JP6504647B2 - Turning control device, ship, turning control method and program - Google Patents

Description

  The present invention relates to a turning control device, a ship, a turning control method, and a program.

  In Patent Document 1, the turning performance is improved by increasing the number of revolutions of the propelling shaft on the outer circumference side of turning according to the turning angle command signal and increasing the number of revolutions of the propelling shaft on the inner circumference side of turning. Technology is disclosed. Specifically, the ship maneuvering control device described in Patent Document 1 adds the correction number of revolutions to the number of revolutions of the propulsion shaft on the outer peripheral side of the turn set by the control lever according to the turn angle command signal. The target rotation speed of the propulsion shaft on the outer peripheral side of turning is calculated. Moreover, the ship maneuvering control device described in Patent Document 1 reduces the corrected rotational speed from the rotational speed of the propulsion shaft on the inner peripheral side of the turn set by the control lever, thereby achieving the target of the propulsion shaft on the inner peripheral side of the turn. Calculate the number of revolutions. Then, the ship maneuvering control device described in Patent Document 1 detects the rotational speed of each propulsion shaft, and controls the rotational speed by feedback control so that the rotational speed of each propulsion shaft matches the target rotational speed.

Unexamined-Japanese-Patent No. 4-38292

The ship maneuvering control device described in Patent Document 1 controls the rotational speed of each propulsion shaft to match the target rotational speed by feedback control. Therefore, in a ship equipped with a propulsion system that performs control at a direct rotational speed, such as an electric propulsion system, the ship maneuvering control device described in Patent Document 1 can appropriately perform turning control. On the other hand, ships equipped with a propulsion system by a heat engine that performs control according to an output command such as a fuel injection amount, such as a diesel engine or a gas turbine engine, involve time delays in input and output. It is difficult to properly control the number of revolutions using a controller.
An object of the present invention is to provide a turning control device capable of improving turning performance even when using a heat engine having input / output time delays as a power source of a propulsion unit.

According to the first aspect, the same number of propulsors powered by heat engines are provided on the left and right sides sandwiching the forward and aft shafts of the hull, and turning control in a ship provided with a steering plate behind the propulsors The device sets the attack angle of the steering plate provided on the inner side of the turn to a stall attack angle or more based on the input unit that receives the input of the steering command and the steering command received by the input unit . Ru and a turning control unit for the angle of attack of the rudder blade to less than stall angle.

Further , according to the second aspect , the same number of propellers powered by a heat engine are provided on the left and right sides sandwiching the bow stern shaft of the hull, and a steering plate is provided behind the propellers, the hull The turning control device in a ship having auxiliary propulsors provided on the left and right sides sandwiching the forward stern axis of the hull on the stern axis of the stern of the ship, an input unit for receiving an input of a steering instruction, and the steering instruction Based on the above, the fuel injection amount of the heat engine or the elevation angle of the steering plate is set so that the lifting force produced on the steering plate provided on the inside of the turning becomes smaller than the lifting force produced on the steering plate provided on the turning outside. A turn control unit to control, and a speed control unit to reduce the output of the auxiliary propulsion unit when the input unit receives the steering command .

Further , according to a third aspect, in the turning control device according to the first or second aspect, the turning control unit controls a fuel injection amount of the heat engine for driving the propulsion unit provided inside the turning, The amount is smaller than the fuel injection amount of the heat engine for driving the propulsion unit provided outside the turning .

Further , according to a fourth aspect, in the turning control device according to the second aspect, the turning control unit is configured to provide the angle of attack of the steering plate provided inside the turning with the steering plate provided outside the turning. Make it smaller than the attack angle of

Further , according to a fifth aspect, in the turning control device according to the first aspect, the speed control unit is provided on the propelling device provided outside the turning and the turning inside when the steering command is received. The heat engine for reducing the fuel injection amount of the heat engine for driving the propeller, and the turning control unit for driving the propeller provided outside the turning after a predetermined time of reception of the steering command Increase the amount of fuel injection .

