JP6473543B1 - Swivel propulsion device and control method of swirl propulsion device - Google Patents

Abstract

Provided is a swivel propulsion device capable of suppressing a decrease in positioning accuracy of a holding portion even when the response of a swivel device is high when performing dead band processing. A turning type propulsion device according to an aspect of the present invention includes a turning device that turns a holding portion that holds a screw propeller, and a control device, and the control device changes an actual turning angle of the holding portion. A dead band process is performed on the deviation angle obtained by subtracting the other from one of the command angles, a post-processing deviation angle that is a deviation angle after the dead band process is determined, and when the post-processing deviation angle is not zero, the holding unit is turned and processed. When the deviation angle is zero, the rotation of the holding unit is stopped, when the post-processing deviation angle is zero, the change command angle is set to the same angle as the command angle, and when the holding unit turns in the forward rotation direction, the change command is set. The angle is set to be larger than the command angle, and the change command angle is set to be smaller than the command angle when the holding portion turns in the reverse rotation direction. [Selection] Figure 1

Description

  The present invention relates to a turning type propulsion device and a control method of the turning type propulsion device.

  A turning type propulsion device mounted on a ship includes a screw propeller and a holding unit that holds the screw propeller (see, for example, Patent Document 1). The holding part is configured to turn in the horizontal direction, and the ship can be propelled in an arbitrary direction by adjusting the turning angle of the holding part.

JP 58-209697 A

  The turning type propulsion device turns the holding part so that the deviation angle (difference) between the command angle input by the operator and the actual turning angle of the holding part becomes zero, and the holding part turns when the deviation angle becomes zero. To stop. That is, feedback control is performed. However, if the holder is turned until the actual turning angle slightly deviates from the command angle or when the actual turning angle measurement error occurs, energy may be unnecessarily consumed. Therefore, a dead zone process may be performed when controlling the turning angle of the holding unit.

  The dead zone processing is processing for setting a dead zone range in which a value equal to or less than zero is a lower limit value and an upper limit value is zero or more, and when the deviation angle is in the dead zone range, the deviation angle is regarded as zero. By performing this process, for example, when the actual turning angle slightly deviates from the command angle or when an actual turning angle measurement error occurs, the deviation angle is considered to be zero, so the holding unit remains stopped. It becomes. Therefore, unnecessary energy consumption can be suppressed.

  However, when the dead zone process is performed, when the holding unit is turned toward the command angle, if the deviation angle enters the dead zone range, the holding unit stops at that point even though the holding unit has not reached the command angle. . Therefore, when the responsiveness of the turning device is high, there is a problem that the holding unit does not reach the command angle and the positioning accuracy is lowered.

  The present invention has been made in view of the above circumstances, and in performing the dead zone processing, even if the responsiveness of the swivel device is high, the swivel type propulsion that can suppress the decrease in positioning accuracy of the holding unit It is an object to provide a control method for a machine and a swivel type propulsion machine.

  A turning type propulsion device according to an aspect of the present invention includes a screw propeller, a holding portion that holds the screw propeller, a turning device that turns the holding portion, and turning of the holding portion based on an input command angle. A control device that controls the angle, and the control device sets a change command angle based on the command angle, and a deviation angle obtained by subtracting the other from one of the actual turning angle of the holding unit and the change command angle Is not in the dead zone range where the lower limit value is equal to or less than zero and the upper limit value is equal to or greater than zero, the post-processing deviation angle is determined to be the same angle as the deviation angle, and when the deviation angle is within the dead zone range, the post-processing deviation An angle is determined to be zero, and when the post-processing deviation angle is not zero, the holding unit is turned so that the post-processing deviation angle becomes zero, the holding unit is turned, and the processing is performed. When the rear deviation angle is zero, the turning of the holding unit is stopped, and when the change command angle is set, when the post-processing deviation angle is zero, the change command angle is set to the same angle as the command angle, When the holding portion turns in the forward rotation direction in which the turning angle increases, the change command angle is set to an angle larger than the command angle, and the holding portion turns in the reverse rotation direction in which the turning angle decreases. In some cases, the change command angle is set to an angle smaller than the command angle.

  In this turning type propulsion device, when the holding portion turns in the forward rotation direction, the change command angle is set larger than the command angle, and thus the deviation angle becomes small. As a result, when the holding unit turns in the forward rotation direction and the deviation angle reaches the lower limit value of the dead zone range, the holding unit is already positioned near the command angle. In other words, even if the turning angle of the holding unit is stopped at this point in time because the post-processing deviation angle is zero, the holding unit can be positioned near the command angle. Further, when the holding portion turns in the reverse rotation direction, the change command angle is set smaller than the command angle, and thus the deviation angle becomes large. As a result, when the holding unit turns in the reverse rotation direction and the deviation angle reaches the upper limit value of the dead zone range, the holding unit is already positioned near the command angle. In other words, even if the turning angle of the holding unit is stopped at this point in time because the post-processing deviation angle is zero, the holding unit can be positioned near the command angle. Therefore, according to said structure, even if it is a case where the responsiveness of a turning apparatus is high, the fall of the positioning accuracy of a holding | maintenance part can be suppressed.

  Further, the turning type propulsion device according to another aspect of the present invention includes a screw propeller, a holding unit that holds the screw propeller, a turning device that turns the holding unit, and the holding based on an input command angle. A control device for controlling the turning angle of the unit, the control device sets a dead zone range in which the lower limit value is zero or less and the upper limit value is zero or more, and the command angle is determined from the actual turning angle of the holding unit. When the subtracted deviation angle is not in the dead zone range, the post-processing deviation angle is determined to be the same angle as the deviation angle, and when the deviation angle is in the dead zone range, the post-processing deviation angle is determined to be zero, When the post-processing deviation angle is not zero, the holding unit is turned so that the post-processing deviation angle becomes zero, and the holding unit is turned. When the post-processing deviation angle is zero, In setting the dead zone range by stopping the turning of the holding unit, when the post-processing deviation angle is zero, the lower limit value of the dead zone range is set to a predetermined reference lower limit value and the upper limit value is set to a predetermined reference upper limit value. When the holding part turns in the forward rotation direction in which the turning angle increases, the lower limit value of the dead zone range is set to a value larger than the reference lower limit value, and the reverse rotation direction in which the turning angle decreases. When the holding portion turns, the upper limit value of the dead zone range is set to a value smaller than the reference upper limit value.

  In this turning type propulsion device, when the holding portion turns in the forward rotation direction, the lower limit value of the dead zone range is set to a value larger than the reference lower limit value. Therefore, when the holding unit turns in the forward rotation direction and the deviation angle reaches the lower limit value of the dead zone range, the holding unit is already positioned near the command angle. In other words, even if the turning angle of the holding unit is stopped at this point in time because the post-processing deviation angle is zero, the holding unit can be positioned near the command angle. Further, when the holding portion turns in the reverse rotation direction, the upper limit value of the dead zone is set to a value smaller than the reference upper limit value. Therefore, when the holding unit turns in the reverse rotation direction and the deviation angle reaches the upper limit value of the dead zone range, the holding unit is already positioned near the command angle. In other words, even if the turning angle of the holding unit is stopped at this point in time because the post-processing deviation angle is zero, the holding unit can be positioned near the command angle. Therefore, according to said structure, even if it is a case where the responsiveness of a turning apparatus is high, the fall of the positioning accuracy of a holding | maintenance part can be suppressed.

  Further, the turning type propulsion device according to another aspect of the present invention includes a screw propeller, a holding unit that holds the screw propeller, a turning device that turns the holding unit, and the holding based on an input command angle. And a control device for controlling the turning angle of the section, wherein the control device sets a dead band range in which the lower limit value is zero or less and the upper limit value is zero or more, and the actual turning angle of the holding unit is determined from the command angle. When the subtracted deviation angle is not in the dead zone range, the post-processing deviation angle is determined to be the same angle as the deviation angle, and when the deviation angle is in the dead zone range, the post-processing deviation angle is determined to be zero, When the post-processing deviation angle is not zero, the holding unit is turned so that the post-processing deviation angle becomes zero, and the holding unit is turned. When the post-processing deviation angle is zero, In setting the dead zone range by stopping the turning of the holding unit, when the post-processing deviation angle is zero, the lower limit value of the dead zone range is set to a predetermined reference lower limit value and the upper limit value is set to a predetermined reference upper limit value. When the holding part turns in the forward rotation direction in which the turning angle increases, the upper limit value of the dead zone range is set to a value smaller than the reference upper limit value, and the reverse direction in which the turning angle decreases. When the holding portion turns, the lower limit value of the dead zone is set to a value larger than the reference lower limit value.

