JP2521189Y2 - Control device for hydrofoil - Google Patents

Description

FIELD OF THE INVENTION The present invention relates to an operating device and, more particularly, to an operating device that can be advantageously implemented, for example, to generate a height command signal for a hydrofoil.

2. Description of the Related Art A typical prior art is disclosed in, for example, Japanese Patent Publication No. 57-44599. This prior art has a structure in which a pilot operates a rudder pedal in order to steer the aircraft.

In such a prior art, the operability is poor because the operation means is limited to only the pedal and the entire amount is operated.

Another prior art is an altitude setting in which the altitude command signal for setting the altitude from the sea surface of the hull is swung between the front side of the operator and the front side while operating the hydrofoil. Use the lever.

Problems to be solved by the invention In such prior art, in order to improve the seaworthiness of the hydrofoil, the operator looks at the sea surface and frequently operates the altitude setting lever to change the altitude command signal. It is necessary to operate the altitude setting lever every 2 seconds, for example. Therefore, a great deal of labor is required for the marine vessel maneuvering work.

Moreover, in this prior art, the ship operator must simultaneously operate the helm, which is the steering wheel, each time the course is changed,
Therefore, the operator operates the altitude setting lever with one hand and the steering wheel with the other hand. Therefore, both hands of the ship operator are blocked, which makes it impossible to operate the switches such as wipers.

An object of the present invention is to provide an operating device capable of improving operability.

Means for Solving the Problems The present invention detects the angular displacement amount of the lever 63, which is operated by an operator's hand to set a rough target value of the altitude with respect to the sea surface of the hull, and the lever 63. The first detector 66 that operates and the pedal 65 that is operated by pushing with one foot of the operator against the spring force of the springs 96 and 97 to change the target value of altitude.
A second detector 64 for detecting the operation amount of the pedal 65, a subtraction circuit 88 having one input to which the output of the second detector 64 is given and the other input, and an output of the subtraction circuit 88 And an integrating circuit 91 that integrates the output of the amplifying circuit and gives the integrated value to the other input of the subtracting circuit 88, and adds the output of the first detector 66 and the output of the amplifying circuit 90. An operating device for a hydrofoil, including an adding circuit 68.

Further, the present invention is a lever 63 that is operated by an operator to perform angular displacement to set a rough target value of the altitude between the ship and the sea surface.
A first detector 66 for detecting the amount of angular displacement of the lever 63, and a pedal which is operated by pushing against the spring force of the springs 96, 97 with one foot of the operator to change the target value of altitude. 65
The output of the second detector 64, which detects the operation amount of the pedal 65, and the output of the second detector 64 are given, and the level of the output signal is nonlinear in response to the increase of the output level of the second detector 64. A processing circuit 70 having the characteristic that the output signal level increases and changes, and the output signal level sharply increases when the output level of the second detector 64 is a predetermined value or more; and the output of the first detector 66 and the output signal of the processing circuit 70. Is an operating device for a hydrofoil, including an adding circuit 68 for adding.

Further, the present invention is a lever 63 that is operated by an operator to perform angular displacement to set a rough target value of the altitude between the ship and the sea surface.
A first detector 66 for detecting the amount of angular displacement of the lever 63, and a pedal which is operated by pushing against the spring force of the springs 96, 97 with one foot of the operator to change the target value of altitude. 65
And a second detector 64 for detecting the operation amount of the pedal 65, and an output of the second detector 64. When the output of the second detector 64 is below a predetermined value, the second detector 64 Has a characteristic that the level of the output signal increases and changes in accordance with the output level of, and when the output level of the second detector 64 exceeds a predetermined value, the output signal having a constant level remains derived. An operating device for a hydrofoil boat, comprising: a limiter 94; and an adder circuit 68 for adding the output of the first detector 66 and the output signal of the limiter 94.

Action According to the present invention, the lever 63 is operated by the operator's hand to set the approximate target value of the altitude, and the pedal 65 is applied to the spring force of the springs 96, 97 with one foot of the operator. The first detector thus obtained can be operated by pushing against it to change the target value of the altitude set by the lever 63 to respond immediately in an emergency and to enable frequent and long-time changing operation. The outputs of 66 and the second detector 64 are calculated using the subtraction circuit 88, the amplification circuit 90, and the integration circuit 91, and when the pedal 65 is continuously depressed, the pedal is held stationary. The reference position becomes the reference zero point, and the position of the zero point can be determined according to the position of the pedal 65. Thereby, the operability can be improved.