Further , according to the sixth aspect , the turn control device of a ship provided with auxiliary propulsors provided on the left and right sides sandwiching the forward stern axis of the ship on the stern axis of the stern or the ship receives an input of a steering command. A speed control unit that reduces the output of the auxiliary propulsion unit when the input unit receives the steering command .

Further , according to a seventh aspect , in the turning control device according to the sixth aspect, the ship is provided with the same number of propellers on both the left and right sides sandwiching the stern axis of the hull, and the input unit receives The vehicle further includes a turning control unit that increases a fuel injection amount of a heat engine that drives the propulsion unit based on a steering command, and the speed control unit is provided outside the turning when the steering command is received. A propulsion unit and a fuel injection amount of the heat engine for driving the propulsion unit provided on the inner side of the turn are decreased, and the turn control unit is provided on the outer side of the turn after a predetermined time for receiving the steering command. The fuel injection amount of the heat engine driving the engine is increased .

Further, according to the eighth aspect , the ship is provided corresponding to each of the propulsion units provided with the same number on the left and right sides sandwiching the fore and aft axes of the hull and the propulsion units, and the thermal units drive the propulsion units. An engine, a steering plate provided at the rear of each of the propellers, and the turning control device according to any one of the aspects described above .

Further , according to the ninth aspect , the same number of propulsors powered by heat engines are provided on the left and right sides sandwiching the bow stern axis of the hull, and turning in a ship provided with a steering plate behind the propulsors The control method comprises the steps of: receiving an input of a steering command; and setting the attack angle of the steering plate provided on the inner side of the turn to a stall attack angle or more on the basis of the received steering command; Controlling the angle of attack below the stall angle of attack .

Further , according to the tenth aspect , the same number of propellers provided with heat engines as power sources are provided on the left and right sides sandwiching the bow stern shaft of the hull, and a steering plate is provided behind the propellers. The turning control method in a ship provided with auxiliary props on both the left and right sides sandwiching the fore and aft axes of the hull on the bow and stern axis comprises the steps of receiving an input of a steering command and turning based on the received steering command. Controlling the fuel injection amount of the heat engine or the angle of attack of the steering plate such that the lifting force generated on the steering plate provided on the inner side is smaller than the lifting force generated on the steering plate provided on the outer side of the turn; Reducing the output of the auxiliary propulsor when the steering command is received .

Further , according to the eleventh aspect , the program is provided with the same number of propellers powered by the heat engine on both the left and right sides sandwiching the bow stern shaft of the hull, and the steering plate is provided behind the propellers. The computer for controlling the steering of a ship has an input unit for receiving an input of a steering command, and an angle of attack of the steering plate provided on the inner side of the turning on the basis of a steering command received by the input unit. It functions as a turning control unit that controls the angle of attack of the steering plate provided on the outside to less than the stall angle of attack.

Further , according to the twelfth aspect , in the program, the same number of propellers powered by a heat engine are provided on the left and right sides sandwiching the bow stern shaft of the hull, and a steering plate is provided behind the propellers. An input unit that receives an input of a steering command, a computer that controls a ship having auxiliary propulsors provided on the left and right sides sandwiching the forward stern axis of the hull or the bow of the stern axis of the hull; Based on the steering command, the fuel injection amount of the heat engine or the steering plate is set so that the lift generated on the steering plate provided on the inner side of the turn becomes smaller than the lift produced on the steering plate provided on the outer side of the turn. It functions as a turning control unit that controls an angle, and a speed control unit that reduces the output of the auxiliary propulsion unit when the input unit receives the steering command .

Further , according to a thirteenth aspect , the program instructs a computer for controlling the steering of a ship provided with auxiliary propulsors provided on the left and right sides sandwiching the forward stern axis of the stern or on the stern axis of the hull. The controller functions as an input unit that receives an input from the controller, and a speed control unit that reduces the output of the auxiliary propulsion unit when the input unit receives the steering command.