  In the above-mentioned turning type propulsion device, the angle obtained by subtracting the command angle from the actual turning angle of the holding portion is defined as the deviation angle, whereas in this turning type propulsion device, the actual turning angle of the holding portion is subtracted from the command angle. The angle is defined as the deviation angle. Even in this case, since the setting of the dead zone range is reversed from the case of the above-described turning type propulsion device, the same effect as that of the turning type propulsion device described above can be obtained.

  Further, the turning type propulsion device according to another aspect of the present invention includes a screw propeller, a holding unit that holds the screw propeller, a turning device that turns the holding unit, and the holding based on an input command angle. A control device that controls a turning angle of the holding portion, wherein the control device determines a changed actual turning angle based on an actual turning angle of the holding portion, and changes one of the changed actual turning angle and the command angle to the other. If the deviation angle is not in the dead zone range where the lower limit value is less than zero and the upper limit value is greater than zero, the post-processing deviation angle is determined to be the same angle as the deviation angle, and the deviation angle is in the dead zone range Determines the post-processing deviation angle to be zero, and when the post-processing deviation angle is not zero, selects the turning direction of the holding unit so that the post-processing deviation angle becomes zero and rotates the holding unit. When the post-processing deviation angle is zero, the turning of the holding unit is stopped, and when determining the changed actual turning angle, when the post-processing deviation angle is zero, the changed actual turning angle is set as the actual turning angle. When the holding part turns in the forward direction in which the turning angle increases and the turning angle increases, the changed actual turning angle is determined to be smaller than the actual turning angle, and the turning angle decreases in reverse. When the holding portion turns in the direction, the changed actual turning angle is output to an angle larger than the actual turning angle.

  In this turning type propulsion device, when the holding portion turns in the forward rotation direction, the changed actual turning angle is determined to be smaller than the actual turning angle, so the deviation angle becomes small. As a result, when the holding unit turns in the forward rotation direction and the deviation angle reaches the lower limit value of the dead zone range, the holding unit is already positioned near the command angle. In other words, even if the turning angle of the holding unit is stopped at this point in time because the post-processing deviation angle is zero, the holding unit can be positioned near the command angle. Further, when the holding portion turns in the reverse rotation direction, the changed actual turning angle is determined to be larger than the actual turning angle, and thus the deviation angle becomes large. As a result, when the holding unit turns in the reverse rotation direction and the deviation angle reaches the upper limit value of the dead zone range, the holding unit is already positioned near the command angle. In other words, even if the turning angle of the holding unit is stopped at this point in time because the post-processing deviation angle is zero, the holding unit can be positioned near the command angle. Therefore, according to said structure, even if it is a case where the responsiveness of a turning apparatus is high, the fall of the positioning accuracy of a holding | maintenance part can be suppressed.

  Further, the turning type propulsion device according to another aspect of the present invention includes a screw propeller, a holding unit that holds the screw propeller, a turning device that turns the holding unit, and the holding based on an input command angle. A control device for controlling the turning angle of the holding portion, and the control device turns the holding portion so that a deviation angle obtained by subtracting the other from one of the command angle and the actual turning angle of the holding portion becomes zero. After the deviation angle reaches zero, a dead zone range is set in which the lower limit value is less than or equal to zero and the upper limit value is greater than or equal to zero, and when the deviation angle is not in the dead zone range, the processed deviation angle is set to the deviation The post-processing deviation angle is determined to be zero when the deviation angle is in the dead zone range, and the post-processing deviation angle is zero when the post-processing deviation angle is not zero. The holding portion to pivot so that the processed deviation angle is at zero and is configured to stop the pivoting of the retaining portion.

  Since this turning type propulsion device controls the turning angle without performing the dead zone process until the deviation angle reaches zero, even if the responsiveness of the turning device is high, the positioning accuracy of the holding unit can be improved. The decrease can be suppressed. Moreover, after the deviation angle reaches zero, the turning angle is controlled while performing the dead zone process, so that unnecessary energy consumption can be suppressed.

  A control method for a swirl type propulsion device according to one aspect of the present invention includes a screw propeller, a holding unit that holds the screw propeller, and a swivel device that swivels the holding unit. The change command angle is set based on the input command angle, and the deviation angle obtained by subtracting the other from the actual turning angle of the holding unit and the change command angle sets the lower limit value to zero or less and sets the upper limit value to When not in the dead zone range to be zero or more, the post-processing deviation angle is determined to be the same angle as the deviation angle, and when the deviation angle is in the dead zone range, the post-processing deviation angle is determined to be zero, and after the processing When the deviation angle is not zero, the turning direction of the holding part is selected so that the post-processing deviation angle becomes zero, and the holding part is turned. When the post-processing deviation angle is zero, the holding part In setting the change command angle, when the post-processing deviation angle is zero, the change command angle is set to the same angle as the command angle, and the turn angle is increased in the forward rotation direction. When the holding part turns, the change command angle is set to an angle larger than the command angle, and when the holding part turns in the reverse direction in which the turning angle becomes smaller, the change command angle is smaller than the command angle. Set to an angle.

  In addition, a control method for a swivel propulsion device according to another aspect of the present invention includes a swivel propulsion device including a screw propeller, a holding portion that holds the screw propeller, and a swiveling device that turns the holding portion. A dead zone range in which a lower limit value is set to zero or less and an upper limit value is set to zero or more is set, and a deviation angle obtained by subtracting a command angle input from the actual turning angle of the holding unit is not in the dead zone range. When the deviation angle after processing is determined to be the same angle as the deviation angle, when the deviation angle is in the dead zone range, the deviation angle after processing is determined to be zero, and when the deviation angle after processing is not zero, The holding section is selected so that the deviation angle after processing is zero, and the holding section is rotated. When the post-processing deviation angle is zero, the holding section is stopped and the dead zone range is reduced. When the deviation angle after processing is zero, the lower limit value of the dead zone range is set to a predetermined reference lower limit value, and the upper limit value is set to a predetermined reference upper limit value, so that the turning angle increases. When the holding part turns in the forward rotation direction, the lower limit value of the dead band range is set to a value larger than the reference lower limit value, and when the holding part turns in the reverse rotation direction in which the turning angle becomes smaller, the dead band range. Is set to a value smaller than the reference upper limit value.

  In addition, a control method for a swivel propulsion device according to another aspect of the present invention includes a swivel propulsion device including a screw propeller, a holding portion that holds the screw propeller, and a swiveling device that turns the holding portion. A dead zone range in which the lower limit value is set to zero or less and the upper limit value is set to zero or more is set, and a deviation angle obtained by subtracting the actual turning angle of the holding unit from the input command angle is not in the dead zone range. When the deviation angle after processing is determined to be the same angle as the deviation angle, when the deviation angle is in the dead zone range, the deviation angle after processing is determined to be zero, and when the deviation angle after processing is not zero, The holding section is selected so that the deviation angle after processing is zero, and the holding section is rotated. When the post-processing deviation angle is zero, the holding section is stopped and the dead zone range is reduced. When the deviation angle after processing is zero, the lower limit value of the dead zone range is set to a predetermined reference lower limit value, and the upper limit value is set to a predetermined reference upper limit value, so that the turning angle increases. When the holding part turns in the forward rotation direction, the upper limit value of the dead band range is set to a value smaller than the reference upper limit value, and when the holding part turns in the reverse rotation direction where the turning angle becomes smaller, the dead band range Is set to a value larger than the reference lower limit value.

