EP2193076A2 - Method for operating a steering unit for a steer-by-wire ship's control system - Google Patents

Method for operating a steering unit for a steer-by-wire ship's control system

Info

Publication number
EP2193076A2
EP2193076A2 EP08804777A EP08804777A EP2193076A2 EP 2193076 A2 EP2193076 A2 EP 2193076A2 EP 08804777 A EP08804777 A EP 08804777A EP 08804777 A EP08804777 A EP 08804777A EP 2193076 A2 EP2193076 A2 EP 2193076A2
Authority
EP
European Patent Office
Prior art keywords
rudder
speed
zone
mechanical resistance
control system
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.)
Granted
Application number
EP08804777A
Other languages
German (de)
French (fr)
Other versions
EP2193076B1 (en
Inventor
Adriano Zanfei
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.)
ZF Friedrichshafen AG
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ZF Friedrichshafen AG
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Publication date
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Publication of EP2193076A2 publication Critical patent/EP2193076A2/en
Application granted granted Critical
Publication of EP2193076B1 publication Critical patent/EP2193076B1/en
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Classifications

    • 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
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/18—Transmitting of movement of initiating means to steering engine
    • B63H25/24—Transmitting of movement of initiating means to steering engine by electrical means
    • 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
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • 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
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass

Definitions

  • the present invention relates to a method of operating a steering unit for a steer-by-wire ship control system, comprising a rudder, a controller connected to the electronic control of the ship control system (ECU), a sensor for detecting the angular position of the rudder and a device for Generating a mechanical resistance on the rudder according to the preamble of patent claim 1.
  • steer-by-wire systems which are also used in the ship control technology.
  • the steering commands are detected by a sensor and forwarded via a control unit to an actuator which executes the steering command.
  • a control unit to an actuator which executes the steering command.
  • a steer-by-wire ship control system is known for example from US 6,431, 928 B1.
  • an electric motor for rotating the entire propeller drive unit via a mechanical power transmission chain is provided, wherein the electric motor is controlled by a control unit, which on the one hand with the steering means for obtaining a steering command information and on the other with a steering position information detecting sensor is connected.
  • a steering unit for a steer-by-wire ship control system which has a mechanically turnable steering mechanism. tion, for example a rudder, a sensor for detecting the rotation of the rudder and a stop mechanism for blocking further rotation of the rudder to starboard or port when the rudder of the ship has reached an extreme starboard position.
  • a steer-by-wire ship control system which comprises at least two steering units.
  • the rudder is actuated by means of a hydraulically actuatable actuator based on the steering signals which are generated by that steering device which requires the faster movement of the rudder.
  • the steering units each comprise a rudder, which is connected to a respective control device, which in turn is connected to the control network.
  • the steering devices in the event of actuation or rotation of the rudder in response to signals of a sensor for detecting the rudder position by means of couplings produce a mechanical resistance, the resistance is the greater, the closer the rudder to an end position approaches.
  • the mechanical resistance on the rudder is set such that further rotation of the same in the same direction is not possible. This is made possible by a coupling which, when fully closed, does not allow any rotation of the rudder.
  • the object of the present invention is to provide a method for operating the steering unit for a steer-by-wire ship control system. to increase comfort and safety through its implementation.
