the invention.
  • an operating board 11 of the maneuvering gear has a hand lever HL.
  • the hand lever HL is maneuvering lever which can be inclined relative to a vertical center line 0 up to a certain predetermined angle (up to 35° in the illustrated embodiment) and can be freely rotated about the center line 0 within a circle h defined by a 360° rotation of the upper end H' of the hand lever HL with a 35° inclination.
  • P x and Py are synchro motors or potentiometers to detect the rotation and inclination of the hand lever HL, and the outputs thereof are applied to an arithmetic circuit MC so as to produce signals to actuate the hydraulic motors 8 p and 8 s through servo amplifiers A-P and A-S.
  • the hydraulic motors 8 p and 8 s turn the propellers 7 p and 7 s respectively, while feedback potentiometers F p and F s compares the actual orientations of the propellers 7 p and 7 s against set values determined by the arithmetic circuit MC.
  • Synchro transmitters T p and T s transmit signals representing the actual orientations of the propellers 7 p and 7 s to the operating board 11, and registers Rand R including servo receivers indicate the actual orientations of the propellers 7p and 7 s in response to the signals from the synchro transmitters T p and T s respectively.
  • the synchro motor or potentiometer P X to detect the rotation of the hand lever HL may be disposed above or below the slip ring SR of Fig. 3 in tandem therewith, which slip ring SR is disposed along the vertical central axis Z of Figs. 3 and 4.
  • the direction of propelling the ship is set by rotating the hand lever HL while the magnitude of the propulsive power or the ship speed is controlled by regulating the inclination of the hand lever HL.
  • the starboard propeller 7 s is turned from the position of -8 (position lp of Fig. 6) up to a -90° position (position 2s of Fig. 6), while the port propeller 7p is turned from the position of - ⁇ (position lp of Fig. 6) up to a 90° position (position 2p of Fig. 6). More specifically, the rotating angle 6 of the hand lever HL is detected by the synchro motor or potentiometer P x of Figs.
  • the starboard propeller 7 s is turned to the - ⁇ position in response to the rotating angle ⁇ of the hand lever HL, and if the hand lever is pushed down forward by 35° an additional turning angle of 0° is added to the aforesaid -6, while if the hand lever HL is pulled up 35° to the upright position (in line with the Z axis) an additional turning angle of (-90°+ ⁇ ) is added to the aforesaid angle - ⁇ for the starboard propeller 7 s ; and the port propeller 7 p is turned to the - ⁇ position in response to the rotating angle ⁇ of the hand lever HL, and if the hand lever HL is pushed down forward by 35° an additional turning angle of 0° is added to the aforesaid - ⁇ , while if the hand lever HL is pulled up to the upright position an additional turning
  • the propellers 7 s and 7p are turned to positions 3c and 3p of the lower views of Fig. 6. More specifically, such pull down of the hand lever HL is detected as a change in the inclination thereof by the synchro motor or potentiometer Py, and the output signal therefrom representing the maximum pull down is applied to the arithmetic circuit MC, so as to generate a signal for the starboard propeller 7 s to turn by an additional angle of (-90°+ ⁇ ) and a signal for the port propeller 7 p to turn by an additional angle of (+90°+ ⁇ ).
  • the aforesaid output from the arithemetic circuit MC for the pulling up of the hand lever HL from the solid line position of the top view of Fig. 6 to the dotted line position thereof through the upright position fully coincides with that for the clockwise rotation of the hand lever HL from the aforesaid solid line position to the dotted line position with an angular displacement of (180°+ ⁇ ) along the circular path of the same view. More specifically, when the rotating angle of the hand lever HL becomes (180°+8), which is in the third quadrant in the top view of Fig.
  • the response of the maneuvering gear to the signal from the synchro motor or potentiometer P x is changed from that for the first quadrant, and the starboard propeller 7 s turns counterclockwise by (-180°+ ⁇ ) relative to the X s axis while the port propeller 7 p also turns counterclockwise by (-180°+ ⁇ ) relative to the X p axis, which can be reached by clockwise rotation of (180°+ ⁇ ), so that the aforesaid full coincidence is fulfilled.
  • the hand lever HL is rotated from the first quadrant to the third quadrant in the top view of Fig. 6, and the operation of the maneuvering gear is similar to what has been described in the foregoing, even when the hand lever HL is turned from the second quadrant to the fourth quadrant.
  • Fig. 7 shows a manuevering schedule of the maneuvering gear of the invention in terms of the relationship among the position of the hand lever HL, orientations of the propellers 7 s and 7 p as indicated by the registers R s and R p (arrows in Fig. 7), and the moving direction of the ship (arrows in Fig. 7).
  • Operation No. 1 shows that the hand lever HL is held upright with its top H' at the neutral position so as to keep the ship at rest.
  • Operations No. 2 and No. 3 show that the ship moves ahead at full speed and at middle speed and that the orientations of the propellers vary with the ship speed even when the ship moves straightly ahead.
