EP4116186A1 - Lenkvorrichtung - Google Patents

Lenkvorrichtung Download PDF

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Publication number
EP4116186A1
EP4116186A1 EP21765320.3A EP21765320A EP4116186A1 EP 4116186 A1 EP4116186 A1 EP 4116186A1 EP 21765320 A EP21765320 A EP 21765320A EP 4116186 A1 EP4116186 A1 EP 4116186A1
Authority
EP
European Patent Office
Prior art keywords
rudder
steering
mode
steering mode
setting unit
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Withdrawn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
EP21765320.3A
Other languages
English (en)
French (fr)
Other versions
EP4116186A4 (de
Inventor
Tadashige Hakoyama
Takao NONAKA
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.)
Tokyo Keiki Inc
Original Assignee
Tokyo Keiki Inc
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 Tokyo Keiki Inc filed Critical Tokyo Keiki Inc
Publication of EP4116186A1 publication Critical patent/EP4116186A1/de
Publication of EP4116186A4 publication Critical patent/EP4116186A4/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
    • 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
    • B63H25/06—Steering by rudders
    • B63H25/38—Rudders
    • B63H25/382—Rudders movable otherwise than for steering purposes; Changing geometry
    • 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
    • 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
    • B63H25/38—Rudders
    • B63H2025/387—Rudders comprising two or more rigidly interconnected mutually spaced blades pivotable about a common rudder shaft, e.g. parallel twin blades mounted on a pivotable supporting frame
    • 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
    • B63H5/14—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in non-rotating ducts or rings, e.g. adjustable for steering purpose

