JP2007076489A - Control device for propeller turning type propulsion machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable steering by a handle signal transmitter even during autopilot navigation. <P>SOLUTION: This control device for a propeller turning type propulsion machine is provided with an A/D converter 19 reading a linear signal from the handle signal transmitter 9 as a digital numerical value; a CPU calculating processing device 20 performing function calculation to convert the digital numerical value to an actual angle, determining an angle of the propeller turning type propulsion machine by performing adding/subtracting operation of a digital angle signal sent from an autopilot device 17 for course keeping of a vessel at a target azimuth, and performing function calculation to convert the determined angle of the propeller turning type propulsion machine to the linear signal; and a microcomputer 22 having a D/A converter 21 converting the linear signal to an analog signal. Moreover, the control device for the propeller turning type propulsion machine constitutes an interface 18 having a selector relay switch 23 which connects the handle signal transmitter 9 with the A/D convertor 19 when turned on. The selector relay switch 23 of the interface 18 is connected with the handle signal transmitter 9 and a positioning circuit 14 within a control part 6. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

The present invention relates to control of a propeller swivel propulsion device that causes a ship to navigate in a target direction by normal propeller swivel propulsion device operation using a steering device and propeller swivel propulsion device operation using an autopilot device. It relates to the device.

Propeller swivel that automatically navigates while maintaining the azimuth set by the autopilot device without touching the control device when the propulsion swivel propulsion unit is controlled to set the propulsion direction of the hull to a desired direction A control device for a type propulsion device has already been proposed.

An example of a control device for a conventional propeller swivel propulsion device is shown in FIGS. 3 (A), (B), and (C).

That is, FIG. 3 (a) schematically shows a control device for a propeller swivel propulsion device known in the art, and two propeller swivel propulsion devices provided on the left and right sides of the stern portion of the ship 2 are shown. Reference numeral 1 denotes a vertical shaft 1a that is linked to a substantially horizontal drive shaft of a main engine (not shown), and a casing (not shown) that can turn 360 degrees around the vertical shaft 1a outside the hull. ), A substantially horizontal propulsion shaft 1b provided in the housing and interlocking with the vertical shaft 1a, and a propeller 1c provided on the propulsion shaft 1b and rotating outside the housing. The drive is transmitted from the drive shaft to the vertical shaft 1a and the propulsion shaft 1b to rotate the propeller 1c. Also, propeller swivel propulsion machine 1
Is rotated 360 degrees around the vertical axis 1a by a hydraulic device (tilting pump, hydraulic motor, servo valve) as a driving device, whereby the propulsion direction of the hull is set to a desired direction, Depending on the angle of the two propeller swivel propulsion units 1, the ship 2 can be easily steered, such as sudden turning, one-point turning, rapid forward / backward movement, side sliding, and slow speed navigation.

3 (b) shows a normal operation state in which the ship 2 is moved forward, and FIG. 3 (c) shows a slow speed operation state in which the propeller swivel type propulsion device 1 is shaped like a letter C and the ship 2 is moved forward. .

FIG. 4 shows details of a conventionally known control device for a propeller swivel propulsion unit.
Detects the direction of the propeller swivel propulsion unit 1 by detecting the direction of the propeller swivel propulsion unit 1 and the servo valve coil 3 of the above-mentioned drive device that turns the propeller swivel propulsion unit 1 provided in FIG. 3 and outputs the sin and cos signals. The direction of the follower transmitter 4 and the propeller swivel type propulsion device is set, and the corresponding s
A control unit 6 that outputs in and cos signals, and a control unit 6 that controls the driving device so that the deviation between the sin and cos signals from the control unit 5 and the sin and cos signals from the follow-up transmitter becomes zero. And an autopilot for automatically navigating while maintaining the set direction without touching the control device, and outputting a linear angle signal for correcting the course of the ship 2 with respect to the set direction The device 7 and the interface 8 are configured.

The steering unit 5 in the above configuration is provided with a sin and cos potentiometer as a handle signal transmitter 9, and the handle signal transmitter 9 is a sin, cos corresponding to the propulsion direction of the propeller swivel propulsion device 1 set. A signal is output.

