EP2905219B1 - Dispositif de commande de rotation pour dispositif de propulsion de bateau - Google Patents

Dispositif de commande de rotation pour dispositif de propulsion de bateau Download PDF

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Publication number
EP2905219B1
EP2905219B1 EP13844375.9A EP13844375A EP2905219B1 EP 2905219 B1 EP2905219 B1 EP 2905219B1 EP 13844375 A EP13844375 A EP 13844375A EP 2905219 B1 EP2905219 B1 EP 2905219B1
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European Patent Office
Prior art keywords
motor
servo
load
command value
turning
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EP13844375.9A
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German (de)
English (en)
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EP2905219A4 (fr
EP2905219A1 (fr
Inventor
Masanori Kodera
Shinichi Tanaka
Koji Takei
Koichi Shiraishi
Kazuhisa Higuchi
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Niigata Power Systems Co Ltd
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Niigata Power Systems Co Ltd
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    • 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
    • B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
    • 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
    • B63H25/42—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 present invention relates to a turning control unit as a steering system providing turning control of a marine propulsion machine which is equipped with propulsion function and steering function and known collectively as an azimuth thruster or the like, such as Z-type propulsion system, L-type propulsion system and pod propulsion system.
  • the present invention relates to an electric turning control unit which includes a plurality of AC servo motors sharing the load equally and which can keep operating smoothly in the event of failure of any of the AC servo motors.
  • a hydraulic turning apparatus has been commonly used in turning maneuver by way of the azimuth thruster such as the Z-type propulsion system or pod propulsion system.
  • the conventional hydraulic turning apparatus has a complicated structure where hydraulic devices including a hydraulic pump, a servo valve, a suction filter, an oil tank and the like are interconnected by means of piping.
  • the hydraulic turning apparatus also suffers fouling and the like due to oil leakage. Whenever failure occurs, the apparatus requires repair or maintenance work for de-airing of filling oil and the like, which may sometimes pose an obstacle to stable operation of the devices.
  • Patent Literature 1 discloses a turning control unit for azimuth thruster proposed by the present applicants.
  • An object of the disclosed invention is to provide the turning control unit which is less likely to lose control by way of the AC servomotors and has high following accuracy.
  • a turning control board calculates a motor speed command based on a deviation between a handle signal from an operating handle and a feedback signal from a sensor and simultaneously transmits a calculation result as the same digital signal to a plurality of AC servo amplifiers via digital communications.
  • Fig. 5 is a block diagram showing a configuration of this servo amplifier 100.
  • a motor-speed reading transmitted from the preceding turning control board is transmitted to a subsequent stage via a limiter 101 supplying a speed limit.
  • the AC servo motor 102 is provided with a sensor 103 for measuring the motor speed.
  • the feedback signal from this sensor 103 is converted to a voltage signal by a frequency to voltage converter 104.
  • a comparator 105 calculates a deviation between the motor-speed reading supplied via the limiter 101 and the feedback signal converted to the voltage signal.
  • a control unit (PID regulator) 106 calculates the motor speed command value according to the deviation.
  • This motor speed command value is supplied to a current amplifier 108 via a limiter 107 and amplified by the current amplifier 108.
  • the resultant command value is supplied to the AC servo motor 102.
  • this turning control unit is adapted to control each pair of AC servo amplifier and AC servo motor independently. If any of the AC servo amplifiers 100 should fail, the control unit as a whole does not lose control.
  • Patent Literature 1 JP-A No. 2010-58741
  • WO 02/47973 relates to a steering propeller which can be rotated via two electric control motors.
  • respective pinions P (P1, P2) of the plural AC servo motors mesh with a circumferential traversing gear G from inside, as shown in Fig. 6 .
  • the traversing gear G is disposed in a turning drive mechanism of the azimuth thruster.
  • the turning drive mechanism is constructed such that a driving force of each AC servo motor 102 is transmitted to the traversing gear G via each pinion P so as to turn the azimuth thruster.
  • backlash exists between the pinion P driven by the AC servo motor and the traversing gear G of the azimuth thruster.
  • each of the plural AC servo motors 102 is independently subjected to speed control.
