JP4688571B2 - Method for maneuvering a ship having a pod propeller propeller - Google Patents

Description

  The present invention relates to a marine vessel maneuvering method having a pod propeller propulsion device.

  Conventionally, in ship handling, a bow thruster is provided in addition to the propeller and rudder to generate lateral force at the bow and balance it with the lateral thrust at the stern, that is, the thrust from the thruster and stern thruster. The ship was moving sideways or skewed.

  Also, when the distance between two propulsion units is large, such as wide ships and catamarans, one propulsion unit should be in the forward direction with a certain rotation angle, and the other one should be in the reverse direction with a certain rotation angle. By balancing the moment generated by the forward force component and the backward force component with the moment received from the hull generated by the lateral component, the lateral hull is made possible by generating a true lateral thrust on the hull, Some do not require a bow thruster or stern thruster.

Further, as described in Patent Document 1, there is a pod drive device with a marine propulsion device that pays attention to the point that it becomes easy to change the attitude of the propulsion device with respect to the hull. This is a pod equipped with a propeller mounted on the lower end of a strut that can be raised and lowered via a lifting drive mechanism with respect to the hull so that it can be lifted and lowered via a hydraulic torque hinge mechanism. The mechanism is provided on a turntable on a turntable on the ship, whereby the strut rotates around the vertical axis together with the pod to perform a steering operation by a propeller.
JP 2003-175893 A

  However, in the configuration in which a bow thruster, a stern thruster, etc. are provided in addition to the propulsion unit and the rudder, it is necessary to provide not only a thruster for lateral movement but also a power generation facility capable of supplying a considerable amount of power. In order to move forward, backward, turn, and move laterally, it is necessary to control the thruster, rudder, bow thruster, stern thruster, etc. by calculating and distributing the necessary thrust and direction for the moving direction and speed of the ship. Since the number of actuators is large and the number of control elements is large, a control system for calculating and outputting an appropriate control level for each control element is extremely complicated.

  Further, as disclosed in Patent Document 1, in a configuration in which a single pod is arranged at the stern, the hull can be used at the time of berthing or the like when the pod is rotated around a vertical axis and a steering action is performed by a propeller. It is not possible to generate a thrust force that causes the wing to move in the shore direction perpendicular to the bow-stern direction. For this reason, if a pod type propulsion device is used, a Stance raster is not necessary, but a bow thruster is necessary, and control elements are increased accordingly.

  For this reason, the structure which arrange | positions two pods at the stern, rotates each pod around a vertical axis line, combines the thrust by the propulsion device of each pod, and performs the steering action can be considered. In this case, since each pod rotates around the vertical axis, it is necessary to control the rotation position for each pod, and each pod is operated by operating each operation device provided for each pod. There is a problem that the operation is complicated because the rotation is performed at a predetermined position.

For this reason, when an agile operation is required at the time of berthing or emergency operation, a boat maneuver may be mistaken due to an error of a steering person.
The present invention relates to a marine vessel maneuvering method having a pod propeller propulsion unit that is optimal for an agile operation when a danger such as a collision is expected without a driver's operation being mistaken in a vessel adopting a pod propeller system as a propulsion unit. The purpose is to provide.

In order to solve the above-described problems, a ship maneuvering method having a pod propeller propulsion device according to the present invention includes two pods each having a propulsion device rotatably provided around a vertical axis, and each pod is vertically operated by a maneuvering means. In a ship maneuvering method for maneuvering a hull in a predetermined motion direction by combining rotational positions around an axis, each motion direction of the hull is set in advance for each tilting direction of one operating lever in a ship maneuvering means. For each pod, a combination of rotation positions around the vertical axis of each pod is set, and the operation lever is tilted to control the rotation position around the vertical axis of the pod when maneuvering. The rotary position around the vertical axis of the pod is controlled by a simple operation that simply presses the button with the emergency maneuvering means in preference to the control by the It is intended to direct a propulsive force generated by the propeller to the reverse direction.

  In addition, while adjusting the output of the thrust of the two propulsion devices to the same, in a state where the position of one propulsion device to the predetermined rotation position of the forward turning, the other propulsion device to the predetermined rotation position of the reverse rotation, The longitudinal thrust that forms the longitudinal component of both propulsion thrusts in the fore-and-aft direction is balanced, and the forward and backward thrusts acting on the hull are antagonized. Moment generated in the hull by the vertical thrust acting in the forward direction of one thruster and the longitudinal thrust acting in the backward direction of the other thruster and the lateral thrust that constitutes the directional component acts on the hull in parallel in the same direction And the moment generated in the hull due to the reaction force received from the water by the hull balances the hull.

