EP2212190A2 - Steering actuator for a steer-by-wire ship's control system and method for operating said steering actuator - Google Patents

Steering actuator for a steer-by-wire ship's control system and method for operating said steering actuator

Info

Publication number
EP2212190A2
EP2212190A2 EP08804775A EP08804775A EP2212190A2 EP 2212190 A2 EP2212190 A2 EP 2212190A2 EP 08804775 A EP08804775 A EP 08804775A EP 08804775 A EP08804775 A EP 08804775A EP 2212190 A2 EP2212190 A2 EP 2212190A2
Authority
EP
European Patent Office
Prior art keywords
steering actuator
electric motor
control system
rudder
steer
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
EP08804775A
Other languages
German (de)
French (fr)
Other versions
EP2212190B1 (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
Original Assignee
ZF Friedrichshafen AG
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 ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP2212190A2 publication Critical patent/EP2212190A2/en
Application granted granted Critical
Publication of EP2212190B1 publication Critical patent/EP2212190B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/26—Steering engines
    • 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
    • B63H25/34—Transmitting of movement of engine to rudder, e.g. using quadrants, brakes
    • 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
    • B63H25/36—Rudder-position indicators

Definitions

  • the present invention relates to a steering actuator for a steer-by-wire ship control system according to the preamble of claim 1. Furthermore, the invention relates to methods for operating the steering actuator.
  • steer-by-wire systems which are also used in the ship control technology.
  • the steering commands input via a steering unit are detected by a sensor and relayed via a control unit to a steering actuator which executes the steering command.
  • a steering actuator which executes the steering command.
  • steer-by-wire ship control systems are known in which the steering actuator is designed as an electromechanical actuator in the form of a ball screw spindle; In this case, a rotational movement of an electric motor is converted into a translatory movement for actuating the rudder of the ball screw.
  • 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 steer-by-wire ship control system which comprises at least two steering units.
  • the rudder is actuated by means of a hydraulically actuated actuator based on the steering signals generated by that steering unit, 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 present invention has for its object to provide a steering actuator for a steer-by-wire ship control system, which is compact and inexpensive to produce. Furthermore, the steering actuator should be largely self-locking and have high dynamics. In addition, a method for operating the steering actuator should be specified.
  • a steering actuator for a steer-by-wire ship control system which is designed as a linear electromechanical actuator, comprising an electric motor which is designed as a vector-controlled brushless motor.
  • the design of the electric motor as a vector-controlled brushless motor enables a sinusoidal or trapezoidal signal conversion, whereby DC or AC motors can be used. Furthermore, due to the vector control, the motor power can be doubled for about 5 seconds, which corresponds to an overload of 100%. In addition, the dynamics are optimized because the vector control allows very high accelerations compared to a conventional electric motor.
  • the steering actuator is designed as an electric motor driven spindle gear, which connected to the tiller or with a suitable component of the rudder device via a hinge threaded spindle having an external thread which engages in the internal thread of a driven by the electric motor nut.
  • the threaded spindle can be drilled hollow and have an internal thread, in which engages the external thread of a screw driven by the electric motor.
  • the nut is formed by the rotor of the electric motor.
  • the rotor facing away from the end of the Bowden cable by means of an adapter device with the rotatably connected to the rudder shaft rotatably connected, so that actuation of the Bowden cable is possible by operating the rudder.
  • a controller for controlling the steering actuator, which is connected via the CAN bus to the electronic control unit of the ship control system ECU; for determining the angular position of the rudder an angle sensor is provided, which is preferably designed as an incremental encoder and detects the rotation of the rotor of the electric motor or the threaded spindle.
  • the ECU processes the signals from the user-operated steering unit or an auto-pilot device and sends 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.
  • a steering actuator two rudders, for which purpose the spindle is connected via an intermediate member with two rudder spiders. It is also possible according to the invention to provide a steering actuator for each rudder so that the rudders are independent can be operated from each other by means of the commands of the ECU. This can be z. B. be advantageous for performing complex maneuvers.
  • Figure 1 A schematic sectional view of a preferred embodiment of a steering actuator according to the invention
  • FIG. 2 shows a schematic sectional view of a further embodiment of a steering actuator according to the invention.
  • Figure 3 A schematic sectional view of another embodiment of a steering actuator according to the invention.
  • FIG. 1 shows a first embodiment of a steering actuator 1 according to the invention.
  • the steering actuator 1 is designed as a linear electromechanical actuator and includes an electric motor 2, which is designed as a vector-controlled brushless motor.
  • the steering actuator 1 is designed as an electric motor driven spindle gear, which is connected to the tiller 3 via a hinge device 4, which is preferably designed as a ball joint threaded spindle 5 has an external thread 6, which in the internal thread 7 one of the Electric motor 2 driven nut 8 engages.
  • the nut 8 is formed by the rotor 9 of the electric motor 2; in the figure, the stator fixed to the housing and designed as a permanent magnet is designated by 10.
  • the active connection between the outer and inner threads and the multiple contact points between the two components has the advantage that high torques can be transmitted in a compact design and high acceleration and rotational speed values.
  • the actuator according to the invention allows up to 7000 rpm; in an actuator with a conventional ball screw up to 2500 U / min are possible.
  • the number of contact points between the two components spindle and nut or screw corresponds to the number of turns of the nut or the screw. Preferably, the number of turns is greater than four.
  • a conventional ball screw has only two contact points.
  • a controller 1 1 is provided, which is connected via the CAN bus to the electronic control unit of the ship control system ECU.
  • an associated with the controller 1 1 angle sensor 12 is provided, which is preferably designed as an incremental encoder and detects the angular position of the rotor 9 of the electric motor 2 or the threaded spindle 5.
  • the sensor 12 on the rudder 13 side facing the electric motor.
  • the electric motor 2, the spindle gear and the sensor 12 are in FIG a housing 14 which is connected to the hull 15.
  • a Bowden cable 16 is optionally provided in each embodiment, which is detachably connectable at the end remote from the rudder 13 of the steering actuator 1 with the nut or with the rotor 9 of the electric motor 2, so that the Threaded spindle 5 can be moved by turning the Bowdenraitsi 6 by means of a crank 17.
  • an opening 18 is provided on the housing 14, which may preferably be closed in the unused state.
  • FIG. 2 shows a further embodiment of a steering actuator according to the invention.
  • the threaded spindle 5 is hollow bored and has an internal thread 21, in which the external thread 20 engages a driven by the rotor 9 of the electric motor 2 screw 22; in the example shown, a planetary gear 19 is also arranged in the power flow direction between the rotor 9 of the electric motor 2 and the screw 22, which is designed as a reduction gear, whereby the electric motor 2 can be made smaller.