The interface 8 converts the linear angle signal from the autopilot device 7 into a digital signal and outputs the digital signal, and the autopilot device 7 that the A / D converter 10 digitizes and outputs. Microcontroller 11 that converts the angle signal into sin and cos signals, and sin and cos output by the microcontroller 11
A D / A converter 12 that converts a signal into an analog signal is connected in series, and sin and cos signals from the control unit 5 are input.
The sin / cos signal from the steering wheel signal transmitter 9 of the control unit 5 and the D / A converter 1
2 is provided with switching means 13 for selectively switching the sin and cos signals from 2 and outputting them.

Further, the control unit 6 includes a positioning circuit 14 and an output amplifier 15, and the positioning circuit 14 includes a follow-up transmission of the output side of the switching means 13 of the interface 8 and the propeller swivel propulsion unit 1. Si output from the handle signal transmitter 9 when the device 4 is connected and the switching means 13 of the interface 8 is set to normal operation.
The n and cos signals are input to the positioning circuit 14. Further, the deviation between the sin and cos signals from the handle signal transmitter 9 and the sin and cos signals from the follow-up transmitter 4 is calculated by the positioning circuit 14 and output to the output amplifier 15. The tilting swash plate of the tilting pump is adjusted by applying an adjustment current to the coil 3 of the servo valve of the hydraulic device as the driving device so that the zero becomes zero, and the tilting pump is controlled. It is made to turn.

When the propeller swivel propulsion device 1 is positioned by the conventional propeller swivel propulsion device control apparatus having the above-described configuration, the current position (angle) of the propeller swivel propulsion device 1 and the control unit 5 are determined.
A signal indicating the position of the steering wheel is received from the follower transmitter 4 and the handle signal transmitter 9 which are sin and cos potentiometers, and the tilt swash plate of the tilt pump is moved so that the deviation between these signals becomes zero. To do so.

In order to operate the ship 2 at a low speed, the A / D converter 10 of the interface 8
A potentiometer 16 that outputs an angle setting signal for slow speed operation (C-shaped operation) as a linear angle signal is connected, and this angle setting signal is added to the angle signal from the autopilot device 7 and then converted into sin and cos signals. The control unit 6 is provided so that a slow speed operation can be performed even during autopilot (see, for example, Patent Document 1).

Japanese Patent No. 3527043

However, what is described in Patent Document 1 is the switching means 1 of the interface 8.
3 represents sin and cos signals from the control unit 5 and sin and cos from the D / A converter 12.
Since the signal is selectively sent to the control unit 6, the direction set by the autopilot device 7 is maintained by setting the switching means 13 to the autopilot side as shown in FIG. However, in this state, so-called autopilot operation is possible, but in this state, sin, c from the steering wheel signal transmitter 9 of the control unit 5
The os signal is not input to the positioning circuit 14 of the control unit 6. Therefore, when steering is to be performed by the handle signal transmitter 9 when a sudden obstacle occurs, the switching means 13 must be restored, that is, the switching means 13 must be switched to the handle signal transmitter 9 side. Therefore, it may not be possible to handle sudden obstacles during autopilot operation. The A / D converter 10 disposed in the interface 8 converts the linear angle signal from the autopilot device 7 into a digital signal and outputs it. The signal from the handle signal transmitter 9 is converted into a digital signal. The A / D converter cannot be arranged so as to convert to. Further, the one described in Patent Document 1 converts the half-angle setting signal set in the half-angle setting signal potentiometer 16 into a digital signal by the A / D converter 10 and outputs it at the time of slow speed operation of the ship. Thus, the square angle setting signal potentiometer 16 is indispensable.

Therefore, the present invention needs to be able to steer by the steering wheel signal transmitter even during autopilot navigation, and to switch the switching means to steering by the steering wheel signal transmitter even if a sudden obstacle appears during automatic navigation by the autopilot. Further, it is an object of the present invention to provide a control device for a propeller swivel type propulsion device that enables a fine speed autopilot or a reverse autopilot by setting a position by a handle signal transmitter for a slow speed operation or a reverse speed operation.

