JP6419897B2 - Ship propulsion unit turning control device - Google Patents

Description

  The present invention relates to a turning control device as a steering system for turning control of a ship propulsion device generally called an azimuth thruster having a propulsion function and a rudder function such as a Z-type propulsion device, an L-type propulsion device, and a pod propulsion device. In particular, the present invention relates to an electric turning control device using a plurality of AC servo motors, and the load shared by each AC servo motor is uniform, and the operation is performed even when some AC servo motors have a problem. The present invention relates to a turning control device that can continue without trouble.

  Conventionally, a hydraulic swivel device is generally used for turning by an azimuth thruster such as a Z-type propulsion device or a pod propulsion device. The conventional hydraulic swivel device has a complicated structure in which hydraulic equipment such as a hydraulic pump, servo valve, suction filter, oil tank, etc. are connected by piping, and there is also contamination due to oil leakage, etc. Since repair work and maintenance work such as removing oil by filling with oil is required, stable operation of equipment may be hindered.

  In order to avoid the complexity of the configuration as described above and the complexity of maintenance, the applicant of the present application has been diligently working on the invention of the turning control device for turning the azimuth thruster with an electric motor instead of the hydraulic pressure. The following Patent Document 1 discloses a turning control device for an azimuth thruster proposed by the applicant of the present application, and the problem is to provide a turning control device that is difficult to be controlled by an AC servo motor and has high tracking accuracy. It is in. According to the present invention, the turning control board 26 calculates a motor speed command based on the deviation between the handle signal from the operation handle 4 and the feedback signal from the sensor 5, and outputs this to a plurality of AC servo amplifiers 32a to 32c. Simultaneously, the same digital signal is transmitted by digital communication.

  FIG. 5 is a diagram showing the configuration of the AC servo amplifier 100. As shown in FIG. The motor speed instruction value sent from the preceding turn control board is sent to the subsequent stage via a limiter 101 that gives a speed limit. The AC servo motor 102 is provided with a sensor 103 for measuring the motor speed, and a feedback signal from the sensor 103 is converted into a voltage signal by the frequency voltage converter 104. The comparison unit 105 calculates a deviation between the motor speed instruction value passed through the limiter 101 and the feedback signal converted into a voltage signal, and the control unit (PID regulator) 106 calculates a motor speed command value according to the deviation. . This motor speed command value is amplified by the current amplifier 108 via the limiter 107 and is given to the AC servo motor 102.

  According to this turning control device, even when a plurality of sets of AC servo amplifiers 100 and AC servo motors 102 are provided, each of them can be controlled independently. You will not fall into control.

JP 2010-58741 A

  According to the invention of the above-mentioned Patent Document 1 proposed by the applicant of the present application, as shown in FIG. 6, each pinion P (P1, P2) of a plurality of AC servo motors is a circumferential drive provided in the turning drive mechanism of the azimuth thruster. The driving force of each AC servo motor 102 is transmitted to the turning gear G via each pinion P to turn the azimuth thruster. However, as shown in FIG. 6, there is a backlash between the pinion P driven by the AC servomotor and the turning gear G of the azimuth thruster, and each of the plurality of AC servomotors 102 is independently speed controlled. Therefore, the load may be applied to a specific AC servo motor depending on whether the external water flow that exerts a force on the azimuth thruster is against or following, which is not preferable. In FIG. 6, the left-side pinion P2 is practically unloaded due to backlash.

  The present invention solves the problems in the prior art described above. In an electric swing control device having a plurality of AC servomotors, the load shared by each AC servomotor is uniform, and some AC The purpose is to allow the operation to continue without any trouble even if the servo motor malfunctions.