Further in accordance with the present invention, the output of the second detector 64 due to the operation of the pedal 65 is given to the processing circuit 70, and the level of the output signal increases non-linearly and changes, and the pedal 65 is further depressed. A characteristic is set in which the level of the output signal of the processing circuit 70 rapidly increases, whereby the quick response in an emergency is further improved.

Further, according to the present invention, the output of the second detector 64 that detects the operation amount of the pedal 65 is given to the limiter 94, and it is possible to avoid the detection of an erroneous operation due to the operation of one foot of the operator.

FIG. 1 is a block diagram of an embodiment of the present invention. In order to set the altitude between the hydrofoil and the sea surface of the hull during flight, the operator 61 sat on the chair 62 and manually held the helm 98.
Steering is performed by using, and the altitude setting lever 63 is operated by using a hand to set an approximate target value of altitude. The altitude setting lever 63 can be angularly displaced in front of and in front of the operator 61 (right side in FIG. 1) as indicated by an arrow 64a. Ship operator 61
Operates the pedal 65 of the pedal means 64 with one foot thereof. The amount of angular displacement of the altitude setting lever 63 is detected by a detector 66 such as a potentiometer, and the
It is given to one input of the adding circuit 68 via 67. The signal representing the physical quantity by operating the pedal 65 of the pedal means 64 is
The signal is given from the line 69 to the processing circuit 70, processed as described later, and given to the other input of the adding circuit 68 via the line 71. The adder circuit 68 adds the signals on the lines 67 and 71,
The addition result is derived as an altitude command signal via line 72.

FIG. 2 is a diagram showing a specific structure of the pedal means 64. The pedal 65 is attached to an arm 74 having a horizontal axis 73 and is depressed by the foot 75 of the operator 61 against the spring force of the spring 96 to be stepped on. The depression amount of this pedal 65 is
Detected by potentiometer 76, the output of that potentiometer 76 is derived on line 69.

FIG. 3 is a sectional view of a pedal means 64 according to another embodiment of the present invention. The pedal means 64 is angularly displaceable around a horizontal axis 77, and has a storage section 78 called a toe clip or the like into which the toe of one foot 75 of a ship operator is put, and the overall shape is formed in a slipper shape. To be done. Such a pedal 65
Can be pushed as well as pushed against the spring force of the spring 97 by the operator's foot 75, and can be angularly displaced like an arrow 79. The amount of angular displacement of pedal 65 is calculated by potentiometer 80
Can be detected.

The specific configuration of the processing circuit 70 is shown in FIG. 4, for example. The output of pedal means 64 via line 69 is provided to subtraction circuit 88. The output of the subtraction circuit 88 is given from a line 89 to an amplifier circuit 90 having a gain G and is led to a line 71. The signal derived on this line 71 is
It is integrated by the integrating circuit 91 and given to the subtracting circuit 88. The subtraction circuit 88 subtracts the output of the integration circuit 91 from the signal on the line 69, and derives a signal indicating the difference on the line 89. According to such a configuration, when the pedal 65 is continuously depressed, the position where the pedal 65 is held stationary becomes the reference zero point, and the position of the zero point depends on the position of the angular displacement of the pedal 65. Can be set. Thus, by combining the pedal means 64 shown in FIG. 2, the potentiometer 76, and the processing circuit 70 shown in FIG. 4 described above, it is possible to particularly improve the operability.

FIG. 5 is a block diagram of the processing circuit 70 according to another embodiment of the present invention. In this embodiment, the level of the output signal derived on line 71 changes in a non-linear manner depending on the level of the input signal on line 69.

FIG. 6 is a block diagram showing a specific configuration of the processing circuit 70 of still another embodiment of the present invention. The signal passing through the line 69 is amplified by the amplifier circuit 93 having the gain G and is given to the limiter 94. The limiter 94 is a limiter that keeps deriving a constant output level when the absolute value of the positive and negative input signals from the amplifier circuit 93 exceeds a predetermined value, which causes an excessive operation due to an erroneous operation of the pedal 65. Prevents output from being brought out on line 71.

