EP2212190A2 - Actionneur de direction pour un système de pilotage de navire steer-by-wire (pilotage par câble) et procédé de fonctionnement de l'actionneur de direction - Google Patents

Actionneur de direction pour un système de pilotage de navire steer-by-wire (pilotage par câble) et procédé de fonctionnement de l'actionneur de direction

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)
English (en)
Other versions
EP2212190B1 (fr
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/fr
Application granted granted Critical
Publication of EP2212190B1 publication Critical patent/EP2212190B1/fr
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

L'invention concerne un actionneur de direction (1) réalisé sous la forme d'un actionneur électromécanique linéaire pour un système de pilotage de navire, lequel actionneur comprend un moteur électrique (2), un système de commande (11), relié au bloc de commande électronique (ECU) du système de pilotage de navire par l'intermédiaire du bus CAN, ainsi qu'un capteur d'angle (12), relié au système de commande (11) et destiné à déterminer la position angulaire du gouvernail (13), le moteur électrique (2) étant réalisé sous la forme d'un moteur sans balais à régulation vectorielle.
EP08804775.8A 2007-10-05 2008-09-26 Actionneur de direction pour un système de pilotage de navire steer-by-wire (pilotage par câble) et procédé de fonctionnement de l'actionneur de direction Not-in-force EP2212190B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007048061A DE102007048061A1 (de) 2007-10-05 2007-10-05 Lenkaktuator für ein Steer-by-wire Schiffsteuersystem und Verfahren zum Betreiben des Lenkaktuators
PCT/EP2008/062894 WO2009047131A2 (fr) 2007-10-05 2008-09-26 Actionneur de direction pour un système de pilotage de navire steer-by-wire (pilotage par câble) et procédé de fonctionnement de l'actionneur de direction

Publications (2)

Publication Number Publication Date
EP2212190A2 true EP2212190A2 (fr) 2010-08-04
EP2212190B1 EP2212190B1 (fr) 2014-07-16

Family

ID=40343168

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08804775.8A Not-in-force EP2212190B1 (fr) 2007-10-05 2008-09-26 Actionneur de direction pour un système de pilotage de navire steer-by-wire (pilotage par câble) et procédé de fonctionnement de l'actionneur de direction

Country Status (4)

Country Link
US (1) US8176865B2 (fr)
EP (1) EP2212190B1 (fr)
DE (1) DE102007048061A1 (fr)
WO (1) WO2009047131A2 (fr)

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Also Published As

Publication number Publication date
US20100212568A1 (en) 2010-08-26
WO2009047131A2 (fr) 2009-04-16
WO2009047131A3 (fr) 2010-08-05
US8176865B2 (en) 2012-05-15
EP2212190B1 (fr) 2014-07-16
DE102007048061A1 (de) 2009-04-09

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