  • 19 torsional vibrations and bending moments are partially absorbed by the housing 23 of the planetary gear.
  • the electric motor 2 is arranged outside the housing 14 of the steering actuator 1, wherein the torque from the rotor of the electric motor to the nut 8 (see FIG. 1) or the screw 22 or the planetary gear 19 (see FIG ) is transmitted by means of a spur gear or a belt drive 24.
  • the sensor 12 for detecting the angular position of the rudder is advantageously designed as an incremental encoder, resulting in low cost. Since an incremental encoder does not provide absolute values, the zero position (straight ahead position) must be determined each time the ship control system is started and the rudder is brought into this position.
  • the zero position is determined by operating the electric motor at a predetermined constant speed in one direction at the start of the ship control system until the end position corresponding to this steering direction has been reached, wherein the sensor value for this position is stored in the controller 11 becomes.
  • the electric motor 2 of the steering actuator is operated at a predetermined speed in the opposite direction until the second end position of the rudder has been reached, using the second end position corresponding sensor value to determine the zero position based on the number of increments between both end positions (corresponds to half of the increment difference) and to bring the rudder into this position by appropriate actuation of the electric motor.
  • this is taken into account when determining the zero position based on the increments of the end positions.
  • the determination of the end positions can preferably take place in that when the current required by the motor exceeds a predetermined threshold, the end position is detected. This increases the current required by the constant-speed motor to overcome the "obstacle".
  • the connection between the incremental encoder and the controller works and if the CAN is ready for operation. If this is not the case, the rudder is blocked and an error message is issued.
  • the functionality of the CAN is checked during the operation of the ship control system at predetermined intervals, for which purpose a defined signal is sent from the electronic control unit of the ship control system ECU to the controller 1 1 of the electric motor. If this signal is received error-free by the controller within a predetermined time interval, the steering actuator is continued to operate, the signal is not or erroneously received by the controller 1 1 brought the rudder to the zero position and held in this position, with an error message is issued ,
  • the ECU of the ship control system ECU is again requested by the controller 1 1 to transmit the signal, which can be repeated n times ( n is a given natural number that can take values between 2 and 50). If, after the n-th repetition, the signal has not been received within the predetermined time interval or faulty, the rudder is brought to the zero position and held in this position by the controller 1 1, wherein an error message is issued.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Transmission Devices (AREA)

Abstract

The invention relates to a steering actuator (1) for a ship's control system, designed as a linear electromechanical actuator and comprising an electric motor (2), a controller (11) that is connected to the electronic control unit of the ship's control system (ECU) via a CAN bus and an angle sensor (12) that is connected to the controller (11) for determining the angular position of the rudder (13). The electric motor (2) is designed as a vector-controlled brushless motor.

Description

Lenkaktuator für ein Steer-bv-wire Schiffsteuersystem und Verfahren zum Steering actuator for a Steer-bv-wire ship control system and method for
Betreiben des LenkaktuatorsOperating the steering actuator
Die vorliegende Erfindung bezieht sich auf einen Lenkaktuator für ein Steer-by-wire Schiffsteuersystem gemäß dem Oberbegriff des Patentanspruchs 1. Des Weiteren bezieht sich die Erfindung auf Verfahren zum Betreiben des Lenkaktuators.The present invention relates to a steering actuator for a steer-by-wire ship control system according to the preamble of claim 1. Furthermore, the invention relates to methods for operating the steering actuator.
Aus dem Stand der Technik sind Steer-by-wire Systeme bekannt, die auch in der Schiffsteuertechnik eingesetzt werden. Bei derartigen Systemen werden die über eine Lenkeinheit eingegebene Lenkbefehle von einem Sensor erfasst und über eine Steuereinheit an einen Lenkaktuator 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 input via a steering unit are detected by a sensor and relayed via a control unit to a steering 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.
In der Schiffsteuertechnik sind die mit dem Ruder verbundenen Lenkeinheiten üblicherweise hydraulisch betätigbar, was in nachteiliger Weise in einer schlechten Dynamik sowie in hohen Wartungskosten resultiert. Des Weiteren sind Steer-by-wire Schiffsteuersysteme bekannt, bei denen der Lenkaktuator als elektromechanischer Aktuator in Form einer Kugelgewindespindel ausgeführt ist; hierbei wird von der Kugelgewindespindel eine Drehbewegung des eines Elektromotors in eine translatorische Bewegung zur Betätigung des Ruders umgewandelt.In the ship control technology, the steering units connected to the rudder are usually hydraulically actuated, resulting disadvantageously in poor dynamics and high maintenance costs. Furthermore, steer-by-wire ship control systems are known in which the steering actuator is designed as an electromechanical actuator in the form of a ball screw spindle; In this case, a rotational movement of an electric motor is converted into a translatory movement for actuating the rudder of the ball screw.
Durch die Verwendung einer von einem Elektromotor angetriebenen Kugelgewindespindel als Lenkaktuator entsteht der Nachteil, dass die Verstellgeschwindigkeit und die Dynamik des Aktuators gering ist; des weiteren sind Ku- gelgewindespindel insbesondere bei hohen wirkenden Kräften nicht selbsthemmend.The use of a ball screw driven by an electric motor as a steering actuator has the disadvantage that the adjustment speed and the dynamics of the actuator is low; furthermore, Threaded spindle not self-locking, especially at high forces.
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 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 Lenkeinheit 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. Here, the rudder is actuated by means of a hydraulically actuated actuator based on the steering signals generated by that steering unit, 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.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, einen Lenkaktu- ator für ein Steer-by-wire Schiffsteuersystem anzugeben, welcher kompakt aufgebaut und günstig herstellbar ist. Des Weiteren soll der Lenkaktuator weitgehend selbsthemmend sein und eine hohe Dynamik aufweisen. Zudem soll ein Verfahren zum Betreiben des Lenkaktuators angegeben werden.The present invention has for its object to provide a steering actuator for a steer-by-wire ship control system, which is compact and inexpensive to produce. Furthermore, the steering actuator should be largely self-locking and have high dynamics. In addition, a method for operating the steering actuator should be specified.