The structure of a hydrofoil equipped with the operating device of the present invention will be described with reference to FIGS.

FIG. 7 is a simplified perspective view of an embodiment of the present invention, FIG. 8 is a side view thereof, and FIG. 9 is a bottom view thereof. With reference to these drawings, a forward strut 3 is provided on a bow 2 of a hull 1 of a hydrofoil. The forward strut 3 is angularly displaceable about a vertical axis 4 and can be steered by it, sometimes referred to as a strut or rudder. Wings 5 of the bow 2 are provided below the forward strut 3.

A stern 6 of the hull 1 is provided with a pair of aft struts 7,8, and a stern wing 9 is provided between the aft struts 7,8. A gas turbine water injection propulsion device 10 that doubles as an aft center strut is provided at the center position between the aft strats 7 and 8, whereby the hull 1 moves forward to the right in FIGS. 7 to 9. Is driven forward,
It is also possible to change the direction of the water jet and move backward. Mainly using the wings 5 and 9, the hull 1 is controlled about the pitch axis Y and the roll axis X, and is used in combination with the forward strut 3 during turning. It is also possible to tilt the hull 1 around its roll axis X. Further, the hull 1 may move about the yaw axis Z.

FIG. 10 is an enlarged perspective view showing the vicinity of the wings 5 and 9.
Foward oil is on the bottom of Foward Strat 3.
11 and 12 extend to the left and right, and this Foward Foil 1
The forward flaps 13 and 14 are supported behind the 1 and 12. It can be said that these forward flaps 13 and 14 are connected to each other and operate in synchronization with each other, so that the bow 2 is provided with a single flap.

As described above, the aft strates 7 and 8 are provided on the stern 6 so as to project downward. The wings 9 comprise left and right aft oils 16, 17 extending between these aft struts 7, 8
And two pairs of aft flaps 18, 19; 20, 21 supported behind them. Aftoff oil on starboard 1
The pair of aft flaps 18, 19 arranged behind the 6 can be operated synchronously, but can also be operated individually. The pair of aft flaps 20, 21 arranged behind the port side aft oil 17 can also be operated synchronously or individually.

Between the aft struts 7 and 8, the gas turbine blast water propulsion device 10 mounted on the hull 1 includes propulsion pumps 22 and 23 that blast the blast water toward the starboard side and the port side toward the rear.
A nozzle 25 having a suction port 24 through which water such as seawater is commonly sucked and supplied to these pumps 22 and 23;
And gas turbines 26, 27 that drive 22, 23. Power is transmitted from the output shafts 28, 29 of the turbines 26, 27 to the pumps 22, 23 via the speed reducers 30, 31, and the pumps 22, 23 are driven.

FIG. 11 is a block diagram showing the construction of an embodiment of the present invention for driving the forward flaps 13, 14 and the aft flaps 18, 19; 20, 21. An accelerometer 34 is provided on the bow, which is the front part of the hull 1. This accelerometer 34
An electric signal proportional to the vertical acceleration of the bow, that is, the vertical direction is derived. Accelerometers 3 on the starboard and port sides of the stern 6
5,36 are provided. These accelerometers 35, 36 derive an electrical signal proportional to the vertical or vertical acceleration at the stern. Furthermore, the bow 2 is provided with altitude detecting means 37 for detecting the distance from the sea surface, that is, the altitude. The altitude detecting means 37 derives an electric signal proportional to the altitude.

The output from the accelerometer 34 provided on the bow 2 is given to the amplifying circuit 38, amplified, and given to the adding circuit 40 via the line 39.