  In addition, while adjusting the output of the thrust of the two propulsion units, adjusting the position of one propulsion unit to the predetermined rotation position of the forward turn and the other propulsion unit to the predetermined rotation position of the reverse rotation, The thrust in the forward direction acts on the hull due to the longitudinal thrust that forms the longitudinal component of both thrusters in the direction, and the lateral thrust that forms the lateral component of both thrusters in both directions is parallel in the same direction. The moment generated in the hull by the longitudinal thrust acting in the forward direction of one propeller and the longitudinal thrust acting in the backward direction of the other propeller and the reaction force received by the hull from the water When the generated moment is balanced, the hull moves forward and obliquely.

  In addition, while adjusting the output of the thrust of the two propulsion units, adjusting the position of one propulsion unit to the predetermined rotation position of the forward turn and the other propulsion unit to the predetermined rotation position of the reverse rotation, The vertical thrust that forms the longitudinal component of both thrusters in the direction causes the reverse thrust to act on the hull, and the lateral thrust that forms the lateral component of both thrusters in both directions is parallel to the same direction. The moment generated in the hull by the longitudinal thrust acting in the forward direction of one propeller and the longitudinal thrust acting in the backward direction of the other propeller and the reaction force received by the hull from the water When the generated moment is balanced, the hull moves backward and obliquely.

  In addition, a position sensor that detects the position of the ship, a direction sensor that detects the bow direction, and a vertical movement speed sensor that detects the longitudinal speed generated in the hull by the longitudinal thrust that forms the longitudinal component of both thrusters in the bow and tail direction Based on each signal output of the lateral movement speed sensor that detects the lateral speed generated in the hull by the lateral thrust that forms the lateral component of both thrusters in both directions, the ship maneuvering means around the vertical axis of each pod By maneuvering the hull in a predetermined movement direction by combining the rotation positions, the ship is automatically guided to the set destination point and destination and stopped.

  As described above, according to the present invention, since the ship is operated by simply tilting one operation lever, the operator does not need to consider the rotation position of each pod, and does not need to operate one operation lever. Operation can be performed intuitively by setting each movement direction of the hull for each tilt direction. In an emergency, it is possible to apply a propulsive force in the reverse direction to the hull by a simple operation that only activates the emergency ship maneuvering means. In particular, when a danger such as a collision is expected, agile maneuvering operation can be performed.

  In addition, when the distance between the two propulsion units is large, such as a wide ship or catamaran, the rotation position of both propulsors is controlled to act on the hull by the vertical thrust of both propulsion units. It is possible to adjust the propulsive force to be moved sideways, forwardly and backwardly, and backwardly and backwardly. It is necessary to provide thrusters such as bow thrusters and their control devices, as well as power generation equipment to drive them. The cost can be reduced, no thruster is required, and the control of just adjusting the pivot position of the pod while maintaining the thrust of both propulsors is constant, and the configuration of the control device for maneuvering is simplified. In addition, it is possible to reduce troubles such as failures that are likely to occur due to the complexity of the system.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 4, a pod 2 having a propulsion device 1 is provided so as to be rotatable around a vertical axis 3, and includes a hydraulic device that rotates the pod 2 around the vertical axis 3 in the stern of the hull. Drive control means 4 are arranged respectively.

  As shown in FIG. 3, the boat maneuvering means 5 comprising a control device or the like for giving an instruction to each drive control means 4 has a joystick 7 for outputting an instruction signal by tilting one operation lever 6 in an arbitrary direction. As shown in FIG. 4, the ship maneuvering means 5 sets in advance each movement direction of the hull for each tilting direction of one operation lever 6, and the vertical axis of each pod 2 for each movement direction. A combination of surrounding rotation positions is set.

  Further, the emergency boat maneuvering means 8 comprising push buttons or the like for giving instructions to the respective drive control means 4 in the event of an emergency gives a signal having priority over the control by the operation lever 6 to each drive control means 4 so that each pod 2 is moved backward. Control to turn.

  With the above-described configuration, the operation lever 6 of the joystick 7 is held in the neutral position when the propulsion unit 1 is activated and when the hull is stopped in a state where the propulsion unit 1 is activated. When moving the hull at a slow speed, the operation lever 6 of the joystick 7 is slightly tilted forward. When the hull is moved at full speed, the operation lever 6 of the joystick 7 is largely tilted forward.

