JP2017095020A - Vessel and vessel piloting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vessel provided with a turning propeller of two or more shafts, and a vessel piloting method that are capable of suppressing the loss of forward propulsion caused by the turning propeller in a counter steering operation and a reduction in sailing speed during sailing holding a course.SOLUTION: A vessel 1 provided with a turning propeller 4 of two or more shafts includes at least one or more counter steering fins 5, and is characterized in that counter steering control for counter steering only by the counter steering fins 5 without steering the turning propeller 4 is executed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a ship and a ship maneuvering method, and more specifically, in a ship equipped with two or more pivoting propulsion units, the forward thrust loss of the pivoting propulsion unit due to a steering operation during navigation while maintaining the course The present invention also relates to a ship capable of suppressing a decrease in navigation speed and a method of maneuvering the ship.

  As a marine vessel propulsion device, a swivel propulsion device (azimuth thruster) having a propeller mounted on a pod that swivels in a horizontal direction is known (for example, Patent Document 1). Since this slewing propulsion device can freely change the direction of the propulsion force by rotating the pod itself, the course of the ship can be changed without providing a rudder. Moreover, since the turning type propulsion device is provided, it is possible to turn with a small radius, move in the lateral direction at the time of detachment, etc., and is adopted in many ships.

  However, the swivel propulsion device has the following problems in ship maneuvering control for keeping the course of the ship constant. Specifically, in the case of a ship equipped with a swivel type propulsion device, in order to perform the steering operation by changing the turning angle of the swivel type propulsion device, which is the main propulsion device, when keeping the course of the ship constant Therefore, it is necessary to appropriately change the turning angle of the turning type propulsion device in accordance with changes in external force such as wave force, tidal current force, and wind force. When the turning angle of the swivel thruster is changed, the thrust direction of the swivel thruster is tilted with respect to the forward direction, so the forward thrust is lost and the speed is reduced.

  In particular, in order to keep the ship's course constant during stormy weather, it is necessary to frequently change the turning angle of each swivel thruster, so the forward thrust of the swivel thruster is greatly lost and the speed is large. descend. As a result, in order to maintain a predetermined voyage speed, it is necessary to increase the engine output, and the energy consumption increases. Thus, there is a problem that the forward thrust of the turning type propulsion device is largely lost by the hitting operation, and the energy efficiency is poor.

  In connection with this problem, in a ship with a twin-shaft propulsion unit with a center skeg, in order to improve maneuverability by reducing the thrust drop of the pod propulsion unit inside the turning direction during turning, Each of which is provided with a pair of propellers that are driven to rotate inwardly and a center skeg provided on the bottom of the ship between the pair of propellers, and provided on the bottom of the ship between the center skeg and each propeller. There has been proposed a ship with a twin-shaft propulsion unit that is provided such that the height of the auxiliary skeg is set such that the lower end of the auxiliary skeg is positioned above the lower end of the center skeg (for example, Patent Documents) 2).

  However, this ship with a twin-axis propulsion device is trying to solve the problem at the time of turning, and does not help solve the problem of the forward thrust of the turning-type propulsion device by the rudder at the time of holding the course this time.

JP, 2014-121928, A JP 2011-168251A

  The present invention has been made in view of the above-described situation, and the purpose of the present invention is to use a swivel propulsion device in a steering operation during navigation to hold a course in a ship having two or more swivel propulsion devices. An object of the present invention is to provide a ship and a ship maneuvering method that can suppress a loss of forward thrust and a decrease in navigation speed.

  In order to achieve the above object, the ship of the present invention is a ship provided with two or more pivoting propulsors, and is configured to include at least one hitting fin.

  According to this configuration, by providing a rudder fin for performing a rudder control when keeping the course constant, only the rudder fin is operated in a state where the turning type propulsion device is fixed at a constant angle. Thus, it is possible to perform the steering operation. That is, it is not necessary to change the turning angle of the turning type propulsion device that is the main propulsion device in the steering operation. As a result, it is possible to reduce the forward thrust loss of the swivel thruster caused by changing the swivel angle of the swivel thruster, and to suppress a decrease in the navigation speed. Therefore, the energy efficiency of the ship in the steering operation when keeping the course constant can be improved.

  Further, since the energy required for changing the rudder angle of the hitting fin is smaller than the energy required for the turning of the turning type propulsion device, the energy efficiency can be improved also from this aspect. Furthermore, since it is not necessary to control a plurality of swivel propulsion devices, the steering operation can be simplified.