  • FIG. 5 show that the ship moves ahead, while turning port and starboard and that the two propellers assume identical orientations at full speed but the two propellers assume different positions at middle speed as shown by the dotted lines of Fig. 7. Similarly, the ship can be maneuvered so as to turn starboard and port about one point or to move back simply by setting the hand lever HL accordingly as shown in Fig. 7.
  • Figs. 8 and 9 show two examples of the arithmetic circuit MC and the servo amplifiers A-P and A-S, in which examples the detecting means P x and Py are assumed to be synchro motors whose outputs are applied to the arithmetic circuit MC so as to produce signals applicable to the hydraulic motors 8p and 8 s through the servo amplifiers A-P and A-S.
  • the two output signals from the synchro motors P x and Py are applied to synchro analog converters S/A of the arithmetic circuit MC for analog conversion.
  • Outputs from the synchro analog converters S/A are applied to and processed by an adder AD, and the output from the adder AD is amplified by an amplifier AMP.
  • the amplified signal from this amplifier AMP is applied to feedback adders FAD to which signals from the feedback potentiometers F p and F s for the propellers 7p and 7 s are also applied, so as to effect arithmetic operations necessary for the desired feedback control.
  • the feedback detector means F and F of this p s examples can be potentiometers.
  • the output signals from the feedback adders FAD are amplified by amplifying circuits AMP of the servo amplifiers A-P and A-S.
  • phase comparators COMP receive the amplified signals from the amplifying circuits AMP thereof and compare the received signals against a reference so as to separate clockwise instruction signals from counterclockwise instruction signals.
  • Each servo amplifier A-P or A-S is connected to two magnetic valves MV, so that the corresponding hydraulic motor 8 p or 8 s is selectively driven either clockwise or counterclockwise.
  • the signal from each of the synchro motors P x and Py is applied to both of two differential synchronizers DS of the arithmetic circuit MC respectively.
  • the differential synchronizers DS of this example also receive signals from the feedback synchro motors F p and F s for the propellers 7 p and 7 s , so as to effect the arithmetic operations necessary for the desired feedback control.
  • the output signals from the arithmetic circuit MC are applied to the servo amplifiers A-P and A-S, where synchronous rectifiers SYR separate clockwise instruction signals from counterclockwise instruction signals based on the nature of the output signals from the arithmetic circuit MC, e.g., potentials thereof, and the thus separated instruction signals are amplified by amplifier circuits AMP provided for each of the clockwise and counterclockwise instruction signals.
  • Each servo amplifier A-P or A-S is connected to the corresponding hydraulic motor 8p or 8 s through two magnetic valves MV, as in the case of the example of Fig. 8.
  • Fig. 9 uses feedback synchro motors F p and F instead of the feedback potentiometers F p and F s of Fig. 8.
  • detecting means P x and Py are potentiometers
  • the operations of the maneuvering gear with such detecting potentiometers are similar to those with the detecting synchro motors as described in the foregoging, except that the synchro analog converters S/A can be dispensed with in the case of detecting potentiometers.
  • the hand lever HL in the ship maneuvering gear of the invention, can be rotated and inclined to any position in the 360° range, so that the ship can be maneuvered to move not only ahead and back but also sideways, and the composite propulsive power of the two propellers 7 p and 7 s can be varied from zero to the maximum by controlling the inclination of the hand lever HL while maintaining the constant propulsive powers at the individual propellers. Accordingly, the ship speed can be controlled from stop as instructed by the upright or neutral position of the hand lever HL to the full speed as instructed by the maximum inclination of the hand lever HL.
  • the ship manuevering gears of the prior art have shortcomings in the need of complicated arithmetic circuit, the requirement of much man power for manufacture and the high manufacturing cost, but the ship maneuvering gear of the invention uses a very simple arithmetic circuit as compared with that of the prior art, so that the maneuvering gear of the invention can be manufactured easily at a low cost; namely, the mathematic circuit in the invention is simplified by separately detecting the rotation and the inclination of hand lever, determining a first quantity to turn the propellers in response to the detected rotation of the hand lever, determining second quantities to turn the propellers broadside in response to the detected inclination of the hand lever representing a change of ship speed, and summing the first and second quantities in the arithmetic circuit so as to give orientations to be assumed by the two propellers.
EP81300871A 1980-03-10 1981-03-03 Vorrichtung zum Steuern von Schiffen Withdrawn EP0035858A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP29896/80 1980-03-10
JP2989680A JPS56146493A (en) 1980-03-10 1980-03-10 Steering device for ship