  • a method of operating a steering unit for a steer-by-wire ship control system comprising a rudder, a control preferably connected via a CAN bus to the electronic control of the ship control system (ECU), a sensor for detecting the angular position of the rudder and a Mechanism proposed for generating a mechanical resistance on the rudder, in the context of which, in the event that no auto-pilot device is activated, the mechanical resistance at the rudder generated by the user when the rudder is actuated is a function of the speed, the resistance is increased with increasing speed up to a predetermined limit, wherein in the event that an auto-pilot device is activated, the mechanical resistance at each speed assumes a constant (high) value.
  • the safety is increased since very fast maneuvers at high speeds are largely avoided.
  • a speed is defined, which is preferably 10kn, below which no mechanical resistance is generated during a movement of the helm, above which speed the mechanical resistance generated by the device for generating a mechanical resistance at the rudder up to a predetermined limit value as a function of the speed, preferably increased linearly.
  • the predetermined value may be 15Nm.
  • the steering unit comprises means for resetting the rudder to the current zero position of the rudder ie to the starting position before performing a steering movement, a non-return zone, a reset zone and a boundary zone when the angular position of the rudder is within the non-return zone in a user steering operation
  • the rudder is not returned to the rudder's current zero position, with the rudder angle position following a user steering action within the reset zone, the rudder is returned to the current zero position of the rudder or to a position in the non-return zone by the rudder return device at a constant speed.
  • the functionality of the means for resetting the rudder can be taken over by the device for generating a mechanical resistance on the rudder, if this is possible constructively, for example if the device for generating a mechanical resistance is designed as an electric motor.
  • the rudder return means is operated such that the rudder does not or only with substantial forces (these forces are higher than the rudder) Forces required to move the rudder when its angular position is within the return zone) can be moved further in the direction of the steering movement and at a constant speed to a defined angular position within the Reset zone or to a position within the non-reset zone.
  • the non-return zone is defined as the range between + X ° and X ° about the current zero position of the rudder (ie the home position prior to the steering movement), the return zone being the area between the ends of the non-return zone and Y% of the maximum possible number of clockwise and counterclockwise rudder revolutions is defined; the boundary zone is defined as between Y% and 100% of the maximum possible number of clockwise and counterclockwise rudder revolutions, where X can take values between 1 and 135 and Y values between 45 and 95.
  • a function of Speed is, wherein the resistance is increased with increasing speed to a predetermined limit, wherein in the event that an auto-pilot device is activated, the mechanical resistance at each speed assumes a constant predetermined preferably high value.
  • the value of the mechanical resistance either has a constant maximum value or the mechanical resistance is increased in the course of the still missing revolutions up to the maximum possible number of rudder rudder revolutions up to the maximum value.
  • a speed is defined in an advantageous development, below which no mechanical resistance at a Movement of the rudder is generated, above which speed, a mechanical resistance is generated, which is increased up to a predetermined limit depending on the speed, preferably linearly.
  • the method according to the invention can be used in steer-by-wire ship control systems, irrespective of the type of rudder-linked steering actuator.
  • the actuator may be designed as a hydraulic or electromechanical actuator.
  • the ECU processes the signals of the user-operated steering unit or an auto-pilot device and forwards them to the steering actuator.
  • the steering actuator is operated according to the specifications of the steering unit and the ECU with respect to the steering angle and the rotational speed of the rudder.
  • an auto-pilot device is activated, the control unit of the steering unit continuously updates the rudder position.

