EP2534044B1 - Procédé pour manoeuvrer un yacht - Google Patents

Procédé pour manoeuvrer un yacht Download PDF

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Publication number
EP2534044B1
EP2534044B1 EP11701229.4A EP11701229A EP2534044B1 EP 2534044 B1 EP2534044 B1 EP 2534044B1 EP 11701229 A EP11701229 A EP 11701229A EP 2534044 B1 EP2534044 B1 EP 2534044B1
Authority
EP
European Patent Office
Prior art keywords
joystick
yacht
thrust
bow thruster
angle
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Active
Application number
EP11701229.4A
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German (de)
English (en)
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EP2534044A1 (fr
Inventor
Adriano Zanfei
Andrea Pellegrinetti
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
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ZF Friedrichshafen AG
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Publication of EP2534044A1 publication Critical patent/EP2534044A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H21/213—Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H2025/026—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring

Definitions

  • the invention relates to a method for maneuvering a yacht and to an apparatus for carrying out the method.
  • a motor yacht was known with a propulsion plant, which has two each driving a propeller drive units.
  • the motor yacht on a bow thruster and a stern thruster, ie acting transversely to the longitudinal direction of the yacht thrusters.
  • the propellers and the thrusters are controlled together by a control device via a control lever designed as a joystick.
  • the joystick can be tilted within a full 360 ° circle in eight different directions, each differing by 45 °.
  • either the propulsion or the thruster or propulsion and thrusters are activated.
  • WO 2005/005249 A1 was a swivel propeller drive for a boat known, hereinafter also referred to briefly as a pivot drive.
  • the known rotary actuator is used as a single drive for boats, which can be dispensed with due to the pivoting of the thrust vector generated by the propeller on a rudder blade.
  • the pivoting drive also called rudder propeller, comprises a propulsion device, in particular with a ship's propeller, which is pivotable about a high or control axis and thus allows a different thrust direction relative to the ship's hull.
  • the bow thruster is firmly in the forefront arranged the trunk, generates a thrust across the longitudinal direction of the ship and thus accelerates a rotational movement.
  • the maneuvering can be carried out advantageously, ie it is a sensitive, intuitive, quickly responsive maneuverability of the yacht achieved.
  • lateral or lateral movements of the yacht can be represented by the transverse position of the pivoting drive and the use of the bow thruster. This is a significant advantage in maneuvering, especially for sailing yachts.
  • the pivot drive can be controlled by tilting and / or rotating the joystick.
  • the tilting direction which takes place preferably in Mitschiffscardi or transversely to the midships direction
  • the direction of the thrust vector, d. H. the control angle of the rotary actuator determined.
  • the tilt angle from 0 ° to approx. 45 ° determines the strength of the thrust.
  • the pivot drive and the bow thruster can be controlled simultaneously by tilting the joystick in the transverse direction.
  • pure lateral movements of the yacht, so a Querverish with the same course orientation possible.
  • the thrust of the bow thruster and the pivot drive act in the same direction, the thrust is controlled so that no rotational movement of the hull occurs.
  • the bow thruster and the pivot drive by turning the joystick in a vertical position, ie not tilted, are controlled.
  • a turning of the yacht can be achieved on the spot, ie it requires a minimum maneuvering space for the ship's turn.
  • a sailing yacht which is generally equipped with only a motor drive.
  • the application of the appropriate method on a sailing yacht means a large increase in comfort and safety during maneuvering.
  • Fig. 1 shows a schematic representation of a hull 1 of a not fully illustrated sailing yacht with a keel 2, a prime mover 3, a bow thruster 4 and a rudder blade 5.
  • the prime mover 3 drives a propeller drive 6, which is designed as a pivot drive 6, ie about the vertical axis is pivotable.
  • a rotary actuator is also referred to as a rudder propeller, because it replaces the function of a conventional rudder.
  • the prime mover 3 may be an internal combustion engine or a hybrid drive consisting of an electric motor and an internal combustion engine.
  • Fig. 2 shows a joystick formed as a joystick control lever 7 for controlling the drive machine 3, the pivot drive 6 and the bow thruster 4.
  • the joystick 7 has a handle 7a and formed as a hinge pivot point 7b, through which the longitudinal axis z j of the joystick 7 extends. Further, the joystick 7, the axes x j and y j assigned.
