EP3040262B1 - Method for controlling vessel rudders - Google Patents

Method for controlling vessel rudders Download PDF

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Publication number
EP3040262B1
EP3040262B1 EP15203065.6A EP15203065A EP3040262B1 EP 3040262 B1 EP3040262 B1 EP 3040262B1 EP 15203065 A EP15203065 A EP 15203065A EP 3040262 B1 EP3040262 B1 EP 3040262B1
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EP
European Patent Office
Prior art keywords
rudder
master
slave
angular speed
angle
Prior art date
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Application number
EP15203065.6A
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German (de)
English (en)
French (fr)
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EP3040262A1 (en
Inventor
Fabio Perini
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.)
Perini Navi SpA
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Perini Navi SpA
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Publication date
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Publication of EP3040262A1 publication Critical patent/EP3040262A1/en
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    • 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
    • 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
    • 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
    • B63H2025/066—Arrangements of two or more rudders; Steering gear therefor

Definitions

  • the present invention relates to an electronic control method of at least two rudders of a vessel, e.g. a sailboat with two rudders.
  • Vessels or boats, such as sailboats, are often provided with two rudders.
  • This technical solution is mainly due to the need to comply with the construction constraints imposed by the market while ensuring good performance of the boat.
  • the rudder has a substantially flat, adjustable leg of the boat, named rudder blade, adapted to offer a given surface under the water level so as to steer the boat.
  • the solution with two rudders having the same shape and size allows to make boats in which the depth of each rudder is less than the depth which would be required for a single rudder while ensuring good steering performance of the boat.
  • the rudders are directed by the user acting on a wheel, referred to as steering wheel.
  • the two rudders move at the same angular speed, thus being simultaneously directed so that they are always parallel to each other.
  • Boats are often provided with two steering wheels. In this case, the user may act on either the first or the second steering wheel, and the two rudders are, as in the previous case, always directed so as to be parallel to each other.
  • each rudder is provided with a respective gear, referred to as steering gear, or steering machine.
  • These gears are electronically and/or mechanically in mutual communication so that the rudders are always parallel to each other.
  • the rudder surfaces may be rotated with respect to the longitudinal symmetry plane of the hull by a given angle ⁇ either in one rotation direction or in the opposite direction.
  • a disadvantage is that although the rudders directed transversely with respect to the longitudinal symmetry plane of the hull are used to steer the boat, the surface of both rudders thus directed offers a fluid-dynamic resistance which drastically reduces the cruising speed.
  • the greater the amplitude of angle ⁇ the higher will be the fluid-dynamic resistance offered by the rudders.
  • the known technique does not include such a possibility.
  • Such a disadvantage is particularly emphasized for larger-size boats, e.g. sailboats of length equal to or greater than 20 m.
  • the method of the invention allows the boat to be steered in an optimized manner according to given situations which occur during navigation, e.g. during a regatta.
  • the present invention thus achieves the objects discussed above by providing an electronic control method for controlling at least two rudders of a vessel during navigation, in particular a sailboat with two rudders, which according to claim 1, comprises the following steps:
  • the present invention is particularly adapted to control double rudder vessels allowing to operate in a different manner on the rudder angle, depending on an operative condition pre-selection, i.e. master/slave, of the rudders made manually by the commanding user.
  • the control method of the invention is particularly adapted to be implemented on boats the rudders of which are provided with independent, electrically-assisted hydraulic actuation systems, thus not connected by means of mechanical bar or other equivalent device.
  • the method of the invention may be implemented on sailboats of length equal to or greater than 20 m, e.g. 50 or 60 m.
  • This versatility has many advantages because in all conditions the rudders can be maneuvered in the best possible manner according to the condition itself.
  • the invention advantageously allows the two rudders to be directed, in given conditions, so that they are not parallel to each other.
  • the two rudders may have a mutual direction, or orientation, difference from 0 to 20°.
  • the invention includes selecting a first rudder as main rudder or master rudder. After having selected the master rudder, the second rudder is automatically set as secondary rudder or slave rudder.
  • the invention further includes setting a threshold angle, preferably correlated to the master rudder, with respect to the longitudinal symmetry plane of the vessel.
  • the threshold angle can be from 2° to 20°, preferably from 4° to 15° or from 5° to 12°, e.g. 10°.
  • the master and slave rudders can advantageously rotate at the same angular speed, while in other cases they rotate at a mutually different angular speed.
  • the angular speed of the master rudder can be higher than, equal to or lower than the angular speed of the slave rudder.
  • the angular speed of each rudder is typically adjusted according to the method of the invention based on the rotation angle of the master rudder and on the threshold angle.
  • FIG. 1 is a flow chart of an embodiment of the method according to the invention.
  • FIG 1 an embodiment of a method for controlling at least two rudders of a vessel during navigation is shown.
  • control method refers to a vessel, in particular to a sailboat, with only two rudders, for controlling the rudders during a regatta.
  • the user selects a first rudder as main rudder or master rudder and a predetermined threshold angle, referred to the master rudder.
  • the second rudder is automatically set as secondary rudder or slave rudder by the control system.
  • the downwind rudder is preferably chosen as master rudder.
  • the electronic control is performed by means of a control system provided, for example, with a programmable logic controller (PLC) with a cycle frequency higher than 1Hz.
  • PLC programmable logic controller
  • the programmable logic controller starts a check cycle as shown in Fig. 1 and described in detail below.
  • such a check cycle includes that:
  • Said threshold angle is preferably chosen in the range 2° ⁇ RAS ⁇ 20°, e.g. 4° ⁇ RAS ⁇ 15°.
  • the control system controls the setting of the angular speed of the slave rudder to zero.
  • center is defined as the position of the rudder parallel to the longitudinal symmetry plane of the hull, i.e. the position in which the angle defined between the rudder, in particular the blade of the rudder, and the longitudinal symmetry plane of the hull is 0°.
  • RA-SLAVE Seve Rudder Angle
  • the slave rudder advantageously cooperates, as the rudder master rotates, to steering the boat in an increasing manner.
  • the slave rudder follows the rudder master.
  • the control system controls a second setting of the angular speed of the slave rudder to a value equal to the angular speed value of the master rudder, thus achieving the synchronization of the speed of the two rudders.
  • the master rudder together with the slave rudder, reaches its travel stop angle, e.g. equal to ⁇ 35° with respect to the longitudinal symmetry plane of the hull.
  • the control system locks the rudders in this position until the user decides to rotate the master rudder towards the center.
  • This travel stop angle having been reached by the master rudder only, the control system locks the rudders until the user decides to rotate the master rudder towards the center.
  • the check cycle is continuously repeated until the travel stop angle is reached by the master rudder.
  • the control system directly sets the angular speed of the slave rudder to zero. Continuing the rotation of the master rudder in the same rotation direction, i.e. away from the center, the control system performs the operations described in the preceding paragraph as soon as the first angle RA-MASTER reaches the value of the threshold angle RAS.
  • the master rudder reaches the position parallel to the longitudinal symmetry plane of the hull, i.e. the 0° position. Having reached this 0° position, the control system locks the rudders until the user decides to rotate the master rudder away from the center. The check cycle is continuously repeated until the master rudder reaches the 0° position.
  • the rudders continue to rotate at a different angular speed until the master rudder reaches the position parallel to the longitudinal symmetry plane, i.e. the 0° position. Once this 0° position has been reached by the master rudder, the control system locks the rudders until the user decides to rotate the master rudder away from the center. The check cycle is continuously repeated until the master rudder reaches the 0° position.
  • the control system directly controls a setting of the angular speed of the slave rudder to a value equal to the value of the angular speed of the master rudder thus achieving the synchronization of the speeds of the two rudders.
  • the control system performs the operations described in the preceding paragraph.
  • the condition concerning the first angle RA-MASTER may consider the following two cases: 1) RA-MASTER higher than the threshold angle RAS, or 2) RA-MASTER either smaller than or equal to the threshold angle RAS.
  • the travel stop angle of the rudders may vary as a function of the type of vessel.
  • the control method of the present invention is implemented by means of a control system which interacts with the components of the steering gears, there being a steering gear provided for each rudder.
  • Each steering gear comprises an electrically-assisted, hydraulic actuation system.
  • the rotation of the rudders typically occurs as a consequence of the rotation of the steering wheel.
  • an encoder adapted to detect the angular position of the rudders with respect to the longitudinal symmetry plane of the hull is provided.
  • Such an encoder sends a signal to the programmable logic controller (PLC) which, in turn, executes the instructions described above and shown in the flow chart in Fig. 1 .
  • PLC programmable logic controller
  • the programmable logic controller controls the angular speed of the two rudders by adjusting the hydraulic fluid flow in each hydraulic actuation system.
  • a variant includes