Abstract

The invention relates to a method for operating a steering unit for a steer-by-wire ship's control system, comprising a control rudder, a controller that is connected to the electronic controller of the ship's control system (ECU), a sensor for detecting the angular position of the control rudder and a unit for generating mechanical resistance in the control rudder. According to said method, the mechanical resistance generated by the unit for generating mechanical resistance in the control rudder when the user actuates the control rudder is a function of the speed, the resistance being increased at ascending speed until a predetermined threshold value is reached. If an auto-pilot unit is activated, the mechanical resistance adopts a constant value for each speed.

Description

Verfahren zum Betreiben einer Lenkeinheit für ein Steer-bv-wire Schiffsteuersvstem Method of operating a steering unit for a steer-bv-wire ship control system
Die vorliegende Erfindung bezieht sich auf ein Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem, umfassend ein Steuerruder, eine mit der elektronischen Steuerung des Schiffsteuersystems (ECU) verbundene Steuerung, einen Sensor zur Erfassung der Winkelposition des Steuerruders und eine Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder gemäß dem Oberbegriff des Patentanspruchs 1.The present invention relates to a method of operating a steering unit for a steer-by-wire ship control system, comprising a rudder, a controller connected to the electronic control of the ship control system (ECU), a sensor for detecting the angular position of the rudder and a device for Generating a mechanical resistance on the rudder according to the preamble of patent claim 1.
Aus dem Stand der Technik sind Steer-by-wire Systeme bekannt, die auch in der Schiffsteuertechnik eingesetzt werden. Bei derartigen Systemen werden die Lenkbefehle von einem Sensor erfasst und über eine Steuereinheit an einen Aktuator weitergeleitet, welcher den Lenkbefehl ausführt. In vorteilhafter Weise besteht keine mechanische Verbindung zwischen dem Steuerruder und dem Ruder bzw. für den Fall eines Kraftfahrzeugs zwischen dem Lenkrad und den gelenkten Rädern.From the prior art steer-by-wire systems are known, which are also used in the ship control technology. In such systems, the steering commands are detected by a sensor and forwarded via a control unit to an actuator which executes the steering command. Advantageously, there is no mechanical connection between the rudder and the rudder or in the case of a motor vehicle between the steering wheel and the steered wheels.
Ein Steer-by-wire Schiffsteuersystem ist beispielsweise aus der US 6,431 ,928 B1 bekannt. Bei dem bekannten System ist ein elektrischer Motor zum Drehen der gesamten Propeller-Antriebseinheit über eine mechanische Energieübertragungskette vorgesehen, wobei der elektrische Motor von einer Steuereinheit gesteuert wird, welche zum Einen mit der Lenkeinrichtung zum Erhalten einer Lenkbefehlsinformation und zum Anderen mit einem die Lenk- stellungsinformation erfassenden Sensor verbunden ist.A steer-by-wire ship control system is known for example from US 6,431, 928 B1. In the known system, an electric motor for rotating the entire propeller drive unit via a mechanical power transmission chain is provided, wherein the electric motor is controlled by a control unit, which on the one hand with the steering means for obtaining a steering command information and on the other with a steering position information detecting sensor is connected.
Aus der US 7,137,347 B2 ist eine Lenkeinheit für ein Steer-by-wire Schiffsteuersystem bekannt, welche eine mechanisch drehbare Lenkeinrich- tung, beispielsweise ein Steuerruder, einen Sensor zum Erfassen der Drehbewegung des Steuerruders und einen Stop-Mechanismus zum Blockieren einer weiteren Drehbewegung des Steuerruders nach Steuerbord oder Backbord, wenn das Ruder des Schiffs eine extreme Steuerbord- bzw. Backbord-Position erreicht hat.From US Pat. No. 7,137,347 B2, a steering unit for a steer-by-wire ship control system is known, which has a mechanically turnable steering mechanism. tion, for example a rudder, a sensor for detecting the rotation of the rudder and a stop mechanism for blocking further rotation of the rudder to starboard or port when the rudder of the ship has reached an extreme starboard position.
Aus der EP 1770008 A2 ist ein Steer-by-wire Schiffsteuersystem bekannt, welches mindestens zwei Lenkeinheiten umfasst. Hierbei wird das Ruder mittels eines hydraulisch betätigbaren Aktuators anhand der Lenksignale betätigt, die vom derjenigen Lenkeinrichtung generiert werden, welche die schnellere Bewegung des Ruders fordert. Bei dem bekannten System umfassen die Lenkeinheiten jeweils ein Steuerruder, das mit jeweils einer Steuereinrichtung verbunden ist, die wiederum mit dem Steuernetzwerk verbunden ist.From EP 1770008 A2 a steer-by-wire ship control system is known which comprises at least two steering units. In this case, the rudder is actuated by means of a hydraulically actuatable actuator based on the steering signals which are generated by that steering device which requires the faster movement of the rudder. In the known system, the steering units each comprise a rudder, which is connected to a respective control device, which in turn is connected to the control network.