A turning control device for a ship propulsion unit according to claim 1 is provided.
A turning control device that controls a marine vessel propulsion device that is provided with a propeller that is rotationally driven and that is freely slewed in a vessel to arbitrarily set a propulsion direction,
An operation handle for outputting a handle signal indicating the turning position by setting a turning position of the ship propulsion device;
A sensor for detecting a turning position of the ship propulsion device and outputting a feedback signal;
A deviation between a handle signal output from the operation handle and a feedback signal from the sensor is calculated, a motor speed instruction value is calculated according to the deviation, and the motor speed instruction value is simultaneously applied to a plurality of objects as the same digital signal. Control means for transmitting by digital communication;
A plurality of AC servo amplifiers that respectively receive the motor speed instruction values transmitted by digital communication as the same digital signal from the control means, respectively, and output motor speed instruction values according to the motor speed instruction values;
A plurality of AC servo motors for turning the marine vessel propulsion machine by being driven by receiving the motor speed command values from the AC servo amplifiers;
In a turning control device for a marine vessel propulsion machine comprising:
The AC servo amplifier reduces the motor speed command value transmitted from the control means by correcting the motor speed command value to be reduced according to the load amount for an AC servo motor with a load in a powering state. A value is output, and the motor speed command value increased by correction to increase in accordance with the load amount is output to the AC servomotor in which the load is regenerated.

  That is, the AC servo amplifier performs a calculation to decrease the motor speed command value according to the load amount when the load of the AC servo motor is power running, and the load when the load of the AC servo motor is regenerative. It is characterized in that a calculation for increasing the motor speed command value according to the amount is performed.

The turning control device for a ship propulsion device according to claim 2 is the turning control device for a ship propulsion device according to claim 1,
The AC servo amplifier, when the load amount of the AC servo motor is equal to or less than a predetermined constant value, sets the motor speed command value without correcting the motor speed instruction value according to the load amount of the AC servo motor. It is characterized by calculating and outputting.

The turning control device for a ship propulsion device according to claim 3 is the turning control device for a ship propulsion device according to claim 2,
The AC servo amplifier includes load amount calculation means for calculating a load amount from a current value flowing through the AC servo motor;
A correction calculation unit that performs a necessary calculation according to the load amount of the AC servomotor calculated by the load amount calculation unit with respect to the motor speed instruction value transmitted from the control unit, and outputs the correction value as a correction value;
A deviation between the correction value from the correction calculation unit and a feedback signal from a sensor that measures the motor speed of the AC servo motor is calculated, and the motor speed command value is calculated and output according to the deviation. Two control means;
It is characterized by having.

  According to the turning control device for a marine vessel propulsion device described in claim 1, the control means calculates a motor speed instruction value based on a deviation between the handle signal from the operation handle and the feedback signal from the sensor, and a plurality of AC The same digital signal is simultaneously transmitted to the servo amplifier via digital communication. The AC servo amplifier corrects this motor speed instruction value according to the load amount of the corresponding AC servo motor, and outputs it to each AC servo motor as a motor speed command value. For this reason, each load of a plurality of AC servomotors can be distributed to a uniform value obtained by dividing the total load by the number of AC servomotors. In addition, since multiple AC servo motors can be controlled independently from one unit to all units, communication between motors is not required as in the case of master-slave control, and some AC servo motors are assumed. Even if a failure occurs in the amplifier, it is possible to balance the load by driving the remaining normal motor after disconnecting the defective motor. Can be done. Furthermore, since the control is performed by a plurality of AC servo motors, it can be widely applied to small to large-sized turning type marine propulsion devices, and there is an effect that high tracking accuracy can be obtained without the influence of offset as in the analog type.