  In addition, a control method for a swivel propulsion device according to another aspect of the present invention includes a swivel propulsion device including a screw propeller, a holding portion that holds the screw propeller, and a swiveling device that turns the holding portion. The change actual turning angle is determined based on the actual turning angle of the holding unit, and the deviation angle obtained by subtracting the command angle input from the changed actual turning angle sets the lower limit value to zero or less and the upper limit value. When the deviation angle is not within the dead zone range, the post-processing deviation angle is determined to be the same angle as the deviation angle, and when the deviation angle is within the dead zone range, the post-processing deviation angle is determined to be zero, and the processing When the rear deviation angle is not zero, the turning direction of the holding part is selected so that the post-processing deviation angle becomes zero, and the holding part is turned. When determining the changed actual turning angle by stopping turning, when the post-processing deviation angle is zero, the changed actual turning angle is determined to be the same angle as the actual turning angle, and the forward rotation direction in which the turning angle increases When the holding portion turns, the changed actual turning angle is determined to be smaller than the actual turning angle, and when the holding portion turns in the reverse direction in which the turning angle becomes smaller, the changed actual turning angle is Outputs an angle larger than the actual turning angle.

  In addition, a control method for a swivel propulsion device according to another aspect of the present invention includes a swivel propulsion device including a screw propeller, a holding portion that holds the screw propeller, and a swiveling device that turns the holding portion. The holding portion is turned so that a deviation angle obtained by subtracting the other from one of the input command angle and the actual turning angle of the holding portion becomes zero, and the deviation angle reaches zero. After that, a dead zone range in which the lower limit value is less than or equal to zero and the upper limit value is greater than or equal to zero is set, and when the deviation angle is not in the dead zone range, the post-processing deviation angle is determined to be the same angle as the deviation angle, and the deviation When the angle is in the dead zone range, the post-processing deviation angle is determined to be zero, and when the post-processing deviation angle is not zero, the holding unit is turned so that the post-processing deviation angle is zero, place Rear deviation angle is at zero to stop the turning of the retaining portion.

  According to the above-described turning type propulsion unit and the control method of the turning type propulsion unit, it is possible to suppress a decrease in the positioning accuracy of the holding unit even when the response of the turning device is high when performing the dead zone processing. .

Drawing 1 is a schematic structure figure of a revolving type propulsion machine concerning an embodiment. FIG. 2 is a diagram illustrating a turning direction and a turning angle. FIG. 3 is a flowchart of the control program in the first embodiment. FIG. 4 is a diagram illustrating an example of an input command angle. FIG. 5 is a diagram illustrating the operation of the holding unit of the comparative example. FIG. 6 is a diagram illustrating the operation of the holding unit according to the first embodiment. FIG. 7 is a flowchart of the control program in the second embodiment. FIG. 8 is a diagram illustrating the operation of the holding unit according to the second embodiment. FIG. 9 is a flowchart of the control program in the third embodiment. FIG. 10 is a diagram illustrating the operation of the holding unit according to the third embodiment. FIG. 11 is a flowchart of a control program in the fourth embodiment. FIG. 12 is a diagram illustrating the operation of the holding unit according to the fourth embodiment.

(First embodiment)
<Schematic configuration of swivel type propulsion unit>
First, a schematic configuration of the turning type propulsion device 100 according to the first embodiment will be described. FIG. 1 is a schematic configuration diagram of a swivel propulsion device 100 according to the present embodiment. The turning type propulsion device 100 is a marine vessel propulsion device, and includes a screw propeller 10, a holding unit 20, a turning device 30, a turning angle measuring device 40, and a control device 50 as shown in FIG. Yes. Hereinafter, these components will be described in order.

  The screw propeller 10 is a portion that is rotated by power transmitted from an engine (not shown). The screw propeller 10 has a plurality of rotor blades 11, and thrust is generated when these rotor blades 11 rotate in water. The screw propeller 10 may be a “variable pitch propeller” in which the angle of the rotor blade 11 changes, or may be a “fixed pitch propeller” in which the angle of the rotor blade 11 is constant.

  The holding unit 20 is a device that holds the screw propeller 10. The holding unit 20 of this embodiment holds the screw propeller 10 so that the rotation axis of the screw propeller 10 is horizontal. The holding unit 20 itself also turns in the horizontal direction. That is, the holding part 20 turns around the turning axis extending in the vertical direction. In the following, as shown in FIG. 2, a direction when the holding unit 20 turns clockwise in a plan view is referred to as a “forward rotation direction”, and a direction when turning counterclockwise is a “reverse rotation direction”. I will call it. The holding unit 20 can turn 360 degrees or more in either the forward direction or the reverse direction. In addition, the turning angle increases in the clockwise direction in plan view.

  The turning device 30 is a device that turns the holding unit 20. The swivel device 30 of the present embodiment is an electric type, and is connected to a holding part side gear 31 provided on the upper part of the holding part 20, a motor side gear 32 that meshes with the holding part side gear 31, and the motor side gear 32. And a power converter 34 that adjusts the rotational speed and direction of the drive motor 33. The turning device 30 may be hydraulic.

  The turning angle measuring device 40 is a device that measures the actual turning angle of the holding unit 20. In the present embodiment, the turning angle measuring device 40 measures the actual turning angle of the holding unit 20 using an angle sensor provided in the holding unit side gear 31. However, the turning angle measuring device 40 may be configured to calculate (measure) the actual turning angle from the rotational speed of the drive motor 33 or the like.

  The control device 50 is a device that controls the turning angle and the like of the holding unit 20. The control device 50 includes a processor, a volatile memory, a nonvolatile memory, an I / O interface, and the like. The control program and various data described later are stored in the nonvolatile memory of the control device 50, and the processor performs arithmetic processing using the volatile memory based on the control program.

  The control device 50 is electrically connected to an operator operation device 101 provided on the hull, receives a command signal transmitted from the operator operation device 101, and acquires a command angle. That is, the command angle is input to the control device 50. Further, the control device 50 is electrically connected to the turning angle measuring device 40, and can acquire the actual turning angle of the holding unit 20 based on the measurement signal transmitted from the turning angle measuring device 40. Furthermore, the control device 50 is electrically connected to the power conversion device 34 of the turning device 30, and can transmit a control signal to the power conversion device 34. Thereby, the control apparatus 50 can adjust the rotation direction and rotation speed of the drive motor 33, and can adjust the turning direction and turning speed of the holding | maintenance part 20 by extension.

<Control program>
Then, the control program which controls the turning angle of the holding | maintenance part 20 is demonstrated. FIG. 3 is a flowchart of the control program. The control program shown in FIG. 3 is executed by the control device 50.

  As shown in FIG. 3, when the control program is started, the control device 50 acquires the command angle from the operator operation device 101 and also acquires the actual turning angle of the holding unit 20 from the turning angle measuring device 40 (step S1). ).

  Subsequently, the control device 50 sets a change command angle based on the command angle acquired in step S1 (step S2). Specifically, the control device 50 sets the change command angle to a value larger than the command angle when the holding unit 20 turns in the forward rotation direction, and changes the change command angle when the holding unit 20 turns in the reverse rotation direction. Is set to an angle smaller than the command angle. In addition, although the turning direction of the holding | maintenance part 20 is selected by below-mentioned step S5, what is necessary is just to set a change command angle to the same angle as a command angle in the initial stage in which the turning direction is not selected. Moreover, when the holding | maintenance part 20 is located in the command angle or its vicinity (when the post-process deviation angle mentioned later is zero), the control apparatus 50 sets a change command angle to the same angle as a command angle.

  As an example, as illustrated in FIG. 4, when the actual turning angle of the holding unit 20 is 0 degree, the control device 50 acquires 160 degrees as a command angle. In this case, when the holding unit 20 turns in the normal rotation direction, the control device 50 sets the change command angle to an angle larger than the command angle, for example, 160.5 degrees. When the holding unit 20 turns in the reverse direction, the change command angle is set to an angle smaller than the command angle, for example, 159.5 degrees. Further, when the holding unit 20 is located at or near the command angle, the change command angle is set to 160 degrees, which is the same as the command angle.

  Subsequently, the control device 50 calculates a deviation angle (step S3). Specifically, the control device 50 calculates the deviation angle by subtracting the change command angle set in step S2 from the actual turning angle acquired in step S1. For example, when the change command angle set in step S2 is 160.5 degrees, the deviation angle when the holding unit 20 turns in the forward rotation direction and the actual turning angle reaches 150 degrees is -10.5 degrees. Become. When the change command angle set in step S2 is 159.5 degrees, the deviation angle when the holding unit 20 turns in the reverse direction and the actual turning angle reaches 170 degrees is +10.5 degrees.

