EP2414221B1 - Procédé de contrôle d'un angle de pincement sur les gouvernails d'un bateau - Google Patents

Procédé de contrôle d'un angle de pincement sur les gouvernails d'un bateau Download PDF

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Publication number
EP2414221B1
EP2414221B1 EP10713881.0A EP10713881A EP2414221B1 EP 2414221 B1 EP2414221 B1 EP 2414221B1 EP 10713881 A EP10713881 A EP 10713881A EP 2414221 B1 EP2414221 B1 EP 2414221B1
Authority
EP
European Patent Office
Prior art keywords
rudder
toe angle
angle
ship
toe
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.)
Active
Application number
EP10713881.0A
Other languages
German (de)
English (en)
Other versions
EP2414221A2 (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
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Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP2414221A2 publication Critical patent/EP2414221A2/fr
Application granted granted Critical
Publication of EP2414221B1 publication Critical patent/EP2414221B1/fr
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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
    • B63H25/02—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
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • 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
    • 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
    • B63H25/36—Rudder-position indicators

Definitions

  • the present invention relates to a method for verifying a toe angle in the oars of a ship according to the closer defined in the preamble of claim 1.
  • inboard and outboard propulsion systems are known for ships.
  • An inboard propulsion system consists of a motor located in the hull.
  • a drive shaft is connected via a reduction gear to the engine, wherein the drive shaft is guided through the hull and at the end has a drivable propeller for driving the ship.
  • the propeller flows into a rudder.
  • the rudder is controlled via a control arrangement for carrying out desired maneuvers, usually involving a plurality of rudders, e.g. relative to the longitudinal axis of the ship, a starboard-side arranged rudder and a port-side arranged rudder are provided.
  • an electronic control arrangement for the rudder of a ship as a so-called steer-by-wire system.
  • the mechanical or hydraulic connection between the steering wheel and the rudders is replaced by an electronic control device and by a corresponding network for transmitting the corresponding signals.
  • the electronic controller receives signals from a sensor which detects the position of the steering wheel and converts it into corresponding output signals to drive the electric actuator of each rudder coupled to the rudder to set a corresponding control angle.
  • two inboard propulsion systems associated with a starboard-side and a port-side rudder of the vessel may be used.
  • EP 1 394 037 A1 is a double rudder system known for large ships.
  • the known Doppelrudersystem includes a starboard side Rudder and a port-side rudder, which are each controlled via a drive means of a drive circuit, wherein the control movements of the respective rudder are each detectable via a position controller.
  • the drive circuit is connected to an autopilot, so that an automatic control of the rudder is possible.
  • the object of the present invention is to propose a method for checking a toe angle in the oars of a ship, with which a continuous and automated checking of the toe angle can be realized in order to minimize the flow resistance.
  • a method for checking a toe angle in at least one starboard-side rudder and at least one port-side rudder of a ship wherein the rudders are electronically adjusted via a control device.
  • various toe angles are set stepwise, with an optimum toe angle being determined in real time for each rudder from these stepwise determined toe angles.
  • the rudder in opposite directions at Straight ahead of the ship for example, be gradually adjusted, wherein for each set toe angle of the required energy consumption of an associated electric actuator for maintaining the adjusted positions of each rudder is determined so that the toe angle, which is assigned the lowest power consumption, as the optimum toe angle for the associated rudder is stored.
  • a toe or toe can be set at the rudders of the ship.
  • the applied current intensity needed to determine the required power consumption of the actuators is then measured which is necessary to maintain the rudder counter to a flow moment applied to the rudder due to the hydrodynamic forces in the predetermined control position.
  • the set current at the motors is thus a measure of the forces occurring or for the flow resistance. In this way, the optimum toe angle can be determined at which the flow resistance reaches its minimum.
  • the setting angle in the context of the checking method at each rudder can preferably be set to an angle range of +/- 3 °. But there are also other angle ranges possible.
  • the control of the rudder can be done via the central control device via a vehicle network, eg. B. the CAN bus, is coupled to the respective rudder control.
  • the data and signals determined during the checking according to the invention can be transmitted via the vehicle network to the control device for evaluation
  • the verification process can be started automatically when the ship z. B. executes a constant speed when driving straight ahead. This ensures that a constant flow torque is applied to the rudders due to the hydrodynamic forces.
  • Another embodiment of the present invention may provide that the proposed method is started either manually by the driver or automatically during the initialization phase. Preferably should a speed of 10 knots during the verification process will not be exceeded. Otherwise, the procedure can be interrupted automatically.
  • FIG. 1 is a starboard-side arranged rudder 1 and a port arranged on the rudder 2 shown, which are controlled by an electronic control device, which is symbolically indicated only by an arrow.
  • Each rudder 1, 2 has in each case an electric actuator 3, 4 and an associated motor drive 5, 6 for rudder control in order to set the predetermined control angle or toe angle.
  • the two motor drives 5, 6 are coupled to each other and to the control device via a bus system 7 for signal or data transmission.
  • a bus system 7 for signal or data transmission.
  • ⁇ the possible setting angle ⁇ , which is traversed stepwise in the execution of the method according to the invention, occurring at each set toe angle hydrodynamic To determine forces and make an assessment of the selected toe angle in the respective driving condition of the ship.
  • Exemplary is in FIG. 2 the setting angle ⁇ is divided into five setting steps A, B, C, ... in each direction from the control angle 0 °.
  • the required energy consumption of the associated electric actuator of the rudder during a predetermined time z. B. 30 seconds, so as to obtain a measure of the hydrodynamic forces occurring in each case in the different control angles or toe angles.
  • the controller data and signals After passing through the Einstellwinkel Anlagens transmitted via the vehicle network 7 to the controller data and signals can be evaluated to determine the setting angle with the lowest energy consumption. Thereafter, the optimum toe angle can be stored accordingly. The optimal toe angle can also be displayed on a display for the driver.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Electric Motors In General (AREA)
  • Steering Controls (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (7)

