JP4972319B2 - Navigation steering device - Google Patents

Description

  The present invention relates to a navigation steering apparatus such as an outboard motor.

  A small boat such as a motor boat that uses an outboard motor as a propulsion device does not have a rudder, the outboard motor is a steering mechanism, and steering is performed by changing the direction of the outboard motor main body. In particular, in the case of a small size, a handlebar is attached to the outboard motor main body so that the driver can directly steer. In other cases, the rotation of a steering wheel (steering member, steering wheel) provided in the driver's seat is transmitted by a rope and pulley, a push-pull cable, or a hydraulic plunger to steer the outboard motor body.

As a navigation steering apparatus for steering such an outboard motor, in recent years, a steering wheel of a driver's seat is arranged without mechanical connection with the outboard motor, and an actuator for steering the outboard motor is provided. The separation type is configured such that the actuator is operated based on the detection result of the operation direction and the operation amount of the steering wheel, and the outboard motor is steered to perform the steering according to the operation of the steering wheel. A steering apparatus for navigation is proposed in Patent Document 1 and the like.
Japanese Patent No. 2959044 JP 2004-249791 A

  In the navigation steering apparatus as described above, since the steering wheel normally rotates a plurality of times, the steering angle detector needs to detect the absolute angle of the plurality of rotations. However, the multi-turn absolute angle detector having high accuracy and high resolution. Has the problem that it is expensive and the structure is complicated and precise. Depending on the model, the outboard motor body can be rotated 360 degrees (full pivot). In this case, the turning angle detector needs to detect the absolute angle of multiple rotations. An angle detector is required.

The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a navigation steering apparatus capable of obtaining a high-precision and high-resolution steering angle with a low- cost and simple configuration. To do.
Another object of the present invention is to provide a navigation system that can obtain a high-precision and high-resolution turning angle with a simple configuration at a low component cost.

A navigation steering apparatus according to a first aspect of the present invention includes a steering angle detector that detects a steering angle of a plurality of rotation ranges of a steering member that steers a hull, and the steering member according to a steering angle detected by the steering angle detector. A reaction force actuator that applies a steering reaction force to the vehicle, a steering mechanism that is mechanically separated from the steering member and steers the hull, and the steering mechanism according to a steering angle detected by the steering angle detector A navigation steering apparatus including a steering actuator for driving the steering member, a second steering angle detector for detecting a steering angle within a range of one rotation of the steering member with higher accuracy than the steering angle detector, and the steering Based on the steering angle detected by the angle detector and the steering angle detected by the second steering angle detector, the steering angle for calculating the steering angle in a plurality of rotation ranges with higher accuracy than the steering angle detected by the steering angle detector. And a steering means. Means according to the steering angle calculated, the given reaction force actuator steering reaction force, Ri configured tear as the steering actuator drives the steering mechanism, the reaction force actuator, the rotor angle detector The second steering angle detector is the rotor angle detector, and the steering angle calculation means is detected by the steering angle detector. Correction means for correcting the steering angle and the rotor angle detected by the rotor angle detector so that each of the steering angle and the rotor angle is equal to 0 degree, and the steering angle corrected by the correction means are determined as the rotor angle. Means for converting the electrical angle of the motor, means for subtracting the rotor angle corrected by the correction means from the steering angle converted by the means, means for dividing the steering angle subtracted by the means by 360 degrees, Means Means for rounding off the calculation result to obtain an integer; means for multiplying the integer obtained by the means by 360 degrees; means for adding the rotor angle to the multiplication result of the means; and adding the result of the means to a mechanical angle and means for converting the, and configured characterized tare Rukoto to a steering angle calculated a result of conversion of the unit.