  Subsequently, the control device 50 performs a dead zone process (step S4). Specifically, when the deviation angle calculated in step S3 is not within the predetermined dead zone range, the control device 50 determines the post-processing deviation angle as the same as the deviation angle, and the deviation angle is within the predetermined dead zone range. In some cases, the post-processing deviation angle is determined to be zero. The dead band range has a lower limit value of zero or less and an upper limit value of zero or more (the upper limit value and the lower limit value are included in the dead band range). Moreover, the dead zone range has a predetermined width (that is, the lower limit value and the upper limit value are not the same value).

  In the present embodiment, the lower limit value of the dead zone range is -0.5 degrees, and the upper limit value is +0.5 degrees. In this case, if the deviation angle is -10.5 degrees, the deviation angle is not in the dead zone range, and thus the control device 50 determines the post-processing deviation angle to -10.5 degrees. Similarly, if the deviation angle is +10.5 degrees, the deviation angle is not in the dead zone range, so the control device 50 determines the post-processing deviation angle to be +10.5 degrees.

  On the other hand, when the change command angle is 160.5 degrees, the deviation angle becomes −0.5 degrees when the holding unit 20 turns in the forward rotation direction and the actual turning angle reaches 160 degrees. At this time, the deviation angle corresponds to the lower limit value of the dead zone range, and thus is included in the dead zone range. Therefore, the control device 50 determines the post-processing deviation angle as 0 degree. Similarly, when the change command angle is 159.5 degrees, when the holding unit 20 turns in the reverse direction and the actual turning angle reaches 160 degrees, the deviation angle becomes +0.5 degrees. Determines the post-processing deviation angle to 0 degrees.

  Subsequently, the control device 50 turns the holding unit 20 as necessary based on the post-processing deviation angle determined in step S4 (step S5). Specifically, when the post-processing deviation angle is 0 degree, the control device 50 transmits a control signal to the turning device 30 to stop the turning of the holding unit 20, and when the post-processing deviation angle is not zero degree A control signal is transmitted to the turning device 30 to turn the holding unit 20.

  When the holding unit 20 is turned, the turning direction of the holding unit 20 is selected, the turning speed of the holding unit is determined, and a control signal is transmitted to the turning device 30. In this embodiment, a direction with a small turning distance is selected as the turning direction. As shown in FIG. 4, when the holding unit 20 turns from 0 degree to a change command angle (initial value) of 160 degrees, the turning distance is longer when turning in the forward direction than when turning in the reverse direction. Few. Therefore, in this case, the control device 50 selects the normal rotation direction as the turning direction. Moreover, in this embodiment, the control apparatus 50 determines the turning speed of the holding | maintenance part 20 using PID control. However, you may determine the turning speed of the holding | maintenance part 20 using methods other than PID control. In PID control, the larger the absolute value of the post-processing deviation angle, the larger the turning speed is determined.

  After step S5, the process returns to step S1 and steps S1 to S5 are repeated. By executing the above control program, the holding unit 20 turns toward the change command angle. That is, in this embodiment, feedback control is performed based on the change command angle, not the command angle.

<Operation of holding unit>
Next, the operation of the holding unit 20 in the comparative example and the operation of the holding unit 20 in the present embodiment will be described. FIG. 5 is a diagram illustrating the operation of the holding unit 20 in the comparative example. The curve in the figure represents the time change of the actual turning angle of the holding unit 20. In FIG. 5, the horizontal axis indicates time, and the vertical axis indicates the turning angle. The shaded area in the figure corresponds to the dead zone range. In addition, the holding | maintenance part 20 shall turn in a normal rotation direction.

  In the turning type propulsion device according to the comparative example of FIG. 5, step S2 is omitted. That is, in the turning type propulsion device according to the comparative example, the deviation angle is calculated by subtracting the command angle from the actual turning angle instead of the changed actual turning angle in step S3, and the turning angle of the holding unit 20 is determined based on the deviation angle. Be controlled. That is, feedback control is performed based on the command angle. Except this point, the turning type propulsion device according to the comparative example has the same configuration as the turning type propulsion device 100 according to the present embodiment.

  In the comparative example, as shown in FIG. 5, when the control device 50 acquires the command angle at time T <b> 0, the holding unit 20 starts to turn toward the input command angle. In the example described above, when the control device 50 acquires 160 degrees as the command angle when the actual turning angle of the holding section 20 is 0 degrees, the holding section 20 starts to turn toward the command angle of 160 degrees. .

  Then, at time T1, the deviation angle reaches the lower limit value of the dead zone range. At this time, the control device 50 determines the post-processing deviation angle as 0 degrees, and stops the holding unit 20. Thereby, the holding | maintenance part 20 stops at the turning angle corresponded to the lower limit of a dead zone range. In the above-described example, if the lower limit value of the dead zone range is −0.5 degrees, the holding unit 20 stops when it turns to 159.5 degrees.

  When the responsiveness of the turning device 30 is high, the actual turning angle of the holding unit 20 does not increase, and the holding unit 20 does not reach the command angle. In the example described above, the holding unit 20 stops at 159.5 degrees and does not reach the command angle of 160 degrees.

  FIG. 6 is a diagram illustrating the operation of the holding unit 20 in the present embodiment. Similarly to FIG. 5, the curve in the figure represents the time change of the actual turning angle of the holding unit 20. In FIG. 6, the horizontal axis indicates time and the vertical axis indicates the turning angle. The shaded area in the figure corresponds to the dead zone range. In addition, the holding | maintenance part 20 shall turn in a normal rotation direction.

  In the present embodiment, as shown in FIG. 6, when the control device 50 acquires the command angle at time T0, the holding unit 20 starts to turn toward the change command angle instead of the input command angle. In the above-described example, when the control device 50 acquires 160 degrees as the command angle when the actual turning angle of the holding section 20 is 0 degrees, the holding section 20 moves toward the change command angle of 160.5 degrees. Start turning.

  Then, at time T2, the deviation angle reaches the lower limit value of the dead zone range. At this time, the control device 50 determines the post-processing deviation angle as 0 degree and stops the holding unit 20. Thereby, the holding | maintenance part 20 stops at the turning angle corresponded to the lower limit of a dead zone range. In the above-described example, if the lower limit value of the dead zone range is −0.5, the holding unit 20 stops when it turns to 160 degrees. That is, the holding unit 20 stops at the command angle of 160 degrees. Thus, according to the present embodiment, the holding unit 20 can be turned to the command angle regardless of whether or not the turning device 30 has high responsiveness.

  Thereafter, since the deviation angle is in the dead zone range (the post-processing deviation angle is zero), the change command angle is set to the same angle as the command signal. In the example described above, the change command angle that was 160.5 degrees is set to 160 degrees. Thereby, the turning angle range corresponding to the dead zone range also slides in the direction in which the turning angle is small. As a result, even if the actual turning angle of the holding unit 20 slightly deviates from the change command angle or an actual rotation angle measurement error occurs, the holding unit 20 does not turn easily. Therefore, energy loss due to unnecessary turning of the holding unit 20 can be suppressed.

  In the above, the operation of the holding unit 20 has been described by taking the case where the holding unit 20 turns in the forward direction as an example. However, when the holding unit 20 turns in the reverse direction, the holding unit 20 moves in the normal direction. Contrary to the case where the vehicle turns, the control device 50 sets the change command angle to be larger than the command angle. Thereby, similarly to the case where the holding unit 20 turns in the forward direction, the holding unit 20 can be stopped at or near the command angle even when the holding unit 20 turns in the reverse direction.

  As described above, in the turning type propulsion device 100 according to the present embodiment, the holding unit 20 can turn to the command angle even when the response of the turning device 30 is high when performing the dead zone processing. A decrease in the positioning accuracy of 20 can be suppressed.

  In this embodiment, in step S3, the deviation angle is calculated by subtracting the change command angle from the actual turning angle, and subsequent processing is performed using this deviation angle. However, instead of the angle obtained by subtracting the change command angle from the actual turning angle, the angle obtained by subtracting the actual turning angle from the change command angle may be set as the deviation angle, and the subsequent processing may be performed. Even in this case, the same effect as that of the present embodiment can be obtained.