The output of the altitude detecting means 37 is amplified by the amplifier circuit 46 and given to one input of the altitude error amplifier circuit 47. To the other input of the altitude error amplification circuit 47, an electric signal representing a preset altitude is given from the operating device 48 via the line 72. The altitude error amplifier circuit 47 obtains the difference between the output of the amplifier circuit 46 and the output from the operating device 48,
A signal representing the difference is given to the adding circuit 40 via the line 49. The output of the adder circuit 40 is given to a bow flap servo circuit 50 that drives the forward flaps 13 and 14 provided on the bow 2 in synchronization, whereby the bow flap servo circuit 50 corresponds to the output of the adder circuit 40. The forward flaps 13 and 14 are angularly displaced and driven by the specified angle. The output representing the difference derived from the altitude error amplifier circuit 47 on line 49 is
This is a signal for keeping the altitude of the hull 1 constant at the value set by the operating device 48. The signal derived from the amplifier circuit 38 to the line 39 is a signal for canceling the vertical acceleration of the bow 2 detected by the accelerometer 34. In this way, the forward flaps 13 and 14 are in a direction in which the vertical acceleration detected by the accelerometer 34 is canceled out, and the altitude becomes a value set in the operating device 48.
It is driven by the bow flap servo circuit 50 as described above.

The output of the vertical accelerometer 35, which detects the vertical acceleration provided on the starboard side of the hull 1, is given to the amplifying circuit 53 and amplified, and drives a pair of starboard-side aft flaps 18 and 19 from the line 54, respectively. To the starboard flap servo circuit 55 and the starboard flap servo circuit 56.
The signal derived from the amplifier circuit 53 on the line 54 is a control signal for canceling the vertical acceleration detected by the accelerometer 35 of the hull 1, and is thus detected by the accelerometer 35. Up and down acceleration is aft flap 18,1
At least partially countered by 9.

The output of the vertical accelerometer 36 provided on the port side is an amplifier circuit.
It is given to 57 and amplified, and is given from the line 58 to the port-side flap servo circuit 59 and the port-side flap servo circuit 60 which drive the port side aft flaps 20 and 21, respectively. The signal derived from the amplifier circuit 57 on the line 58 is a control signal for canceling the vertical acceleration detected by the accelerometer 36. Therefore, the vertical acceleration detected by the accelerometer 36 is at least partially canceled by the port side flaps 20, 21.

The present invention can be implemented extensively not only for hydrofoil but also for other steering or in other technical fields.

In the configuration shown in FIG. 5, the processing circuit 70 includes a detector 64.
Of the output signal of the detector 64, the level of the output signal of the processing circuit 70 increases non-linearly and changes in response to the increase of the output level of the detector 64, and the output level of the detector 64 is output at a predetermined value or more. It has the characteristic that the signal level increases sharply, which is apparent from FIG. Further, in the embodiment of FIG. 6, the limiter 94 increases and changes the level of the output signal corresponding to the output level of the detector 64 when the output of the detector 64 is less than or equal to a predetermined value. When the output level of is above a predetermined value, the output signal having a constant level is kept derived.

Effect of the Invention According to the present invention, it is possible to angularly displace the lever 63 by an operator's hand to set a rough target value of altitude, and the pedal 65 is spring-loaded with one foot of the operator. It operates by pushing against the spring force of 96, 97 to change the target value of altitude, and the operation amount thereof is detected by the second detector 64, which allows immediate response in an emergency and frequent and long time. It is possible to perform a change operation over the entire range.

Further, according to the present invention, when the pedal 65 is continuously depressed by using the subtraction circuit 88, the amplification circuit 90, and the integration circuit 91, the position where the pedal 65 is held stationary becomes the reference zero point. The position of the zero point can be determined in accordance with the position of the pedal 65, which can further improve the operability.

Further, according to the present invention, the characteristic of the processing circuit 70 to which the output of the second detector 64 is given is changed such that the level of the output signal increases non-linearly in response to the increase of the output level of the second detector 64. However, since the output level of the second detector 64 has a characteristic that the level of the output signal rapidly increases when the output level is equal to or higher than a predetermined value,
It is possible to further improve the responsiveness in an emergency by operating the pedal 65.

Further, according to the present invention, the limiter 94 is used, and when the output of the second detector 64 is below a predetermined value, the second detector 64
When the output level of the second detector 64 increases and changes corresponding to the output level of 64 and the output level of the second detector 64 exceeds a predetermined value, the output signal having a constant level is kept derived. Therefore, it is possible to prevent the output of the adder circuit 68 from undesirably increasing due to the erroneous operation of the pedal 65, and to prevent the erroneous operation.