  • the present invention addresses the above-described problem of the prior art and has an object to provide an electric turning control unit including a plurality of AC servo motors which allows the individual AC servo motors to share the load equally and can continue smooth operation if any of the AC servo motors should fail.
  • a turning control unit for controlling a marine propulsion machine which includes a rotatably driven propeller and is turnably mounted to a marine vessel for setting a propulsive direction, includes:
  • a turning control unit for marine propulsion machine has a structure wherein when the load amount of the AC servo motor is equal to or less than a predetermined fixed value; and wherein each AC servo amplifier is arranged to calculate and output the motor speed command value without correcting the motor-speed reading according the load amount of the AC servo motor.
  • a turning control unit for marine propulsion machine according to claim 3 has a structure wherein each AC servo amplifier includes:
  • the control means calculates the motor-speed reading based on the deviation between the handle signal from the operating handle and the feedback signal from the sensor and simultaneously transmits the motor-speed reading as the same digital signal to the plural AC servo amplifiers via digital communications.
  • the AC servo amplifier corrects this motor-speed reading according to the load amount of the corresponding AC servo motor and thereby outputs the corrected value as the motor speed command value to the AC servo motor. Therefore, the respective loads on the plural AC servo motors can be made uniform to a value given by dividing the total load by the number of AC servo motors.
  • each and every one of the plural AC servo motors can be independently controlled, negating the need for communications between the motors as performed in a master-slave system control. If any of the AC servo amplifiers should fail, load balance can be kept by cutting off the faulty motor followed by driving the machine with the remaining normal motor(s). Hence, the control unit as a whole is less likely to lose control and can ensure stable operation. Providing control based on the plural AC servo motors, the control unit can be widely applied to large and small turning-type marine propulsion machines. The control unit also features high following accuracy without influence of offset such as suffered by an analog type controller.
  • a condition called power running where the marine propulsion machine is turned by the driving force of the AC servo motor is the primary state concerning the drive of the AC servo motor against the external load.
  • the faster AC servo motor bringing the pinion into contact with the traversing gear first is subjected to the greater load.
  • correction is made such that the speed of the AC servo motor under the greater load is reduced in proportion to the load. This allows for the increase in the load on the other AC servo motor(s) so that the loads of the plural AC servo motors become uniform as a whole.
  • the AC servo amplifier when the load of the AC servo motor is equal to or less than the predetermined fixed value negating the need for the correction, the AC servo amplifier does not correct the motor-speed reading transmitted from the control means, but can calculate the motor speed command value using the speed feedback signal and output the motor speed command value to the AC servo motor.
  • the correction calculating part outputs the corrected value by correcting the motor-speed reading from the control means with the load amount of the AC servo motor acquired by the load calculating means.
  • the second control means calculates the deviation between the feedback signal from the motor speed sensor and the corrected value, calculates the motor speed command value according to the deviation and outputs the calculation result to each AC servo motor. Therefore, the control unit can provide control to make the loads of the plural AC servo motors uniform, thus reliably achieving the effect offered by the invention according to claim 1.
  • Fig. 1 is a block flow diagram of a turning control unit 2 for a marine propulsion machine 1 according to one embodiment of the present invention, showing an outline of the control structure.
  • the marine propulsion machine 1 includes: a casing 3 turnably projecting from an outside of a bottom of an unillustrated marine vessel; and a propeller 4 mounted in the casing 3 and rotatably driven as connected to an unillustrated main engine.
  • the turning control unit 2 of the present embodiment is used for setting the marine propulsion machine 1 to a desired turning position by turning the marine propulsion machine by a desired angle, so as to arbitrarily set a propulsive direction of the marine propulsion machine 1. The following description is made on each of the components of this turning control unit 2.
  • An operating handle 5 disposed at a wheel house of the marine vessel is a device that a member of the vessel's crew operates so as to set the turning position of the marine propulsion machine 1 as a target.
  • Outputted from the operating handle 5 so operated is a handle signal indicating a to-be-set turning position of the marine propulsion machine 1.