(Second Embodiment)
<Control program>
Next, the turning type propulsion device 200 according to the second embodiment will be described. The turning type propulsion device 200 according to the present embodiment has the same basic configuration as the turning type propulsion device 100 according to the first embodiment (see FIG. 1). However, the control program of this embodiment is partly different from the control program of the first embodiment. Below, the control program of 2nd Embodiment is demonstrated, comparing with the control program of 1st Embodiment.

  FIG. 7 is a flowchart of the control program in the second embodiment. As shown in FIG. 7, the control program of this embodiment does not have step S2 (see FIG. 3) for setting the change command angle, but has step S3a for setting the dead zone range. It differs from the control program of one embodiment.

  In the present embodiment, when the control program is started, as in the case of the first embodiment, the control device 50 acquires the command angle from the operator operation device 101 and the actual rotation of the holding unit 20 from the turning angle measurement device 40. A turning angle is acquired (step S1).

  Subsequently, the control device 50 calculates a deviation angle (step S3). Specifically, the control device 50 calculates the deviation angle by subtracting the command angle obtained in the same step S1 from the actual turning angle obtained in the step S1. For example, when the command angle is 160 degrees, the deviation angle when the holding unit 20 turns in the normal rotation direction and the actual turning angle reaches 150 degrees is −10 degrees. Further, for example, when the command angle is 160 degrees, the deviation angle when the holding section 20 turns in the reverse direction and the actual turning angle reaches 170 degrees is +10 degrees.

  Subsequently, the control device 50 sets a dead zone range (step S3a). Specifically, when the holding unit 20 is at or near the command angle (that is, when the post-processing deviation angle is zero), the control device 50 sets the lower limit value of the dead zone range to a predetermined reference lower limit value. At the same time, the upper limit value is set to a predetermined reference upper limit value. In the present embodiment, the reference lower limit value is −0.5 degrees and the reference upper limit value is +0.5 degrees. In this case, the lower limit value of the dead zone range is set to −0.5, and the upper limit value is set to +0.5 degrees.

  On the other hand, when the holding unit 20 turns in the forward rotation direction, the control device 50 sets the lower limit value of the dead zone range to a value larger than the reference lower limit value. In the present embodiment, the lower limit value of the dead zone range is set to 0 degrees. In addition, when the holding | maintenance part 20 turns to a normal rotation direction, it is not necessary to set the upper limit of a dead zone range in particular, However, You may set to +0.5 degree | times same as a reference | standard upper limit. Further, the upper limit value of the dead band range may be set larger than the reference upper limit value to offset the entire dead band range.

  Further, when the holding unit 20 turns in the reverse rotation direction, the control device 50 sets the upper limit value of the dead zone range to a value smaller than the reference upper limit value. In the present embodiment, the upper limit value of the dead zone range is set to 0 degrees. In addition, when the holding | maintenance part 20 turns to a reverse rotation direction, it is not necessary to set especially the lower limit of a dead zone range, However, You may set to the same -0.5 degree | times as a reference | standard minimum value. Moreover, the lower limit value of the dead zone range may be made smaller than the reference lower limit value to offset the entire dead zone range.

  It is not clear whether the holding unit 20 is at or near the command angle (that is, whether the post-processing deviation angle is zero), and in the initial stage where the turning direction of the holding unit 20 is not clear The lower limit value of the dead zone range may be set to the reference lower limit value and the upper limit value may be set to the reference upper limit value.

  Subsequently, the control device 50 performs a dead zone process (step S4). The dead zone processing in the present embodiment is the same as the dead zone processing in the first embodiment. However, it differs from the first embodiment in that the dead zone range is not constant as described above. In the case of the present embodiment, for example, even if the deviation angle is −0.3 degrees larger than the reference lower limit value, when the holding unit 20 turns in the forward rotation direction, the dead zone range is not entered.

  Subsequently, the control device 50 turns the holding unit 20 as necessary based on the post-processing deviation angle determined in step S4 (step S5). Specifically, as in the case of the first embodiment, when the post-processing deviation angle is 0 degree, the control device 50 transmits a control signal to the turning device 30 to stop turning of the holding unit 20 and performs processing. When the rear deviation angle is not 0 degree, a control signal is transmitted to the turning device 30 to turn the holding unit 20. After step S5, the process returns to step S1 and steps S1 to S5 are repeated.

<Operation of holding unit>
Next, operation | movement of the holding | maintenance part 20 in this embodiment is demonstrated. FIG. 8 is a diagram illustrating the operation of the holding unit 20 in the present embodiment. The curve in the figure represents the time change of the actual turning angle of the holding unit 20. In FIG. 8, the horizontal axis indicates time, and the vertical axis indicates the turning angle. The shaded area in the figure corresponds to the dead zone range. In addition, the holding | maintenance part 20 shall turn in a normal rotation direction.

  In the present embodiment, as shown in FIG. 8, when the control device 50 acquires the command angle at time T0, the holding unit 20 starts to turn toward the input command angle. In the example described above, when the control device 50 acquires 160 degrees as the command angle when the actual turning angle of the holding section 20 is 0 degrees, the holding section 20 starts to turn toward the command angle of 160 degrees. . At this time, the lower limit value of the dead zone range is set to 0 degree which is larger than the reference lower limit value -0.5 degrees.

  When the deviation angle reaches 0 degree, which is the lower limit value of the dead zone range, at time T3, the control device 50 determines the post-processing deviation angle to be 0 degree and stops the holding unit 20. In the present embodiment, since the lower limit value of the dead zone range is 0 degree, the holding unit 20 stops at the time of turning to the command angle. In the example described above, the holding unit 20 stops when it has turned to 160 degrees. Thus, according to the present embodiment, the holding unit 20 can be turned to the command angle regardless of whether or not the turning device 30 has high responsiveness.

  Thereafter, since the deviation angle is in the dead zone range (the post-processing deviation angle is zero), the lower limit value of the dead zone range is set as the reference lower limit value, and the upper limit value of the dead zone range is set as the reference upper limit value. In the present embodiment, the lower limit value of the dead zone range is set to -0.5 degrees, and the upper limit value of the dead zone range is set to +0.5 degrees. As a result, even if the actual turning angle of the holding unit 20 slightly deviates from the change command angle or a measurement error of the actual rotation angle occurs, the holding unit 20 does not turn easily. Therefore, energy loss due to unnecessary turning of the holding unit 20 can be suppressed.

  In the above, the operation of the holding unit 20 has been described by taking the case where the holding unit 20 turns in the forward direction as an example. However, when the holding unit 20 turns in the reverse direction, the holding unit 20 moves in the normal direction. Unlike the case where the vehicle makes a turn, the control device 50 sets the upper limit value of the dead zone range to a value (0 degree) smaller than the reference upper limit value. Thereby, the holding | maintenance part 20 can be stopped at a command angle or its vicinity.

  As described above, in the turning type propulsion device 200 according to the present embodiment, the holding unit 20 can turn to the command angle even when the response of the turning device 30 is high when performing the dead zone processing. A decrease in the positioning accuracy of 20 can be suppressed.

  In this embodiment, in step S3, the deviation angle is calculated by subtracting the command angle from the actual turning angle, and the subsequent processing is performed using this deviation angle. However, instead of the angle obtained by subtracting the change command angle from the actual turning angle, the angle obtained by subtracting the actual turning angle from the change command angle may be set as the deviation angle, and the subsequent processing may be performed. In this case, the setting of the dead zone range is different from that in the present embodiment. Specifically, when the holding unit 20 is at or near the command angle in step S3a, the control device 50 sets the lower limit value of the dead zone range to a predetermined reference lower limit value and sets the upper limit value to a predetermined reference upper limit value. However, when the holding unit 20 turns in the forward rotation direction, the upper limit value of the dead zone range is set to a value smaller than the reference upper limit value, and the holding unit 20 turns in the reverse rotation direction. Sets the lower limit value of the dead zone range to a value larger than the reference lower limit value.

(Third embodiment)
<Control program>
Next, the turning type propulsion device 300 according to the third embodiment will be described. The turning type propulsion device 300 according to the present embodiment has the same basic configuration as the turning type propulsion device 100 according to the first embodiment (see FIG. 1). However, the control program of this embodiment is partly different from the control program of the first embodiment. Below, the control program of 3rd Embodiment is demonstrated, comparing with the control program of 1st Embodiment.