  According to at least one of the above aspects, the turning control device is configured such that a lift generated on the steering plate provided on the inner side of turning based on a steering command causes a lifting force generated on the steering plate provided on the outer side of turning The fuel injection amount of the heat engine driving the propulsion unit or the elevation angle of the steering plate is controlled to be smaller. As a result, the turning control device can improve the turning performance of a ship whose power source is a heat engine whose propulsion device has an input / output time delay.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the structure of the ship which concerns on 1st Embodiment. It is a schematic block diagram which shows the software configuration of the turning control apparatus which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the turning control apparatus which concerns on 1st Embodiment. It is a schematic block diagram which shows the software configuration of the turning control apparatus which concerns on 2nd Embodiment. It is a flowchart which shows operation | movement of the turning control apparatus which concerns on 2nd Embodiment. It is a flowchart which shows operation | movement of the turning control apparatus which concerns on 3rd Embodiment. It is a flowchart which shows operation | movement of the turning control apparatus which concerns on 4th Embodiment. It is the schematic which shows the structure of the ship which concerns on 4th Embodiment. It is a flowchart which shows operation | movement of the turning control apparatus which concerns on 5th Embodiment. It is the schematic which shows the structure of the ship which concerns on 5th Embodiment. It is a flowchart which shows operation | movement of the turning control apparatus which concerns on 6th Embodiment. It is a schematic block diagram showing composition of a computer concerning at least one embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings.
First Embodiment
FIG. 1 is a schematic view showing the configuration of a ship 100 according to the first embodiment.
The ship 100 according to the present embodiment includes a starboard propulsion unit 11, a starboard power unit 12, a starboard steering plate 13, a starboard steering actuator 14, a port thruster 21, a port steering unit 22, a port steering plate 23, a steering wheel actuator 24, and assistance A propulsion unit 31, an auxiliary power unit 32, and a turning control unit 40 are provided.

The starboard propeller 11 is a screw propeller provided on the starboard side of the hull.
The starboard power unit 12 is a power source for driving the starboard propeller 11. The starboard power unit 12 is realized by a heat engine such as a gas turbine or a diesel engine.
The starboard rudder plate 13 is provided at the rear of the hull of the starboard propeller 11. The starboard rudder plate 13 changes the traveling direction of the hull by changing the flow of the water flow output by the starboard propulsion device 11.
The starboard steering actuator 14 changes the angle of attack of the starboard steering plate 13 in accordance with a command from the turning control device 40.

The port thruster 21 is a screw propeller provided on the port side of the hull.
The port power unit 22 is a power source for driving the port pusher 21. The port power unit 22 is realized by a heat engine such as a gas turbine or a diesel engine.
The port rudder plate 23 is provided at the rear of the hull of the port propulsion device 21. The port rudder plate 23 changes the traveling direction of the hull by changing the flow of the water flow output by the port thruster 21.
The left steering actuator 24 changes the angle of attack of the left steering plate 23 in accordance with a command from the turning control device 40.

The auxiliary propulsion unit 31 is provided between the starboard propulsion unit 11 and the port propulsion unit 21 and at the rear of the hull from the starboard propulsion unit 11 and the port propulsion unit 21. The auxiliary propeller 31 is realized by a propeller such as a water jet or a screw propeller. The auxiliary propulsion unit 31 according to the present embodiment is provided in a pair on the starboard side and the port side of the hull. In addition, the auxiliary | assistant propeller 31 which concerns on other embodiment may be provided only one on the bow stern axis of a hull. In addition, two or more pairs of auxiliary propulsion devices 31 according to another embodiment may be provided on the starboard side and the port side of the hull.
The auxiliary power unit 32 is a power source for driving the auxiliary propeller 31. The auxiliary power unit 32 is realized by a heat engine such as a gas turbine or a diesel engine or a motor.