Des weiteren ist vorgesehen, dass die Lenkeinrichtungen im Falle einer Betätigung bzw. Drehung des Steuerruders in Abhängigkeit von Signalen eines Sensors zur Erfassung der Ruderposition mittels Kupplungen einen mechanischen Widerstand erzeugen, wobei der Widerstand um so größer ist, je näher sich das Ruder an eine Endposition nähert. Wenn eine Endposition erreicht ist, ist der mechanische Widerstand am Steuerruder derart eingestellt, dass eine weitere Drehbewegung desselben in die gleiche Richtung nicht möglich ist. Dies wird durch eine Kupplung ermöglicht, welche im vollständig geschlossenen Zustand keine Drehbewegung des Steuerruders ermöglicht.Furthermore, it is provided that the steering devices in the event of actuation or rotation of the rudder in response to signals of a sensor for detecting the rudder position by means of couplings produce a mechanical resistance, the resistance is the greater, the closer the rudder to an end position approaches. When an end position is reached, the mechanical resistance on the rudder is set such that further rotation of the same in the same direction is not possible. This is made possible by a coupling which, when fully closed, does not allow any rotation of the rudder.
Des weiteren ist aus der US 6,843195 B2 ein Steuersystem für einen Außenbordmotor bekannt, bei dem der Quotient „realisierter Lenkwinkel/über das Steuerruder eingegebener Lenkwinkel" mit steigender Geschwindigkeit abnimmt.Furthermore, a control system for an outboard motor is known from US Pat. No. 6,843,195 B2, in which the quotient of "realized steering angle / steering angle input via the rudder" decreases with increasing speed.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Betreiben der Lenkeinheit für ein Steer-by-wire Schiffsteuersystem an- zugeben, durch dessen Durchführung der Komfort und die Sicherheit erhöht werden.The object of the present invention is to provide a method for operating the steering unit for a steer-by-wire ship control system. to increase comfort and safety through its implementation.
Diese Aufgabe wird durch die Merkmale der Patentansprüche 1 und 3 gelöst. Weitere erfindungsgemäße Ausgestaltungen und Vorteile gehen aus den entsprechenden Unteransprüchen hervor.This object is solved by the features of claims 1 and 3. Further embodiments and advantages of the invention will become apparent from the corresponding dependent claims.
Demnach wird ein Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem, umfassend ein Steuerruder, eine vorzugsweise über einen CAN-Bus mit der elektronischen Steuerung des Schiffsteuersystems (ECU) verbundene Steuerung, einen Sensor zur Erfassung der Winkelposition des Steuerruders und eine Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder vorgeschlagen, im Rahmen dessen für den Fall, dass keine Auto-Pilot-Einrichtung aktiviert ist, der bei einer Betätigung des Steuerruders seitens des Benutzers erzeugte mechanische Widerstand am Steuerruder eine Funktion der Geschwindigkeit ist, wobei der Widerstand mit steigender Geschwindigkeit bis zu einem vorgegebenen Grenzwert erhöht wird, wobei für den Fall, dass eine Auto-Pilot-Einrichtung aktiviert ist, der mechanische Widerstand bei jeder Geschwindigkeit einen konstanten (hohen) Wert annimmt. Durch die erfindungsgemäße Konzeption wird die Sicherheit erhöht, da sehr schnelle Manöver bei hohen Geschwindigkeiten weitgehend vermieden werden.Thus, a method of operating a steering unit for a steer-by-wire ship control system comprising a rudder, a control preferably connected via a CAN bus to the electronic control of the ship control system (ECU), a sensor for detecting the angular position of the rudder and a Mechanism proposed for generating a mechanical resistance on the rudder, in the context of which, in the event that no auto-pilot device is activated, the mechanical resistance at the rudder generated by the user when the rudder is actuated is a function of the speed, the resistance is increased with increasing speed up to a predetermined limit, wherein in the event that an auto-pilot device is activated, the mechanical resistance at each speed assumes a constant (high) value. By the conception according to the invention the safety is increased since very fast maneuvers at high speeds are largely avoided.