Diese Aufgabe wird für einen Lenkaktuator durch die Merkmale des Patentanspruchs 1 gelöst. Ein Verfahren zum Betreiben des Lenkaktuators ist Gegenstand des Patentanspruchs 15 und des Patentanspruchs 17. Weitere erfindungsgemäße Ausgestaltungen und Vorteile gehen aus den entsprechenden Unteransprüchen hervor. Demnach wird ein Lenkaktuator für ein Steer-by-wire Schiffsteuersystem vorgeschlagen, welcher als linearer elektromechanischer Aktuator ausgeführt ist, umfassend einen Elektromotor, welcher als vektorgeregelter bürstenloser Motor ausgeführt ist.This object is achieved for a steering actuator by the features of patent claim 1. A method for operating the steering actuator is subject matter of claim 15 and of claim 17. Further embodiments and advantages of the invention will become apparent from the corresponding dependent claims. Accordingly, a steering actuator for a steer-by-wire ship control system is proposed, which is designed as a linear electromechanical actuator, comprising an electric motor which is designed as a vector-controlled brushless motor.
Durch die Ausführung des Elektromotors als vektorgeregelter bürstenloser Motor wird eine sinusförmige oder trapezförmige Signalumwandlung ermöglicht, wodurch Gleichstrom- oder Wechselstrommotoren eingesetzt werden können. Des weiteren kann aufgrund der Vektorregelung die Motorleistung für ca. 5 Sekunden verdoppelt werden, was einer Überlastung von 100% entspricht. Außerdem wird die Dynamik optimiert, da die Vektorregelung sehr hohe Beschleunigungen im Vergleich zu einem herkömmlichen Elektromotor ermöglicht.The design of the electric motor as a vector-controlled brushless motor enables a sinusoidal or trapezoidal signal conversion, whereby DC or AC motors can be used. Furthermore, due to the vector control, the motor power can be doubled for about 5 seconds, which corresponds to an overload of 100%. In addition, the dynamics are optimized because the vector control allows very high accelerations compared to a conventional electric motor.
Gemäß einer ersten bevorzugten Ausführungsform der Erfindung ist der Lenkaktuator als elektromotorisch angetriebenes Spindelgetriebe ausgeführt, dessen mit der Ruderpinne oder mit einem geeigneten Bauteil der Rudereinrichtung über eine Gelenkeinrichtung verbundene Gewindespindel ein Außengewinde aufweist, welches in das Innengewinde einer von dem Elektromotor angetriebenen Schraubenmutter eingreift.According to a first preferred embodiment of the invention, the steering actuator is designed as an electric motor driven spindle gear, which connected to the tiller or with a suitable component of the rudder device via a hinge threaded spindle having an external thread which engages in the internal thread of a driven by the electric motor nut.
Alternativ dazu kann die Gewindespindel hohl gebohrt sein und ein Innengewinde aufweisen, in welches das Außengewinde einer vom Elektromotor angetriebenen Schraube eingreift.Alternatively, the threaded spindle can be drilled hollow and have an internal thread, in which engages the external thread of a screw driven by the electric motor.
Im Rahmen einer besonders vorteilhaften Weiterbildung der Erfindung ist die Schraubenmutter durch den Rotor des Elektromotors gebildet.In a particularly advantageous embodiment of the invention, the nut is formed by the rotor of the electric motor.
Durch die erfindungsgemäße Realisierung der Umwandlung der Rotationsbewegung des Elektromotors in eine translatorische Bewegung der Gewindespindel mittels der Zusammenwirkung eines Innengewindes mit einem Au- ßengewinde wird in vorteilhafter Weise die gewünschte Selbsthemmung erzielt, so dass der Elektromotor bei nicht betätigtem Steuerruder einen sehr geringen Stromverbrauch aufweist.The realization according to the invention of the conversion of the rotational movement of the electric motor into a translational movement of the threaded spindle by means of the interaction of an internal thread with an external thread. ßengewinde the desired self-locking is achieved in an advantageous manner, so that the electric motor has a very low power consumption when not operated rudder.
Um die Manövrierfähigkeit bei Ausfall des Elektromotors zu ermöglichen, wird zudem vorgeschlagen, an dem der Gewindespindel abgewandten Ende des Lenkaktuators an der Schraubenmutter bzw. am Rotor des Elektromotors ein Ende eines Bowdenkabels lösbar zu fixieren, so dass die Gewindespindel durch Betätigen (Drehen) des Bowdenkabels mittels einer geeigneten Einrichtung, beispielsweise mittels einer Kurbel bewegt werden kann.In order to enable the maneuverability in case of failure of the electric motor, it is also proposed to releasably fix one end of a Bowden cable to the threaded spindle facing away from the end of the steering actuator on the nut or on the rotor of the electric motor, so that the threaded spindle by pressing (turning) of the Bowden cable can be moved by means of a suitable device, for example by means of a crank.
In vorteilhafter Weise kann das dem Rotor abgewandte Ende des Bowdenkabels mittels einer Adaptereinrichtung mit der mit dem Steuerruder drehfest verbundenen Welle drehfest verbunden werden, so dass eine Betätigung des Bowdenkabels durch Betätigung des Steuerruders möglich ist.Advantageously, the rotor facing away from the end of the Bowden cable by means of an adapter device with the rotatably connected to the rudder shaft rotatably connected, so that actuation of the Bowden cable is possible by operating the rudder.
Gemäß der Erfindung ist zur Steuerung des Lenkaktuators eine Steuerung vorgesehen, welche über den CAN-Bus mit der elektronischen Steuereinheit des Schiffsteuersystems ECU verbunden ist; zur Ermittlung der Winkelposition des Ruders ist ein Winkelsensor vorgesehen, der vorzugsweise als Inkre- mentalgeber ausgeführt ist und die Drehung des Rotors des Elektromotors oder der Gewindespindel erfasst. Die ECU verarbeitet 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.According to the invention, a controller is provided for controlling the steering actuator, which is connected via the CAN bus to the electronic control unit of the ship control system ECU; for determining the angular position of the rudder an angle sensor is provided, which is preferably designed as an incremental encoder and detects the rotation of the rotor of the electric motor or the threaded spindle. The ECU processes the signals from the user-operated steering unit or an auto-pilot device and sends 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.
Gemäß der Erfindung ist es möglich, mit einem Lenkaktuator zwei Ruder zu betätigen, wobei zu diesem Zweck die Spindel über ein Zwischenbauteil mit beiden Ruderpinnen verbunden ist. Es ist gemäß der Erfindung auch möglich, für jedes Ruder einen Lenkaktuator vorzusehen, so dass die Ruder unabhängig voneinander anhand der Befehle der ECU betätigt werden können. Dies kann z. B. zur Durchführung von komplexen Manövern vorteilhaft sein.According to the invention, it is possible to operate with a steering actuator two rudders, for which purpose the spindle is connected via an intermediate member with two rudder spiders. It is also possible according to the invention to provide a steering actuator for each rudder so that the rudders are independent can be operated from each other by means of the commands of the ECU. This can be z. B. be advantageous for performing complex maneuvers.