A navigation steering apparatus according to a second aspect of the present invention includes a steering angle detector that detects a steering angle of a plurality of rotation ranges of a steering member that steers the hull, and the steering member according to the steering angle detected by the steering angle detector. A reaction force actuator that applies a steering reaction force to the vehicle, a steering mechanism that is mechanically separated from the steering member and steers the hull, and the steering mechanism according to a steering angle detected by the steering angle detector A navigation steering apparatus including a steering actuator for driving the steering member, a second steering angle detector for detecting a steering angle within a range of one rotation of the steering member with higher accuracy than the steering angle detector, and the steering Based on the steering angle detected by the angle detector and the steering angle detected by the second steering angle detector, the steering angle for calculating the steering angle in a plurality of rotation ranges with higher accuracy than the steering angle detected by the steering angle detector. And a steering means. Means according to the steering angle calculated, the reaction force actuator gives a steering reaction force, the turning actuator is Yes configured to drive the steering mechanism, said transfer rudder actuators, b over motor angle detecting A brushless motor that rotates based on a rotor angle that is an electrical angle detected by the device, a turning angle detector that detects a turning angle of the steering mechanism, and a turning angle detected by the turning angle detector, and based on the rotor angle before kilometers over data angle detector detects, further comprising a turning angle calculation means accuracy for calculating a higher turning angle than the turning angle, said transfer steering angle calculating means is calculated based on the steering angle, the brushless motor is Yes configured to drive the steering mechanism, the steering angle calculating means turning angle the steering angle detector detects, and before kilometers over data The rotor angle detected by the angle detector is set to each of the turning angle and the rotor angle. And compensation means you corrected such degree to match the turning angle該補 positive means is corrected, and means for converting the electrical angle of the rotor angle, the turning angle which the means is converted, before Symbol means for compensation means subtracts the rotor angle corrected, means for dividing the steering angle in which the means by subtracting 360 degrees, means for determining an integer by rounding off the division result of said means, the said means Means for multiplying the obtained integer by 360 degrees, means for adding the rotor angle to the multiplication result of the means, and means for converting the addition result of the means into a mechanical angle, and calculating the conversion result of the means It is comprised so that it may be set as the turned steering angle .

According to the navigation system for navigation according to the present invention, the steering angle calculation means determines the steering angle detected by the steering angle detector and the rotor angle detected by the rotor angle detector as 0 degrees for each of the steering angle and the rotor angle. The corrected steering angle is converted into an electrical angle of the rotor angle, the corrected rotor angle is subtracted from the converted steering angle, and the subtracted steering angle is divided by 360 degrees, and the division is performed. The result is rounded to obtain an integer, the obtained integer is multiplied by 360 degrees, the rotor angle is added to the multiplication result, the addition result is converted to a mechanical angle, and the converted result is used as the calculated steering angle. Therefore, it is possible to realize a navigation steering apparatus that can obtain a steering angle with high accuracy and high resolution with a simple configuration at a low component cost.

According to navigational steering system according to the present invention, the steering angle calculating means, the steering angle steering angle detector detects a rotor angle及beauty b over data angle detector detects the steering angle and The rotor angle is corrected so that each 0 degree coincides, the corrected turning angle is converted into the electrical angle of the rotor angle, and the corrected turning angle is subtracted from the converted turning angle. Is divided by 360 degrees, and the result of the division is rounded off to obtain an integer, the obtained integer is multiplied by 360 degrees, the rotor angle is added to the multiplication result, and the addition result is converted into a mechanical angle. Since the turning angle calculated from the conversion result is used, it is possible to realize a navigation steering apparatus that can obtain a turning angle with high accuracy and high resolution with a simple configuration at a low component cost.

Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments thereof.
FIG. 1 is a schematic diagram showing a configuration of an embodiment of a navigation steering apparatus according to the present invention, and FIG. 2 is a connection relationship between an outboard motor main body and a hull used in the navigation steering apparatus according to the present invention. FIG.
This navigation steering device includes a steering shaft 37 of a steering wheel (steering member) 14 provided in a driver seat at the front of the hull 8, a steering angle detector 15, a motor drive circuit 44, a reaction force motor 9 (reaction force actuator). ), And a rotor angle detector 12 is attached. The steering angle detector 15 is, for example, a potentiometer, detects an absolute steering angle at a plurality of revolutions, and the detected steering angle signal is given to the steering / reaction force controller 16.

The steering / reaction force controller 16 drives and controls the reaction force motor 9 based on the given steering angle signal so as to apply a steering reaction force to the steering wheel 14, and sends the steering angle signal to the rear part of the hull 8 through the cable 39. Is provided to the steering controller 42 provided in
The rotor angle signal detected by the rotor angle detector 12 is given to the motor drive circuit 44 and used to generate a three-phase voltage for driving the reaction force motor 9 which is a brushless motor.

The outboard motor 1 is attached to a transom (cross member) 7 at the rear part of the hull 8 via an outboard motor suspension bracket 4 and a pair of clamp brackets 5 (FIG. 2). The outboard motor main body 3 (steering mechanism) can be rotated in the horizontal direction around the outboard motor suspension bracket 4 via a steering shaft 45 (FIG. 2) described later fixed to the outboard motor main body 3. It is supported.
The outboard motor suspension bracket 4 is pivotally supported by a clamp bracket shaft 6 passed between a pair of clamp brackets 5 so as to be rotatable in the vertical direction, that is, capable of being tilted and trimmed.
A propeller (not shown) of the outboard motor main body 3 is attached below the drive shaft housing in which the drive shaft at the lower portion of the outboard motor main body is accommodated.