In order to solve the above-described problem, the present invention detects a position in a turning direction of a propeller turning type propulsion device provided on a ship so as to be turned by a driving device, and outputs a signal corresponding thereto. And a control unit provided with a handle signal transmitter capable of arbitrarily setting the propulsion direction of the propeller swivel propulsion device, and the deviation between the signal from the control unit and the signal from the follow-up transmitter is obtained and the deviation is zero. And a control unit for correcting the rotation of the propeller swivel propulsion unit so that the command signal from the steering wheel signal transmitter of the control unit is digital A / D converter for reading as a numerical value and the A
The digital numerical value read by the / D converter is calculated as a real angle, and the propeller swivels by adding / subtracting the digital angle signal sent from the autopilot device that communicates the digital angle signal to keep the ship in the desired direction C to further determine the propulsion angle and to further convert the determined propeller swivel propulsion angle into a functional signal or a linear signal
PU arithmetic processing unit and D / A for converting a signal from the CPU arithmetic processing unit into an analog signal
A microcomputer having a converter is provided, and is further switched on and off. When turned on, the function type signal or linear signal from the handle signal transmitter is converted into a digital numerical value by the A / D converter. The output of the D / A converter is sent to the positioning circuit in the control unit so that it can be read, and when it is turned off, the function signal or linear signal from the handle signal transmitter is directly positioned in the control unit. The interface is provided with a switching relay switch that is sent to the circuit.

According to the control device for a propeller swivel propulsion device of the present invention, an A / D converter that reads a command function type signal or a linear signal from a steering wheel signal transmitter of a control unit as a digital numerical value, and the A / D converter reads After calculating the function of the obtained digital numerical value to the actual angle, the digital angle signal sent from the autopilot device that communicates the digital angle signal to keep the ship in the desired direction is added to and subtracted from the propeller swivel A CPU arithmetic processing unit for determining the propulsion unit angle and further calculating a function so as to convert the determined propeller swivel type propulsion unit angle into a function signal or a linear signal, and a signal from the CPU arithmetic processing unit as an analog function Equipped with a D / A converter that converts the signal into a shape signal or a linear signal, and switches between ON and OFF When it is turned on, the function signal or linear signal from the handle signal transmitter can be read as a digital numerical value by the A / D converter, and the output of the D / A converter is positioned in the control unit. An interface having a switching relay switch that is sent to a circuit and that is configured so that when it is turned off, a function signal or a linear signal from the handle signal transmitter is directly sent to a positioning circuit in the control unit. Since it is used by being connected to a control unit and a control unit by a steering wheel signal transmitter mounted on a ship, the following excellent effects can be obtained.

(1) When an autopilot device is not used, a normal driving operation can be obtained by directly inputting a function signal or a linear signal from the steering wheel signal transmitter in the control unit to the positioning circuit in the control unit, When using the autopilot device, the function signal or linear signal from the handle signal transmitter is read as a digital value by the A / D converter, and then the read digital value is read by the CPU processing unit. After calculating the function to the actual angle, it is possible to determine the propeller swivel propulsion angle by adding and subtracting the digital angle signal sent from the autopilot device to determine the propeller swivel propulsion angle. Operation by the steering wheel signal transmitter by converting it and inputting it as an analog signal to the positioning circuit of the control unit Also be running operation by the autopilot is obtained.
(2) According to the above (1), the steering signal transmitter can be operated by the autopilot from any position by switching the switching relay switch, and can be always steered by the steering wheel signal transmitter even during autopilot navigation. Therefore, even if a sudden obstacle appears during autopilot operation, it can be easily avoided by the steering wheel signal transmitter.
(3) As described above, the auto pilot operation can be performed from any position of the steering wheel signal transmitter. Therefore, the fine speed auto pilot can be operated only by setting the steering wheel signal transmitter to the slow speed position (C-shape) during the slow speed operation. It is possible to eliminate the need to connect a potentiometer that outputs the angle setting signal of the C-shaped operation, which has conventionally been required, as a linear angle signal. In the case of reverse automatic operation, reverse automatic pilot is possible only by setting the handle signal transmitter to the reverse position.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

FIG. 1 shows an embodiment of the present invention applied to a linear signal control type ship. Like the propeller swivel propulsion device shown in FIG. 4, a propeller swivel propulsion device is shown. 1
A hydraulic device (a tilting pump driven by the main engine of the ship, a hydraulic motor for rotating the propeller swivel propulsion unit 1 with hydraulic oil from the tilting pump, and a tilting tilt of the tilting pump) (Including a cylinder for adjusting the plate and a servo valve for controlling the cylinder), and the propeller swivel propulsion unit 1 can be rotated in the same manner as shown in FIG. In the configuration in which the follower transmitter 4 is provided and the control unit 5 and the control unit 6 are further provided, an interface 18 that can be always steered by the steering wheel signal transmitter 9 of the control unit 5 even during autopilot navigation is provided. It is set as the structure provided.