  When moving the hull forwardly (turning), the operation lever 6 of the joystick 7 is tilted obliquely forward in the rotational direction. When the hull is moved in reverse rotation, the operation lever 6 of the joystick 7 is tilted obliquely backward in the rotation direction. When the hull is moved by a sharp turn, the operation lever 6 of the joystick 7 is largely tilted obliquely forward in the rotational direction.

  When the hull is moved sideways, the operation lever 6 of the joystick 7 is tilted in the sideways direction. When the forward hull is to be moved backward urgently, the button of the emergency ship maneuvering means 8 is pushed to invert each pod 2 by 180 degrees.

  Therefore, the ship operator operates the ship by manipulating the pod 2 by turning the operation lever 6 by tilting the control lever 6 around the vertical axis (rotation angle). There is no need to think and operate, and the ship can be operated by intuitively recognizing the direction of movement of the hull by each tilting direction of one operating lever. Further, in an emergency, a propulsive force can be applied to the hull in the reverse direction by simply operating the emergency ship maneuvering means 8 by pushing a button. In a ship that employs a pod propeller system as a propulsion device, the steering operator makes a mistake. In addition, agile maneuvering operation can be performed especially when a danger such as a collision is expected.

  FIG. 5 shows an example of the force acting on the hull and the moving direction of the hull in the present embodiment. In FIG. 5, Tp and Ts are assumed to be a port side pod and a starboard side pod, respectively. Point O is the midpoint between both pods Tp and Ts, and is usually located on the center line of the hull. Point G is the center of gravity that is assumed when the reaction force f of water acting on the hull acts on this one point for convenience. Let the distance between both pods Tp and Ts be l, and let the distance between the center of gravity G and the midpoint O be L.

  Now, the rotation position of the pod is indicated by the rotation angle with respect to the forward direction position, the position of the port side pod Tp is adjusted to the predetermined rotation position θp of the forward turn, and the starboard side pod Ts is adjusted to the predetermined rotation position of the reverse turn. The position is adjusted to θs, the output of the propeller of the pod Tp is Fp, and the output of the propeller of the pod Ts is Fs.

In this state, the vertical component along the bow-stern direction of the output of the port-side propulsion device Tp is Fpy, the vertical component along the bow-stern direction of the output of the starboard-side propulsion device Ts is Fsy, and the port-side propulsion device Tp If the lateral component along the both sides of the output is Fpx and the lateral component along the both sides of the starboard side propulsion device Ts is Fsx,
Fpy = Fp · cos θp, Fpx = Fp · sin θp
Fsy = Fs · cos θs, Fsx = Fs · sin θs
The sum of these outputs is the total output Fy in the vertical direction and the total output Fx in the horizontal direction.
Fy = Fp · cos θp + Fs · cos θs
Fx = Fp · sin θp + Fs · sin θs
It becomes.

The thrust applied to the hull by both propulsors Tp and Ts is in the direction opposite to the output. In other words, the vertical thrust Fsy _A forming the vertical thrust Fpy _A, longitudinal component along the stern direction of thrust of the starboard propulsor Ts forming a longitudinal component along the stern direction of thrust of the port-side propeller Tp, and a transverse thrust Fsx _a forming the lateral thrust Fpx _a, lateral components along both side of the ship direction of thrust of the starboard propulsor Ts forming the lateral components along both side of the ship direction of thrust of the port-side propeller Tp,
Fpy _A = -Fpy
Fsy _A = -Fsy
Fpx _A = -Fpx
Fsx _A = −Fsx
If the forward / reverse direction thrust acting on the hull is Fy _A and the bilateral direction thrust acting on the hull is Fx _A ,
Fy _A = −Fy = − (Fp · cos θp + Fs · cos θs)
Fx _A = −Fx = − (Fp · sin θp + Fs · sin θs)
It becomes. Therefore, by changing the combination of the outputs Fp and Fs of each propulsion unit and the magnitudes of the rotation angles θp and θs of the pods, it is possible to operate the boat in an arbitrary direction with an arbitrary thrust (both longitudinal and lateral directions). it can.

Here, the outputs of both propulsors Tp, Ts are equal, the output Fp = Fs = F, the thrust Fp _A = Fs _A = −F, and the rotation angle of the starboard pod Ts is θs = π−θp (θp = θ <π / 2).

In this state, the longitudinal thrust that forms the longitudinal component of both thrusters in the stern direction is
Fpy _A = −Fpy = −Fp · cos θp = −F · cos θp
Fsy _A = −Fsy = −Fs · cos θp = −F · cos (π−θp) = F · cos θp
Fy _A = − (Fp · cos θp + Fs · cos θs) = 0
As a result, the forward / reverse driving force acting on the hull is antagonized.