The turning control device 40 controls the starboard power unit 12, the starboard rudder actuator 14, the port motive power unit 22, and the port rudder actuator 24 based on the operation amount of the steering wheel (not shown).
FIG. 2 is a schematic block diagram showing a software configuration of the turning control device 40 according to the first embodiment.
The turning control device 40 includes an input unit 41, a turning control unit 42, an actuator control unit 43, and a power unit control unit 44. In addition, although this embodiment demonstrates the case where one turning control apparatus 40 is equipped with each process part, it is not restricted to this, In another embodiment, each process part may be provided in a separate apparatus.

The input unit 41 receives an input of a steering command and an operation amount of a steering wheel, which are output according to an angle of a steering wheel (not shown). The steering command is a command for instructing a steering angle.
The turning control unit 42 determines the fuel injection amount of the starboard power unit 12 and the portside power unit 22 based on the steering command input to the input unit 41 and the operation amount of the steering wheel. The turning control unit 42 according to the present embodiment makes the fuel injection amount of the power unit for driving the propulsion unit provided on the turning inner side smaller than the fuel injection amount of the power unit for driving the propulsion unit provided on the turning outside . That is, the turning control unit 42 controls the fuel injection amount of the power unit such that the lift generated on the steering plate provided on the inner side of the turn is smaller than the lift generated on the steering plate provided on the outer side of the turn.
The turning control unit 42 also determines the rotation angles of the starboard left steering actuator 14 and the left side steering actuator 24 based on the steering command input to the input unit 41.
The actuator control unit 43 drives the starboard rudder actuator 14 and the port rudder actuator 24 at the rotation angle determined by the turning control unit 42.
The power unit control unit 44 drives the starboard power unit 12 and the port power unit 22 with the fuel injection amount determined by the turning control unit 42.

Next, the operation of the turning control device 40 according to the present embodiment will be described.
FIG. 3 is a flowchart showing the operation of the turning control device 40 according to the first embodiment.
The input unit 41 detects a steering command output according to the angle of the steered wheels and an operation amount of the steering wheel (step S1). Next, the turning control unit 42 determines whether the steering angle indicated by the steering command is within a predetermined neutral range (for example, a range of ± 2 degrees) (step S2). When it is determined that the steering angle is not in the neutral range (step S2: NO), the turning control unit 42 specifies the turning direction based on the steering angle (step S3). Specifically, when the steering angle is greater than 0 degrees, the turning control unit 42 determines that the turning direction is the starboard direction. On the other hand, when the steering angle is smaller than 0 degree, the turning control unit 42 determines that the turning direction is the port direction.

  When it is determined that the turning direction is the starboard direction (step S3: starboard direction), the turning control unit 42 determines the fuel injection amount of the port power device 22 based on the operation amount of the steering handle (step S4). Next, the turning control unit 42 determines the fuel injection amount of the starboard power device 12 based on the fuel injection amount of the port power device 22 and the steering angle (step S5). The fuel injection amount of the starboard power unit 12 determined is the fuel injection amount of the port side power unit 22 with respect to the distance from the turning center specified from the steering angle to the port side power unit 22 from the center to the starboard power unit 12 It is a value calculated by multiplying the ratio of distances. The fuel injection amount of the starboard power unit 12 is smaller than the fuel injection amount of the port power unit 22. The turning control unit 42 may determine the fuel injection amount of the starboard power unit 12 with reference to a table indicating the relationship between the steering angle and the ratio of the fuel injection amount, or the fuel injection of the steering angle and the port side power unit 22. The fuel injection amount of the starboard power unit 12 may be determined directly from the amount.