  • the marine propulsion machine 1 is provided with an angle sensor 6 which outputs a feedback signal by detecting an actual turning position of the marine propulsion machine 1.
  • a turning control board 7 as first control means, the handle signal outputted from the operating handle 5 and the feedback signal from the angle sensor 6 are digitized by an A/D converter 8, and a deviation between these signals is calculated by a CPU 9.
  • the CPU 9 includes: a ROM 10 storing a control program and a variety of data items necessary for the control, or specifically data indicating relation between the above-described deviation and motor-speed reading and the like; and a RAM 11 allowing a variety of data items to be read therefrom or written thereto on an as-needed basis.
  • the motor-speed reading is a numerical value (signal) indicating the motor rotation direction and the rotational speed of the motor.
  • the motor-speed reading is maintained constant in case that the rotational speed does not exceed the maximum capacity of AC servo motors M1, M2 (hereinafter, also represented or referred to as "motor” in some cases) when the above-described deviation in either of the polarities of "+" and "-" increases above a certain limit.
  • the CPU 9 calculates the motor-speed reading according the control program stored in the ROM 10.
  • This motor-speed reading is converted to a digital signal by a serial signal generating part 12 (SIO) as a communication IC.
  • the resultant signal is outputted to each of the plural external (two in this embodiment) AC servo amplifiers A1, A2 (hereinafter, also represented or referred to as "servo amplifier” in some cases) via two drivers 13a, 13b connected in parallel to the serial signal generating part 12 (SIO) based on a digital communications system conforming to RS-422 Standard.
  • the digital motor-speed reading outputted from the turning control board 7 is inputted to each of the two AC servo amplifiers A1, A2 disposed externally of the turning control board 7. These two AC servo amplifiers A1, A2 are independent from each other. Upon receiving the motor-speed reading, the two AC servo amplifiers A1, A2 provide control by sending the motor-speed reading to the respectively corresponding AC servo motors M1, M2.
  • the AC servo amplifiers A1, A2 are each provided with an alarm switch 14 as alarm means for alerting malfunction of the relevant AC servo amplifier A1, A2 to the turning control board 7.
  • either of the alarm switches 14, 14 that corresponds to the relevant AC servo amplifier A1, A2 sends alarm (contact signal) to the turning control board 7.
  • the turning control board 7 turns OFF either of the servo ON/OFF switches 15, 15 disposed in one-on-one correspondence to the AC servo amplifiers A1, A2.
  • the turning control board 7 places the servo amplifier A1 or A2 sending the alarm in the servo OFF state and thereby excludes the AC servo amplifier A1 or A2 from the controlled object.
  • Fig. 2 is a block flow diagram of the turning control unit 2 according to the present embodiment, showing an outline of the control structure previously described with reference to Fig. 1 as well as a turning mechanism and the like of an azimuth thruster as the controlled object.
  • a traversing gear G shown in Fig. 2 is coaxially fixed to an upper end of the above-described casing 3 turnably mounted to the outside of the bottom of the unillustrated marine vessel.
  • Pinions P1, P2 mounted to respective drive shafts of the above-described AC servo motors M1, M2 are meshed with internal teeth of the traversing gear G.
  • Another pinion P3 spaced from the respective pinions P1, P2 of these AC servo motors A1, A2 is mounted to an input shaft of the above-described angle sensor 6.
  • the pinion P3 follows the turning motion of the traversing gear G so that the feedback signal indicative of the actual turning position of the marine propulsion machine 1 is outputted from the angle sensor 6 and inputted to the turning control board 7.
  • Fig. 3 is a block flow diagram showing detailed structures of the AC servo amplifier A and the AC servo motor M in the turning control unit 2 of this embodiment.
  • the AC servo amplifier A is provided with a correction calculating part 20 for correcting the motor-speed reading transmitted from the turning control board 7.
  • This correction calculating part 20 has a function to perform a calculation for correcting the motor-speed reading from the turning control board 7 according to the load amount of the AC servo motor M and to output the correction result as the motor speed command value. Therefore, the servo amplifier A includes load calculating means 22 which calculates the load amount of the relevant motor M by acquiring the value of current through the AC servo motor M from a current amplifier 21 outputting the motor speed command value finally supplied to the motor M.
  • This load calculating means 22 is connected to the correction calculating part 20. The details of the correction calculation performed by the correction calculating part 20 will be described hereinafter with reference to Fig. 4 .
  • the motor speed command value outputted from the correction calculating part 20 is transmitted to a subsequent comparator 24 via a limiter 23 applying a speed limit.