Definitions

  • This invention relates to a technique for steering a ship equipped with a rudder having two rudder plates.
  • a rudder system for ships e.g., Gate Rudder TM
  • two rudder plates are arranged to flank a propeller from both sides perpendicular to the direction of propulsion. Since the gate rudder does not obstruct the propulsive flow behind the propeller, it substantially improves the propulsive capability of the propeller and thus the fuel efficiency of the ship, compared to conventional rudders located behind the propeller.
  • a steering device which comprises a driving mechanism for rotating steering shafts, and a power mechanism for driving the steering shafts, in which two steering shafts are rotatably arranged with vertical rotation axes located on both sides of the propeller shaft, an upper portion of each of the rudder plates is connected to and suspended from each steering shaft, and rotation of the two steering shafts can turn the two rudder plates from the position aside the propeller to the down stream side of the propeller where the propeller aft flow is mostly blocked directly behind the propeller (e.g., Patent Document 1).
  • Patent document 1 JP 5833278
  • the problem to be solved by the present invention is to provide a steering device that can switch steering modes.
  • a steering device for steering a rudder comprising two rudder plates disposed so as to flank a propulsion device from lateral directions, includes a mode setting unit that sets a steering mode to either a first steering mode in which the rudder is steered with the two rudder plates kept substantially parallel to each other, or a second steering mode in which the rudder is steered with rear edges of the two rudder plates being positioned closer to each other than when in the first steering mode, and a rudder angle control unit that controls rudder angles of the two rudder plates according to the steering mode set by the mode setting unit.
  • An aspect of the present invention provides a steering device that can switch between steering modes.
  • Fig. 1 is a block diagram showing the configuration of the steering system.
  • the steering system 1 is equipped with an ECS (Electronic Chart System) 2, a route control unit 3, a steering device 4, a ship's hull 10, a gate rudder 11 that changes the direction of travel of the hull 10, a driving device 12 that drives the gate rudder 11, and sensors 13 that detect the state of the hull 10.
  • the sensors 13 include at least a gyrocompass to detect the heading of the hull 10, a GNSS sensor that detects the ship's position by a satellite positioning system (GNSS).
  • the ECS 2 may be an ECDIS (Electronic Chart Display and Information System).
  • the ECS 2 displays own ship and other ships on the electronic chart, as well as various information and user interface for the ship's navigator to set the ship's planned route.
  • the ECS 2 also issues an entering notification to the steering device 4 indicating that the ship has entered a predetermined area.
  • the route control device 3 performs navigation control to control the ship's position to follow the planned route set in the ECS 2, and heading control to control the ship's heading to follow the reference heading, and outputs the reference heading to the steering device.
  • the steering device 4 includes a mode setting unit 41 whose steering mode is set to either a first or second steering mode by the mode setting process described below, and a rudder angle control unit 42 that controls the driving device 12, that drives the gate rudder 11, so that the ship's heading follows the reference heading in the steering mode set by the mode setting unit 41.
  • FIGS. 2 and 3 show a schematic plan view and a schematic rear view, respectively, of the gate rudder configuration.
  • the gate rudder 11 has two rudder plates 110a and 110b arranged to flank the propeller 14 from the lateral directions, i.e., perpendicular to the direction of the ship's propulsion and vertical direction, and two rudder shafts 111a and 111b provided corresponding to each of the rudder plates 110a and 110b.
  • the two rudder plates 110a, 110 b are not specifically distinguished, they are simply referred to as a rudder plate 110.
  • the two rudder shafts 111a and 111b are also referred to simply as a rudder shaft 111 when they are not specifically distinguished.
  • the rudder plates 110 are substantially plate-shaped members installed substantially vertically.
  • the rudder shafts 111 are installed at positions relatively offset inwardly in the lateral direction from the positions of the corresponding rudder plates 110, with the shaft's axes oriented substantially vertical, and the orientation of the rudder plates 110 are adjusted by the rotation of the corresponding rudder shafts driven by the driving device 12.
  • Fig. 4 is a flowchart showing the operation of the steering mode setting process.
  • Figs. 5 and 6 are schematic plan views showing the gate rudder when steered, respectively, into starboard and port directions in the first steering mode.
  • Figs. 7, 8 and 9 are schematic plan views showing the gate rudder when steered, respectively, in the straight ahead, starboard, and port directions in the second steering mode.
  • the mode setting unit 41 of the steering device 4 calculates the rate of turn (S101) based on the headings of the ship detected by the sensors 13 during a duration of time immediately after the true rudder angle has matched the rudder angle order by the rudder angle control unit 42, and determines whether the calculated rate of turn is less than a preset threshold value (S102).
  • the mode setting unit 41 determines whether or not an entering notification has been issued by the ECS 2 (S103).
  • the entering notification is issued when the ship is located within a predetermined area on the electronic chart displayed by the ECS 2, for example, areas within a certain distance from a wharf, mooring buoy, planned offshore anchorage point, offshore structure, etc.
  • the mode setting unit 41 sets the steering mode of the rudder angle control unit 42 to the first steering mode (S104).
  • the rudder angle control unit 42 controls the rudder angle of the gate rudder 11 in such a way that the two rudder plates 110 are kept parallel to each other, as shown in Figs. 2 , 5, and 6 .
  • the rudder angle control unit 42 may also control the rudder angles of the gate rudder 11 to keep the rear sides of the two rudder plates 110 inclined outward in the lateral direction.
  • the mode setting unit 41 sets the steering mode of the rudder angle control unit 42 to the second steering mode (S105).
  • the rudder angle control unit 42 set to the second steering mode controls the rudder angle of the gate rudder 11 to keep the rear sides of the two rudder plates 110 inclined inward in the lateral direction, as shown in Figs. 7, 8 and 9 .
  • the mode setting unit 41 sets the steering mode of the rudder angle control unit 42 to the second steering mode (S105).
  • the gate rudder 11 can be steered appropriately for the navigational situation.
  • the first steering mode is a steering mode in which the rudder is steered with the rudder plates held parallel or inclined outward
  • the second steering mode is a steering mode in which the rudder is steered with the rudder plates held inclined inward
  • the second steering mode may be a steering mode in which the rudder is steered with rear edges of the two rudder plates 110 kept closer to each other than in the first steering mode.
  • the present embodiment is described for a ship equipped with a propeller 14, the ship may alternatively be a one equipped with other propulsion devices, for example, a water jet propulsion system, etc.
  • the steering mode is switched based on the rate of turn; however, in this embodiment, the steering system differs from that of the first embodiment in that the steering mode is switched based on the speed-through-water instead of the rate of turn.
  • Fig. 10 is a flowchart showing the operation of the steering mode setting process for this embodiment.
  • the steering system 1 of this embodiment differs from that of the first embodiment in that the sensors 13 include a speed log that detects a speed-through-water of the hull 10, and the steering device 4 receives the speed-through-water detected by the sensors 13.
  • the mode setting unit 41 of the steering device 4 determines whether or not the speed-through-water detected by the sensors 13 is less than or equal to a predetermined threshold value (S201).
  • the threshold value is set based on the pre-confirmed rudder effectiveness against speed-through-water.
  • the correlation between the speed-through-water and rudder effectiveness is established based on, for example, simulations using ship motion models, measurements from water tank experiments, and measurements from test sailing of real ships.
  • the mode setting unit 41 sets the steering mode of the rudder angle control unit 42 to the first steering mode (S202).
  • the mode setting unit 41 sets the steering mode of the rudder angle control unit 42 to the second steering mode (S203).
  • the calculation of the rate of turn may be spared and the amount of calculation involved in setting the steering mode may be reduced by setting the steering mode based on the evaluation of speed-through-water against a threshold value, wherein the threshold value is set based on the rudder effectiveness or, in other words, the correlation between the rate of turn and the speed-through-water.
  • the use of the speed-through-water allows a switching of the steering mode that takes account of the effects on the hull 10 from wind directions, wind speeds, and direction and speed of currents.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
EP21765320.3A 2020-03-02 2021-03-01 Lenkvorrichtung Withdrawn EP4116186A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020034917 2020-03-02
PCT/JP2021/007639 WO2021177213A1 (ja) 2020-03-02 2021-03-01 操舵装置