  On the other hand, when it is determined that the turning direction is the port direction (step S3: port direction), the turning control unit 42 determines the fuel injection amount of the starboard power unit 12 based on the operation amount of the steering handle (step S6). . Next, the turning control unit 42 determines the fuel injection amount of the port power device 22 based on the fuel injection amount of the starboard power device 12 and the steering angle (step S7). The fuel injection amount of the port power unit 22 determined is the fuel injection amount of the starboard power unit 12 relative to the distance from the turning center specified from the steering angle to the starboard power unit 12 from the center to the port power unit 22 It is a value calculated by multiplying the ratio of distances.

  Further, when the steering angle is in the predetermined neutral range (step S2: YES), the turning control unit 42 determines the fuel injection amount of the starboard power unit 12 and the left side power unit 22 based on the operation amount of the steering wheel ( Step S8). That is, when the steering angle is in the predetermined neutral range, the turning control unit 42 determines the fuel injection amounts of the starboard power unit 12 and the port side power unit 22 as equal values.

  When the turning control unit 42 determines the fuel injection amount of the starboard power unit 12 and the port power unit 22 by the processing from step S5 to step S8, the power unit control unit 44 turns the starboard power unit 12 and the port power unit 22 The operation is performed based on the fuel injection amount determined by the control unit 42 (step S9). Further, the actuator control unit 43 operates the starboard steering actuator 14 and the port steering actuator 24 so that the angles of the starboard steering plate 13 and the port steering plate 23 become the steering angle indicated by the steering command (step S10).

Here, the reason why the fuel injection amount of the power unit for driving the propulsion unit provided inside the turning is smaller than the fuel injection amount of the power unit for driving the propulsion unit provided outside the turning will be described.
When the ship 100 turns, the path taken by the propeller inside the turn is shorter than the path taken by the propeller outside the turn. This is because the pusher on the outside of the turn is farther from the center of the turn than the pusher on the inside of the turn. According to the present embodiment, the turning control device 40 controls the fuel injection amount of the power unit such that the output of the propeller on the outside of the turning becomes larger than the output of the propeller on the inside of the turning. As a result, the turning control device 40 can make the outputs of the propellers have strength corresponding to the length of the path through which the propellers pass, so the turning efficiency of the ship 100 can be improved. Further, in the present embodiment, not the rotational speed of the propulsion unit but the fuel injection amount of the power unit for supplying the power of the propulsion unit is controlled. As a result, even when using a heat engine having a large time delay with respect to feedback as the power unit, the turning control can be appropriately performed.

  In addition, although the turning control apparatus 40 which concerns on this embodiment reduces the fuel injection quantity of the power unit which drives the propulsion device inside turning, when turning a hull, it is not restricted to this. For example, the turning control device 40 according to the other embodiment may increase the fuel injection amount of the power unit that drives the propulsion unit outside the turning when turning the hull.

Second Embodiment
The second embodiment will be described. In addition to the operation of the turning control device 40 according to the first embodiment, the turning control device 40 according to the present embodiment reduces the speed of the hull when starting turning of the hull. Thus, the turning control device 40 can reduce the turning radius.
FIG. 4 is a schematic block diagram showing a software configuration of the turning control device 40 according to the second embodiment.

The turning control device 40 according to the present embodiment further includes a speed control unit 45 in addition to the configuration of the turning control device 40 according to the first embodiment.
The speed control unit 45 determines the fuel injection amount of the auxiliary power unit 32 based on the steering command input to the input unit 41. Specifically, when the steering angle indicated by the steering command is out of the neutral range, the speed control unit 45 reduces the fuel injection amount of the auxiliary power unit 32 to reduce the speed of the hull.

Next, the operation of the turning control device 40 according to the present embodiment will be described.
FIG. 5 is a flowchart showing the operation of the turning control device 40 according to the second embodiment. Among the procedures of the second embodiment, the same procedures as the first embodiment will be described using the same reference numerals as the first embodiment.