According to the turning control device for a marine vessel propulsion device described in claim 1, when the external water flow exerts against the turning propulsion vessel propulsion device, the AC servo motor is driven with respect to the external load. In the case of, the main state is a state called powering that turns the marine propulsion device by driving the AC servomotor. In this case, the larger the AC servomotor with the faster speed at which the pinion contacts the turning gear first. Since a load is applied, in order to disperse the load, correction is performed to reduce the speed of the AC servo motor having a large load in proportion to the load. As a result, the loads on the other AC servo motors increase, and the loads on the plurality of AC servo motors are made uniform as a whole.
When the external water flow exerts a follow force on the marine propulsion device that is swiveled, the AC servo motor is driven with respect to the external load in a state called regeneration in which the marine propulsion device is rotated by the external water flow. In this case, a large load is applied to the AC servo motor with the slowest speed at which the pinion comes into contact with the swivel gear. Therefore, in order to distribute the load, the AC servo motor with a large load is used. To increase the speed of the motor in proportion to the load. As a result, the loads on the other AC servo motors increase, and the loads on the plurality of AC servo motors are made uniform as a whole.

  According to the turning control device for a marine vessel propulsion unit described in claim 2, when the load amount of the AC servo motor is equal to or less than a predetermined constant value that does not need to be corrected, the AC servo amplifier is sent from the control means. The motor speed command value can be calculated using the feedback signal without correcting the motor speed instruction value, and can be output to the AC servomotor.

  According to the turning control device for a marine vessel propulsion device described in claim 3, the correction calculation unit corrects the motor speed instruction value from the control means with the load amount of the AC servo motor acquired by the load amount calculation means, and the correction value. The second control means calculates the deviation between the feedback signal from the motor speed sensor and the correction value, and calculates the motor speed command value according to the deviation and outputs it to each AC servo motor. The effect according to the first aspect of the invention can be reliably achieved, for example, it is possible to perform control to evenly distribute the loads of the individual AC servo motors.

FIG. 1 is a configuration diagram showing a turning control device for a marine vessel propulsion apparatus according to an embodiment of the present invention, and shows an outline of a configuration for control. FIG. 2 is a configuration diagram showing the turning control device of the embodiment, and shows an outline of the control configuration and a turning mechanism of an azimuth thruster to be controlled. FIG. 3 is a block diagram showing details of the configuration of an AC servo amplifier and the like in the turning control device of the same embodiment. FIG. 4 is a view showing the correction characteristic of the motor speed instruction value in the turning control device of the same embodiment in relation to the motor load and the motor rotation speed. FIG. 5 is a block diagram showing details of the configuration of an AC servo amplifier or the like in the prior art. FIG. 6 is a view showing a turning drive mechanism of an electric turning control apparatus using a plurality of motors, and particularly shows a state where there is a backlash between a pinion driven by the motor and a turning gear of the azimuth thruster. is there.

An embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a configuration diagram showing a turning control device 2 of a marine vessel propulsion apparatus 1 according to an embodiment of the present invention, and shows an outline of a configuration for control.
As shown in FIG. 1, a marine vessel propulsion device 1 is provided on a casing 3 that protrudes from the outer surface of the bottom of a marine vessel (not shown) and is turnable. And a propeller 4. Then, the turning control device 2 of this example is used to turn the ship propulsion device 1 by a desired angle and set it to a desired turning position in order to arbitrarily set the propulsion direction of the ship propulsion device 1. . Hereinafter, the turning control device 2 will be described for each component.

  The operation handle 5 provided in the steering room of the ship is a device for setting a turning position of the target ship propulsion device 1 by being operated by a crew member of the ship. From the operated operation handle 5, a handle signal indicating a turning position to be set by the marine vessel propulsion device 1 is output.

  On the other hand, the marine vessel propulsion device 1 is provided with an angle sensor 6 that is a sensor that detects an actual turning position of the marine vessel propulsion device 1 and outputs a feedback signal.

  In the turning control board 7 as the first control means, the handle signal output from the operation handle 5 and the feedback signal from the angle sensor 6 are digitized by the A / D converter 8, and the deviation between the two signals is detected by the CPU 9. Calculated.