  • the AC servo motor M is provided with a sensor S for measuring the motor speed.
  • a speed feedback signal from this sensor S is converted to a voltage signal by a frequency to voltage converter 25 before it is supplied to the above-described comparator 24.
  • the comparator 24 in turn calculates a deviation between the motor speed command value supplied via the limiter 23 and the feedback signal converted to the voltage signal.
  • a control part 26 (PID regulator) as second control means calculates the motor speed command value according to the resultant deviation. After going through a process by a limiter 27, this motor speed command value is amplified by the above-described current amplifier 21 and then is supplied to the AC servo motor M.
  • Fig. 4 is a group of graphs each showing a characteristic for correction of the motor speed command value (the characteristic in correcting the motor-speed reading to the motor correction command value according to the load amount of the motor M) in terms of relation between the load amount of the motor M (abscissa) and rotation speed of the motor (ordinate).
  • the correction calculating part 20 of the servo amplifier A has the correction characteristic.
  • Motor speed command value motor ⁇ speed reading ⁇ 1 ⁇ A ⁇ load amount / rated load
  • 'A' denotes the constant during power running
  • the motor speed command value is an arithmetic instruction in the AC servo amplifier
  • the motor-speed reading is the motor-speed reading outputted from the turning control board 7.
  • a condition called regenerative running where the marine propulsion machine 1 is turned by the external water flow is the primary state.
  • the leftward pinion P2 as seen in the figure, which is the last to come into contact with the traversing gear G and the slower AC servo motor M driving this pinion P2 are subjected to the greater load.
  • correction is made such that the speed of this AC servo motor subjected to the greater load is increased in proportion to the load as illustrated by Fig. 4(b) (characteristic during regenerative running).
  • the characteristic of the motor speed command value during the regenerative running as shown in the graph of Fig.
  • Motor speed command value motor ⁇ speed reading ⁇ 1 + B ⁇ load amount / rated load
  • B denotes the constant during regenerative running
  • the motor speed command value is an arithmetic instruction in the AC servo amplifier
  • the motor-speed reading is the motor-speed reading outputted from the turning control board 7.
  • the AC servo amplifier A does not commit the motor-speed reading transmitted from the turning control board 7 to the correction calculating part 20 for correction but can calculate the motor speed command value by directly applying the speed feedback signal from the sensor S to the control part 26 so as to output the resultant motor speed command value to the AC servo motor M via the current amplifier 21 as illustrated by Fig. 4C (characteristic during running with load of fixed value or less).
  • the correction calculation is performed for correcting the motor-speed reading outputted from the turning control board 7 as a host controller by increasing or reducing the motor-speed reading according to the value proportional to the actual amount of load on each motor M and then, the resultant value is used as the motor speed command value to be supplied to the motor M.
  • control logic to reduce the motor speed command value in proportion to the load on the motor M when the load is characteristic of the power running, to increase the motor speed command value in proportion to the load on the motor M when the load is characteristic of the regenerative running, or to directly output the speed reading from the turning control board 7 as the speed command value when the load amount is equal to or less than the fixed value and the load is characteristic of the power running or regenerative running is incorporated in each of the AC servo amplifiers A. Therefore, the respective loads on the plural AC servo motors M can be made uniform to the value given by dividing the total load by the number of the AC servo motors M.
  • the plural AC servo amplifiers A are each independently connected to the turning control board 7 and simultaneously receive the motor-speed reading as the same digital signal from the turning control board 7 via digital communications.
  • the plural AC servo amplifiers A are not in a master-slave relationship and each and every one of them is adapted for independent control. Unlike a control based on the master-slave system, therefore, the control unit does not require communications between the AC servo amplifiers. If any of the AC servo amplifiers A should fail, the load balance can be kept by cutting off the faulty motor M by means of the alarm switch 14 and servo ON/OFF switch 15 followed by driving the machine with the remaining normal motor M. Hence, the control unit as a whole is less likely to lose control and can ensure stable operation.
  • control unit can be widely applied to large and small turning-type marine propulsion machines.
  • the control unit also features high following accuracy without influence of offset such as suffered by an analog type controller.