Im Rahmen einer vorteilhaften Weiterbildung der Erfindung wird eine Geschwindigkeit definiert, die vorzugsweise 10kn beträgt, unterhalb der kein mechanischer Widerstand bei einer Bewegung des Steuerruders erzeugt wird, wobei oberhalb dieser Geschwindigkeit der von der Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder erzeugte mechanische Widerstand bis zu einem vorgegebenen Grenzwert in Abhängigkeit von der Geschwindigkeit, vorzugsweise linear erhöht wird. Beispielsweise kann der vorgegebene Wert 15Nm betragen. Gemäß einer Variante des hier vorgestellten Verfahrens werden, für den Fall dass die Lenkeinheit eine Einrichtung zur Rückstellung des Steuerruders aufweist, um die aktuelle Null-Position des Steuerruders d.h. um die Ausgangsposition vor der Durchführung einer Lenkbewegung eine Nicht-Rückstellzone, eine Rückstellzone und eine Grenzzone definiert, wobei, wenn sich die Winkelposition des Steuerruders bei einer Lenkbetätigung durch den Benutzer innerhalb der Nicht-Rückstellzone befindet, das Steuerruder nicht auf die aktuelle Null-Position des Steuerruders zurückgestellt wird, wobei wenn sich die Winkelposition des Steuerruders nach einer Lenkbetätigung durch den Benutzer innerhalb der Rückstellzone befindet, das Steuerruder durch die Einrichtung zur Rückstellung des Steuerruders mit konstanter Geschwindigkeit auf die aktuelle Null-Position des Steuerruders oder auf eine Position in der Nicht-Rückstellzone zurückgestellt wird.In an advantageous embodiment of the invention, a speed is defined, which is preferably 10kn, below which no mechanical resistance is generated during a movement of the helm, above which speed the mechanical resistance generated by the device for generating a mechanical resistance at the rudder up to a predetermined limit value as a function of the speed, preferably increased linearly. For example, the predetermined value may be 15Nm. According to a variant of the method presented here, in the event that the steering unit comprises means for resetting the rudder to the current zero position of the rudder ie to the starting position before performing a steering movement, a non-return zone, a reset zone and a boundary zone when the angular position of the rudder is within the non-return zone in a user steering operation, the rudder is not returned to the rudder's current zero position, with the rudder angle position following a user steering action within the reset zone, the rudder is returned to the current zero position of the rudder or to a position in the non-return zone by the rudder return device at a constant speed.
Gemäß der Erfindung kann die Funktionalität der Einrichtung zur Rückstellung des Steuerruders von der Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder übernommen werden, wenn dies konstruktiv möglich ist, beispielsweise wenn die Einrichtung zum Erzeugen eines mechanischen Widerstandes als Elektromotor ausgeführt ist. Durch die Unterteilung in Zonen und die zonenabhängige beschriebene Steuerung des Elektromotors wird die Sicherheit sowie der Komfort erhöht.According to the invention, the functionality of the means for resetting the rudder can be taken over by the device for generating a mechanical resistance on the rudder, if this is possible constructively, for example if the device for generating a mechanical resistance is designed as an electric motor. By dividing into zones and the zone-dependent described control of the electric motor safety and comfort is increased.
Des weiteren wird vorgeschlagen, dass, wenn sich die Winkelposition des Steuerruders nach einer Lenkbetätigung durch den Benutzer innerhalb der Grenzzone befindet, die Einrichtung zur Rückstellung des Steuerruders derart betrieben wird, dass das Steuerruder nicht oder nur mit erheblichen Kräften (diese Kräfte sind höher als die Kräfte, die erforderlich sind, um das Steuerruder zu bewegen, wenn sich dessen Winkelposition innerhalb der Rückstellzone befindet) weiter in Richtung der Lenkbewegung bewegt werden kann und mit konstanter Geschwindigkeit auf eine definierte Winkelposition innerhalb der Rückstellzone oder auf eine Position innerhalb der Nicht-Rückstellzone zurückgestellt wird.Furthermore, it is proposed that when the rudder angle position of the rudder is within the limit zone after user steering operation, the rudder return means is operated such that the rudder does not or only with substantial forces (these forces are higher than the rudder) Forces required to move the rudder when its angular position is within the return zone) can be moved further in the direction of the steering movement and at a constant speed to a defined angular position within the Reset zone or to a position within the non-reset zone.