  The steered motor 11 (steering actuator) that generates the steered force is provided with a motor drive circuit 43, and a steerable controller 42 that controls the steered motor 11 is connected to the motor drive circuit 43 by a cable. Has been. A gear case 27 is provided adjacent to the steered motor 11, and the gear case 27 is attached to the rack housing 18. Both ends of a rack 17 (FIG. 2), which will be described later, the central portion of which is accommodated in the rack housing 18 are supported by mounting brackets 22 mounted on the clamp brackets 5.

A guide plate 30 is fixed to the side of the rack housing 18, and a steered arm 33 is connected to the tip portion of the guide plate 30 on the outboard motor main body 3 side so as to be rotatable in the horizontal direction.
The motor drive circuits 43 and 44, the steering controller 42, the steering / reaction force controller 16, the steering angle detector 15, the reaction force motor 9, and the like are supplied from a battery 40 installed at the rear of the hull 8.

Both ends of the rack (steering mechanism) 17 in the longitudinal direction, which is the width direction of the hull 8, are fixed to the mounting brackets 22 by bolts 23. Each mounting bracket 22 is fastened to the clamp bracket 5 by nuts 24 that are screwed to both ends of the clamp bracket shaft 6 that pivotally supports the outboard motor suspension bracket 4 by the clamp bracket 5.
A portion of the rack (steering mechanism) 17 that is not accommodated in the rack housing 18 is covered with a boot 50 for waterproofing that can be expanded and contracted.

A portion of the rack 17 accommodated in the rack housing 18 rolls a number of steel balls between a male screw 25 engraved on the rack 17 and a female screw engraved on the inner peripheral surface of the rotating cylinder 26. By doing so, it is a ball screw mechanism that converts the rotational motion of the steering motor 11 into a linear motion. The rotating cylinder 26 is rotatably supported by a pair of bearings 28 provided between the outer peripheral surface thereof and the inner peripheral surface of the rack housing 18.
In the ball screw mechanism, the rotational motion of the steered motor 11 is caused by meshing between the bevel gear 20 attached to the tip of the motor shaft 29 of the steered motor 11 and the bevel gear 21 provided around the outer peripheral surface of the rotary cylinder 26. The speed is reduced and transmitted to the rotary cylinder 26, and the rotary cylinder 26 rotates.

As the rotary cylinder 26 rotates, the rack housing 18 moves in the axial direction of the rack 17, and the guide plate (steering mechanism) 30 attached to the side surface of the rack housing 18 so as to be freely rotatable in the vertical direction similarly moves. To do.
A long hole 32 that is long in the direction perpendicular to the axial direction of the rack 17 is formed at the distal end of the guide plate 30 on the outboard motor main body 3 side. The guide pins 34 that pass through the long holes 32.
The other end (not shown) of the steered arm 33 is fixed to the outboard motor main body 3, and the direction toward the other end of the steered arm 33 is the direction toward the propeller of the outboard motor main body 3. Is done.

A steered shaft 45 (steering mechanism) protrudes from the tip of the outboard motor suspension bracket 4 on the outboard motor main body 3 side, and the steered shaft 45 is drilled in an intermediate portion of the steered arm 33. The turning arm 33 is pivotally supported by the turning shaft 45.
A turning angle detector 41 is provided around the turning shaft 45, and the turning angle detector 41 detects the rotation angle with the turning arm 33 as the turning angle, and detects the detected turning angle. A steering angle signal is supplied to the steering controller 42.

From the connection relationship of the steering motor 11, the rack 17, and the steering arm 33, when the steering motor 11 rotates in one direction, the rack housing 18 and the guide plate 30 move in one axial direction of the rack 17. . When the guide plate 30 moves in one axial direction of the rack 17, the steered arm 33 rotates in the other direction around the axis of the steered shaft 45 as the guide pin 34 slides in the long hole 32. The outboard motor body 3 is steered.
Further, when the steering motor 11 rotates in the other direction, the rack housing 18 and the guide plate 30 move in the other direction of the rack 17 in the axial direction. When the guide plate 30 moves in the other direction in the axial direction of the rack 17, the steered arm 33 rotates in one direction around the axis of the steered shaft 45 as the guide pin 34 slides in the long hole 32. The outboard motor body 3 is steered.

FIG. 3 is a block diagram showing a configuration example of a control system of the navigation system according to the present invention.
In this control system, the steering angle signal of the steering wheel 14 detected by the steering angle detector 15 and the rotor angle signal detected by the rotor angle detector 12 of the reaction force motor 9 are given to the steering / reaction force controller 16. .
The steering / reaction force controller 16 calculates a highly accurate steering angle based on the given steering angle signal and rotor angle signal, and drives and controls the reaction force motor 9 by the motor drive circuit 44 based on the calculated steering angle. At the same time, the calculated steering angle is given to the steering controller 42 through the cable 39.