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)
EP15203065.6A 2014-12-30 2015-12-30 Method for controlling vessel rudders Active EP3040262B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITRM20140762 2014-12-30

Publications (2)

Publication Number Publication Date
EP3040262A1 EP3040262A1 (en) 2016-07-06
EP3040262B1 true EP3040262B1 (en) 2018-04-04

Family

ID=52597155

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15203065.6A Active EP3040262B1 (en) 2014-12-30 2015-12-30 Method for controlling vessel rudders

Country Status (2)

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EP (1) EP3040262B1 (es)
ES (1) ES2674647T3 (es)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3101693A (en) * 1959-07-27 1963-08-27 Schilling Karl Rudder control arrangement
DE1232848B (de) * 1965-03-06 1967-01-19 Bbc Brown Boveri & Cie Anordnung zur Steuerung von Verstellpropellern von dieselgetriebenen Schiffen mit Drehstrom-wellengeneratoren
FR2873346A1 (fr) * 2004-07-23 2006-01-27 Philippe Bourbigot Dispositif differentiel angulaire pour navires a plusieurs safrans
DE102009002107A1 (de) * 2009-04-01 2010-10-14 Zf Friedrichshafen Ag Verfahren zum Steuern eines Schiffes und Steuerungsanordnung
DE102009002109A1 (de) * 2009-04-01 2010-10-14 Zf Friedrichshafen Ag Verfahren zum Überprüfen eines Spurwinkels bei den Rudern eines Schiffes
US8813665B2 (en) * 2011-12-22 2014-08-26 Mehmet Nevres Ulgen Dual-rudder mechanism for performance sailboats

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
ES2674647T3 (es) 2018-07-03
EP3040262A1 (en) 2016-07-06

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