Der erfindungsgemäße Lenkaktuator sowie Verfahren zu dessen Betreiben werden im Folgenden anhand der beigefügten Figuren beispielhaft näher erläutert. Es zeigen:The steering actuator according to the invention and methods for its operation are explained in more detail below by way of example with reference to the accompanying figures. Show it:
Figur 1 : Eine schematische Schnittansicht einer bevorzugten Ausführungsform eines Lenkaktuators gemäß der Erfindung;Figure 1: A schematic sectional view of a preferred embodiment of a steering actuator according to the invention;
Figur 2: Eine schematische Schnittansicht einer weiteren Ausführungsform eines erfindungsgemäßen Lenkaktuators; undFIG. 2 shows a schematic sectional view of a further embodiment of a steering actuator according to the invention; and
Figur 3: Eine schematische Schnittansicht einer weiteren Ausführungsform eines erfindungsgemäßen Lenkaktuators.Figure 3: A schematic sectional view of another embodiment of a steering actuator according to the invention.
In Figur 1 ist eine erste Ausführungsform eines erfindungsgemäßen Lenkaktuators 1 dargestellt. Der Lenkaktuator 1 ist als linearer elektromechani- scher Aktuator ausgeführt und umfasst einen Elektromotor 2, welcher als vektorgeregelter bürstenloser Motor ausgeführt ist.FIG. 1 shows a first embodiment of a steering actuator 1 according to the invention. The steering actuator 1 is designed as a linear electromechanical actuator and includes an electric motor 2, which is designed as a vector-controlled brushless motor.
Bei dem in Figur 1 gezeigten Beispiel ist der Lenkaktuator 1 als elektromotorisch angetriebenes Spindelgetriebe ausgeführt, dessen mit der Ruderpinne 3 über eine Gelenkeinrichtung 4, die vorzugsweise als Kugelgelenkeinrichtung ausgeführt ist, verbundene Gewindespindel 5 ein Außengewinde 6 aufweist, welches in das Innengewinde 7 einer von dem Elektromotor 2 angetriebenen Schraubenmutter 8 eingreift. Bei dem in Figur 1 gezeigten Beispiel ist die Schraubenmutter 8 durch den Rotor 9 des Elektromotors 2 gebildet; in der Figur ist der gehäusefest angeordnete und als Permanentmagnet ausgeführte Stator mit 10 bezeichnet. Durch die Wirkverbindung zwischen dem Außen- und dem Innengewinde und die mehreren Kontaktpunkte zwischen den beiden Bauteilen entsteht der Vorteil, dass hohe Momente bei kompakter Bauweise und hohen Beschleuni- gungs- und Drehzahlwerten übertragen werden können. Beispielsweise werden bei dem erfindungsgemäßen Aktuator bis zu 7000 U/Min ermöglicht; bei einem Aktuator mit einer herkömmlichen Kugelgewindespindel sind bis zu 2500 U/Min möglich. Die Anzahl der Kontaktpunkte zwischen den beiden Bauteilen Spindel und Schraubenmutter bzw. Schraube (siehe Figur 2) entspricht der Anzahl der Windungen der Schraubenmutter bzw. der Schraube. Vorzugsweise ist die Anzahl der Windungen größer als vier. Im Vergleich dazu weist eine herkömmliche Kugelgewindespindel lediglich zwei Kontaktpunkte auf.In the example shown in Figure 1, the steering actuator 1 is designed as an electric motor driven spindle gear, which is connected to the tiller 3 via a hinge device 4, which is preferably designed as a ball joint threaded spindle 5 has an external thread 6, which in the internal thread 7 one of the Electric motor 2 driven nut 8 engages. In the example shown in Figure 1, the nut 8 is formed by the rotor 9 of the electric motor 2; in the figure, the stator fixed to the housing and designed as a permanent magnet is designated by 10. The active connection between the outer and inner threads and the multiple contact points between the two components has the advantage that high torques can be transmitted in a compact design and high acceleration and rotational speed values. For example, the actuator according to the invention allows up to 7000 rpm; in an actuator with a conventional ball screw up to 2500 U / min are possible. The number of contact points between the two components spindle and nut or screw (see Figure 2) corresponds to the number of turns of the nut or the screw. Preferably, the number of turns is greater than four. In comparison, a conventional ball screw has only two contact points.
Zur Steuerung des Lenkaktuators 1 ist eine Steuerung 1 1 vorgesehen, welche über den CAN-Bus mit der elektronischen Steuereinheit des Schiffsteuersystems ECU verbunden ist. Zudem ist zur Ermittlung der Winkelposition des Ruders ein mit der Steuerung 1 1 verbundener Winkelsensor 12 vorgesehen, der vorzugsweise als Inkrementalgeber ausgeführt ist und die Winkelposition des Rotors 9 des Elektromotors 2 oder der Gewindespindel 5 erfasst.For controlling the steering actuator 1, a controller 1 1 is provided, which is connected via the CAN bus to the electronic control unit of the ship control system ECU. In addition, to determine the angular position of the rudder an associated with the controller 1 1 angle sensor 12 is provided, which is preferably designed as an incremental encoder and detects the angular position of the rotor 9 of the electric motor 2 or the threaded spindle 5.
Wie in Figur 1 angedeutet, ist bei dem gezeigten Beispiel die Gewindespindel 5 in Richtung auf das dem Ruder 13 abgewandte Ende des Gehäuses 14 durch den Rotor 9, d. h. durch die Schraubenmutter 8, geführt, was eine Anordnung des Sensor 12 an der dem Ruder 13 abgewandten Seite des Elektromotors ermöglicht, wobei in diesem Fall, der Inkrementalgeber derart dimensioniert ist, dass die Erfassung der Winkelposition der Spindel unabhängig von deren axialen Verschiebung gewährleistet ist.As indicated in Figure 1, in the example shown, the threaded spindle 5 in the direction of the end of the housing 14 facing away from the rudder 13 by the rotor 9, d. H. passed through the nut 8, which allows an arrangement of the sensor 12 on the side facing away from the rudder 13 of the electric motor, in which case, the incremental encoder is dimensioned such that the detection of the angular position of the spindle is ensured regardless of their axial displacement.