Claims (3)

  1. Unité de commande de rotation (2) pour commander une machine de propulsion marine (1) qui comprend une hélice entraînée en rotation (4) et montée à rotation sur un bateau de mer pour régler une direction de propulsion, l'unité comprenant :
    une manette de manoeuvre (5) agencée pour délivrer un signal de manette indiquant une position de rotation de la machine de propulsion marine (1) en réglant sa position de rotation ;
    un capteur (6) agencé pour détecter la position de rotation de la machine de propulsion marine (1) et délivrer un signal de rétraction ;
    des moyens de commande (7) agencés pour calculer une déviation entre le signal de manette délivré par la manette de manoeuvre (5) et le signal de rétroaction délivré par le capteur (6), les moyens de commande (7) étant en outre agencés pour calculer une lecture de vitesse de moteur selon la déviation, et transmettre simultanément la lecture de vitesse du moteur par le même signal numérique à une pluralité d'objets via des communications numériques ;
    une pluralité d'amplificateurs de réglage CA (A1, A2) agencés pour recevoir chacun la lecture de vitesse du moteur simultanément transmise par le même signal numérique des moyens de commande (7) via les communications numériques et délivrer une valeur de commande de vitesse du moteur selon la lecture de la vitesse du moteur ;
    une pluralité de servomoteurs CA (M) dont chacun est agencé pour être entraîné en réponse à la valeur de commande de la vitesse du moteur provenant de chacun des amplificateurs de réglage CA (A1, A2) de manière à faire tourner la machine de propulsion marine (1) ;
    caractérisé en ce que chaque amplificateur de réglage CA (A1, A2) comprend des moyens de calcul de charge (22) pour calculer une quantité de charge à partir d'une valeur de courant à travers le servomoteur CA (M) ;
    dans lequel chaque amplificateur de réglage CA (A1, A2) est agencé pour calculer et délivrer la valeur de commande de vitesse du moteur en corrigeant la lecture de vitesse du moteur transmise par les moyens de commande (7) selon une quantité de charge du servomoteur CA correspondant (M) ;
    dans lequel chaque amplificateur de réglage CA (A1, A2) est agencé pour effectuer un calcul pour réduire la valeur de commande de la vitesse du moteur selon la quantité de charge lorsque la charge du servomoteur CA (M) est caractéristique de la puissance de marche ; et
    dans lequel chaque amplificateur de réglage CA (A1, A2) est agencé pour effectuer un calcul afin d'augmenter la valeur de commande de la vitesse du moteur selon la quantité de charge lorsque la charge du servomoteur CA (M) est caractéristique d'une marche régénérative.
  2. Unité de commande de rotation (2) pour une machine de propulsion marine (1) selon la revendication 1, dans laquelle, lorsque la quantité de charge du servomoteur CA (M) est égale ou inférieure à une valeur fixe prédéterminée ; et
    dans laquelle chaque amplificateur de réglage CA (A1, A2) est agencé pour calculer et délivrer la valeur de commande de la vitesse du moteur sans corriger la lecture de la vitesse du moteur selon la quantité de charge du servomoteur CA (M).
  3. Unité de commande de rotation (2) pour une machine de propulsion marine (1) selon l'une quelconque des revendications 1 à 2, dans laquelle chaque amplificateur de réglage CA (A1, A2) comprend :
    une partie de calcul de correction (20) qui est agencée pour effectuer un calcul nécessaire sur la lecture de la vitesse du moteur transmise par les moyens de commande (7) selon la quantité de charge du servomoteur CA (M) calculée par les moyens de calcul de charge (22) et agencée pour délivrer le résultat du calcul sous la forme d'une valeur corrigée ; et
    des seconds moyens de commande (26) qui sont agencés pour calculer une déviation entre la valeur corrigée délivrée par la partie de calcul de correction (20) et le signal de rétroaction délivré par le capteur (S) pour mesurer la vitesse du servomoteur CA (M), l'agencement étant tel qu'il calcule la valeur de commande de la vitesse du moteur selon la déviation et délivre le résultat du calcul.
EP13844375.9A 2012-10-05 2013-04-10 Dispositif de commande de rotation pour dispositif de propulsion de bateau Active EP2905219B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012223023A JP6395996B2 (ja) 2012-10-05 2012-10-05 船舶推進機の旋回制御装置
PCT/JP2013/060790 WO2014054304A1 (fr) 2012-10-05 2013-04-10 Dispositif de commande de rotation pour dispositif de propulsion de bateau