  The CPU 9 includes a ROM 10 that stores a control program and various data necessary for control, specifically, data indicating a relationship between the deviation and the motor speed instruction value, and a RAM 11 that reads and writes various data as necessary. It has. The motor speed instruction value is a numerical value (signal) indicating the motor rotation direction and the motor rotation speed. When the deviation becomes larger than a certain limit in any polarity, the AC servo motors M1, M2 (hereinafter, “ It may be displayed or referred to as a “motor”.) So that the maximum capacity is not exceeded.

  The CPU 9 uses the calculated deviation and the data stored in the ROM 10 to calculate a motor speed instruction value according to the control program stored in the ROM 10. The motor speed instruction value is converted into a digital signal by the serial signal generator 12 (SIO), which is a communication IC, and passed through three drivers 13a and 13b connected in parallel to the serial signal generator 12 (SIO). In the RS422 digital communication system, the signals are respectively output to a plurality (two in this embodiment) of AC servo amplifiers A1 and A2 (hereinafter also referred to as “servo amplifiers”).

  The digital motor speed instruction value output from the turning control board 7 is input to each of the two AC servo amplifiers A1 and A2 provided outside the turning control board 7, and these two AC servo amplifiers A1. , A2 are mutually independent amplifiers, which receive transmission of motor speed instruction values, whereby the two AC servo amplifiers A1, A2 send motor speed command values to the corresponding AC servo motors M1, M2, respectively. Take control.

  Each AC servo amplifier A1, A2 is provided with an alarm switch 14 as an alarm means for notifying the turning control board 7 of an abnormality of the AC servo amplifier A1, A2. When there is an abnormality in the AC servo amplifiers A1 and A2, the alarm switches 14 and 14 of the AC servo amplifiers A1 and A2 send an alarm (contact signal) to the turning control board 7 and receive the turning control board 7 Is controlled by turning off the servo ON / OFF switches 15 and 15 provided corresponding to the AC servo amplifiers A1 and A2, and turning off the servo servo A1 or A2 that has reported the abnormality. Remove from the subject.

FIG. 2 is a configuration diagram showing the turning control device 2 of the present embodiment. The turning control device 2 of the azimuth thruster to be controlled is also shown together with the outline of the control configuration described above with reference to FIG. It is shown.
A swivel gear G shown in FIG. 2 is coaxially fixed to the upper end portion of the casing 3 that is turnably provided on the outer surface of the bottom of a ship (not shown). Each pinion P1, P2 attached to each drive shaft of M2 is meshed. The other pinions P3 of the AC servo motors M1 and M2 that are located away from the pinions P1 and P2 are attached to the input shaft of the angle sensor 6 described above. By being driven, a feedback signal indicating the actual turning position of the ship propulsion device 1 is output from the angle sensor 6 and input to the turning control board 7.

FIG. 3 is a configuration diagram showing details of the configuration of the AC servo amplifier A and the AC servo motor M in the turning control device 2 of the present embodiment.
The AC servo amplifier A is provided with a correction calculation unit 20 that corrects the motor speed instruction value sent from the turning control board 7. The correction calculation unit 20 has a function of performing a calculation for correcting the motor speed instruction value from the turning control board 7 in accordance with the load amount of the AC servo motor M and outputting it as a motor speed command value. For this reason, the servo amplifier A obtains the current value flowing through the AC servomotor M from the current amplifier 21 that outputs the motor speed command value finally given to the motor M, and calculates the load amount of the motor M. An amount calculation unit 22 is included, and the load amount calculation unit 22 is connected to the correction calculation unit 20. The specific contents of the correction calculation of the correction calculation unit 20 will be described later with reference to FIG.

  The motor speed command value output from the correction calculation unit 20 is sent to a subsequent comparator 24 via a limiter 23 that gives a speed limit. On the other hand, the AC servomotor M is provided with a sensor S for measuring the motor speed, and a speed feedback signal from the sensor S is converted into a voltage signal by a frequency voltage converter 25 and given to the comparator 24. Then, the comparator 24 calculates the deviation between the motor speed command value passed through the limiter 23 and the feedback signal converted into the voltage signal, and the control unit 26 (PID regulator) as the second control means calculates the deviation. In response, the motor speed command value is calculated. This motor speed command value is amplified by the above-described current amplifier 21 via the limiter 27 and given to the AC servo motor M.

