EP3642108A1 - Systeme actionneur électrique d'une nacelle pour entraîner un corps flottant - Google Patents

Systeme actionneur électrique d'une nacelle pour entraîner un corps flottant

Info

Publication number
EP3642108A1
EP3642108A1 EP18753341.9A EP18753341A EP3642108A1 EP 3642108 A1 EP3642108 A1 EP 3642108A1 EP 18753341 A EP18753341 A EP 18753341A EP 3642108 A1 EP3642108 A1 EP 3642108A1
Authority
EP
European Patent Office
Prior art keywords
electric
torque
actuator system
servomotors
nacelle
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.)
Withdrawn
Application number
EP18753341.9A
Other languages
German (de)
English (en)
Inventor
Jan Reiners
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.)
Siemens Energy Global GmbH and Co KG
Original Assignee
Siemens 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 Siemens AG filed Critical Siemens AG
Publication of EP3642108A1 publication Critical patent/EP3642108A1/fr
Withdrawn legal-status Critical Current

Links

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
    • 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
    • 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
    • B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis

Definitions

  • the invention relates to an electric actuator system of a nacelle, wherein by means of the nacelle a floating body, in particular a ship, can be driven.
  • the electric actuator system is provided, for example, for a, in particular electrically driven, rudder propeller of a seagoing ship, which is arranged in the rear region on a rotatable shaft below the ship's bottom.
  • the rudder propeller points to the nacelle.
  • the electric actuator system is also provided, for example, for a POD of a seagoing ship, which is arranged in the rear region on a rotatable shaft below the ship's bottom.
  • the POD has the nacelle.
  • the seagoing ship is an example of a floating body. Further examples of a floating body are a submarine or a floating offshore production platform.
  • an electric actuator or an electric servomotor or a plurality of electric actuators or electric motors may be provided.
  • the electric actuator also has a power converter in addition to the electric servomotor.
  • Rudder propellers of large ships are moved by servomotors, which are generally designed as hydraulic motors or electric motors.
  • Hydraulic motors have the disadvantage that leaks can occur at the transition points from the Hydrauliklei ⁇ lines to the motors, especially during prolonged vibration stress, as is the case with thrusters.
  • the required hydraulic system (pump pen and motors) has a relatively high weight and a he ⁇ heblichen space.
  • An object of the invention is to increase the life of a Ge ⁇ drive.
  • the gondola on a shaft and a gear unit by means of at least two electric actuating motors ⁇ is rotatable.
  • the nacelle serves to drive a float.
  • Examples of a floating body are a ship (eg a cruise ship, a container ship, a supply ship, an icebreaker, etc.) or an oil rig, a production platform, etc.
  • the electric actuator system has a control unit for tensioning the transmission.
  • the control unit is ei ⁇ ne control and / or a scheme.
  • the control unit may be a central unit or a remote unit distributed on a variety of hardware platforms.
  • control unit By means of the control unit can be influenced to the adjusting motor ⁇ reindeer, which can produce the clamping assembly by a moment.
  • a tension By a tension, so a torque clamping for several drive motors, ie servomotors, to a common collection gear, its life can be increased.
  • the tension is achievable in particular by the Versteilantriebe for azimuth control of a POD drive.
  • a hitting the tooth flanks in a transmission can be solved by the torque clamping of the drive motors against each other. This beating arises through the lots.
  • the drives are braced.
  • drives may e.g. be braced against each other in groups.
  • an actuating torque requested by a speed control is, for example, recoded via different characteristic curves into torque setpoint values for the drive groups.
  • the oscillations between the drive groups due to an asymmetrical torque distribution can be kept within reasonable limits by bias and mechanical or electrical damping.
  • the torque clamping of the individual drives can be achieved by a corresponding control of the converters for the drive motors ⁇ .
  • the concept described allows the use of any number of motors for clamping. The more motors are selected for clamping, the smaller are the moments to be held for this purpose.
  • the control unit has a plurality of outputs of set values for the electric servo motors in order to distribute the required load torque to the electric servo motors.
  • the servo motors can at least temporarily receive different setpoints.
  • the target value relates, for example, to a rotational speed, a torque, a position or the like.
  • the control unit is provided in particular for carrying out control tasks and / or control tasks.
  • a control principle used is based in particular on the principle of collaborative characteristics. That is, the individual motors (servo motors) are at least partially operated with torque directed against each other. This principle can be refined. For this purpose, at least one of the following aspects can be realized:
  • the electrical actuator system includes the control unit to a setting which achieves a temporal offset of a torque zero crossing for under ⁇ Kunststoffliche electric servomotors. So that a steady tension can be achieved.
  • an order of the electric servomotors is provided for changing the sign of the torque.
  • the sequence can, for example, the performance of the servo motors depen ⁇ gene of the local positioning of the setting motors and / or its load.
  • a defined state is achieved depending on boundary conditions.
  • the control unit on the same target load curves for ⁇ different electrical servo motors, the desired load ⁇ curves are offset in time. Thus, a continuous or uniform tension is possible even with a transition of the torque sign.