The lateral thrust that forms the lateral component of both thrusters in both directions is
Fpx _A = −Fpx = −Fp · sin θp = −F · sin θp
Fsx _A = −Fsx = −Fs · sin θs = −F · sin (π−θp) = − F · sin θp
Fx _A = − (Fp · sin θp + Fs · sin θs) = − 2F · sin θp
It acts on the hull in parallel in the same direction.

_A clockwise thrust My generated in the hull direction around the O point by the longitudinal thrust Fpy _A acting in the forward direction by one propellant Tp and the longitudinal thrust Fsy _A acting in the backward direction by the other thruster Ts. _A is
My _A = | Fpy _A | · (1/2) l + | Fsy _A | · (1/2) l
= | F · cos θp | · (1/2) l + | F · cos (π−θp) | · (1/2) l
= F · cos θp · l
The counterclockwise moment Mf generated in the hull around the O point by the reaction force f received from the water acting on the G point is
Mf = fL
Now, when moving sideways, f is balanced with the bilateral thrust Fx _A acting on the hull,
Mf = | Fx _A | · L = 2F · sin θp
And the moment in the turning direction due to the longitudinal thrust (clockwise) My _A and the moment due to the reaction force f received by the hull from the water (counterclockwise) Mf are balanced,
My _A = Mf = F · cos θp · l = 2F · sin θp · L.

Therefore, it is possible to cause the hull to move sideways by adjusting the rotation angle of the pod so that tan θp = 1 / (2L).
In the same manner, both the thruster Tp, vertical thrust Ts _Fpy A, the forward thrust Fy _A to the hull act by Fsy _A, lateral thrust _Fpx A, Ryofunabata direction propulsion to the hull by Fsx _A Fx _A Is applied, and the turning angle of the pod is adjusted so that the moment My _{A in the} turning direction due to the longitudinal thrust and the moment Mf due to the reaction force f received from the water are balanced, thereby moving the hull forward and obliquely. Can be done.

Further, in the same manner, the reverse thrust Fy _A acts on the hull by the longitudinal thrusts Fpy _A and Fsy _{A of} both propulsors Tp and Ts, and the bilateral thrust on the hull by the lateral thrusts Fpx _A and Fsx _A. By turning the pod rotation angle so that Fx _A acts and the moment My _{A in the} turning direction due to the longitudinal thrust balances with the moment Mf due to the reaction force f received by the hull from the water, It can be moved.

  Next, FIG. 6 shows a configuration for performing automatic boat maneuvering. In FIG. 6, the maneuvering means 5 is provided with a setter 11, which sets the voyage destination (latitude, longitude), moving speed, route, ship orientation at the destination, and the like. If necessary, set the thruster thrust magnitude.

  A first sensor (GPS) 12 that detects the ship position and moving speed and a second sensor (gyrocompass) 13 that detects the bow direction are connected to the ship maneuvering means 5, and signals from each sensor are sent to the ship maneuver means 5. This gives the ship's position, bow direction, longitudinal velocity generated in the hull by the longitudinal thrust that forms the longitudinal component of both thrusters in the bow and tail directions, and the lateral velocity of both thrusters in both sides. The lateral velocity generated in the hull by the lateral thrust that forms the directional component is calculated. That is, in the present embodiment, the first sensor (GPS) 12, the second sensor (gyrocompass) 13 and the ship maneuvering means 5 constitute a position sensor, a direction sensor, a vertical movement speed sensor, and a horizontal movement speed sensor. The vertical movement speed sensor and the horizontal movement speed sensor can be provided separately and separately. In this case, a speed log can be used as the sensor.

  In addition, a third sensor (angle meter) 14 for detecting the rotation angle of each pod 2 is connected to the boat maneuvering means 5, and includes a first sensor (GPS) 12, a second sensor (gyrocompass) 13, and a third sensor. Each sensor signal of the sensor (angle meter) 14 is given to the ship maneuvering means 5, and each propulsion device necessary based on the destination point set by the setting device 11 in the ship maneuvering means 5, the moving speed, the direction of the ship at the destination point, etc. The thrust and the rotation angle of the pod are calculated.

  Then, a necessary control amount is given to the actuator for operating the rotation position (rotation angle) of the pod 2, the corresponding thrust is generated by the propulsion device 1 of the pod 2, and the pod 2 is made to take the rotation angle to The ship is caused to travel to a target position and a heading direction by continuously repeating the detection of the traveling result by each sensor and continuously giving the necessary control amount to each actuator again.