More specifically, the control unit 5 has a configuration in which a linear potentiometer is provided as a handle signal transmitter 9, and a linear potentiometer that outputs a linear signal to the propeller swivel propulsion unit 1 is a follow-up transmitter 4. The autopilot device 17 is provided so that an angle signal for keeping the ship in the target direction is sent as a digital communication signal. In addition, an A / D converter 19 that reads a command signal (linear signal) from the steering wheel signal transmitter 9 of the control unit 5 as a digital value, and the digital value read by the A / D converter 19 is function-calculated to an actual angle. The autopilot device 1
The propeller swivel type propulsion device angle is determined by adding / subtracting the digital angle signal sent from 7 for the needle keeping, and the function is further calculated so as to convert the determined propeller swivel type propulsion device angle into a linear signal. A microcomputer 22 having a CPU arithmetic processing unit 20 and a D / A converter 21 for converting a signal from the CPU arithmetic processing unit 20 into an analog signal is provided, and can be switched ON and OFF. When turned on, the output line 9a of the handle signal transmitter 9 in the control unit 5 is connected to the A / A in the microcomputer 22.
In addition to being connected to the D converter 19, the D / A converter 21 is connected to the positioning circuit 14 in the control unit 6, and when turned off, the output line 9 a of the handle signal transmitter 9 is connected to the control unit 6. An interface 18 having a configuration including a change-over relay switch 23 connected to the positioning circuit 14 is configured. Interface 1
8 is provided so that it can be connected to the control unit 5 and the control unit 6, and the signal from the handle signal transmitter 9 in the control unit 5 always passes through the interface 18, so that the handle signal transmitter is always used even during autopilot navigation. 9 can be steered.

  The other configuration is the same as that shown in FIG.

When the existing maneuvering unit 5 and the control unit 6 are mounted and assembled at a predetermined position at the time of construction of the ship, and the interface 18 that characterizes the present invention is assembled, the output line 9a of the handle signal transmitter 9 of the maneuvering unit 5 is assembled. And the positioning circuit 14 in the control unit 6 are connected to the interface 1
8 is connected to the switch relay switch 23.

In the above configuration, when steering a ship (for example, a tugboat), when the autopilot device 17 is not used, the switching relay switch 23 is switched off as shown in FIG. As a result, the command signal (linear signal) from the steering wheel signal transmitter 9 of the control unit 5 is sent as it is to the positioning circuit 14 in the control unit 6 via the switching relay switch 23. In the positioning circuit 14, the deviation between the linear signal output from the handle signal transmitter 9 and the linear signal from the follower transmitter 4 is calculated and output to the output amplifier 15.
The output amplifier 15 gives an adjustment signal to the coil 3 of the servo valve of the hydraulic device as the drive device so that the deviation becomes zero, and the tilt swash plate of the tilt pump is applied as in the conventional case shown in FIG. The propeller swivel propulsion device 1 is swung by control so that the normal operation can be obtained.

On the other hand, when the autopilot device 17 is used, the changeover relay switch 23 is set to O.
Switch to N. As a result, as is clear from FIG. 1, the command signal (linear signal) output from the steering wheel signal transmitter 9 of the control unit 5 is directly transmitted to the A / D converter 19 in the macro computer 22 via the switching relay switch 23. Input, the A / D converter 1
9, the linear signal from the handle signal transmitter 9 is read as a digital value.
Next, the digital numerical value read by the A / D converter 19 is converted into a CPU arithmetic processing unit 20.
After the function is calculated to the actual angle, the digital angle signal sent from the autopilot device 17 is added / subtracted to determine the propeller swivel propulsion device angle. Furthermore,
The determined propeller swivel propulsion device angle is function-calculated by the CPU arithmetic processing unit 20 so as to be converted into a linear signal. The signal is converted from the CPU arithmetic processing unit 20 via the D / A converter 21 into an analog linear signal.

The analog linear signal converted by the D / A converter 21 is sent to the positioning circuit 14 in the control unit 6 through the switching relay switch 23 which is switched to ON, and the linear signal from the follow-up transmitter 4 is the same as described above. The deviation from the shape signal is calculated by the positioning circuit 14, and the output amplifier 1
The adjustment signal is given from the output amplifier 15 to the coil 3 of the servo valve of the hydraulic device so that the deviation becomes zero. As a result, the propeller swivel propulsion device 1 is swiveled by the operation of the hydraulic device, and the propeller swivel propulsion device operation by the autopilot device 17 is obtained.