  FIG. 9 is a flowchart of the control program in the third embodiment. As shown in FIG. 9, the control program of this embodiment does not have step S2 (see FIG. 3) for setting the change command angle, but has step S1a for determining the change turning angle. Different from the control program of the first embodiment.

  In the present embodiment, when the control program is started, as in the case of the first embodiment, the control device 50 acquires the command angle from the operator operation device 101 and the actual rotation of the holding unit 20 from the turning angle measurement device 40. A turning angle is acquired (step S1).

  Subsequently, the control device 50 determines the changed actual turning angle (step S1a). Specifically, when the post-processing deviation angle is zero, that is, when the holding unit 20 is at or near the command angle, the control device 50 determines the changed actual turning angle to be the same as the actual turning angle. For example, when the actual turning angle is 150 degrees, the changed actual turning angle is determined to be 150 degrees as it is.

  On the other hand, when the holding unit 20 turns in the normal rotation direction, the control device 50 determines the changed actual turning angle to be smaller than the actual turning angle. In the present embodiment, for example, the changed actual turning angle is determined to be an angle that is 0.5 degrees smaller than the actual turning angle. That is, when the actual turning angle is 150 degrees, the changed actual turning angle is determined to be 149.5 degrees.

  In addition, when the holding unit 20 turns in the reverse direction, the control device 50 determines the changed actual turning angle to be larger than the actual turning angle. In the present embodiment, for example, the changed actual turning angle is determined to be 0.5 degrees larger than the actual turning angle. That is, when the actual turning angle is 150 degrees, the changed actual turning angle is determined to be 150.5 degrees.

  It is not clear whether the holding unit 20 is at or near the command angle (that is, whether the post-processing deviation angle is zero), and in the initial stage where the turning direction of the holding unit 20 is not clear The change command angle may be set to the same angle as the command angle.

  Subsequently, the control device 50 calculates a deviation angle (step S3). Specifically, the control device 50 calculates the deviation angle by subtracting the command angle acquired in step S1 from the changed actual turning angle determined in step S1a. For example, when the command angle is 160 degrees, when the holding unit 20 turns in the forward rotation direction and the actual turning angle reaches 150 degrees, the changed actual turning angle is 149.5 degrees, so the deviation angle is −10. .5 degrees. Also, for example, when the command angle is 160 degrees, when the holding unit 20 turns in the reverse direction and the actual turning angle reaches 170 degrees, the changed actual turning angle is 150.5 degrees, so the deviation angle is +10. .5 degrees.

  Subsequently, the control device 50 performs a dead zone process (step S4). The dead zone processing in the present embodiment is the same as the dead zone processing in the first embodiment. Specifically, when the deviation angle calculated in step S3 is not within the predetermined dead zone range, the control device 50 determines the post-processing deviation angle as the same as the deviation angle, and the deviation angle is within the predetermined dead zone range. In some cases, the post-processing deviation angle is determined to be zero.

  In the present embodiment, the lower limit value of the dead zone range is -0.5 degrees, and the upper limit value is +0.5 degrees. In this case, if the deviation angle is -10.5 degrees, the deviation angle is not in the dead zone range, and thus the control device 50 determines the post-processing deviation angle to -10.5 degrees. Similarly, if the deviation angle is +10.5 degrees, the deviation angle is not in the dead zone range, so the control device 50 determines the post-processing deviation angle to be +10.5 degrees.

  On the other hand, when the command angle is 160 degrees and the holding unit 20 turns in the forward rotation direction and the actual turning angle reaches 160 degrees, the changed actual turning angle is 159.5 degrees, so the deviation angle is -0.5 degrees. At this time, the deviation angle corresponds to the lower limit value of the dead zone range, and thus is included in the dead zone range. Therefore, the control device 50 determines the post-processing deviation angle as 0 degree. Similarly, when the command angle is 160 degrees, when the holding unit 20 turns in the reverse direction and the actual turning angle reaches 160 degrees, the changed actual turning angle is 149.5 degrees, so the deviation angle is +0. Therefore, the control device 50 determines the post-processing deviation angle as 0 degree.

  Subsequently, the control device 50 turns the holding unit 20 as necessary based on the post-processing deviation angle determined in step S4 (step S5). Specifically, as in the case of the first embodiment, when the post-processing deviation angle is 0 degree, the control device 50 transmits a control signal to the turning device 30 to stop turning of the holding unit 20 and performs processing. When the rear deviation angle is not 0 degree, a control signal is transmitted to the turning device 30 to turn the holding unit 20. After step S5, the process returns to step S1 and steps S1 to S5 are repeated.

<Operation of holding unit>
Next, operation | movement of the holding | maintenance part 20 in this embodiment is demonstrated. FIG. 10 is a diagram illustrating the operation of the holding unit 20 in the present embodiment. The curve drawn with a solid line in the figure represents the time change of the actual turning angle of the holding unit 20, and the curve drawn with a broken line represents the time change of the changed actual turning angle. In FIG. 10, the horizontal axis indicates time, and the vertical axis indicates the turning angle. The shaded area in the figure corresponds to the dead zone range. In addition, the holding | maintenance part 20 shall turn in a normal rotation direction.

  In the present embodiment, as shown in FIG. 10, when the control device 50 acquires the command angle at time T0, the changed actual turning angle starts to turn toward the input command angle. However, the changed actual turning angle is determined to be smaller than the actual turning angle. In the example described above, if the control device 50 acquires 160 degrees as the command angle when the actual turning angle of the holding unit 20 is 0 degrees, the changed actual turning angle is 160 degrees from -0.5 degrees. Begins to increase towards degrees.

  When the deviation angle reaches −0.5 degrees, which is the lower limit value of the dead zone range, at time T4, the control device 50 determines the post-processing deviation angle to be 0 degrees and stops the holding unit 20. However, in this embodiment, since the deviation angle is calculated by subtracting the command angle from the changed actual turning angle (not the actual turning angle), the actual turning angle when the deviation angle reaches the lower limit value of the dead zone range. Is almost the same as the command angle. In the example described above, when the changed actual turning angle reaches 159.5 degrees corresponding to the lower limit value of the dead zone range, the actual turning angle is 160 degrees which is the same as the command angle. Thus, according to the present embodiment, the holding unit 20 can be turned to the command angle regardless of whether or not the turning device 30 has high responsiveness.

  Thereafter, since the deviation angle is in the dead zone range (the deviation angle after processing is zero), the changed actual turning angle is determined to be the same angle as the actual turning angle. That is, the changed actual turning angle slides to the command angle. As a result, even if the actual turning angle of the holding unit 20 slightly deviates from the change command angle or a measurement error of the actual rotation angle occurs, the holding unit 20 does not turn easily. Therefore, energy loss due to unnecessary turning of the holding unit 20 can be suppressed.

  In the above, the operation of the holding unit 20 has been described by taking the case where the holding unit 20 turns in the forward direction as an example. However, when the holding unit 20 turns in the reverse direction, the holding unit 20 moves in the forward direction. Contrary to the case of turning, the control device 50 outputs a value larger than the actual turning angle as the changed actual turning angle. Thereby, the holding | maintenance part 20 can be stopped at a command angle or its vicinity.

  As described above, in the turning type propulsion device 300 according to the present embodiment, the holding unit 20 can turn to the command angle even when the responsiveness of the turning device 30 is high when performing the dead zone processing. A decrease in the positioning accuracy of 20 can be suppressed.

  In this embodiment, in step S3, the deviation angle is calculated by subtracting the command angle from the changed actual turning angle, and the subsequent processing is performed using this deviation angle. However, instead of the angle obtained by subtracting the change command angle from the actual turning angle, the angle obtained by subtracting the actual turning angle from the change command angle may be set as the deviation angle, and the subsequent processing may be performed. Even in this case, the same effect as that of the present embodiment can be obtained.

(Fourth embodiment)
<Control program>
Next, the turning type propulsion device 400 according to the fourth embodiment will be described. The turning type propulsion device 400 according to the present embodiment has the same basic configuration as the turning type propulsion device 100 according to the first embodiment (see FIG. 1). However, the control program of this embodiment is partly different from the control program of the first embodiment. Below, the control program of 4th Embodiment is demonstrated, comparing with the control program of 1st Embodiment.