The specific contents of the correction calculation by the correction calculation unit 20 will be described with reference to FIG. FIG. 4 shows the correction characteristic of the motor speed instruction value (characteristic when the motor speed instruction value is corrected to the motor correction instruction value according to the load amount of the motor M) of the correction calculation unit 20 of the servo amplifier A. It is the graph shown by the relationship between load amount (horizontal axis) and motor rotation speed (vertical axis).
When the external water flow exerts an against force on the marine vessel propulsion device 1 or the like, a state called power running in which the marine vessel propulsion device 1 is turned by driving the AC servo motor M becomes a main state. As shown in FIG. 6, a large load is applied to the pinion P1 on the right side in the drawing in contact with the swivel gear G and the AC servomotor M having the higher speed at which the driving force is exerted on the pinion P1. In the figure, the pinion P2 on the left side and its AC servo motor M change the way in which the load is applied depending on how the gears hit. Therefore, in order to disperse and equalize the load on each motor M, the speed of the AC servo motor M having a large load is corrected in proportion to the load as shown in FIG. 4A (characteristic during power running). To do. The characteristic of the motor speed command value during power running shown in the graph of FIG. 4A can be expressed as the following equation (1).
Motor speed command value = motor speed command value × {1-A × (load amount / rated load)} (1)
However, A is a constant during power running, the motor speed command value is a calculation command in the AC servo amplifier, and the motor speed command value is a motor speed command from the turning control board 7.
As a result, the loads on the other AC servo motors M increase, and the loads on the plurality of AC servo motors M are made uniform as a whole.

When the external water flow exerts a follow force on the ship propulsion device, the main state is a state called regeneration in which the ship propulsion device 1 is rotated by the external water flow. In this case, in FIG. Since the largest load is applied to the pinion P2 on the left side in the figure and the AC servomotor M that drives the pinion P2 with the slowest speed in contact with G, the AC servo with a large load is used to distribute the load. As shown in FIG. 4B (regenerative characteristics), correction is performed to increase the speed of the motor M in proportion to the load. The characteristic of the motor speed command value at the time of regeneration shown in the graph of FIG. 4B can be expressed as the following equation (2).
Motor speed command value = Motor speed command value x {1 + B x (Load amount / Rated load)} (2)
However, B is a constant during regeneration, a motor speed command value is a calculation command in the AC servo amplifier, and a motor speed instruction value is a motor speed instruction from the turning control board 7.
As a result, the loads on the other AC servo motors M increase, and the loads on the plurality of AC servo motors M are made uniform as a whole.

When the load amount of the AC servo motor M is equal to or less than a predetermined constant value that does not need to be corrected, the AC servo amplifier A rotates as shown in FIG. 4C (characteristic when the load is constant or less). Without correcting the motor speed instruction value sent from the control board 7 by the correction calculation unit 20, the motor speed command value is calculated by the control unit 26 using the speed feedback signal from the sensor S as it is, via the current amplifier 21. Can be output to the AC servo motor M. The motor speed command value when the load is less than or equal to the load shown in the graph of FIG. 4C can be expressed as the following equation (3).
Motor speed command value = Motor speed command value ... (3)
However, the motor speed command value is a calculation command in the AC servo amplifier, and the motor speed command value is a motor speed command from the turning control board 7.

  As described above, according to the turning control device 2 of the present embodiment, the motor speed instruction value from the turning control board 7 as the host controller is a value proportional to the actual load amount actually applied to each motor M. A correction calculation for addition / subtraction is performed in accordance with the motor speed command value to be given to the motor M. Specifically, when the load is power running, the motor speed command value is reduced in proportion to the load amount of the motor M, and when the load is regenerative, the motor speed command value is proportional to the load amount of the motor M. When the load is power running or regenerative and the load is below a certain value, a control logic that outputs the speed command value from the turning control board 7 as a speed command value is incorporated in each servo amplifier A. Yes. Therefore, each load of the plurality of AC servomotors M can be distributed to a uniform value obtained by dividing the total load by the number of AC servomotors M.