  • the joystick 7 can be tilted in the direction of the axes x j and y j and rotated about its longitudinal axis z j .
  • FIG. 2 3 On the right side of Fig. 2 3 is a schematic plan view of the yacht 1 (the reference numeral 1 is used for both the hull and the yacht) with three axes x, y, z, where y represents the longitudinal axis of the yacht 1, x its transverse axis and z the vertical axis.
  • the axes x j , y j . z j are arranged parallel to the stationary shafts x, y, z.
  • Fig. 3 shows a schematic representation of a control system 8 with the components joystick 7, pivot drive 6, bow thruster 4 and engine 3. All components 3, 4, 6, 7 are connected to an electronic control unit 9 by control lines 9a, 9b, 9c, 9d.
  • the movements of the joystick 7, tilting and / or turning, are introduced via the control line 9a as input signals to the electronic control unit 9 and passed as control commands to the drive machine 3, the pivot drive 6 and / or the bow thruster 4.
  • the sailing yacht can thus be controlled solely by the movements of the joystick 7 - which will be explained in more detail below, in particular maneuvered at low boat speeds.
  • the speed of the prime mover 3, the control or pivot angle of the pivot drive 6 and / or the thrust direction of the bow thruster 4 are driven.
  • Fig. 4 shows the joystick 7, represented by a circle with center M in a first tilted position.
  • the coordinates x j , y j assigned to the joystick 7 are represented as a coordinate system with the center O in a circle k, which marks the pivot range of the joystick 7.
  • the joystick 7 with the longitudinal axis z j is tiltable about the origin of coordinates and center O in the direction of the axes +/- x j and +/- y j .
  • the position of the joystick 7 shown in the drawing corresponds to a forward tilt, ie in the direction of the longitudinal axis y of the yacht or in the direction of forward travel.
  • the tilt angle measured from the vertical (vertical axis), is decisive for the rotational speed of the engine 3, ie the strength of the propeller thrust.
  • the rotational speed of the rotary actuator 6 is denoted by n and plotted on a graph on the axis y j. It can be seen that the rotational speed n increases in proportion to the deflection of the joystick 7 in the direction of the axis y j .
  • Fig. 4a shows - in addition to Fig. 4 - the joystick 7 (left picture) in forward tilted position.
  • the associated position of the pivot drive 6 is shown in the right image: the pivot drive 6 is amidships and drives the yacht 1 in the direction of arrow V forward and straight.
  • Fig. 4b shows the joystick 7 in the same tilt position as in Fig. 4a , but by the positive rotation angle ⁇ zj , that is rotated in a clockwise direction.
  • the right image shows the yacht 1 with the pivot drive 6, which is pivoted in the counterclockwise direction by the control angle - ⁇ .
  • the thrust vector generated by the pivot drive 6 thus exerts a clockwise rotating yaw moment on the yacht 1, which rotates according to the arrow StB to starboard.
  • Fig. 5 shows the joystick 7 in a second position, ie tilted to the rear or to the rear, ie in the direction -y j
  • the pivot drive 6 is in the same, ie unchanged position as in Fig. 4
  • the direction of rotation of the propeller is reversed, so that the thrust direction is directed backwards, the yacht moves aft.
  • the speed n of the pivot drive 6 is plotted in the quadrant -n / -y j .
  • the control angle ⁇ of the pivot drive 6 is plotted in the diagram as a function of the rotation angle ⁇ zj . It can be seen that the joystick 7 and the pivot drive 6 rotate in the same direction.
  • Fig. 5a shows - in addition to Fig. 5 - the joystick 7 in the tilted backward position (left picture), ie straightforward for reversing.
  • the right image shows the yacht 1 with the midship swivel drive 6, whose propeller, however, runs in the opposite direction as in forward driving.
  • the yacht 1 runs - as indicated by the arrow R - straight backwards.
  • Fig. 5b shows the joystick 7 in the same tilt position as in Fig. 5a , but rotated clockwise by the angle + ⁇ zj .
  • the pivot drive 6 is thereby also rotated in a clockwise direction, as indicated by the arrow + ⁇ . Due to the control angle + ⁇ , the thrust vector of the pivot drive 6 generates a clockwise rotating yaw moment. This has the consequence that the stern of the yacht 1 rotates according to the arrow BB to port.
  • Fig. 6 shows the joystick 7 in the same position as in Fig. 5 , namely to the rear, ie in the direction -y j , tilted.
  • the pivot drive 6 is 180 ° relative to the position in Fig. 4 pivoted so that it causes a positive thrust n thrust towards the stern and thus a reverse of the yacht.
  • During the reverse movement of the joystick 7 can be rotated about its longitudinal axis z j by the rotation angle ⁇ zj , which causes a pivoting of the pivot drive 6 by the control angle +/- ⁇ and yaw movement of the yacht.
  • Fig. 6a shows - in addition to Fig. 6 -
  • the joystick 7 in the rear tilted position, ie for driving straight ahead.