Es ist aber auch möglich, den Sensor 12 an der dem Ruder 13 zugewandten Seite des Elektromotors anzuordnen. Bei dem in Figur 1 gezeigten Beispiel sind der Elektromotor 2, das Spindelgetriebe und der Sensor 12 in einem Gehäuse 14 angeordnet, welches mit dem Schiffskörper 15 verbunden ist.But it is also possible to arrange the sensor 12 on the rudder 13 side facing the electric motor. In the example shown in FIG. 1, the electric motor 2, the spindle gear and the sensor 12 are in FIG a housing 14 which is connected to the hull 15.
Um die Manövrierfähigkeit bei Ausfall des Elektromotors zu ermöglichen, ist optional bei jeder Ausführungsform ein Bowdenkabel 16 vorgesehen, welches an dem dem Ruder 13 abgewandten Ende des Lenkaktuators 1 mit der Schraubenmutter bzw. mit dem Rotor 9 des Elektromotors 2 lösbar verbindbar ist, so dass die Gewindespindel 5 durch Drehen des Bowdenkabelsi 6 mittels einer Kurbel 17 bewegt werden kann. Um die Verbindung des Bowdenkabels 16 mit dem Rotor 9 zu ermöglichen, ist am Gehäuse 14 eine Öffnung 18 vorgesehen, die vorzugsweise im nicht benutzten Zustand verschlossen werden kann.In order to enable the maneuverability in case of failure of the electric motor, a Bowden cable 16 is optionally provided in each embodiment, which is detachably connectable at the end remote from the rudder 13 of the steering actuator 1 with the nut or with the rotor 9 of the electric motor 2, so that the Threaded spindle 5 can be moved by turning the Bowdenkabelsi 6 by means of a crank 17. In order to enable the connection of the Bowden cable 16 to the rotor 9, an opening 18 is provided on the housing 14, which may preferably be closed in the unused state.
In Figur 2 ist eine weitere Ausführungsform eines erfindungsgemäßen Lenkaktuators gezeigt. Der Unterschied zu der Ausführungsform gemäß Figur 2 besteht darin, dass die Gewindespindel 5 hohl gebohrt ausgeführt ist und ein Innengewinde 21 aufweist, in welches das Außengewinde 20 einer vom Rotor 9 des Elektromotors 2 angetriebenen Schraube 22 eingreift; bei dem gezeigten Beispiel ist zudem in Kraftflussrichtung zwischen dem Rotor 9 des Elektromotors 2 und der Schraube 22 ein Planetengetriebe 19 angeordnet, welches als Reduziergetriebe ausgeführt ist, wodurch der Elektromotor 2 kleiner dimensioniert werden kann. In vorteilhafter Weise werden durch das Gehäuse 23 des Planetengetriebes 19 Torsionsschwingungen und Biegemomente teilweise absorbiert.FIG. 2 shows a further embodiment of a steering actuator according to the invention. The difference from the embodiment according to Figure 2 is that the threaded spindle 5 is hollow bored and has an internal thread 21, in which the external thread 20 engages a driven by the rotor 9 of the electric motor 2 screw 22; in the example shown, a planetary gear 19 is also arranged in the power flow direction between the rotor 9 of the electric motor 2 and the screw 22, which is designed as a reduction gear, whereby the electric motor 2 can be made smaller. Advantageously, 19 torsional vibrations and bending moments are partially absorbed by the housing 23 of the planetary gear.
Bei dem in Figur 3 gezeigten Beispiel ist der Elektromotor 2 außerhalb des Gehäuses 14 des Lenkaktuators 1 angeordnet, wobei das Moment vom Rotor des Elektromotors auf die Schraubenmutter 8 (siehe Figur 1 ) bzw. die Schraube 22 bzw. das Planetengetriebe 19 (siehe Figur 2) mittels einer Stirnradstufe oder eines Riementriebs 24 übertragen wird. Der Sensor 12 zur Erfassung der Winkelposition des Ruders ist in vorteilhafter Weise als Inkrementalgeber ausgeführt, was in niedrigen Kosten resultiert. Da ein Inkrementalgeber keine Absolutwerte liefert, muss bei jedem Start des Schiffsteuersystems die Nullposition (Geradeausposition) ermittelt werden und das Ruder in diese Position gebracht werden.In the example shown in FIG. 3, the electric motor 2 is arranged outside the housing 14 of the steering actuator 1, wherein the torque from the rotor of the electric motor to the nut 8 (see FIG. 1) or the screw 22 or the planetary gear 19 (see FIG ) is transmitted by means of a spur gear or a belt drive 24. The sensor 12 for detecting the angular position of the rudder is advantageously designed as an incremental encoder, resulting in low cost. Since an incremental encoder does not provide absolute values, the zero position (straight ahead position) must be determined each time the ship control system is started and the rudder is brought into this position.
Gemäß der Erfindung erfolgt die Ermittlung der Nullposition dadurch, dass beim Start des Schiffsteuersystems der Elektromotor mit einer vorgegebenen konstanten Drehzahl in eine Richtung betrieben wird, bis die dieser Lenkrichtung entsprechende Endposition erreicht worden ist, wobei der Sensorwert für diese Position in der Steuerung 1 1 gespeichert wird.According to the invention, the zero position is determined by operating the electric motor at a predetermined constant speed in one direction at the start of the ship control system until the end position corresponding to this steering direction has been reached, wherein the sensor value for this position is stored in the controller 11 becomes.
Anschließend wird der Elektromotor 2 des Lenkaktuators mit einer vorgegebenen Drehzahl in die entgegengesetzte Richtung betrieben, bis die zweite Endposition des Ruders erreicht worden ist, wobei der der zweiten Endposition entsprechende Sensorwert verwendet wird, um anhand der Anzahl der Inkremente zwischen beiden Endpositionen die Nullposition zu ermitteln (entspricht der Hälfte der Inkrementendifferenz) und durch entsprechende Betätigung des Elektromotors das Ruder in diese Position zu bringen. Für den Fall, dass die beiden Endpositionen nicht den gleichen Winkelabstand um die Nullposition aufweisen, wird dies bei der Ermittlung der Nullposition anhand der Inkremente der Endpositionen berücksichtigt.Subsequently, the electric motor 2 of the steering actuator is operated at a predetermined speed in the opposite direction until the second end position of the rudder has been reached, using the second end position corresponding sensor value to determine the zero position based on the number of increments between both end positions (corresponds to half of the increment difference) and to bring the rudder into this position by appropriate actuation of the electric motor. In the event that the two end positions do not have the same angular distance around the zero position, this is taken into account when determining the zero position based on the increments of the end positions.