  In the above-described ship, with respect to the front-rear direction of the ship, when the configuration is such that the hitting fins are arranged behind the rear end of the swivel thruster that is arranged in the foremost, The direction of thrust of the propeller can be changed more efficiently. Therefore, it is advantageous to accurately perform the steering control.

  In the above-described ship, when the swirl propulsion device is provided with the rudder fin, each of the swivel propulsion devices provided by the swirl propulsion device has all Since it becomes the structure which can change the direction of the thrust of a turning type | formula propulsion device, it becomes further advantageous to performing hitting operation accurately.

  In the above-described ship, if the structure is provided with the hitting fins between the swivel propulsion devices in the width direction of the ship, the number of hitting fins can be reduced.

  In the above-described ship, a control device is provided that performs batting steering control for performing batting operation with only the batting fins without steering the turning type propulsion unit at the time of straight traveling control of the ship. Then, at the time of navigation while maintaining the course, it is possible to suppress a loss of forward thrust and a decrease in navigation speed force due to the turning type propulsion device in the steering operation.

  The marine vessel maneuvering method for achieving the above object is the marine vessel maneuvering method provided with two or more pivoting propulsion devices, wherein one or more thruster fins are provided, In this method, the steering steering control is performed in which steering is performed only by the steering fin without steering the revolving propulsion unit.

  According to this method, in the steering operation for performing the steering control when keeping the course constant, the steering is performed by operating only the steering fin while the turning type propulsion device is fixed at a constant angle. Since the operation is performed, there is no need to change the turning angle of the turning type propulsion device which is the main propulsion device. As a result, it is possible to reduce the forward thrust loss of the swivel thruster caused by changing the swivel angle of the swivel thruster, and to suppress a decrease in the navigation speed. Therefore, the energy efficiency of the ship in the steering operation when keeping the course constant can be improved. In addition, since it is not necessary to relatively control a plurality of swivel type propulsion devices, the steering control can be simplified.

  In the above-described ship maneuvering method, when the course of the ship is changed, the turning propulsion device is turned, and the control fin is controlled to take a turning angle. Steering by the turning type propulsion device can be performed with little influence, and the ship maneuvering control when changing the course of the ship can be simplified.

  In other words, if the rudder angle of the rudder fin is not controlled in a direction that does not hinder the steering by the turning type propulsion device, the rudder fin may become a resistance against turning when changing the course of the ship. is there. Therefore, it is necessary to control the rudder angle of the hitting fin so that the hitting fin does not become a resistance during turning or generate a turning moment opposite to the turning direction.

  According to the ship of the present invention, in a ship provided with two or more pivoting propulsion units, the structure is provided with at least one steering fin, so the pivoting propulsion unit is fixed at a constant angle. It is possible to perform a rudder operation by operating only the rudder fin in the state. Thereby, the loss of the forward thrust of the turning type propulsion device which is generated by changing the turning angle of the turning type propulsion device can be reduced, and the decrease in the navigation speed can be suppressed. Therefore, the energy efficiency of the ship in the steering control when keeping the course constant can be improved.

  Further, according to the ship maneuvering method of the present invention, in the ship maneuvering method provided with two or more pivoting propulsion devices, one or more guiding fins are provided, and the turning is performed during the straight-ahead control of the ship. The steering thrust control is performed without the steering propeller being steered, and the steering thrust control is performed using only the steering thruster fin. Therefore, the forward thrust loss of the swing propulsion unit caused by changing the turning angle of the swing propulsion unit. Can be reduced, and a decrease in navigation speed can be suppressed. Therefore, the energy efficiency of the ship in the steering control when keeping the course constant can be improved.

It is a top view which shows typically the condition where the ship of 1st Embodiment which concerns on this invention is performing steering control at the time of keeping a course constant. It is a side view which shows typically the ship of FIG. It is a top view which shows typically the condition which is turning the turning type propulsion device when the ship of FIG. 1 changes course. It is a top view which shows typically the ship of 2nd Embodiment which concerns on this invention. It is a top view which shows typically the ship of 3rd Embodiment concerning this invention. It is a top view which shows typically the ship of 4th Embodiment which concerns on this invention. It is a top view which shows typically the condition which is performing the steering control when the conventional ship keeps a course constant.