  • the pivot drive 6 is amidships and pushes the yacht 1 just astern, which is indicated by the arrow R.
  • Fig. 6b shows the joystick 7 in the same position as in Fig. 6a , but rotated by the angle + ⁇ zj clockwise.
  • This causes - as the right picture shows a pivoting of the pivot drive 6 also in a clockwise direction, ie by the control angle + ⁇ .
  • a yaw moment that rotates in a clockwise direction acts on the yacht 1, so that its stern turns to port, as indicated by the arrow BB.
  • Fig. 7 shows the joystick 7 in a third position in the coordinate origin, ie in a vertical position, ie the tilt angle is equal to zero.
  • the propeller thrust ie the propeller speed n is, as the corresponding diagram shows, proportional to the rotational angle ⁇ zf of the joystick 7.
  • the pivot drive 6 is preferably pivoted in this maneuver by 90 ° so that it is transverse to SchiffslCodesrichfung and thus a yaw moment on the Yacht exercises.
  • the control angle ⁇ of the pivot drive 6 remains, as the diagram shows, during the Drehanövers constant.
  • the bow thruster 4 can be activated in order to support the yaw movement become, so that a pair of forces results with oppositely acting thrust vectors.
  • Fig. 7a shows - for further explanation of Fig. 7 - the joystick 7 in a central vertical position to initiate the maneuver "turning on the spot".
  • the joystick 7 is rotated clockwise, as indicated by the arrow + ⁇ zj .
  • the rotation of the joystick 7 and the pivoting of the pivot drive 6 are thus in opposite directions.
  • the asked at 90 ° pivot drive 6 exerts a clockwise acting yaw moment on the yacht 1, so that it rotates clockwise according to the arrow D.
  • the bow thruster 4 can be switched on, which operates with opposite thrust direction as the pivot drive 6.
  • the rotation of the yacht 1 is thus obvious, ie in the same direction as the rotation of the joystick 7.
  • the corresponding maneuver is performed with opposite direction of rotation, which is not shown.
  • Fig. 8 shows the joystick 7 in a fourth position, namely in the direction of the positive x j- axis tilted, ie to the starboard side.
  • a transverse or sideways movement also called lateral movement
  • the pivot drive 6 are pivoted by + 90 ° and the bow thruster 4 is activated with the same thrust direction.
  • On the yacht then act two thrust vectors, which are aligned parallel and transverse to the longitudinal direction of the ship. To avoid yawing the ship, both thrust vectors are balanced against each other via the electronic control unit.
  • the constant speed n b of the bow thruster 4 is slightly higher.
  • n f ( ⁇ zj )
  • Fig. 8a shows - for further explanation of Fig. 8 move the joystick 7 to starboard tilted position, causing the yacht 1 (right image) to move in the direction of the arrow L.
  • the yacht 1 moves sideways and makes a pure lateral movement, ie without yaw.
  • the bow thruster 4 is switched on and also pushes to starboard.
  • the sum of the yaw moments from the thrust vector of the bow thruster 4 and the thrust vector of the pivot drive 6 is equal to zero - there is torque balance.
  • Fig. 8b shows a change of the maneuver according to Fig. 8a in that the joystick 7 is rotated clockwise according to the arrow + ⁇ zj .
  • the torque balance is canceled by either the thrust of the pivot drive 6 is reduced, so that the yaw moment dominated due to the bow thruster 4, or the thrust of the bow thruster 4 is amplified so that its yaw moment over the yaw moment dominated by the pivot drive 6.
  • the yacht 1 is rotated in the same direction, ie the lateral movement L according to Fig. 8 is a rotational movement to the starboard side, indicated by the arrow StB, superimposed.
  • Fig. 9 shows the joystick 7 in a fifth position, namely in the direction of the negative x j -axis, ie tilted to the port side.
  • a lateral movement of the yacht can be carried out to port side - analogous to the previous embodiment according to Fig. 8 to the starboard side.
  • the bow thruster 4 is activated so that both thrust directions are directed towards the port side. Both thrust vectors are in turn balanced, so that no yaw movement of the ship occurs, but a pure lateral movement with the same longitudinal alignment.
  • Fig. 9a shows - in further explanation of Fig. 9 -
  • the joystick 7 in port tilted position, causing a lateral movement of the yacht, according to the arrow L to the port side.
  • the bow thruster 4 is activated and also pushes to port.
  • Fig. 9b shows a modification of the maneuver according to Fig. 9a , by turning the joystick 7 counterclockwise according to arrow - ⁇ zj .
  • the previous moment balance is canceled, so that a resulting left-turning yaw moment is generated, which initiates a yaw movement of the yacht 1 to port corresponding to the arrow BB.
  • a swivel drive 6 also called rudder propeller
  • a swivel drive 6 can be dispensed with a stern thruster and a conventional rudder with rudder blade.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Position Input By Displaying (AREA)