The rotor angle signal detected by the rotor angle detector 12 is also supplied to the motor drive circuit 44, and the motor drive circuit 44 uses, for example, a three-phase voltage for driving the reaction force motor 9 based on the supplied rotor angle signal. Is generated.
The turning controller 42 calculates the target turning angle based on the steering angle signal given from the steering / reaction force controller 16. Further, based on the calculated target turning angle and the turning angle signal between the turning shaft 45 and the turning arm 33 detected by the turning angle detector 41, the motor driving circuit 43 drives and controls the turning motor 11. .
The calculation of the target turning angle can also be performed by the steering / reaction force controller 16.

Hereinafter, an operation for calculating the steering angle of the navigation steering apparatus having such a configuration and operation will be described with reference to the flowchart of FIG.
The reduction ratio of the reaction force motor 9 to the steering shaft 37 is 1, and the number of pole pairs of the reaction force motor 9 is p (for example, p = 2, 4, 6, 8,...).
The steering / reaction force controller 16 of the navigation steering device obtains a steering midpoint at the time of starting, and at that time, the steering angle α1offset from the steering angle detector 15 shown in FIG. The rotor angle α2offset is read and stored in the memory.

  When calculating the steering angle, the steering / reaction force controller 16 first reads the steering angle α1 from the steering angle detector 15 and the rotor angle α2 from the rotor angle detector 12 (S1). Next, the steering angle α1offset and the rotor angle α2offset stored in the memory are subtracted from the read steering angle α1 and rotor angle α2, respectively, and the steering angle and the rotor angle 0 degree (middle point) coincide with each other. In this manner, the steering angle α1 and the rotor angle α2 are corrected (S3).

Next, the steering / reaction force controller 16 updates and stores the steering angle α1 and the rotor angle α2 with the corrected steering angle α1 and rotor angle α2 (S5). Next, (p × α1−α2) / 360 ° is calculated from the updated steering angle α1 and rotor angle α2, and the numerical value as the calculation result is set as a parameter t (S7).
Here, p × α1 is an expression for converting the steering angle α1 into the electrical angle of the rotor angle α2. If the detection accuracy of the steering angle α1 is high, p × α1-α2 is 1 of the rotor angle that is an electrical angle. The cycle should be an integral multiple of 360 °. The parameter t indicates how many periods of the electrical angle 360 ° is the electrical angle p × α1 obtained by subtracting the rotor angle α2 (≦ electrical angle 360 °) as a fraction.

Next, the steering / reaction force controller 16 rounds the parameter t to an integer (S9), calculates (360 ° × t + α2) / p by the integer parameter t, and calculates the result of the actual steering angle. Return as α (S11).
Here, 360 ° × t + α2 is an actual steering angle expressed in electrical angle, and is converted into a mechanical angle by (360 ° × t + α2) / p.
The steering / reaction force controller 16 controls driving of the reaction force motor 9 by the motor drive circuit 44 based on the calculated steering angle, and gives the calculated steering angle to the steering controller 42 through the cable 39.

  By calculating in this way, for example, as shown in FIG. 6B, a detection signal A of a high-resolution rotor angle detector (for example, an encoder type) and a low-cost multiple rotation angle detector (for example, a potentiometric type) From the detection signal B of FIG. 6A, it is possible to obtain a detection result with the same accuracy as the detection signal of the multiple rotation angle detector with high accuracy and high resolution as shown in FIG.

  In the above-described embodiment, the case where the reaction force motor 9 is a brushless motor has been described. However, even when the steered motor 11 is a brushless motor, the turning angle of the steered motor 11 is controlled by the steering controller 42. Similarly, it is possible to calculate a highly accurate turning angle based on the rotor angle detected by the detector and the turning angle detected by the turning angle detector 41.

It is a mimetic diagram showing composition of an embodiment of a steering device for navigation concerning the present invention. It is a cross-sectional view showing the connection relationship between the outboard motor main body and the hull used in the navigation steering apparatus according to the present invention. It is a block diagram which shows the structural example of the control system of the steering apparatus for navigation which concerns on this invention. It is a flowchart which shows the operation | movement which calculates the steering angle of the steering apparatus for navigation which concerns on this invention. It is explanatory drawing which shows operation | movement of the steering apparatus for navigation which concerns on this invention. It is a characteristic view for demonstrating operation | movement of the steering apparatus for navigation which concerns on this invention.