  Hereinafter, a ship according to an embodiment of the present invention will be described with reference to the drawings. Note that the hitting fins are actually assumed to be long and thin with an aspect ratio of about 2 to 10, but the width is shown in a larger size for easy understanding in the drawings.

  As shown in FIGS. 1 to 3, the ship 1 according to the first embodiment of the present invention includes two-axis turning thrusters (azimuth thrusters) 4 and 4, and two thruster fins 5 and 5. It has. In this embodiment, a control device 6 is further provided that is connected to the swivel propulsion device 4 and the landing gear fin 5 by wire or wirelessly and controls them.

  The swivel propulsion device 4 is a swivelable propulsion device that can freely change the direction of the propulsion force in the horizontal direction, and can be constituted by a swivel pod propulsion device, a swivel thruster, or the like. The swivel propulsion unit 4 of this embodiment is composed of a propeller rotation shaft 4a, a pod 4b, and a propeller 4c, and changes the horizontal swivel angle of the pod 4b around the propeller rotation shaft 4a. By doing so, the direction of the propulsive force generated by the propeller 4c can be freely changed.

  The rudder fin 5 is a fin for performing rudder control when keeping the course of the ship 1 constant. The steering fin 5 of this embodiment is configured to change the rudder angle θ by turning in the horizontal direction around the fin rotation shaft 5a.

  The biaxial turning propulsion units 4 and 4 are provided on the stern 3 side, and are disposed at positions symmetrical with respect to the hull center line Cf. The two landing gear fins 5 and 5 are arranged behind the rear ends of the swivel thrusters 4 and 4 (stern 3 side) with respect to the longitudinal direction of the ship 1. Usually, in order to use the water flow of the swivel thrusters 4 and 4 with the hitting fins 5 and 5, the hitting fins 5 and 5 are provided directly behind the swirl thrusters 4 and 4, respectively. The propeller rotary shaft 4a of the thruster 4 and the fin rotary shaft 5a of the steering fin 5 are located on a straight line substantially parallel to the hull center line Cf.

  Next, a method for maneuvering the ship 1 will be described. In the following description, the description will be divided into a ship maneuvering method at the time of straight-ahead control for keeping the course of the ship 1 constant and a ship maneuvering method at the time of changing the course of the ship 1.

  As shown in FIG. 1, at the time of straight-ahead control in which the ship 1 keeps the course constant, the ship 1 performs hitting steering control in which steering is performed only by the hitting fins 5 without steering the turning type propulsion unit 4. . That is, in the ship 1, changes in external forces such as wave force, tidal current force, and wind force are maintained in a state where the propulsion force generated by the swivel propulsion device 4 is maintained in a certain direction with the swivel propulsion device 4 fixed at a certain angle. In response to this, the rudder angle θ of the rudder fin 5 is changed to steer. Specifically, the rudder angle θ of the hitting fin 5 is controlled within a range of ± 5 degrees, for example.

  The course of the ship 1 is kept constant by the rudder steering by the rudder fin 5. With regard to this control, the ship 1 according to the first embodiment is configured such that the control unit 6 automatically controls operation control such as the steering angle θ of the steering fin 5 in this steering steering control.

  As shown in FIG. 3, when changing the course, the ship 1 turns the turning type propulsion device 4 and controls the steering fin 5 to take the turning angle. That is, in the ship 1, the course is changed by turning the ship 1 by changing the direction of the propulsive force by the turning propulsion unit 4 by changing the turning angle of the turning type propulsion unit 4. The rudder angle θ of the hitting fin 5 is controlled so that the rudder fin 5 does not become a resistance to the turning of the ship 1 and does not generate a turning moment in a direction opposite to the turning direction. More specifically, the direction of the water flow generated by the swivel thruster 4 is substantially the same so that the water flow generated by the swirl propulsion device 4 is not disturbed by the rudder fin 5 and the direction of this water flow is changed as much as possible. The rudder angle θ of the hitting fin 5 is changed so as to be parallel. Alternatively, the hitting fin 5 is fixed at a position parallel to the hull center line CF.

  In the ship 1 according to the first embodiment, the control device 6 automatically controls the rudder angle θ of the steering fin 5 when the course is changed. That is, the control device 6 is configured to be able to switch between the steering steering control time mode and the course changing mode, and controls the steering steering by the steering fin 5 during the steering steering control. At the time of the change, the rudder angle θ of the hitting fin 5 is changed in conjunction with the movement of the swivel propelling device 4 to control the movement of the hitting fin 5 so as not to hinder the steering by the turning propulsion unit 4. .