Claims (8)

  1. Procédé pour manoeuvrer un yacht (1) au moyen d'un organe de commande réalisé sous la forme d'une manette multidirectionnelle (7), la manette multidirectionnelle (7) étant basculée en direction d'un axe longitudinal (y) et d'un axe transversal (x) qui s'étend perpendiculairement à l'axe longitudinal (y) en vue d'initier des mouvements en marche avant ou en marche arrière et des mouvements transversaux du yacht, et étant tournée selon un angle de rotation (+αzj, -αzj) autour de son axe longitudinal (zu) en vue d'initier des mouvements de lacet du yacht, le yacht (1) possédant un mécanisme d'entraînement de pivotement (6) configuré sous la forme d'un mécanisme d'entraînement individuel ayant un vecteur de poussée qui peut pivoter autour d'un axe de hauteur et un gouvernail d'étrave (4) ayant un vecteur de poussée parallèle à l'axe transversal (x), et les mouvements de commande de la manette multidirectionnelle (7) étant transmis clairement au mécanisme d'entraînement de pivotement (6) et au gouvernail d'étrave (4), caractérisé en ce que le gouvernail d'étrave (4) et le mécanisme d'entraînement de pivotement (6) sont commandés par un basculement de la manette multidirectionnelle (7) dans sa direction transversale (+xj, -xj) de telle sorte que leurs vecteurs de poussée agissent dans le même sens de poussée parallèlement à l'axe transversal (x) du yacht et en ce que les intensités des deux vecteurs de poussée sont réglées par le biais d'une unité de commande électronique en fonction de l'angle de rotation (+αzj, -αzj) de la manette multidirectionnelle (7).
  2. Procédé selon la revendication 1, caractérisé en ce qu'avec un angle de rotation (αzj) de 0°, les deux vecteurs de poussée sont équilibrés l'un par rapport à l'autre par le biais d'une unité de commande électronique de telle sorte que la somme des moments de lacet résultant du vecteur de poussée du gouvernail d'étrave (4) et du vecteur de poussée du mécanisme d'entraînement de pivotement (6) est égale à zéro, ou qu'il se produit un équilibre des moments, et un mouvement de lacet du yacht (1) est ainsi évité et un mouvement latéral (L) pur du yacht a lieu.
  3. Procédé selon la revendication 1, caractérisé en ce que l'équilibre des moments avant ou après le basculement est annulé par une rotation de la manette multidirectionnelle (7) de l'angle de rotation (+αzj, - αzj) autour de son axe longitudinal (zu) en ce que la poussée du mécanisme d'entraînement de pivotement (6) est réduite, de sorte que le moment de lacet est dominant du fait du gouvernail d'étrave (4) et un mouvement latéral (L) auquel est superposé un mouvement de lacet est imprimé au yacht (1).
  4. Procédé selon la revendication 1, caractérisé en ce que l'équilibre des moments avant ou après le basculement est annulé par une rotation de la manette multidirectionnelle (7) de l'angle de rotation (+αzj, - αzj) autour de son axe longitudinal (zu) en ce que la poussée du gouvernail d'étrave (4) est amplifiée, de sorte que son moment de lacet est dominant par rapport au moment de lacet résultant du mécanisme d'entraînement de pivotement (6) et un mouvement latéral (L) auquel est superposé un mouvement de lacet est imprimé au yacht (1).
  5. Procédé selon la revendication 1, caractérisé en ce que le gouvernail d'étrave (4) et le mécanisme d'entraînement de pivotement (6) sont commandés en tournant la manette multidirectionnelle (7) dans sa position verticale autour de l'angle de rotation (+αzj, -αzj) de telle sorte qu'il se produit une paire de forces ayant des vecteurs de poussée (x) opposés agissant parallèlement à l'axe transversal du yacht (1) et une rotation sur place du yacht (1) est obtenue.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que la commande des forces de poussée du mécanisme d'entraînement de pivotement (6) s'effectue en basculant la manette multidirectionnelle (7).
  7. Procédé selon la revendication 6, caractérisé en ce que l'intensité de la poussée croît à mesure que l'angle de basculement de la manette multidirectionnelle (7) augmente et décroît lorsque celui-ci diminue.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce que le mécanisme d'entraînement de pivotement (6) peut pivoter selon un angle de commande (α) de 0° à +/-90°, de préférence de 0° à +/-180°, et en ce que l'angle de commande (α) est commandé en tournant la manette multidirectionnelle (7).
EP11701229.4A 2010-02-09 2011-01-19 Procédé pour manoeuvrer un yacht Active EP2534044B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010001707A DE102010001707A1 (de) 2010-02-09 2010-02-09 Verfahren zum Manövrieren einer Yacht
PCT/EP2011/050661 WO2011098326A1 (fr) 2010-02-09 2011-01-19 Procédé pour manœuvrer un yacht