The side view of the pod which has a propulsion device in embodiment of this invention The figure which shows the boat maneuvering mechanism in the same embodiment The perspective view which shows the joystick of the boat maneuvering means in the embodiment Explanatory drawing which shows the relationship between the tilting direction of the operation lever, the rotation position of the pod, and the movement direction of the hull in the embodiment The figure which shows an example of the force which acts on the hull in the same embodiment, and the moving direction of a hull The figure which shows the ship steering mechanism in other embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Propulsion device 2 Pod 3 Vertical axis 4 Drive control means 5 Maneuvering means 6 Operation lever 7 Joystick 8 Emergency maneuvering means 11 Setting device 12 1st sensor (GPS) which detects own ship position and moving speed
13 Second sensor to detect bow direction (gyrocompass)
14 Third sensor (angle meter) for detecting the rotation angle

Claims (5)

In a ship maneuvering method in which each of the two pods having a propeller is rotatably provided around a vertical axis, and the ship body is steered in a predetermined movement direction by combining the rotational positions of the pods around the vertical axis by means of ship maneuvering means. In the ship maneuvering means, each movement direction of the hull is set in advance for each tilt direction of one operation lever, and a combination of rotational positions around the vertical axis of each pod is set for each movement direction. To control the rotational position around the vertical axis of the pod, operate the emergency maneuvering means in the event of an emergency, and simply press the button with the emergency maneuvering means in preference to the control by the operation lever. controlling the rotational position around the vertical axis, the pod propeller estimation, characterized in that the thrust generated by the pod propeller of second base directed to the reverse direction Maneuvering method of the ship with the vessel. Adjust the output of the thrust of the two propellers to the same, and adjust the position of one propeller to the predetermined turning position of the forward turn and the other propeller to the predetermined turning position of the reverse turn. The longitudinal thrust that forms the longitudinal component of both thrusters in the direction is balanced and the forward and backward thrusts acting on the hull are antagonized, and the lateral components of both thrusters in both directions And the moment generated in the hull by the vertical thrust acting in the forward direction of one thruster and the longitudinal thrust acting in the backward direction of the other thruster, The ship maneuvering method for a ship having a pod propeller propulsion device according to claim 1, wherein the hull is caused to perform a lateral movement by balancing a moment generated in the hull by a reaction force received from water. While adjusting the output of the thrust of the two propulsion units, with one propulsion unit adjusted to the predetermined rotation position of the forward turn and the other propulsion unit adjusted to the predetermined rotation position of the reverse rotation, The longitudinal thrust that forms the longitudinal component of both thrusters thrusts the hull in the forward direction, and the lateral thrust that forms the lateral component of both thrusters in both directions is parallel to the hull. And the moment generated in the hull by the longitudinal thrust acting in the forward direction of one propeller and the longitudinal thrust acting in the backward direction of the other propeller, and the moment generated in the hull by the reaction force that the hull receives from water The ship maneuvering method for a ship having a pod propeller propulsion device according to claim 1, wherein the hull is caused to move forward and obliquely by being balanced with each other. While adjusting the output of the thrust of the two propulsion units, with one propulsion unit adjusted to the predetermined rotation position of the forward turn and the other propulsion unit adjusted to the predetermined rotation position of the reverse rotation, The thrust in the reverse direction acts on the hull due to the longitudinal thrust that forms the longitudinal component of both thrusters, and the lateral thrust that forms the lateral component of both thrusters in both directions is parallel to the hull. And the moment generated in the hull by the longitudinal thrust acting in the forward direction of one propeller and the longitudinal thrust acting in the backward direction of the other propeller, and the moment generated in the hull by the reaction force that the hull receives from water The ship maneuvering method for a ship having a pod propeller propulsion device according to claim 1, wherein the hull is made to move backward and obliquely by being balanced with each other. A position sensor that detects the ship's position, a heading sensor that detects the bow direction, a longitudinal movement speed sensor that detects the longitudinal speed generated in the hull by the longitudinal thrust that forms the longitudinal component of both thrusters in the bow-stern direction, Rotation of each pod around the vertical axis by the maneuvering means based on each signal output of the lateral movement speed sensor that detects the lateral speed generated in the hull by the lateral thrust that forms the lateral component of both thrusters in the dredging direction The pod propeller propulsion according to claim 1, wherein the ship is automatically guided to a set destination point and a target direction and stopped by maneuvering the hull in a predetermined movement direction by combining positions. To operate a ship having a vessel.

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