  As described above, in the ship 1, in the steering operation for performing the steering control during the straight-ahead control for keeping the course constant, only the steering fin 5 is used with the turning type propulsion unit 4 fixed at a constant angle. Since the steering operation is performed by the operation, it is not necessary to change the turning angle of the turning type propulsion device 4 which is the main propulsion device. Thereby, the loss of the forward thrust of the swivel thruster 4 caused by changing the swivel angle of the swirl thruster 4 can be reduced, and the decrease in the navigation speed can also be suppressed. Therefore, the energy efficiency of the ship 1 in the steering operation when keeping the course constant can be improved. Further, since the turning propulsion device 4 as the main propulsion device satisfies the steering rule of the rudder, the steering rule required for the rudder is not applied to the steering fin 5. Etc. can be set freely. Therefore, it becomes possible to make it the structure specialized in order to perform the rudder fin 5 for rudder, and the ship in the rudder operation at the time of keeping a course constant compared with the case where a general rudder is provided. 1 energy efficiency can be further improved.

  Further, since the energy required for changing the rudder angle θ of the hitting fin 5 is smaller than the energy required for the turning type propulsion device 4 to turn, the energy efficiency can be improved also from this aspect. Furthermore, since it is not necessary to control the plurality of swivel thrusters 4 and 4, the steering operation can be simplified.

  Since the ship 1 is configured to automatically control the steering control by providing the control device 6, the forward thrust loss and the navigation speed of the turning propulsion device 4 in the steering operation are reduced during navigation while maintaining the course. It becomes further advantageous to suppress the decrease.

  Further, when the course of the ship 1 is changed, the turning type propulsion unit 4 is turned and, at the same time, the control rudder fin 5 is also controlled to take the turning rudder angle. In this state, it becomes possible to perform the steering by the turning type propulsion device 4. Therefore, the ship maneuvering control when changing the course of the ship 1 can be simplified.

  That is, when the steering angle θ of the hitting fin 5 is not controlled in a direction that does not hinder the steering by the turning type propulsion device 4, the hitting fin 5 has resistance to turning when the course of the ship 1 is changed. There is a possibility. Therefore, it is necessary to control the rudder angle θ of the hitting fin 5 so that the hitting fin 5 does not become a resistance during turning or generate a turning moment opposite to the turning direction. .

  Further, in the ship 1, since the steering rudder fin 5 is arranged behind the rear end of the swivel propulsion device 4 arranged in the foremost direction with respect to the longitudinal direction of the ship 1, The direction of thrust of the thruster 4 can be changed more efficiently. Therefore, it is advantageous to accurately perform the steering control.

  Further, since the swivel thrusters 4 and 4 are respectively provided with the hitting fins 5 and 5, the hitting fins 5 and 5 provided on the respective swirl thrusters 4 and 4 make the ship 1 The direction of thrust of all the swivel type propulsion units 4 and 4 provided can be changed. Therefore, it is further advantageous to perform the hitting operation with high accuracy.

  The boat 1 according to the first embodiment shown in FIGS. 1 to 3 includes a biaxial swivel propulsion unit 4 and 4 on the stern 3 side, and two struts immediately behind each swivel propulsion unit 4 and 4. Although it is set as the structure provided with the fins 5 and 5 for rudder, you may make it the structure like the ship 1A of 2nd Embodiment shown in FIG. In addition, the structure of the turning type | formula propulsion device 4, the landing gear fin 5, and the control apparatus 6 is the same as embodiment shown in FIGS.

  The marine vessel 1 </ b> A includes biaxial turning propulsors 4, 4, one hitting fin 5, and a control device 6. The biaxial turning type propulsion units 4 and 4 are arranged on the stern 3 side, and the steering fin 5 is arranged between the turning type propulsion units 4 and 4 in the width direction of the ship 1A. In this ship 1A, the biaxial turning propulsion units 4 and 4 are arranged at symmetrical positions with respect to the hull center line Cf, and the thruster fins 5 are located behind the turning type propulsion units 4 and 4 (stern (3 side) hull center line Cf. In the ship 1A, the ship maneuvering method at the time of the straight advance control and the course change of the ship 1A is performed by the same ship maneuvering method as that of the ship 1 shown in FIGS.