Die Ermittlung der Endpositionen kann vorzugsweise dadurch erfolgen, dass, wenn der vom Motor benötigte Strom einen vorgegebenen Schwellenwert überschreitet, die Endposition erkannt wird. Hierbei wird der vom mit konstanter Drehzahl betriebenen Motor benötigte Strom erhöht, um das „Hindernis" zu überwinden.The determination of the end positions can preferably take place in that when the current required by the motor exceeds a predetermined threshold, the end position is detected. This increases the current required by the constant-speed motor to overcome the "obstacle".
Gemäß der Erfindung wird vor der Ermittlung der Nullposition optional geprüft, ob die Verbindung zwischen dem Inkrementalgeber und der Steuerung funktioniert und ob das CAN betriebsbereit ist. Ist das nicht der Fall wird das Ruder blockiert und eine Fehlermeldung wird ausgegeben.According to the invention, it is optionally checked before determining the zero position, whether the connection between the incremental encoder and the controller works and if the CAN is ready for operation. If this is not the case, the rudder is blocked and an error message is issued.
Zudem wird während des Betriebs des Schiffsteuersystems in vorgegebenen Zeitabständen die Funktionalität des CAN geprüft, wobei zu diesem Zweck von der elektronischen Steuereinheit des Schiffsteuersystems ECU an die Steuerung 1 1 des Elektromotors ein definiertes Signal gesendet wird. Wenn dieses Signal von der Steuerung innerhalb eines vorgegebenen Zeitintervalls fehlerfrei empfangen wird, wird der Lenkaktuator weiter betrieben, wird das Signal nicht oder fehlerbehaftet empfangen wird von der Steuerung 1 1 das Ruder auf die Nullposition gebracht und in dieser Position gehalten, wobei eine Fehlermeldung ausgegeben wird.In addition, the functionality of the CAN is checked during the operation of the ship control system at predetermined intervals, for which purpose a defined signal is sent from the electronic control unit of the ship control system ECU to the controller 1 1 of the electric motor. If this signal is received error-free by the controller within a predetermined time interval, the steering actuator is continued to operate, the signal is not or erroneously received by the controller 1 1 brought the rudder to the zero position and held in this position, with an error message is issued ,
Gemäß einer Variante des Verfahrens wird, wenn das Signal nicht innerhalb des vorgegebenen Zeitintervalls oder fehlerbehaftet empfangen worden ist, die elektronische Steuereinheit des Schiffsteuersystems ECU von der Steuerung 1 1 erneut aufgefordert wird, das Signal zu übermitteln, wobei dies bis n Mal wiederholt werden kann (n ist eine vorgegebene natürliche Zahl, die Werte zwischen 2 und 50 annehmen kann). Wenn nach der n-ten Wiederholung das Signal nicht innerhalb des vorgegebenen Zeitintervalls oder fehlerbehaftet empfangen worden ist, wird von der Steuerung 1 1 das Ruder auf die Nullposition gebracht und in dieser Position gehalten, wobei eine Fehlermeldung ausgegeben wird. According to a variant of the method, if the signal has not been received within the predetermined time interval or faulty, the ECU of the ship control system ECU is again requested by the controller 1 1 to transmit the signal, which can be repeated n times ( n is a given natural number that can take values between 2 and 50). If, after the n-th repetition, the signal has not been received within the predetermined time interval or faulty, the rudder is brought to the zero position and held in this position by the controller 1 1, wherein an error message is issued.
BezuqszeichenREFERENCE CHARACTERS
Lenkaktuatorsteering actuator
Elektromotorelectric motor
Ruderpinnetiller
Gelenkeinrichtungjoint device
Gewindespindelscrew
Außengewindeexternal thread
Innengewindeinner thread
Schraubenmutternut
Rotorrotor
Statorstator
Steuerungcontrol
Sensorsensor
Ruderrudder
Gehäusecasing
Schiffskörperhull
BowdenkabelBowden cable
Kurbelcrank
Öffnungopening
Planetengetriebeplanetary gear
Außengewindeexternal thread
Innengewindeinner thread
Schraubescrew
Gehäusecasing
Riementrieb belt drive

Claims

Patentansprüche claims
1. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, ausgeführt als linearer elektromechanischer Aktuator, umfassend einen Elektromotor (2), eine über den CAN-Bus mit der elektronischen Steuereinheit des Schiffsteuersystems (ECU) verbundene Steuerung (11 ) und einen mit der Steuerung (11 ) verbundenen Winkelsensor (12) zur Ermittlung der Winkelposition des RudersSteering actuator for a steer-by-wire ship control system, designed as a linear electromechanical actuator comprising an electric motor (2), a connected via the CAN bus to the electronic control unit of the ship control system (ECU) controller (11) and one with the controller (11) connected angle sensor (12) for determining the angular position of the rudder
(13), dadurch gekennzeichnet, dass der Elektromotor (2) als vektorgeregelter bürstenloser Motor ausgeführt ist.(13), characterized in that the electric motor (2) is designed as a vector-controlled brushless motor.
2. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 1, dadurch gekennzeichnet, dass der Elektromotor (2) als Gleichstrom- oder Wechselstrommotor ausgeführt ist.Second steering actuator for a steer-by-wire ship control system, according to claim 1, characterized in that the electric motor (2) is designed as a DC or AC motor.
3. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass er als elektromotorisch angetriebenes Spindelgetriebe ausgeführt ist, dessen mit der Ruderpinne (3) oder mit einem geeigneten Bauteil der Rudereinrichtung über eine Gelenkeinrichtung (4) verbundene Gewindespindel (5) ein Außengewinde (6) aufweist, welches in das Innengewinde (7) einer von dem Elektromotor (2) angetriebenen Schraubenmutter (8) eingreift.3. steering actuator for a steer-by-wire ship control system, according to claim 1 or 2, characterized in that it is designed as an electric motor driven spindle gear, with the tiller (3) or with a suitable component of the rudder means of a hinge device (4). connected threaded spindle (5) has an external thread (6), which engages in the internal thread (7) of a of the electric motor (2) driven nut (8).
4. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 3, dadurch gekennzeichnet, dass die Schraubenmutter (8) durch den Rotor (9) des Elektromotors gebildet ist.4. steering actuator for a steer-by-wire ship control system, according to claim 3, characterized in that the nut (8) through the rotor (9) of the electric motor is formed.
5. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass er als elektromotorisch angetriebenes Spindelgetriebe ausgeführt ist, dessen mit der Ruderpinne (3) über eine Gelenkeinrichtung (4) verbundene Gewindespindel (5) hohlgebohrt ausgeführt ist und ein Innengewinde (21) aufweist, in welches das Außengewinde (20) einer vom Rotor (9) des Elektromotors (2) angetriebenen Schraube (22) eingreift.5. Steering actuator for a steer-by-wire ship control system, according to claim 1 or 2, characterized in that it is designed as an electric motor driven spindle gear, the hollow with the tiller (3) via a hinge device (4) connected threaded spindle (5) is executed and has an internal thread (21), in which engages the external thread (20) of the rotor (9) of the electric motor (2) driven screw (22).
6. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 5, dadurch gekennzeichnet, dass in Kraftflussrichtung zwischen dem Rotor (9) des Elektromotors (2) und der Schraube (22) ein Planetengetriebe (19) angeordnet ist, welches als Reduziergetriebe ausgeführt ist.6. steering actuator for a steer-by-wire ship control system according to claim 5, characterized in that in the direction of power flow between the rotor (9) of the electric motor (2) and the screw (22) a planetary gear (19) is arranged, which serves as a reduction gear is executed.
7. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach einem der vorangehenden Ansprüche 3 bis 6, dadurch gekennzeichnet, dass der Elektromotor (2), das Spindelgetriebe und der Sensor (12) in einem Gehäuse (14) angeordnet sind, welches mit dem Schiffskörper (15) verbunden ist.7. steering actuator for a steer-by-wire ship control system, according to one of the preceding claims 3 to 6, characterized in that the electric motor (2), the spindle gear and the sensor (12) in a housing (14) are arranged, which with the hull (15) is connected.
8. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 3, 5 oder 6, dadurch gekennzeichnet, dass der Elektromotor (2) außerhalb des Gehäuses (14) des Lenkaktuators (1) angeordnet ist, wobei das Moment vom Rotor (9) des Elektromotors (2) auf die Schraubenmutter (8) bzw. die Schraube (22) bzw. das Planetengetriebe (19) mittels einer Stirnradstufe oder eines Riementriebs (24) übertragen wird.8. steering actuator for a steer-by-wire ship control system, according to claim 3, 5 or 6, characterized in that the electric motor (2) outside the housing (14) of the steering actuator (1) is arranged, wherein the torque from the rotor (9 ) of the electric motor (2) to the nut (8) or the screw (22) or the planetary gear (19) by means of a spur gear or a belt drive (24) is transmitted.
9. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass der Winkelsensor (12) als Inkrementalgeber ausgeführt ist, der die Winkelposition des Rotors (9) des Elektromotors (2) oder der Gewindespindel (5) erfasst.9. steering actuator for a steer-by-wire ship control system, according to one of the preceding claims, characterized in that the angle sensor (12) is designed as an incremental encoder, the angular position of the rotor (9) of the electric motor (2) or the threaded spindle (5 ) detected.
10. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 9, dadurch gekennzeichnet, dass für den Fall, dass die Gewindespindel (5) ein Außengewinde (6) aufweist, welches in das Innengewinde (7) einer von dem Elektromotor (2) angetriebenen Schraubenmutter (8) oder des Rotors (9) eingreift, die Gewindespindel (5) in Richtung auf das dem Ruder (13) abgewandte Ende des Gehäuses (14) durch den Rotor (9) bzw. durch die Schraubenmutter (8) geführt ist, wobei der Inkrementalgeber (12) an der dem Ruder (13) abgewandten Seite des Elektromotors (2) angeordnet ist und wobei der Inkrementalgeber (12) derart dimensioniert ist, dass die Erfassung der Winkelposition der Spindel (5) unabhängig von deren axialen Verschiebung gewährleistet ist.10. steering actuator for a steer-by-wire ship control system, according to claim 9, characterized in that in the event that the threaded spindle (5) has an external thread (6) which in the internal thread (7) of the electric motor (2 ) driven nut (8) or the rotor (9) engages the threaded spindle (5) in the direction of the Rudder (13) remote from the housing (14) through the rotor (9) and through the nut (8) is guided, wherein the incremental encoder (12) on the said rudder (13) facing away from the electric motor (2) is arranged and wherein the incremental encoder (12) is dimensioned such that the detection of the angular position of the spindle (5) is ensured regardless of their axial displacement.
11. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 9, dadurch gekennzeichnet, dass der Inkrementalgeber (12) an der dem Ruder (13) zugewandten Seite des Elektromotors (2) angeordnet ist.11. steering actuator for a steer-by-wire ship control system, according to claim 9, characterized in that the incremental encoder (12) on the said rudder (13) facing side of the electric motor (2) is arranged.
12. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass ein Bowdenkabel (16) vorgesehen ist, welches an dem dem Ruder (13) abgewandten Ende des Lenkaktuators (1) mit dem Rotor (9) des Elektromotors (2) lösbar verbindbar ist, so dass die Gewindespindel (5) durch Drehen des Bowdenka- bels (16) bewegt werden kann, wobei am Gehäuse (14) eine Öffnung (18) vorgesehen ist, um die Verbindung des Bowdenkabels (16) mit dem Rotor (9) zu ermöglichen.12. steering actuator for a steer-by-wire ship control system, according to one of the preceding claims, characterized in that a Bowden cable (16) is provided, which at the the rudder (13) facing away from the end of the steering actuator (1) with the rotor (9 ) of the electric motor (2) is detachably connectable, so that the threaded spindle (5) can be moved by turning the Bowden cable (16), wherein an opening (18) is provided on the housing (14) in order to connect the Bowden cable ( 16) with the rotor (9) to allow.
13. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 12, dadurch gekennzeichnet, dass das Bowdenkabel (16) mittels einer Kurbel (17) betätigbar ist.13. steering actuator for a steer-by-wire ship control system, according to claim 12, characterized in that the Bowden cable (16) by means of a crank (17) is actuated.
14. Lenkaktuator für ein Steer-by-wire Schiffsteuersystem, nach Anspruch 12, dadurch gekennzeichnet, dass das dem Rotor abgewandte Ende des Bowdenkabels (16) mittels einer Adaptereinrichtung mit der mit dem Steuerruder drehfest verbundenen Welle drehfest verbindbar ist, so dass eine Betätigung des Bowdenkabels (16) durch Betätigung des Steuerruders möglich ist. 14. steering actuator for a steer-by-wire ship control system, according to claim 12, characterized in that the rotor facing away from the end of the Bowden cable (16) by means of an adapter device with the rotatably connected to the rudder shaft rotatably connected, so that an actuation of the Bowden cable (16) by pressing the rudder is possible.