[Brief description of drawings]

FIG. 1 is a block diagram of the entire operating device of an embodiment of the present invention, FIG. 2 is a sectional view showing a concrete structure of the pedal means 64, and FIG. 3 is a pedal means of another embodiment of the present invention. 64 is a sectional view showing the structure of FIG. 64, FIG. 4 is a block diagram showing a concrete structure of the processing circuit 70, and FIG. 5 is a block diagram showing a concrete structure of the processing circuit 70 of still another embodiment of the present invention. FIG. 6 is a block diagram showing a concrete configuration of a processing circuit 70 according to another embodiment of the present invention. FIG. 7 is a simplified perspective view of a hydrofoil in which the operating device of the present invention is implemented. Fig. 8 is a side view of the hydrofoil, Fig. 9 is a bottom view of the hydrofoil, Fig. 10 is an enlarged perspective view showing the structure related to the wings 5 and 9, and Fig. 11 is a forward flap 13 FIG. 22 is a block diagram for driving the aft flaps 18 to 21 and 14 and. 1 ... Hull, 2 ... Bow, 3 ... Forward Strat, 5,9
… Wings, 6… Stern, 7,8… Aft stort, 10… Gas turbine water injection propulsion device, 11,12… Forward huoil, 13,14… Forward wrap, 16,17… Aftof oil, 18 , 19; 20,21 ... Aft flap, 22,23 ... Propulsion pump, 26,27 ... Gas turbine, 48 ... Operating device, 61 ... Ship operator, 64 ... Pedal means, 65 ... Pedal, 68 ... Addition circuit, 70 ...
Processing circuit, 76,80 ... Potentiometer

Claims (3)

(57) [Scope of utility model registration request] 1. A lever 63, which is operated by an operator to perform an angular displacement to set a rough target value of an altitude between the ship and the sea surface, and a first detector 66 which detects an angular displacement amount of the lever 63. And a pedal 65 that is operated by pushing with one foot of the operator against the spring force of the springs 96 and 97 to change the target value of altitude.
A second detector 64 for detecting the operation amount of the pedal 65, a subtraction circuit 88 having one input to which the output of the second detector 64 is given and the other input, and an output of the subtraction circuit 88 And an integrating circuit 91 that integrates the output of the amplifying circuit and gives the integrated value to the other input of the subtracting circuit 88, and adds the output of the first detector 66 and the output of the amplifying circuit 90. An operating device for a hydrofoil, comprising: an adder circuit 68. 2. A lever 63 that is angularly displaced by an operator's hand to set a rough target value of the altitude with respect to the sea surface of the hull, and a first detector 66 for detecting the amount of angular displacement of the lever 63. And a pedal 65 that is operated by pushing with one foot of the operator against the spring force of the springs 96 and 97 to change the target value of altitude.
The output of the second detector 64, which detects the operation amount of the pedal 65, and the output of the second detector 64 are given, and the level of the output signal is nonlinear in response to the increase of the output level of the second detector 64. A processing circuit 70 having the characteristic that the output signal level increases and changes, and the output signal level sharply increases when the output level of the second detector 64 is a predetermined value or more; and the output of the first detector 66 and the output signal of the processing circuit 70. An operation device for a hydrofoil, including an adding circuit 68 for adding 3. A lever 63, which is operated by an operator to perform an angular displacement operation to set a rough target value of the altitude between the ship and the sea surface, and a first detector 66 which detects the angular displacement amount of the lever 63. And a pedal 65 that is operated by pushing with one foot of the operator against the spring force of the springs 96 and 97 to change the target value of altitude.
And a second detector 64 for detecting the operation amount of the pedal 65, and an output of the second detector 64. When the output of the second detector 64 is below a predetermined value, the second detector 64 The output signal level increases and changes according to the output level of
A limiter 94 having a characteristic of keeping an output signal having a constant level derived when the output level of the second detector 64 exceeds a predetermined value; and the output of the first detector 66 and the output signal of the limiter 94. An operation device for a hydrofoil, including an adding circuit 68 for adding