Publications (3)

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EP2905219A1 EP2905219A1 (fr) 2015-08-12
EP2905219A4 EP2905219A4 (fr) 2016-07-13
EP2905219B1 true EP2905219B1 (fr) 2017-09-27

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EP13844375.9A Active EP2905219B1 (fr) 2012-10-05 2013-04-10 Dispositif de commande de rotation pour dispositif de propulsion de bateau

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EP (1) EP2905219B1 (fr)
JP (1) JP6395996B2 (fr)
ES (1) ES2642405T3 (fr)
NO (1) NO2905219T3 (fr)
WO (1) WO2014054304A1 (fr)

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JP6419897B2 (ja) * 2017-06-05 2018-11-07 新潟原動機株式会社 船舶推進機の旋回制御装置
DE102017213420A1 (de) * 2017-08-02 2019-02-07 Siemens Aktiengesellschaft Elektrisches Stellantriebssystem einer Gondel zum Antrieb eines Schwimmkörpers
KR102504760B1 (ko) * 2021-01-14 2023-02-28 시엔에이전기 주식회사 엔진축 회전속도신호 생성장치
CN114428475A (zh) * 2021-12-31 2022-05-03 青岛海研电子有限公司 一种船载角度跟踪补偿系统

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JP3482317B2 (ja) * 1997-03-26 2003-12-22 東洋機械金属株式会社 射出成形機
DE10062354B4 (de) * 2000-12-14 2007-12-20 Siemens Ag Stellantrieb für einen, insbesondere elektrisch angetriebenen, Ruderpropeller eines Seeschiffes
JP5058721B2 (ja) * 2007-09-03 2012-10-24 新潟原動機株式会社 船舶推進機の旋回制御装置
JP5058861B2 (ja) * 2008-03-25 2012-10-24 新潟原動機株式会社 船舶推進機の旋回制御装置
JP5364318B2 (ja) * 2008-09-05 2013-12-11 新潟原動機株式会社 船舶推進機の旋回制御装置
EP2218639B1 (fr) * 2009-02-16 2015-06-03 Niigata Power Systems Co., Ltd. Système de contrôle de rotation pour unité de propulsion de bateaux
JP2011063064A (ja) * 2009-09-15 2011-03-31 Nabtesco Corp 推進ユニット用旋回装置

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JP2014073783A (ja) 2014-04-24
JP6395996B2 (ja) 2018-09-26
WO2014054304A1 (fr) 2014-04-10
EP2905219A4 (fr) 2016-07-13
ES2642405T3 (es) 2017-11-16
NO2905219T3 (fr) 2018-02-24
EP2905219A1 (fr) 2015-08-12

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