  FIG. 11 is a flowchart of a control program in the fourth embodiment. As shown in FIG. 11, the control program of the present embodiment does not have step S2 (see FIG. 3) for setting the change command angle, but has step S3b for determining whether or not to perform dead zone processing. In that it differs from the control program of the first embodiment.

  In the present embodiment, when the control program is started, as in the case of the first embodiment, the control device 50 acquires the command angle from the operator operation device 101 and the actual rotation of the holding unit 20 from the turning angle measurement device 40. A turning angle is acquired (step S1).

  Subsequently, the control device 50 calculates a deviation angle (step S3). Specifically, the control device 50 calculates the deviation angle by subtracting the command angle obtained in the same step S1 from the actual turning angle obtained in the step S1. For example, when the command angle is 160 degrees, the deviation angle when the holding unit 20 turns in the normal rotation direction and the actual turning angle reaches 150 degrees is −10 degrees. Further, for example, when the command angle is 160 degrees, the deviation angle when the holding section 20 turns in the reverse direction and the actual turning angle reaches 170 degrees is +10 degrees.

  Subsequently, the control device 50 determines whether or not the deviation angle has reached 0 degrees after the command angle is set (step S3b). That is, it is determined whether the actual turning angle of the holding unit 20 has reached the command angle or after the actual turning angle of the holding unit 20 has reached the command angle.

  When it is determined in step S3b that the deviation angle has reached 0 degrees (YES in step S3b), control device 50 performs dead zone processing (step S4). The dead zone processing in the present embodiment is the same as the dead zone processing in the first embodiment. Specifically, when the deviation angle calculated in step S3 is not within the predetermined dead zone range, the control device 50 determines the post-processing deviation angle as the same as the deviation angle, and the deviation angle is within the predetermined dead zone range. In some cases, the post-processing deviation angle is determined to be zero. Thereafter, the holding unit 20 is turned as necessary based on the post-processing deviation angle determined in step S4 (step S5). Specifically, as in the case of the first embodiment, when the post-processing deviation angle is 0 degree, the control device 50 transmits a control signal to the turning device 30 to stop turning of the holding unit 20 and performs processing. When the rear deviation angle is not 0 degree, a control signal is transmitted to the turning device 30 to turn the holding unit 20.

  On the other hand, if it is determined in step S3b that the deviation angle has not reached 0 degrees (NO in step S3b), the control device 50 does not perform the dead zone process and holds the deviation angle based on the deviation angle calculated in step S3. The part 20 is turned (step S5). Specifically, when the deviation angle is 0 degree, the control device 50 transmits a control signal to the turning device 30 to stop the turning of the holding unit 20, and when the deviation angle is not 0 degree, the control device 50 A control signal is transmitted to rotate the holding unit 20 so that the deviation angle approaches 0 degrees. After step S5, the process returns to step S1 and steps S1 to S5 are repeated.

  As described above, in this embodiment, before the actual turning angle of the holding unit 20 reaches the command angle, the turning angle of the holding unit 20 is controlled without performing the dead zone process, and the actual turning angle of the holding unit 20 is set to the command angle. After reaching, dead zone processing is performed to control the turning angle of the holding unit 20.

<Operation of holding unit>
Next, operation | movement of the holding | maintenance part 20 in this embodiment is demonstrated. FIG. 12 is a diagram illustrating the operation of the holding unit 20 in the present embodiment. The curve drawn with a solid line in the figure represents the time change of the actual turning angle of the holding unit 20, and the curve drawn with a broken line represents the time change of the changed actual turning angle. In FIG. 12, the horizontal axis indicates time, and the vertical axis indicates the turning angle. The shaded area in the figure corresponds to the dead zone range. In addition, the holding | maintenance part 20 shall turn in a normal rotation direction.

  In the present embodiment, as shown in FIG. 12, when the control device 50 acquires the command angle at time T0, the holding unit 20 starts to turn toward the input command angle. Then, since the dead zone processing is not performed before the actual turning angle of the holding unit 20 reaches the command angle, the actual turning angle of the holding unit 20 approaches the command angle and reaches the command angle at time T5. Therefore, according to the present embodiment, it is possible to turn the holding unit 20 to the command angle regardless of whether the responsiveness of the turning device 30 is high.

  After time T5, since the actual turning angle of the holding unit 20 has reached the command angle, the dead zone process is performed. That is, when the deviation angle is in the dead zone range, the holding unit 20 remains stopped. Thereby, even if the actual turning angle of the holding unit 20 is slightly deviated from the command angle or an actual rotation angle measurement error occurs, the holding unit 20 does not turn easily. Therefore, energy loss due to unnecessary turning of the holding unit 20 can be suppressed.

  In the above description, the operation of the holding unit 20 has been described by taking the case where the holding unit 20 turns in the forward direction as an example, but the same processing is performed even when the holding unit 20 turns in the reverse direction. Further, in this embodiment, in step S3, the deviation angle is calculated by subtracting the change command angle from the actual turning angle, and the subsequent processing is performed using this deviation angle. However, instead of the angle obtained by subtracting the change command angle from the actual turning angle, the angle obtained by subtracting the actual turning angle from the change command angle may be set as the deviation angle, and the subsequent processing may be performed. Even in this case, the same effect as that of the present embodiment can be obtained.

  In the above-described embodiment, the case where the screw propeller 10 is rotated by the power transmitted from the engine (not shown) has been described, but the turning type propulsion device is not limited to such a configuration. For example, a swivel type propulsion unit may employ a so-called rim drive in which a screw propeller is directly attached to a rim located on the inner peripheral portion of a cylindrical duct, and the rim rotates with respect to the duct body by a permanent magnet motor. Good.

DESCRIPTION OF SYMBOLS 10 Screw propeller 20 Holding part 30 Turning apparatus 50 Control apparatus 100, 200, 300, 400 Turning type propulsion machine 101 Operator operation apparatus

Claims (10)