Publications (2)

Publication Number Publication Date
EP0035858A2 true EP0035858A2 (de) 1981-09-16
EP0035858A3 EP0035858A3 (de) 1982-01-27

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ID=12288733

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81300871A Withdrawn EP0035858A3 (de) 1980-03-10 1981-03-03 Vorrichtung zum Steuern von Schiffen

Country Status (2)

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EP (1) EP0035858A3 (de)
JP (1) JPS56146493A (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2480227A1 (fr) * 1980-04-09 1981-10-16 Schottel Werft Dispositif pour la conduite d'un vehicule aquatique
FR2542692A1 (fr) * 1983-03-16 1984-09-21 Carr Harold Systeme de commande de propulsion pour un bateau
US4532877A (en) * 1982-05-18 1985-08-06 Kawasaki Jukogyo Kabushiki Kaisha Maneuvering system of watercraft and the like
EP0375085A1 (de) * 1988-12-21 1990-06-27 Howaldtswerke-Deutsche Werft Ag Überwachungs- und Betätigungseinrichtung für in X-Form angeordnete Ruderblätter
FR2677324A1 (fr) * 1991-06-06 1992-12-11 Gorius Guy Bateau pilote par les seuls propulseurs principaux.
NL9402184A (nl) * 1994-12-22 1996-04-01 Lips A G Zwenkbare roerpropeller.

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1473063A (en) * 1975-01-30 1977-05-11 Niigata Engineering Co Ltd Control apparatus for manoueuvring a ship
FR2362048A1 (fr) * 1976-08-19 1978-03-17 Schottel Werft Installation d'inversion de direction de marche pour helices de gouvernail, gouvernails a jets ou autres appareils d'entrainement de bateaux
FR2388719A1 (fr) * 1977-04-28 1978-11-24 Schottel Werft Dispositif pour propulser et gouverner des bateaux ou analogues avec au moins une paire de propulseurs d'orientation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1473063A (en) * 1975-01-30 1977-05-11 Niigata Engineering Co Ltd Control apparatus for manoueuvring a ship
FR2362048A1 (fr) * 1976-08-19 1978-03-17 Schottel Werft Installation d'inversion de direction de marche pour helices de gouvernail, gouvernails a jets ou autres appareils d'entrainement de bateaux
GB1529420A (en) * 1976-08-19 1978-10-18 Schottel Werft Reversing of water craft having steerable drive power generators
FR2388719A1 (fr) * 1977-04-28 1978-11-24 Schottel Werft Dispositif pour propulser et gouverner des bateaux ou analogues avec au moins une paire de propulseurs d'orientation
US4220111A (en) * 1977-04-28 1980-09-02 Schottel-Werft Josef Becker Gmbh & Co. Kg Drive and control device for watercraft or the like having at least one pair of steerable propellers

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2480227A1 (fr) * 1980-04-09 1981-10-16 Schottel Werft Dispositif pour la conduite d'un vehicule aquatique
US4532877A (en) * 1982-05-18 1985-08-06 Kawasaki Jukogyo Kabushiki Kaisha Maneuvering system of watercraft and the like
FR2542692A1 (fr) * 1983-03-16 1984-09-21 Carr Harold Systeme de commande de propulsion pour un bateau
EP0375085A1 (de) * 1988-12-21 1990-06-27 Howaldtswerke-Deutsche Werft Ag Überwachungs- und Betätigungseinrichtung für in X-Form angeordnete Ruderblätter
FR2677324A1 (fr) * 1991-06-06 1992-12-11 Gorius Guy Bateau pilote par les seuls propulseurs principaux.
NL9402184A (nl) * 1994-12-22 1996-04-01 Lips A G Zwenkbare roerpropeller.

Also Published As

Publication number Publication date
EP0035858A3 (de) 1982-01-27
JPS56146493A (en) 1981-11-13

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Inventor name: ISHIDA, MINORU A.