Publications (2)

Publication Number Publication Date
EP4116186A1 true EP4116186A1 (de) 2023-01-11
EP4116186A4 EP4116186A4 (de) 2023-08-30

Family

ID=77613386

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21765320.3A Withdrawn EP4116186A4 (de) 2020-03-02 2021-03-01 Lenkvorrichtung

Country Status (3)

Country Link
EP (1) EP4116186A4 (de)
JP (1) JPWO2021177213A1 (de)
WO (1) WO2021177213A1 (de)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO160840C (no) * 1986-11-20 1989-06-07 Mariko As Manoevreringsanordning for baater.
JP2008230379A (ja) * 2007-03-20 2008-10-02 Universal Shipbuilding Corp 一軸二舵船の操舵方法及び操舵装置
JP6160804B2 (ja) * 2012-10-05 2017-07-12 国立研究開発法人 海上・港湾・航空技術研究所 二枚舵システム及び二枚舵システムを装備した船舶
US9937992B2 (en) 2014-01-31 2018-04-10 Kay Seven Co., Ltd. Steering device and method for steering the same
JP6467152B2 (ja) * 2014-07-09 2019-02-06 株式会社ケイセブン 操舵装置
JP6515171B1 (ja) * 2017-12-18 2019-05-15 株式会社ケイセブン 操舵装置及び船舶
JP6659747B2 (ja) * 2018-02-20 2020-03-04 株式会社ケイセブン 操舵装置
JP6860642B1 (ja) * 2019-11-26 2021-04-21 株式会社ケイセブン 操舵装置

Also Published As

Publication number Publication date
EP4116186A4 (de) 2023-08-30
WO2021177213A1 (ja) 2021-09-10
JPWO2021177213A1 (de) 2021-09-10

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