  As described above, with respect to the width direction of the ship 1 </ b> A, the configuration in which the rudder fins 5 are provided between the swivel thrusters 4 and 4 can reduce the number of the rudder fins 5. That is, in terms of improving the accuracy of the steering steering control, it is desirable that each of the swivel propulsors 4 includes a steering fin 5. However, if at least one steering fin 5 is provided. Thus, the steering control can be sufficiently performed.

  The embodiment shown in FIGS. 1 to 3 and FIG. 4 exemplifies the case of a two-axis ship, but the present invention is a multi-axis having three or more axes like the ship 1B of the third embodiment shown in FIG. It can also be used on ships. In addition, the structure of the turning type | formula propulsion device 4, the landing gear fin 5, and the control apparatus 6 is the same as embodiment shown in FIGS.

  The marine vessel 1 </ b> B includes three-axis turning type propulsion devices 4, 4, 4, two hitting fins 5, 5, and a control device 6. The two-axis swivel propulsion units 4 and 4 are disposed on the stern 3 side, and the remaining one-axis swivel propulsion unit 4 is disposed on the bow 2 side. And it is behind (stern 3 side) of the biaxial turning propulsion units 4 and 4 arranged on the stern 3 side, and between the turning type propulsion units 4 and 4 (the center of the hull) in the width direction of the ship 1B. One hitting fin 5 is arranged at a position on the line Cf. The other steering rudder fin 5 is disposed immediately behind the uniaxial turning propulsion device 4 disposed on the bow 2 side. In other words, the two thruster fins 5 and 5 are connected to the bow 2 side and the stern 3 side with the biaxial turning propulsors 4 and 4 disposed on the stern 3 side on the hull center line Cf in the hull width direction. It is arranged to line up in front and back.

  In this way, in the present invention, the number and arrangement of each of the swivel type propulsion device 4 and the landing gear fins 5 can be variously configured according to the use of the ship and the hull form, so that it is very versatile. .

  Further, for example, like a ship 1C of the fourth embodiment shown in FIG. 6, an existing ship 1 </ b> X equipped with a two-axis or more turning propulsion device 4 is connected to a hull of the ship 1 </ b> X via a removable connection portion 7. By newly attaching the steering rudder fin 5 and the control unit 6, the ship can be modified to have the configuration of the present invention.

  In the first to fourth embodiments described above, the batting rudder fin 5 is provided immediately behind the swivel thruster 4 and between the two-axis swirl thrusters 4 and 4. However, for example, it is also possible to adopt a configuration in which the hitting fin 5 is provided on the ship side of the turning type propulsion device 4. In addition, even when the rudder fin 5 is provided between the biaxial turning type propulsion units 4 and 4, it can be configured to be disposed at a position shifted from the hull center line Cf. Furthermore, it is also possible to employ a configuration in which the hitting fins 5 are disposed in front of the swivel propelling device 4 disposed at the foremost side (the bow 2 side).

DESCRIPTION OF SYMBOLS 1, 1A, 1B, 1C Ship 1X Conventional ship 2 Bow 3 Stern 4 Turning type propulsion device 4a Propeller rotation shaft 4b Hod 4c Propeller 5 Guiding rudder fin 5a Fin rotation shaft 6 Controller 7 Connection part Cf Hull center line

Claims (7)

  A ship provided with two or more pivoting propulsion devices, wherein the ship is provided with at least one hitting fin.   The ship according to claim 1, wherein the hitting fins are arranged behind a rear end of the swivel thruster arranged in the foremost direction with respect to the longitudinal direction of the ship.   The ship according to claim 1, wherein each of the swivel propulsion devices includes the hitting fin.   The ship according to claim 1, wherein the steering rudder fin is provided between the swivel thrusters in the width direction of the ship.   A control device is provided for performing steering steering control in which a steering operation is performed only with the steering fin without steering the swivel propulsion unit during straight traveling control of the ship. The ship of any one of 1-3. In a method for maneuvering a ship equipped with two or more pivoting propulsion devices
One or more batting fins are provided, and at the time of straight-ahead control of the ship, baling steering control for performing batting with only the baling fins is performed without steering the turning propulsion unit. To operate the ship.   The ship maneuvering method according to claim 6, wherein when the course of the ship is changed, the turning type propulsion device is turned, and the guessing fin is also controlled to take a turning angle.

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