Publications (2)

Publication Number Publication Date
EP2534044A1 EP2534044A1 (fr) 2012-12-19
EP2534044B1 true EP2534044B1 (fr) 2016-08-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP11701229.4A Active EP2534044B1 (fr) 2010-02-09 2011-01-19 Procédé pour manoeuvrer un yacht

Country Status (4)

Country Link
US (1) US20130072076A1 (fr)
EP (1) EP2534044B1 (fr)
DE (1) DE102010001707A1 (fr)
WO (1) WO2011098326A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9690295B1 (en) * 2015-08-20 2017-06-27 Brunswick Corporation Heading control on a marine vessel
USD831652S1 (en) 2015-08-20 2018-10-23 Brunswick Corporation Animated responsive display on a joystick
EP3464057B1 (fr) * 2016-05-25 2021-10-27 Volvo Penta Corporation Procédé et appareil de commande permettant de faire fonctionner un navire
JP2018079742A (ja) * 2016-11-14 2018-05-24 ヤマハ発動機株式会社 船舶用推進装置およびそれを備えた船舶

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1557632A (fr) * 1967-03-29 1969-02-21
US4732104A (en) * 1985-10-08 1988-03-22 Frank Roestenberg Bow thruster
SE508314C2 (sv) * 1994-06-28 1998-09-21 Volvo Penta Ab Propellerdrevinstallation
US6347599B1 (en) * 2000-09-29 2002-02-19 Richard A. Hendrickson Stabilization/power system for windsurfing and other flotation boards
GB2374847B (en) 2001-04-20 2004-09-22 Sealine Internat Ltd Boat having primary and secondary control devices for main and auxiliary propulsion systems
ATE254561T1 (de) * 2001-10-05 2003-12-15 Peter Meyer Fahranlage für schiffe, insbesondere für kreuzfahrtschiffe
SE525478C2 (sv) 2003-07-11 2005-03-01 Volvo Penta Ab Vridbart propellerdrev för en båt
US7267068B2 (en) 2005-10-12 2007-09-11 Brunswick Corporation Method for maneuvering a marine vessel in response to a manually operable control device
US7234983B2 (en) 2005-10-21 2007-06-26 Brunswick Corporation Protective marine vessel and drive
EP1981757B1 (fr) * 2006-02-01 2017-06-21 CPAC Systems AB Procede et arrangement pour commander un arrangement de pilotage dans un bateau
JP5481059B2 (ja) * 2008-11-28 2014-04-23 ヤマハ発動機株式会社 操船支援装置およびそれを備えた船舶

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Publication number Publication date
WO2011098326A1 (fr) 2011-08-18
DE102010001707A1 (de) 2011-08-11
US20130072076A1 (en) 2013-03-21
EP2534044A1 (fr) 2012-12-19

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