A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion;
A control device that controls the turning angle of the holding unit based on the input command angle,
The control device includes:
Set the change command angle based on the command angle,
When the deviation angle obtained by subtracting the other of the actual turning angle of the holding unit and the change command angle is not in the dead zone range where the lower limit value is equal to or less than zero and the upper limit value is equal to or greater than zero, the processed deviation angle is defined as the deviation angle. Determine the same angle, when the deviation angle is in the dead zone range, determine the post-processing deviation angle to zero,
When the post-processing deviation angle is not zero, the turning direction of the holding unit is selected so that the post-processing deviation angle becomes zero, the holding unit is turned, and when the post-processing deviation angle is zero, Stop the rotation of the holding part,
In setting the change command angle, when the post-processing deviation angle is zero, the change command angle is set to the same angle as the command angle, and the holding unit turns in the forward rotation direction in which the turning angle increases. Sometimes, the change command angle is set to an angle larger than the command angle, and when the holding portion turns in the reverse rotation direction in which the turning angle decreases, the change command angle is set to an angle smaller than the command angle. This is a swivel type propulsion machine. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion;
A control device that controls the turning angle of the holding unit based on the input command angle,
The control device includes:
Set the dead zone range with a lower limit of zero or less and an upper limit of zero or more,
When the deviation angle obtained by subtracting the command angle from the actual turning angle of the holding unit is not in the dead zone range, the post-processing deviation angle is determined to be the same as the deviation angle, and when the deviation angle is in the dead zone range Determining the post-processing deviation angle to zero;
When the post-processing deviation angle is not zero, the turning direction of the holding unit is selected so that the post-processing deviation angle becomes zero, the holding unit is turned, and when the post-processing deviation angle is zero, Stop the rotation of the holding part,
In setting the dead zone, when the post-processing deviation angle is zero, the lower limit of the dead zone is set to a predetermined reference lower limit, the upper limit is set to a predetermined reference upper limit, and the turning angle is increased. When the holding part turns in the forward rotation direction, the lower limit value of the dead zone is set to a value larger than the reference lower limit value, and the holding part turns in the reverse direction in which the turning angle decreases. Is a turning type propulsion unit configured to set the upper limit value of the dead zone range to a value smaller than the reference upper limit value. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion;
A control device that controls the turning angle of the holding unit based on the input command angle,
The control device includes:
Set the dead zone range with a lower limit of zero or less and an upper limit of zero or more,
When the deviation angle obtained by subtracting the actual turning angle of the holding portion from the command angle is not in the dead zone range, the post-processing deviation angle is determined to be the same angle as the deviation angle, and when the deviation angle is in the dead zone range Determining the post-processing deviation angle to zero;
When the post-processing deviation angle is not zero, the turning direction of the holding unit is selected so that the post-processing deviation angle becomes zero, the holding unit is turned, and when the post-processing deviation angle is zero, Stop the rotation of the holding part,
In setting the dead zone, when the post-processing deviation angle is zero, the lower limit of the dead zone is set to a predetermined reference lower limit, the upper limit is set to a predetermined reference upper limit, and the turning angle is increased. When the holding part turns in the forward rotation direction, the upper limit value of the dead zone is set to a value smaller than the reference upper limit value, and the holding part turns in the reverse rotation direction in which the turning angle becomes smaller Is configured to set the lower limit value of the dead zone range to a value larger than the reference lower limit value. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion;
A control device that controls the turning angle of the holding unit based on the input command angle,
The control device includes:
Determine the changed actual turning angle based on the actual turning angle of the holding unit,
When the deviation angle obtained by subtracting the other from one of the changed actual turning angle and the command angle is not in the dead band range where the lower limit value is zero or less and the upper limit value is zero or more, the post-processing deviation angle is set to the same angle as the deviation angle. And when the deviation angle is in the dead zone range, determine the post-treatment deviation angle to be zero,
When the post-processing deviation angle is not zero, the turning direction of the holding part is selected so that the post-processing deviation angle becomes zero, and the holding part is turned. When the post-processing deviation angle is zero, the holding part is held. Stop turning,
In determining the changed actual turning angle, when the post-processing deviation angle is zero, the changed actual turning angle is determined to be the same angle as the actual turning angle, and the holding unit is set in the forward rotation direction in which the turning angle increases. When turning, the changed actual turning angle is determined to be smaller than the actual turning angle, and when the holding portion turns in the reverse direction in which the turning angle becomes smaller, the changed actual turning angle is set to be smaller than the actual turning angle. A swivel propulsion unit that is configured to output at a large angle. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion;
A control device that controls the turning angle of the holding unit based on the input command angle,
The control device includes:
The holding portion is turned so that a deviation angle obtained by subtracting the other from one of the command angle and the actual turning angle of the holding portion becomes zero,
After the deviation angle reaches zero, a dead zone range is set in which the lower limit value is equal to or less than zero and the upper limit value is equal to or greater than zero, and when the deviation angle is not within the dead zone range, the post-processing deviation angle is set as the deviation angle. When the deviation angle is in the dead zone range, the post-processing deviation angle is determined to be zero, and when the post-processing deviation angle is not zero, the post-processing deviation angle is set to zero. A turning type propulsion device configured to turn the holding portion and stop turning of the holding portion when the post-processing deviation angle is zero. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion, and a control method of a turning type propulsion device comprising:
Set the change command angle based on the input command angle,
When the deviation angle obtained by subtracting the other of the actual turning angle of the holding unit and the change command angle is not in the dead zone range where the lower limit value is equal to or less than zero and the upper limit value is equal to or greater than zero, the processed deviation angle is defined as the deviation angle. Determine the same angle, when the deviation angle is in the dead zone range, determine the post-processing deviation angle to zero,
When the post-processing deviation angle is not zero, the turning direction of the holding unit is selected so that the post-processing deviation angle becomes zero, the holding unit is turned, and when the post-processing deviation angle is zero, Stop the rotation of the holding part,
In setting the change command angle, when the post-processing deviation angle is zero, the change command angle is set to the same angle as the command angle, and the holding unit turns in the forward rotation direction in which the turning angle increases. When the change command angle is set to an angle larger than the command angle, the change command angle is set to an angle smaller than the command angle when the holding unit turns in the reverse rotation direction in which the turning angle decreases. A control method for a swivel type propulsion device. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion, and a control method of a turning type propulsion device comprising:
Set the dead zone range with a lower limit of zero or less and an upper limit of zero or more,
When the deviation angle obtained by subtracting the command angle input from the actual turning angle of the holding unit is not in the dead zone range, the post-processing deviation angle is determined to be the same as the deviation angle, and the deviation angle is in the dead zone range. When the post-processing deviation angle is determined to be zero,
When the post-processing deviation angle is not zero, the turning direction of the holding unit is selected so that the post-processing deviation angle becomes zero, the holding unit is turned, and when the post-processing deviation angle is zero, Stop the rotation of the holding part,
In setting the dead zone, when the post-processing deviation angle is zero, the lower limit of the dead zone is set to a predetermined reference lower limit, the upper limit is set to a predetermined reference upper limit, and the turning angle is increased. When the holding part turns in the forward rotation direction, the lower limit value of the dead zone is set to a value larger than the reference lower limit value, and the holding part turns in the reverse direction in which the turning angle decreases. Is a control method for a turning type propulsion device, wherein the upper limit value of the dead zone range is set to a value smaller than the reference upper limit value. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion, and a control method of a turning type propulsion device comprising:
Set the dead zone range with a lower limit of zero or less and an upper limit of zero or more,
When the deviation angle obtained by subtracting the actual turning angle of the holding unit from the input command angle is not in the dead zone range, the post-processing deviation angle is determined to be the same angle as the deviation angle, and the deviation angle is in the dead zone range. When the post-processing deviation angle is determined to be zero,
When the post-processing deviation angle is not zero, the turning direction of the holding unit is selected so that the post-processing deviation angle becomes zero, the holding unit is turned, and when the post-processing deviation angle is zero, Stop the rotation of the holding part,
In setting the dead zone, when the post-processing deviation angle is zero, the lower limit of the dead zone is set to a predetermined reference lower limit, the upper limit is set to a predetermined reference upper limit, and the turning angle is increased. When the holding part turns in the forward rotation direction, the upper limit value of the dead zone is set to a value smaller than the reference upper limit value, and the holding part turns in the reverse rotation direction in which the turning angle becomes smaller Is a control method for a turning type propulsion device, wherein the lower limit value of the dead zone range is set to a value larger than the reference lower limit value. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion, and a control method of a turning type propulsion device comprising:
Determine the changed actual turning angle based on the actual turning angle of the holding unit,
When the deviation angle obtained by subtracting the other from one of the changed actual turning angle and the input command angle is not in the dead zone range where the lower limit value is zero or less and the upper limit value is zero or more, the post-processing deviation angle is the same as the deviation angle When the deviation angle is in the dead zone range, the post-processing deviation angle is determined to be zero,
When the post-processing deviation angle is not zero, the turning direction of the holding part is selected so that the post-processing deviation angle becomes zero, and the holding part is turned. When the post-processing deviation angle is zero, the holding part is held. Stop turning,
In determining the changed actual turning angle, when the post-processing deviation angle is zero, the changed actual turning angle is determined to be the same angle as the actual turning angle, and the holding unit is set in the forward rotation direction in which the turning angle increases. When turning, the changed actual turning angle is determined to be smaller than the actual turning angle, and when the holding portion turns in the reverse direction in which the turning angle becomes smaller, the changed actual turning angle is set to be smaller than the actual turning angle. A control method for a swivel propulsion unit that outputs at a large angle. A screw propeller,
A holding part for holding the screw propeller;
A turning device for turning the holding portion, and a control method of a turning type propulsion device comprising:
The holding portion is turned so that a deviation angle obtained by subtracting the other from one of the input command angle and the actual turning angle of the holding portion becomes zero,
After the deviation angle reaches zero, a dead zone range is set in which the lower limit value is equal to or less than zero and the upper limit value is equal to or greater than zero, and when the deviation angle is not within the dead zone range, the post-processing deviation angle is set as the deviation angle. When the deviation angle is in the dead zone range, the post-processing deviation angle is determined to be zero, and when the post-processing deviation angle is not zero, the post-processing deviation angle is set to zero. A control method for a turning type propulsion device, wherein the holding portion is turned and the turning of the holding portion is stopped when the post-processing deviation angle is zero.

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