Explanation of symbols

1 outboard motor, 3 outboard motor body (steering mechanism), 4 outboard motor suspension bracket, 5 clamp bracket, 8 hull, 9 reaction force motor (reaction actuator), 11 steering motor (steering actuator), 12 rotor angle detector (second steering angle detector), 14 steering wheel (steering member), 15 steering angle detector, 16 steering / reaction force controller (steering angle calculation means), 17 rack (steering mechanism), 18 Rack housing, 22 Mounting bracket, 26 Rotating cylinder (steering mechanism), 30 Guide plate (steering mechanism), 33 Steering arm (steering mechanism), 41 Steering angle detector, 42 Steering controller, 45 Steering shaft (steering mechanism)

Claims (2)

A steering angle detector that detects a steering angle of a plurality of rotation ranges of a steering member that steers the hull; a reaction force actuator that applies a steering reaction force to the steering member according to the steering angle detected by the steering angle detector; A navigation mechanism that is mechanically separated from the steering member and that steers the hull, and a steering actuator that drives the steering mechanism according to a steering angle detected by the steering angle detector. In the steering device,
A second steering angle detector for detecting a steering angle within a range of one rotation of the steering member with higher accuracy than the steering angle detector; a steering angle detected by the steering angle detector; and the second steering angle. Steering angle calculation means for calculating a steering angle of a plurality of rotation ranges with higher accuracy than the steering angle detected by the steering angle detector based on the steering angle detected by the detector, and the steering calculated by the steering angle calculation means The reaction force actuator applies a steering reaction force according to an angle, and the steering actuator drives a steering mechanism. The reaction force actuator is an electrical angle detected by a rotor angle detector. A brushless motor that rotates based on a rotor angle, wherein the second steering angle detector is the rotor angle detector, and the steering angle calculation means includes the steering angle detected by the steering angle detector, and the rotor Angular detector Correction means for correcting the output rotor angle so that each of the steering angle and the rotor angle is equal to 0 degree; means for converting the steering angle corrected by the correction means into an electrical angle of the rotor angle; Means for subtracting the rotor angle corrected by the correction means from the steering angle converted by the means, means for dividing the steering angle subtracted by the means by 360 degrees, and rounding off the division result of the means to obtain an integer. Means for obtaining, means for multiplying the integer obtained by the means by 360 degrees, means for adding the rotor angle to the multiplication result of the means, and means for converting the addition result of the means into a mechanical angle, A navigation steering apparatus characterized in that the conversion result of the means is used as a calculated steering angle. A steering angle detector that detects a steering angle of a plurality of rotation ranges of a steering member that steers the hull; a reaction force actuator that applies a steering reaction force to the steering member according to the steering angle detected by the steering angle detector; A navigation mechanism that is mechanically separated from the steering member and that steers the hull, and a steering actuator that drives the steering mechanism according to a steering angle detected by the steering angle detector. In the steering device,
A second steering angle detector for detecting a steering angle within a range of one rotation of the steering member with higher accuracy than the steering angle detector; a steering angle detected by the steering angle detector; and the second steering angle. Steering angle calculation means for calculating a steering angle of a plurality of rotation ranges with higher accuracy than the steering angle detected by the steering angle detector based on the steering angle detected by the detector, and the steering calculated by the steering angle calculation means depending on the angle, the given reaction force actuator steering reaction force, the turning actuator is Yes configured to drive the steering mechanism, said transfer rudder actuator, electricity b over data angle detector detects a brushless motor that rotates based on the rotor angle is the angular, and steering angle detector for detecting a steering angle of the steering mechanism, the steering angle said transfer steering angle detector detects, and before kilometers over Based on the rotor angle detected by the angle detector, the A steering angle calculation means for calculating a steering angle with higher accuracy than the steering angle, and the brushless motor is configured to drive the steering mechanism based on the steering angle calculated by the steering angle calculation means. Yes and the turning angle calculation means, turning angle the steering angle detector detects, and rotor angle before kilometers over data angle detector detects each of the steering angle and the rotor angle 0 and compensation means you corrected so degrees to match the turning angle該補 positive means is corrected, and means for converting the electrical angle of the rotor angle, the turning angle which the means is converted, before means for Kiho positive means for subtracting the rotor angle corrected, means for dividing the steering angle in which the means by subtracting 360 degrees, means for determining an integer by rounding off the division result of said means, said means Means for multiplying the integer obtained by 360 degrees, and adding the rotor angle to the multiplication result of the means Stage and, and means for converting the mechanical angle the addition result of the unit, navigational steering apparatus characterized by is arranged to the turning angle calculated a result of conversion of the unit.

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