  • the control unit for clamping a time-limited maximum amount of torque at least one of the electric servo motors In one embodiment of the electric actuator system, the control unit for clamping a time-limited maximum amount of torque at least one of the electric servo motors. This way an overload can be avoided. In one embodiment of the electric actuator system, only a small portion of the available torque is used for torque clamping. The full torque of the drive motors (servo motors) is available for the load. Thus, an oversizing of the drives is not necessary .
  • the distribution of the torques of the individual motors to the total drive torque with respect to the tension in the range of a torque reversal is offset in time. This can for example be done with four or five engines on a transmission. This type of torque distribution applies mutatis mutandis to any number of a variety of engines.
  • the maintenance intervals can increase, resulting in a cost savings.
  • the servomotors are designed as permanently energized electric motors (PEM), which are connected via pinion with a sprocket. Permanently excited electric motors have the advantage that they can deliver high torque even at low speeds. Thus, the use of relatively small, space-saving motors is very advantageous possible.
  • the servo motors are designed as geared motors, wherein the transmission has an output pinion. So beneficial ⁇ way consistent three-phase motors can be used, and the to- additional space required by the transmission is not very significant.
  • the electric servomotors are particularly so small that they can be arranged without much difficulty in the upper shank. This results in a more significant reduction in the height of the actuator, so that the cargo space above the rudder propeller or the PODs can be better utilized.
  • the electric servomotors can be controlled and / or regulated according to characteristic curves.
  • a soft start can be realized for the electric servomotors during the execution of setting movements, wherein, for example, one of the servomotors has a driving effect and the other has a braking effect with little torque.
  • the servo motors advantageously have rotational speed and rotational direction measuring devices. So the exact position of the
  • Shaft can be determined by simple counter and eliminates an additional rotary position sensor.
  • the actuator is advantageously connected to the electrically / electronically operating ship driving system.
  • the ship's propulsion system comprises advantageously storage of optimum curves, possibly also limit curves, with which the function of the rotating speed of the steering propeller of the Schiffsgeschwindig ⁇ resistance and / or the instantaneous position of the rudder propellers are taken into account.
  • the electric actuator system with a plurality of electric servomotors and a gear for rotating the nacelle is provided, wherein by means of the electric actuator system, the transmission is braced.
  • the torques which are to be applied for bracing are distributed at least temporarily to the multiplicity of electric servomotors. It is avoided that at a torque change, ie at ei ⁇ nem change of the load from a positive value to a negative value or vice versa, all electric servomotors simultaneously undergo a zero crossing.
  • the moment is limited to the clamping at least ei ⁇ nem servo motor. This allows the tension torque to be distributed to various electric servomotors.
  • the torque changes in an electric servomotor, while the torque is constant or remains at least in another electric servomotor.
  • This torque is in particular the torque which is required for clamping. So än ⁇ changed in an embodiment of the method in an electric servomotor, the torque bracing the clamping torque is constant during at least with a further electrical actuating motor or remains. Thus, a continuous transfer of the clamping torque at ei ⁇ nem load change is possible.
  • the tension is taken over by the remaining electric servomotors in case of failure of an electric servomotor. This increases the operational capability of the system.
  • FIG. 4 shows a graphical representation of a torque voltage in a multi-motor drive with four Stellmo ⁇ gates.
  • 1 denotes the shaft of a rudder propeller and 2 the housing of an electric motor which is attached to the lower part of the rudder propeller shaft 1.
  • 3 denotes a propeller which is driven by the engine in the housing 2 and 4 a second propeller, which is also driven by the motor in the housing 2. Between the two propellers 3 and 4 is a preferably souge ⁇ rising, not shown in detail motor shaft.
  • the housing 2 for an electric motor and the housing of a transmission for a mechanically driven rudder propeller can be arranged, then located in the middle of the shaft 1, the drive shaft for the mechanically driven rudder propeller and the shaft 1 can be correspondingly slimmer out ⁇ leads.
  • the shaft 1 In the upper part of the shaft 1 there is a beneficial formed with internal teeth ring gear 5 which form with the pinion 6, 6 ⁇ a first gear. 7
  • the pinion 6 and 6 are driven via gear ⁇ 8, ⁇ 8 of the electric motor ⁇ ren (servomotors) 9, 10th
  • the gear 8, 8 ⁇ omitted When using particularly high-torque electric motors, such as PEM motors, if necessary, the gear 8, 8 ⁇ omitted.
  • the motors 9, 10 have revolution counters and revolution counter 11, 12, over which the rudder position can be detected.
  • the actuator is connected to the vehicle electrical system. About the actuators 9, 10, a nacelle 13 with the housing 2, the propellers 3, 4 and the shaft 1 are rotated azimuthally.
  • FIG 2 shows schematically an actuator system with four electric servomotors 16, 17, 18, 19.
  • the number of provided actuators may be dependent on the size of the ship or on the POD size.