Gemäß der Erfindung wird die Nicht-Rückstellzone als Bereich zwischen +X° und X° um die aktuelle Null-Position des Steuerruders (d.h. die Ausgangsposition vor der Durchführung der Lenkbewegung) definiert, wobei die Rückstellzone als Bereich zwischen den Enden der Nicht-Rückstellzone und Y% der maximal möglichen Anzahl an Steuerruderumdrehungen im und gegen den Uhrzeigersinn definiert ist; als Grenzzone sind die Bereiche zwischen Y% und 100% der maximal möglichen Anzahl an Steuerruderumdrehungen im und gegen den Uhrzeigersinn definiert , wobei X Werte zwischen 1 und 135 und Y Werte zwischen 45 und 95 annehmen kann.According to the invention, the non-return zone is defined as the range between + X ° and X ° about the current zero position of the rudder (ie the home position prior to the steering movement), the return zone being the area between the ends of the non-return zone and Y% of the maximum possible number of clockwise and counterclockwise rudder revolutions is defined; the boundary zone is defined as between Y% and 100% of the maximum possible number of clockwise and counterclockwise rudder revolutions, where X can take values between 1 and 135 and Y values between 45 and 95.
Gemäß einer vorteilhaften Weiterbildung wird vorgeschlagen, für den Fall, dass keine Auto-Pilot-Einrichtung aktiviert ist, dass der durch die Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder erzeugte mechanische Widerstand am Steuerruder in der Rückstellzone und in der Nicht-Rückstellzone eine Funktion der Geschwindigkeit ist, wobei der Widerstand mit steigender Geschwindigkeit bis zu einem vorgegebenen Grenzwert erhöht wird, wobei für den Fall, dass eine Auto-Pilot-Einrichtung aktiviert ist, der mechanische Widerstand bei jeder Geschwindigkeit einen konstanten vorgegebenen vorzugsweise hohen Wert annimmt. In der Grenzzone weist der Wert des mechanischen Widerstands entweder einen konstanten Maximalwert auf oder der mechanische Widerstand wird in Abgängigkeit der noch fehlenden Umdrehungen bis zur maximal möglichen Anzahl an Steuerruderumdrehungen bis zum Maximalwert hin erhöht.According to an advantageous development, it is proposed, in the event that no auto-pilot device is activated, that the mechanical resistance generated by the device for generating a mechanical resistance at the rudder on the rudder in the reset zone and in the non-return zone, a function of Speed is, wherein the resistance is increased with increasing speed to a predetermined limit, wherein in the event that an auto-pilot device is activated, the mechanical resistance at each speed assumes a constant predetermined preferably high value. In the limit zone, the value of the mechanical resistance either has a constant maximum value or the mechanical resistance is increased in the course of the still missing revolutions up to the maximum possible number of rudder rudder revolutions up to the maximum value.
Für den Fall, dass keine Auto-Pilot-Einrichtung aktiviert ist, und sich die Winkelposition des Steuerruders in der Rückstellzone oder in der Nicht-Rückstellzone befindet, wird im Rahmen einer vorteilhaften Weiterbildung eine Geschwindigkeit definiert, unterhalb der kein mechanischer Widerstand bei einer Bewegung des Steuerruders erzeugt wird, wobei oberhalb dieser Geschwindigkeit ein mechanischer Widerstand erzeugt wird, der bis zu einem vorgegebenen Grenzwert in Abhängigkeit von der Geschwindigkeit, vorzugsweise linear erhöht wird.In the event that no auto-pilot device is activated, and the angular position of the helm is in the reset zone or in the non-return zone, a speed is defined in an advantageous development, below which no mechanical resistance at a Movement of the rudder is generated, above which speed, a mechanical resistance is generated, which is increased up to a predetermined limit depending on the speed, preferably linearly.
Das erfindungsgemäße Verfahren kann unabhängig von der Art des mit dem Ruder verbundenen Lenkatuators in Steer-by-wire Schiffsteuersystemen eingesetzt werden. Beispielsweise kann der Aktuator als hydraulischer oder elektromechanischer Aktuator ausgeführt sein. Hierbei verarbeitet die ECU die Signale der vom Benutzer betätigten Lenkeinheit oder einer Auto-Pilot - Einrichtung und leitet diese an den Lenkaktuator. Hierbei wird der Lenkaktuator entsprechend der Vorgaben der Lenkeinheit und der ECU hinsichtlich des Lenkwinkels und der Drehgeschwindigkeit des Ruders betrieben. Für den Fall, dass eine Auto-Pilot-Einrichtung aktiviert ist, wird in der Steuerung der Lenkeinheit die Ruderposition kontinuierlich aktualisiert. The method according to the invention can be used in steer-by-wire ship control systems, irrespective of the type of rudder-linked steering actuator. For example, the actuator may be designed as a hydraulic or electromechanical actuator. In this case, the ECU processes the signals of the user-operated steering unit or an auto-pilot device and forwards them to the steering actuator. Here, the steering actuator is operated according to the specifications of the steering unit and the ECU with respect to the steering angle and the rotational speed of the rudder. In the event that an auto-pilot device is activated, the control unit of the steering unit continuously updates the rudder position.