In the present invention, the change-over relay switch 23 is turned on to turn the autopilot device 1
7 is used, the linear signal output from the handle signal transmitter 9 is input to the A / D converter 19 in the interface 18 and read as a digital numerical value.
The digital numerical value read by the A / D converter 19 is function-calculated to the actual angle in the CPU arithmetic processing unit 20, and then the digital angle signal sent from the autopilot device 17 is added and subtracted to calculate the propeller swivel propulsion unit angle. Therefore, the driving operation by the autopilot device 17 can be performed when the steering is performed by the steering wheel signal transmitter 9, and even during the driving operation by the autopilot device 17, by the steering wheel signal transmitter 9. Steering can be enabled. Therefore, the auto pilot operation can be performed from any position of the handle signal transmitter 9, and the steering signal transmitter 9 can always steer even during the driving operation by the auto pilot device 17. As a result, during autopilot operation,
Even when a sudden obstacle occurs, it can be easily avoided by maneuvering with the handle signal transmitter 9.

Further, as described above, since the steering wheel signal transmitter 9 can be operated in an autopilot operation from any position, for example, when performing a low speed driving, the steering wheel signal transmitter 9 is set to a low speed position (C-shape). Only by doing so, it is possible to enable a low speed autopilot operation. Furthermore,
When attempting to reverse in autopilot operation, the reverse autopilot operation can be easily performed simply by setting the handle signal transmitter 9 to the reverse position, and the propeller swivel propulsion device 1 can be rotated at an arbitrary angle of 360 degrees. A special maneuvering set to the position can be performed.

Next, the control device for the propeller swivel propulsion device of the present invention can be easily applied to a function type signal control type ship.

When applied to a function type signal control type ship, the interface 18 is already used in a configuration that is already installed in the ship and is steered by the handle signal transmitter 9 of the control unit 5. The output line 9a of the steering wheel signal transmitter 9 of the control unit 5 and the control unit 6
The positioning circuit 14 may be connected to the switching relay switch 23 of the interface 18. As a result, in addition to a normal driving operation in which the autopilot device 17 is not used only by switching the switching relay switch 23 between ON and OFF,
The autopilot driving operation using the autopilot device 17 can be performed, and, similarly to the embodiment shown in FIG. 1, it is installed and used in a function type signal control type ship. In addition, a special maneuvering such as slow speed or reverse can be performed by the handle signal transmitter 9.

In FIG. 2, the interface 18 which characterizes the present invention is used for the control unit 5 and the control unit 6 which are equipped on the function type signal control type ship, and the output of the steering wheel signal transmitter 9 of the control unit 5 already used. A propeller swivel type propulsion device in which a function type signal control type ship can be operated by autopilot by connecting a line 9a and a positioning circuit 14 in the control unit 6 to a switching relay switch 23 of an interface 18. When the follower transmitter 4 detects the position of the propeller swivel propulsion device 1 in the turning direction using a function potentiometer that outputs a function signal, the follower transmitter 1 of 1 outputs a function signal corresponding thereto. It is supposed to be put out. The control unit 5 has a function potentiometer with a handle signal transmitter 9.
An embodiment in which an interface 18 is connected to what is provided as is shown.

That is, as described above, the propeller swivel propulsion unit 1 is provided with a function type potentiometer that outputs a function type signal as the follower transmitter 4, and the control unit 5 is provided with a function type potentiometer as the handle signal transmitter 9. The control unit 6 includes a positioning circuit 14 and an output amplifier 15. The control unit 6 is equipped with an interface 18, and the switch relay switch 23 of the interface 18 is set to transmit a handle signal of the control unit 5. The output line 9a of the device 9 and the positioning circuit 14 in the control unit 6 are connected.

The interface 18 is a microcomputer 22 having an A / D converter 19a, a CPU processing unit 20a, and a D / A converter 21a, as shown in FIG.
However, the A / D converter 19a reads a command signal (function type signal) output from the handle signal transmitter 9 of the control unit 5 as a digital numerical value. The CPU arithmetic processing unit 20a performs a function calculation on the digital numerical value read by the A / D converter 19a to an actual angle, and the function of the digital angle signal from the autopilot device 17 that communicates the digital angle signal. A propeller swivel type propulsion device angle is determined by adding / subtracting with the actual angle, and a function operation is further performed to convert the determined propeller swivel type propulsion device angle into a function signal. The D / A converter 21a includes the CPU arithmetic processing device 2
The signal from 0a is converted into an analog function signal, and the converted analog function signal is turned ON.
The signal is output to the positioning circuit 14 in the control unit 5 through the switching relay switch 23 that has been switched to the above.