  • the four motors act on pinions 20, 21, 22, 23, which are formed in the embodiment shown as normal pinion. However, worm gears or other mechanical elements may also be used.
  • the motors may be individually powered (as shown) or in groups of two by inverters 24, 25, 26, 27, respectively.
  • the converters 24, 25, 26, 27 are data ⁇ technically connected to a control unit 28.
  • the control unit 28 has a plurality of outputs 31, eg for outputting desired values for the individual inverters 24, 25, 26, 27.
  • the control unit 28 also has a multiplicity of input values 32, for example for receiving actual values from the individual inverters 24, 25, 26, 27.
  • FIG. 3 graphically shows a torque voltage in an electric actuator system with five servomotors.
  • a torque M 33 is plotted over a time 34.
  • the load torque is divided into five Stellmo- gates, the engine torques of the five servomotors are worn on ⁇ :
  • the load torque 40 changes over time of the phase one 41 to stage 47 seven linear and has a zero ⁇ passage 48 in the phase four 44th
  • phase one 41 the five actuators have the same motor moments 35, 36, 37, 38, 39, wherein the Motormo ⁇ elements are negative.
  • the motor torque 35, 36, 37, 38, 39 neh ⁇ men linearly on the amount from.
  • phase two 42 only four servomotors have the same engine torques 35, 36, 37, 38.
  • the engine torques 35, 36, 37, 38 remain constant.
  • the engine torque 39 of the five ⁇ th servomotor takes the amount linearly, changes from Ne gativen into positive and increases linearly again (including the amount).
  • phase three 43 only three servomotors have the same engine torques 35, 36, 37 for the tensioning.
  • the engine torques 35, 36, 37 remain constant.
  • the motor torque of the fourth servomotor 38 decreases linearly from the amount, changes from the negative to the positive and increases linearly again (also by the amount).
  • the engine torque 39 of the fifth servo motor remains constantly positive.
  • phase four 44 only two servomotors have the same negative engine torques 35, 36.
  • the motor torque of the fourth and fifth servo motor 38, 39 have the sliding surfaces ⁇ positive torque values.
  • the motor torque 35, 36 remain constant and the engine torque 38 and 39 remain kon ⁇ constant.
  • the motor torque of the third servomotor 37 decreases linearly from the amount, changes from negative to positive and increases linearly (also by the amount).
  • phase five 45 only has a positioning motor a constant negative value, it is the servo motor with the engine torque 35.
  • the motor torque 37, 38, 39 of the third, four ⁇ th and fifth servo motor have the same positive torque values 37, 38, 39 on.
  • the engine torque 35 remains con ⁇ stant negative and the engine torque 37, 38 and 39 remain kon ⁇ stant positive.
  • the motor torque of the second servo motor 36 increases the amount linearly, changes from negative to posi ⁇ tive and increases linearly again (including the amount).
  • phase six 46 the engine torques 36, 37, 38, 39 of the second, third, fourth and fifth servomotors have the same positive torque values.
  • the engine torques 36, 37, 38 and 39 remain constantly positive.
  • the motor torque of the first servomotor 35 decreases linearly from the amount, changes from the negative to the positive and increases linearly again (also by the amount).
  • the seven five servomotors have the same chen motor moments 35, 36, 37, 38, 39, wherein the Motormo ⁇ elements are positive.
  • the motor torque 35, 36, 37, 38, 39 neh ⁇ men equally to linear (also from the amount), since the load 40 increases linearly.
  • FIG. 4 graphically shows a torque voltage in an electric actuator system with four servomotors.
  • a torque M 33 is plotted over a time 34.
  • the load torque is divided into four actuating positions.
  • motors, with the engine torques of the four servomotors being plotted:
  • the load torque 40 changes linearly over time from the phase one 41 to the phase six 46 and has a zero crossing 48 between the phases three 43 and four 44.
  • phase one 41 the four servomotors have the same engine torques 35, 36, 37, 38, the engine torques being negative.
  • the engine torques 35, 36, 37, 38 decrease linearly from the load.
  • phase two 42 only three servomotors have the same engine torques 35, 36, 37.
  • the engine torques 35, 36, 37 remain constant.
  • the engine torque 38 of the fourth servomotor takes the amount linearly, changes from negati ⁇ ven into positive and increases linearly again (also from Be ⁇ contract).
  • phase three 43 only two servomotors have the same engine torques 35, 36.
  • the engine torques 35, 36 remain constant.
  • the motor torque 38 of the third servomotor decreases linearly from the amount, changes from negative to positive. tive and increases linearly (also from the amount).
  • the engine torque 38 of the fourth servomotor remains constantly positive.
  • phase four 44 only one servomotor has a constant negative value, it is the servomotor with the engine torque 35.
  • the engine torques 37, 38 of the third and fourth servomotors have the same positive torque values 37, 38.
  • the engine torque 35 remains constantly negative and the engine torques 37, 38 remain constantly positive.
  • the motor torque of the second servo motor 36 increases the amount linearly, wech ⁇ rare from negative to positive and increases linearly again (including the amount).
  • the engine torques 36, 37, 38 of the second, third and fourth servomotor have the same positive torque values.
  • the engine torques 36, 37, 38 remain constantly positive.
  • the engine torque 35 of the first servo motor increases the amount linearly, changes from negative to posi ⁇ tive and increases linearly again (including the amount).
  • phase six 46 the four servomotors have the same engine torques 35, 36, 37, 38, the engine torques being positive.
  • the motor torque 35, 36, 37, 38 take to linearly moving ⁇ chen parts (also from the amount), since the load 40 increases linearly.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