Further, the plurality of AC servo amplifiers A are independently connected to the turning control board 7 and simultaneously receive the motor speed instruction value, which is the same digital signal, from the turning control board 7 through digital communication. The plurality of AC servo amplifiers A are not in a master-slave relationship with each other and can be controlled independently from one to all units. Therefore, communication between AC servo amplifiers is not required as in the case of master-slave control, and even if some AC servo amplifiers A fail, the alarm switch 14 and servo ON / OFF switch 17 cause a failure. Since the load balance can be achieved by driving with the remaining normal motor M after disconnecting the motor M, the entire apparatus is unlikely to become uncontrollable and stable operation can be performed.
Since the control is performed by a plurality of AC servo motors M, the present invention can be widely applied to small to large turning type marine propulsion devices, and there is an effect that high tracking accuracy can be obtained without being affected by an offset as in the analog type.

DESCRIPTION OF SYMBOLS 1 ... Ship propulsion machine 2 ... Turning control apparatus 5 ... Operation handle 6 ... Angle sensor 7 ... Turning control board 13a, b ... Driver 20 ... Correction calculating part 22 ... Load amount calculation means 26 ... 2nd Control unit as control means for M (M1, M2) ... AC servo motor (motor)
A (A1, A2) ... AC servo amplifier (amplifier)
S: Speed detection sensor provided in the motor

Claims (3)

A turning control device that controls a marine vessel propulsion device that is provided with a propeller that is rotationally driven and that is freely slewed in a vessel to arbitrarily set a propulsion direction,
An operation handle for outputting a handle signal indicating the turning position by setting a turning position of the ship propulsion device;
A sensor for detecting a turning position of the ship propulsion device and outputting a feedback signal;
A deviation between a handle signal output from the operation handle and a feedback signal from the sensor is calculated, a motor speed instruction value is calculated according to the deviation, and the motor speed instruction value is simultaneously applied to a plurality of objects as the same digital signal. Control means for transmitting by digital communication;
A plurality of AC servo amplifiers that respectively receive the motor speed instruction values transmitted by digital communication as the same digital signal from the control means, respectively, and output motor speed instruction values according to the motor speed instruction values;
A plurality of AC servo motors for turning the marine vessel propulsion machine by being driven by receiving the motor speed command values from the AC servo amplifiers;
In a turning control device for a marine vessel propulsion machine comprising:
The AC servo amplifier reduces the motor speed command value transmitted from the control means by correcting the motor speed command value to be reduced according to the load amount for an AC servo motor with a load in a powering state. A rotation control of a marine propulsion device, wherein the motor speed command value increased by correction to increase in accordance with the load amount is output to an AC servo motor that outputs a value and the load is regenerative apparatus. The AC servo amplifier, when the load amount of the AC servo motor is equal to or less than a predetermined constant value, sets the motor speed command value without correcting the motor speed instruction value according to the load amount of the AC servo motor. 2. A turning control device for a marine propulsion device according to claim 1 , wherein the turning control device calculates and outputs. The AC servo amplifier includes load amount calculation means for calculating a load amount from a current value flowing through the AC servo motor;
A correction calculation unit that performs a necessary calculation according to the load amount of the AC servomotor calculated by the load amount calculation unit with respect to the motor speed instruction value transmitted from the control unit, and outputs the correction value as a correction value;
A deviation between the correction value from the correction calculation unit and a feedback signal from a sensor that measures the motor speed of the AC servo motor is calculated, and the motor speed command value is calculated and output according to the deviation. Two control means;
The turning control device for a marine vessel propulsion device according to claim 2, wherein:

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