  1. Procédé de vérification de l'angle de pincement d'au moins un gouvernail bâbord (1) et d'au moins un gouvernail tribord (2) d'un navire, les gouvernails étant déplacés électroniquement par l'intermédiaire d'un dispositif de commande,
    caractérisé en ce que
    la consommation en énergie nécessaire d'un actionneur électrique associé à chaque gouvernail (1, 2) est déterminée pendant une durée prédéterminée dans un réglage pas-à-pas de différents angles de pincement des gouvernails (1, 2) pour ainsi obtenir une mesure des forces hydrodynamiques qui agissent à chacun des angles de pincement, de telle sorte que l'angle de pincement qui présente la plus petite consommation soit déterminé en temps réel comme angle de pincement optimum pour chaque gouvernail (1, 2).
  2. Procédé selon la revendication 1, caractérisé en ce que les gouvernails (1, 2) sont ajustés pas-à-pas dans des directions opposées pendant un déplacement du navire en ligne droite, la consommation en énergie nécessaire d'un actionneur électrique (3, 4) associé étant déterminée pour chaque angle de pincement réglé, de manière à maintenir les positions établies pour chaque gouvernail (1, 2) en conservant en mémoire comme angle de pincement optimum des gouvernails (1, 2) associés l'angle de pincement auquel est associée la consommation en énergie la plus basse.
  3. Procédé selon la revendication 2, caractérisé en ce que l'angle de pincement optimum est délivré et affiché sur un écran.
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'une plage angulaire de +/- 3° est utilisée comme angle d'ajustement (β) pour chaque gouvernail (1, 2).
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'il est désactivé pour une rotation de la roue de gouvernail de plus de +/-1°.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'il est désactivé à une vitesse du navire supérieure à 10 noeuds.
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'il est activé ou désactivé manuellement ou automatiquement.
EP10713881.0A 2009-04-01 2010-03-30 Procédé de contrôle d'un angle de pincement sur les gouvernails d'un bateau Active EP2414221B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009002109A DE102009002109A1 (de) 2009-04-01 2009-04-01 Verfahren zum Überprüfen eines Spurwinkels bei den Rudern eines Schiffes
PCT/EP2010/054149 WO2010112480A2 (fr) 2009-04-01 2010-03-30 Procédé de contrôle d'un angle de pincement sur les gouvernails d'un bateau

Publications (2)

Publication Number Publication Date
EP2414221A2 EP2414221A2 (fr) 2012-02-08
EP2414221B1 true EP2414221B1 (fr) 2015-07-15

Family

ID=42727585

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10713881.0A Active EP2414221B1 (fr) 2009-04-01 2010-03-30 Procédé de contrôle d'un angle de pincement sur les gouvernails d'un bateau

Country Status (4)

Country Link
US (1) US8577523B2 (fr)
EP (1) EP2414221B1 (fr)
DE (1) DE102009002109A1 (fr)
WO (1) WO2010112480A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012080557A1 (fr) * 2010-12-13 2012-06-21 Eniram Oy Système de pilotage pour un vaisseau maritime
JP2014080083A (ja) * 2012-10-16 2014-05-08 Yamaha Motor Co Ltd 船舶用ステアリングシステム
EP3040262B1 (fr) * 2014-12-30 2018-04-04 Perini Navi S.P.A. Méthode pour l'asservissement des gouvernails d'un navire.

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3899987A (en) * 1974-04-10 1975-08-19 Boeing Co Fail-safe control system for hydrofoil craft
US4223624A (en) * 1977-03-02 1980-09-23 Nippon Gakki Seizo Kabushiki Kaisha Auto-steering system
US4380206A (en) * 1981-03-25 1983-04-19 The United States Of America As Represented By The Secretary Of The Navy Ship roll stabilization system
US5415122A (en) * 1993-10-13 1995-05-16 The United States Of America As Represented By The Secretary Of The Navy Twisted rudder for a vessel
US5488919A (en) * 1995-06-20 1996-02-06 The United States Of America As Represented By The Secretary Of The Navy Canted rudder system for pitch roll and steering control
US6230642B1 (en) * 1999-08-19 2001-05-15 The Talaria Company, Llc Autopilot-based steering and maneuvering system for boats
JP3751260B2 (ja) 2001-05-09 2006-03-01 ジャパン・ハムワージ株式会社 大型船用二枚舵システム
JP4339016B2 (ja) * 2002-05-20 2009-10-07 川崎重工業株式会社 推力配分方法及び推力配分装置
US7186155B2 (en) * 2005-06-11 2007-03-06 Irvin Howard Nickerson Power steering rate controller for a boat and method
WO2008030149A1 (fr) * 2006-09-08 2008-03-13 Ab Volvo Penta Système de commande de direction pour vaisseau et procédé de fonctionnement d'un tel système de commande de direction

Also Published As

Publication number Publication date
US8577523B2 (en) 2013-11-05
DE102009002109A1 (de) 2010-10-14
WO2010112480A3 (fr) 2010-12-02
US20120016543A1 (en) 2012-01-19
EP2414221A2 (fr) 2012-02-08
WO2010112480A2 (fr) 2010-10-07

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