According to this embodiment, as in the case of the embodiment shown in FIG. 1, the normal driving operation by the handle signal transmitter 9 when the autopilot device 17 is not used and the case where the autopilot device 17 is used. The propeller swivel type propulsion device can be operated by the autopilot, and the steering by the steering wheel signal transmitter 9 can be performed even during the autopilot navigation.

That is, when the autopilot device 17 is not used, the changeover relay switch 2
By switching 3 to OFF, the command signal (function signal) from the handle signal transmitter 9 can be sent to the positioning circuit 14 in the control unit 6 as it is. Thereby, a normal driving operation is obtained.

On the other hand, when the autopilot device 17 is used, the changeover relay switch 23 is set to O.
By switching to N, the command signal (function type signal) from the handle signal transmitter 9 is read as a digital numerical value by the A / D converter 19 a in the microcomputer 22 of the interface 18. Further, by using the autopilot device 17, an angle signal for keeping the ship in the target direction is sent from the autopilot device 17 to the CPU arithmetic processing unit 20a in the microcomputer 22 of the interface 18 as a digital communication signal. . In the CPU arithmetic processing unit 20a, the digital numerical value read by the A / D converter 19a is function-calculated as an actual angle, and the digital angle signal sent from the autopilot unit 17 is added and subtracted. A propeller swivel propulsion device angle is determined, and a function operation is performed to convert the determined propeller swivel propulsion device angle into a function-type signal. The signal from the CPU processing unit 20a is converted into an analog signal by the D / A converter 21a and output, and the analog function signal is sent to the positioning circuit 14 in the control unit 6 through the switching relay switch 23. . Thereby, propeller swivel type propulsion device operation by autopilot is obtained.

It is a control block diagram which shows one Embodiment of the control apparatus of the propeller turning type propulsion machine of this invention. It is a control block diagram which shows the other form of implementation of the control apparatus of the propeller turning type propulsion machine of this invention. The outline of the propeller swivel propulsion device in the control device for the conventional propeller swivel propulsion device is shown. (A) is a schematic plan view, (b) is a plan view showing a normal operation state, and (c) is a slow operation state. FIG. It is a block diagram of the control apparatus of the conventional propeller turning type propulsion machine.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Propeller turning type propulsion machine 4 Follow-up transmitter 5 Steering part 6 Control part 9 Handle signal transmitter 14 Positioning circuit 15 Output amplifier 17 Autopilot device 18 Interface 19, 19a A / D converter 20, 20a CPU arithmetic processing unit 21, 21a D / A converter 22 Microcomputer 23 Switching relay switch

Claims (1)

A follow-up transmitter that detects the position of the propeller swivel propulsion unit provided on the ship so as to be swiveled by the drive device and outputs a corresponding signal, and the propulsion direction of the propeller swivel propulsion device A steering unit provided with a handle signal transmitter that can be arbitrarily set, and the turning of the propeller swivel propulsion unit so that a deviation between the signal from the steering unit and the signal from the following transmitter is obtained and the deviation becomes zero A propeller swivel type propulsion unit control apparatus provided with a control unit for correcting the A / D converter for reading a command signal from the steering wheel signal transmitter of the control unit as a digital numerical value; Is it an autopilot device that communicates a digital angle signal to function the digital numerical value read by the D converter to the actual angle and keep the ship in the desired direction? CPU arithmetic processing unit for adding and subtracting the sent digital angle signal to determine the propeller swivel propulsion device angle and further calculating the function so as to convert the determined propeller swivel propulsion device angle into a function signal or a linear signal And a D / A converter that converts the signal from the CPU processing unit into an analog signal, and can be switched ON and OFF. The function signal or linear signal from the measuring device can be read as a digital numerical value by the A / D converter so that the output of the D / A converter is sent to the positioning circuit in the control unit, and the handle is turned off. The function type signal or linear signal from the signal transmitter is sent to the positioning circuit in the control unit as it is. Control device of a propeller turning propulsion device, characterized in that the the cause is equipped with interface with switching relay switches on and are as.

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