15. Verfahren zum Betreiben eines Lenkaktuators nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass in vorgegebenen Zeitabständen die Funktionalität des CAN geprüft wird, wobei zu diesem Zweck von der elektronischen Steuereinheit des Schiffsteuersystems ECU an die Steuerung (11 ) ein definiertes Signal gesendet wird, wobei, wenn dieses Signal von der Steuerung (11) innerhalb eines vorgegebenen Zeitintervalls fehlerfrei empfangen wird, der Lenkaktuator weiter betrieben wird, wobei, wenn das Signal nicht oder fehlerbehaftet empfangen wird von der Steuerung (11) das Ruder (13) auf die Nullposition gebracht und in dieser Position gehalten wird, wobei eine Fehlermeldung ausgegeben wird.15. A method for operating a steering actuator according to one of the preceding claims, characterized in that at predetermined intervals, the functionality of the CAN is checked, for which purpose by the electronic control unit of the ship control system ECU to the controller (11) a defined signal is sent, wherein, when this signal is received error-free by the controller (11) within a predetermined time interval, the steering actuator continues to operate, and if the signal is not received or erroneously received by the controller (11), the rudder (13) is brought to the null position and held in this position, giving an error message.
16. Verfahren zum Betreiben eines Lenkaktuators nach Anspruch 15, dadurch gekennzeichnet, dass wenn das Signal nicht innerhalb des vorgegebenen Zeitintervalls oder fehlerbehaftet empfangen worden ist, die elektronische Steuereinheit des Schiffsteuersystems ECU von der Steuerung (11) erneut auffordert, das Signal zu übermitteln, wobei dies bis n Mal wiederholt werden kann, wobei n eine vorgegebene natürliche Zahl ist, die Werte zwischen 2 und 50 annehmen kann, und wobei wenn nach der n-ten Wiederholung das Signal nicht innerhalb des vorgegebenen Zeitintervalls oder fehlerbehaftet empfangen worden ist, von der Steuerung (11) das Ruder auf die Nullposition gebracht und in dieser Position gehalten wird, wobei eine Fehlermeldung ausgegeben wird.16. A method of operating a steering actuator according to claim 15, characterized in that when the signal has not been received within the predetermined time interval or erroneous, the electronic control unit of the ship control system ECU by the controller (11) again asks to transmit the signal this can be repeated n times, where n is a predetermined natural number that can take values between 2 and 50, and if, after the nth iteration, the signal has not been received within the predetermined time interval or error, from the controller (11) the rudder is brought to the zero position and held in this position, giving an error message.
17. Verfahren zum Betreiben eines Lenkaktuators nach einem der vorangehenden Ansprüche 1 bis 14, dadurch gekennzeichnet, dass für den Fall, dass der Winkelsensor (12) als Inkrementalgeber ausgeführt ist, beim Start des Schiffsteuersystems die Nullposition (Geradeausposition) ermittelt wird, wobei die Ermittlung der Nullposition dadurch erfolgt, dass der Elektromotor (2) mit einer vorgegebenen Drehzahl in eine Richtung betrieben wird, bis die dieser Lenkrichtung entsprechende Endposition erreicht worden ist, wobei der Sensorwert für diese Position in der Steuerung (11 ) gespeichert wird, wobei anschließend der Elektromotor (2) mit einer vorgegebenen Drehzahl in die entgegengesetzte Richtung betrieben wird, bis die zweite Endposition des Ruders (13) erreicht worden ist, wobei der der zweiten Endposition entsprechende Sensorwert verwendet wird, um anhand der Anzahl der Inkremente zwischen beiden Endpositionen die Nullposition (Geradeausposition) zu ermitteln und durch entsprechende Betätigung des Elektromotors (2) das Ruder (13) in diese Position zu bringen.17. A method for operating a steering actuator according to one of the preceding claims 1 to 14, characterized in that in the event that the angle sensor (12) is designed as an incremental encoder, at the start of the ship control system, the zero position (straight ahead position) is determined, wherein the determination the zero position takes place in that the electric motor (2) is operated at a predetermined rotational speed in one direction until the end position corresponding to this steering direction has been reached, wherein the sensor value for that position is stored in the controller (11), and then the electric motor (2) is operated at a predetermined speed in the opposite direction until the second end position of the rudder (13) has been reached, that of the second End position corresponding sensor value is used to determine based on the number of increments between two end positions, the zero position (straight ahead position) and bring by appropriate actuation of the electric motor (2), the rudder (13) in this position.
18. Verfahren zum Betreiben eines Lenkaktuators nach Anspruch 17, dadurch gekennzeichnet, dass die Ermittlung der Endpositionen dadurch erfolgt, dass, wenn der vom Elektromotor (2) benötigte Strom einen vorgegebenen Schwellenwert überschreitet, die Endposition erkannt wird.18. A method for operating a steering actuator according to claim 17, characterized in that the determination of the end positions takes place in that when the current required by the electric motor (2) exceeds a predetermined threshold, the end position is detected.
19. Verfahren zum Betreiben eines Lenkaktuators nach Anspruch 17 o- der 18, dadurch gekennzeichnet, dass vor der Ermittlung der Nullposition geprüft wird, ob die Verbindung zwischen dem Inkrementalgeber (12) und der Steuerung (11) funktioniert und ob das CAN betriebsbereit ist, wobei, wenn dies nicht der Fall ist das Ruder (13) blockiert und eine Fehlermeldung ausgegeben wird. 19. A method of operating a steering actuator according to claim 17 or 18, characterized in that it is checked before determining the zero position, whether the connection between the incremental encoder (12) and the controller (11) works and whether the CAN is ready for operation, if this is not the case, the rudder (13) is blocked and an error message is issued.
EP08804775.8A 2007-10-05 2008-09-26 Steering actuator for a steer-by-wire ship's control system and method for operating said steering actuator Not-in-force EP2212190B1 (en)

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DE102007048061A DE102007048061A1 (en) 2007-10-05 2007-10-05 Steering actuator for a steer-by-wire vessel control system and method for operating the steering actuator
PCT/EP2008/062894 WO2009047131A2 (en) 2007-10-05 2008-09-26 Steering actuator for a steer-by-wire ship's control system and method for operating said steering actuator

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US20100212568A1 (en) 2010-08-26
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WO2009047131A2 (en) 2009-04-16
WO2009047131A3 (en) 2010-08-05

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