Claims

Patentansprüche claims
1. Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem, umfassend ein Steuerruder, eine mit der elektronischen Steuerung des Schiffsteuersystems (ECU) verbundene Steuerung, einen Sensor zur Erfassung der Winkelposition des Steuerruders und eine Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder, dadurch gekennzeichnet, dass der durch die Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder bei einer Betätigung des Steuerruders seitens des Benutzers erzeugte mechanische Widerstand am Steuerruder eine Funktion der Geschwindigkeit ist, wobei der Widerstand mit steigender Geschwindigkeit bis zu einem vorgegebenen Grenzwert erhöht wird, wobei für den Fall, dass eine Auto-Pilot-Einrichtung aktiviert ist, der mechanische Widerstand bei jeder Geschwindigkeit einen konstanten Wert annimmt.A method of operating a steering unit for a steer-by-wire ship control system, comprising a rudder, a controller connected to the electronic control of the ship control system (ECU), a sensor for detecting the angular position of the rudder and a device for generating a mechanical resistance on Rudder, characterized in that the mechanical resistance at the helm generated by the means for generating a mechanical resistance at the rudder upon actuation of the rudder by the user is a function of speed, the resistance being increased with increasing speed up to a predetermined limit, wherein, in the event that an auto-pilot device is activated, the mechanical resistance assumes a constant value at each speed.
2. Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 1 , dadurch gekennzeichnet, dass eine Geschwindigkeit definiert wird, unterhalb der kein mechanischer Widerstand bei einer Bewegung des Steuerruders erzeugt wird, wobei oberhalb dieser Geschwindigkeit der von der Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder erzeugte mechanische Widerstand bis zu einem vorgegebenen Grenzwert in Abhängigkeit von der Geschwindigkeit erhöht wird.2. A method for operating a steering unit for a steer-by-wire ship control system, according to claim 1, characterized in that a speed is defined below which no mechanical resistance is generated during a movement of the rudder, wherein above this speed of the device For generating a mechanical resistance on the rudder mechanical resistance generated is increased up to a predetermined limit as a function of the speed.
3. Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem, umfassend ein Steuerruder, eine mit der elektronischen Steuerung des Schiffsteuersystems (ECU) verbundene Steuerung, einen Sensor zur Erfassung der Winkelposition des Steuerruders und eine Einrichtung zum Erzeugen eines mechanischen Widerstandes am Steuerruder, dadurch g e k e n n z e i c h n e t , dass, für den Fall dass die Lenkeinheit eine Einrichtung zur Rückstellung des Steuerruders aufweist, um die aktuelle Null-Position des Steuerruders (d. h. die Ausgangsposition vor der Durchführung der Lenkbewegung) eine Nicht-Rückstellzone, eine Rückstellzone und eine Grenzzone definiert werden, wobei, wenn sich die Winkelposition des Steuerruders bei einer Lenkbetätigung durch den Benutzer innerhalb der Nicht-Rückstellzone befindet, das Steuerruder nicht auf die aktuelle Null-Position des Steuerruders zurückgestellt wird, wobei wenn sich die Winkelposition des Steuerruders nach einer Lenkbetätigung durch den Benutzer innerhalb der Rückstellzone befindet, das Steuerruder durch die Einrichtung zur Rückstellung des Steuerruders mit konstanter Geschwindigkeit auf die aktuelle Null-Position des Steuerruders oder auf eine Position in der Nicht-Rückstellzone zurückgestellt wird und wobei, wenn sich die Winkelposition des Steuerruders nach einer Lenkbetätigung durch den Benutzer innerhalb der Grenzzone befindet, die Einrichtung zur Rückstellung des Steuerruders derart betrieben wird, dass das Steuerruder nicht oder nur mit erheblichen Kräften weiter in Richtung der Lenkbewegung bewegt werden kann und mit konstanter Geschwindigkeit auf eine definierte Winkelposition innerhalb der Rückstellzone oder auf eine definierte Position innerhalb der Nicht-Rückstellzone zurückgestellt wird.3. A method of operating a steering unit for a steer-by-wire ship control system, comprising a rudder, a controller connected to the electronic control of the ship control system (ECU), a sensor for detecting the angular position of the rudder and a device for generating a mechanical resistance on Rudder, by characterized in that, in the event that the steering unit comprises means for returning the rudder to the current zero position of the rudder (ie, the starting position before performing the steering movement) a non-return zone, a reset zone and a boundary zone are defined when the rudder angle position is within the non-return zone for a user steering operation, the rudder is not returned to the current rudder zero position, with the rudder angle position after a user steering action within the reset zone is located, the rudder is reset by the means for resetting the rudder at a constant speed to the current zero position of the rudder or to a position in the non-return zone and wherein when the angular position of the rudder after a steering operation durc h the user is located within the border zone, the means for resetting the rudder is operated such that the rudder can not or only with considerable forces in the direction of the steering movement can be moved and at a constant speed to a defined angular position within the reset zone or to a defined Position is reset within the non-return zone.
4. Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 3, dadurch g e k e n n z e i c h n e t , dass die Nicht-Rückstellzone als Bereich zwischen +X° und X° um die aktuelle Null-Position des Steuerruders (d. h. die Ausgangsposition vor der Durchführung der Lenkbewegung) definiert ist, dass die Rückstellzone als Bereich zwischen den Enden der Nicht-Rückstellzone und Y% der maximal möglichen Anzahl an Steuerruderumdrehungen im und gegen den Uhrzeigersinn definiert ist und dass als Grenzzone die Bereiche zwischen Y% und 100% der maximal möglichen Anzahl an Steuerruderumdrehungen im und gegen den Uhrzeigersinn definiert sind, wobei X Werte zwischen 1 und 135 und Y Werte zwischen 45 und 95 annehmen kann. 4. A method for operating a steering unit for a steer-by-wire ship control system, according to claim 3, characterized in that the non-return zone as a range between + X ° and X ° to the current zero position of the rudder (ie, the starting position defining the restoring zone is defined as the area between the ends of the non-return zone and Y% of the maximum possible number of clockwise and counter-clockwise rudder revolutions and that as the boundary zone the ranges between Y% and 100% of the maximum possible number of clockwise and counterclockwise rudder revolutions, where X can take values between 1 and 135 and Y values between 45 and 95.
5. Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 3 oder 4, dadurch g e k e n n z e i c h n e t , dass für den Fall, dass keine Auto-Pilot-Einrichtung aktiviert ist, der durch die Einrichtung zum Erzeugen eines mechanischen Widerstandes bei einer Betätigung des Steuerruders seitens des Benutzers erzeugte mechanische Widerstand am Steuerruder in der Rückstellzone und in der Nicht-Rückstellzone eine Funktion der Geschwindigkeit ist, wobei der Widerstand mit steigender Geschwindigkeit bis zu einem vorgegebenen Grenzwert erhöht wird, wobei für den Fall, dass eine Auto-Pilot-Einrichtung aktiviert ist, der mechanische Widerstand bei jeder Geschwindigkeit einen konstanten vorgegebenen Wert annimmt und wobei in der Grenzzone der Widerstand entweder einen konstanten Maximalwert aufweist oder in Abgängigkeit der noch fehlenden Umdrehungen bis zur maximal möglichen Anzahl an Steuerruderumdrehungen bis zum Maximalwert hin erhöht wird.5. A method for operating a steering unit for a steer-by-wire ship control system, according to claim 3 or 4, characterized in that in the event that no auto-pilot device is activated by the means for generating a mechanical resistance at is an operation of the rudder on the rudder in the reset zone and in the non-return zone is a function of the speed, the resistance being increased with increasing speed up to a predetermined limit, wherein in the event that an auto Pilot device is activated, the mechanical resistance at each speed assumes a constant predetermined value and wherein in the boundary zone, the resistance either has a constant maximum value or in Abgängigkeit the missing revolutions is increased up to the maximum possible number of rudder rotations to the maximum value.
6. Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 5, dadurch g e k e n n z e i c h n e t , dass für den Fall, dass keine Auto-Pilot-Einrichtung aktiviert ist, und sich die Winkelposition des Steuerruders in der Rückstellzone oder in der Nicht-Rückstellzone befindet, eine Geschwindigkeit definiert wird, unterhalb der kein mechanischer Widerstand bei einer Bewegung des Steuerruders erzeugt wird, wobei oberhalb dieser Geschwindigkeit ein mechanischer Widerstand erzeugt wird, der bis zu einem vorgegebenen Grenzwert in Abhängigkeit von der Geschwindigkeit erhöht wird. 6. A method for operating a steering unit for a steer-by-wire ship control system, according to claim 5, characterized in that in the event that no auto-pilot device is activated, and the angular position of the rudder in the reset zone or in the Non-return zone is defined, a speed below which no mechanical resistance is generated in a movement of the rudder, above which speed, a mechanical resistance is generated, which is increased up to a predetermined limit depending on the speed.
EP08804777.4A 2007-10-05 2008-09-26 Method for operating a steering unit for a steer-by-wire ship's control system Active EP2193076B1 (en)

Applications Claiming Priority (2)

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DE102007048055A DE102007048055A1 (en) 2007-10-05 2007-10-05 A method of operating a steering unit for a steer-by-wire vessel control system
PCT/EP2008/062898 WO2009047135A2 (en) 2007-10-05 2008-09-26 Method for operating a steering unit for a steer-by-wire ship's control system

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EP2193076A2 true EP2193076A2 (en) 2010-06-09
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WO2009047135A3 (en) 2009-06-18
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EP2193076B1 (en) 2016-03-16
US20100241315A1 (en) 2010-09-23

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