Dans un système actionneur électrique (30) d'une nacelle (13) destiné à entraîner un corps flottant, la nacelle (13) peut être tournée par le biais d'un arbre (1) et d'une transmission (7, 8, 8λ) au moyen d'au moins deux servomoteurs électriques (9, 10, 16, 17, 18, 19). Une unité de commande (28) est prévue pour contraindre la transmission (7, 8, 8λ). Au moins dans un servomoteur (9, 10, 16, 17, 18, 19), le moment est limité à la contrainte. Dans un servomoteur électrique (9, 10, 16, 17, 18, 19), le couple varie alors qu'au moins dans un autre servomoteur électrique (9, 10, 16, 17 , 18, 19), le couple est constant.
EP18753341.9A 2017-08-02 2018-08-02 Systeme actionneur électrique d'une nacelle pour entraîner un corps flottant Withdrawn EP3642108A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017213420.8A DE102017213420A1 (de) 2017-08-02 2017-08-02 Elektrisches Stellantriebssystem einer Gondel zum Antrieb eines Schwimmkörpers
PCT/EP2018/070950 WO2019025518A1 (fr) 2017-08-02 2018-08-02 Systeme actionneur électrique d'une nacelle pour entraîner un corps flottant

Publications (1)

Publication Number Publication Date
EP3642108A1 true EP3642108A1 (fr) 2020-04-29

Family

ID=63174205

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18753341.9A Withdrawn EP3642108A1 (fr) 2017-08-02 2018-08-02 Systeme actionneur électrique d'une nacelle pour entraîner un corps flottant

Country Status (4)

Country Link
EP (1) EP3642108A1 (fr)
CN (1) CN110997481A (fr)
DE (1) DE102017213420A1 (fr)
WO (1) WO2019025518A1 (fr)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH660101A5 (en) * 1983-05-27 1987-03-13 Bbc Brown Boveri & Cie Drive regulator for pivoting mechanisms
SE459249B (sv) 1987-12-09 1989-06-19 Kamewa Ab Kombinerad roder- och propelleranordning
FI107042B (fi) 1998-09-14 2001-05-31 Abb Azipod Oy Propulsioyksikön kääntäminen
DE10062354B4 (de) * 2000-12-14 2007-12-20 Siemens Ag Stellantrieb für einen, insbesondere elektrisch angetriebenen, Ruderpropeller eines Seeschiffes
DK176054B1 (da) * 2003-06-04 2006-02-27 Schmidt S Marine El As A Styremekanisme til et skib
DE102009000993A1 (de) * 2009-02-18 2010-08-19 Zf Friedrichshafen Ag Steuereinrichtung und Bootsantrieb mit Steuereinrichtung
JP2011093350A (ja) * 2009-10-27 2011-05-12 Nabtesco Corp 推進ユニット用旋回装置
JP6395996B2 (ja) * 2012-10-05 2018-09-26 新潟原動機株式会社 船舶推進機の旋回制御装置
JP2017013621A (ja) * 2015-06-30 2017-01-19 ナブテスコ株式会社 電動舵取機用駆動装置、電動舵取機構、電動舵取ユニットおよび船舶

Also Published As

Publication number Publication date
DE102017213420A1 (de) 2019-02-07
WO2019025518A1 (fr) 2019-02-07
CN110997481A (zh) 2020-04-10

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