  The input unit 41 detects a steering command output according to the angle of the steered wheels and an operation amount of the steering wheel (step S1). Next, the speed control unit 45 determines whether the steering angle indicated by the steering command is within a predetermined neutral range (step S21). When it is determined that the steering angle is not in the neutral range (step S21: NO), the speed control unit 45 determines that the fuel injection amount of the auxiliary power unit 32 is 0 (step S22). That is, when the steering angle is not in the predetermined neutral range, the turning control device 40 does not operate the auxiliary propulsion unit 31.

  Next, the turning control unit 42 specifies the turning direction based on the steering angle (step S3). When it is determined that the turning direction is the starboard direction (step S3: starboard direction), the turning control unit 42 determines the fuel injection amount of the port power device 22 based on the operation amount of the steering handle (step S4). Next, the turning control unit 42 determines the fuel injection amount of the starboard power device 12 based on the fuel injection amount of the port power device 22 and the steering angle (step S5). On the other hand, when it is determined that the turning direction is the port direction (step S3: port direction), the turning control unit 42 determines the fuel injection amount of the starboard power unit 12 based on the operation amount of the steering handle (step S6). . Next, the turning control unit 42 determines the fuel injection amount of the port power device 22 based on the fuel injection amount of the starboard power device 12 and the steering angle (step S7).

  On the other hand, when the steering angle is in the predetermined neutral range (step S21: YES), the speed control unit 45 determines the fuel injection amount of the auxiliary power unit 32 based on the operation amount of the steering wheel (step S23). That is, the turning control device 40 operates the auxiliary propulsion device 31 when the steering angle is in the predetermined neutral range. Further, the turning control unit 42 determines the fuel injection amount of the starboard power unit 12 and the port power unit 22 based on the operation amount of the steering handle (step S8).

  When the turning control unit 42 determines the fuel injection amount of the starboard power unit 12 and the port power unit 22 by the processing from step S5 to step S8, the power unit controller 44 controls the starboard power unit 12 and the port power unit 22 and the auxiliary power. The device 32 is operated based on the fuel injection amount determined by the turning control unit 42 and the speed control unit 45 (step S24). Further, the actuator control unit 43 operates the starboard steering actuator 14 and the port steering actuator 24 so that the angles of the starboard steering plate 13 and the port steering plate 23 become the steering angle indicated by the steering command (step S10).

  As described above, according to this embodiment, the turning control device 40 drives the auxiliary propulsion unit 31 when the steering angle is in the neutral range, and stops the auxiliary propulsion unit 31 when the steering angle is not in the neutral range. Thus, when the turning of the hull starts, the speed of the hull is reduced. Thus, the turning control device 40 can reduce the turning radius.

  Although the turning control device 40 according to the present embodiment sets the fuel injection amount of the auxiliary power unit 32 to 0 when the steering angle is not in the neutral range, the present invention is not limited thereto. For example, when the steering angle is not within the neutral range, the turning control device 40 according to the other embodiment determines the fuel injection amount determined from the operation amount of the steering wheel (the fuel injection amount when the steering angle is in the neutral range) A value obtained by multiplying the coefficient of 0 or more and less than 1) may be used as the fuel injection amount of the auxiliary power unit 32).

Third Embodiment
The third embodiment will be described. The turning control device 40 according to the present embodiment reduces the fuel injection amount of both the starboard power unit 12 and the port side power unit 22 in addition to the auxiliary power unit 32 when starting turning of the hull, thereby the speed of the hull. Is further reduced than in the second embodiment. Thus, the turning control device 40 can reduce the turning radius.

Next, the operation of the turning control device 40 according to the present embodiment will be described.
FIG. 6 is a flowchart showing the operation of the turning control device 40 according to the third embodiment. Note that among the procedures of the third embodiment, the procedures that are the same as the first embodiment will be described using the same reference numerals as the second embodiment.

  The input unit 41 detects a steering command output according to the angle of the steered wheels and an operation amount of the steering wheel (step S1). Next, the speed control unit 45 determines whether the steering angle indicated by the steering command is within a predetermined neutral range (step S21). When it is determined that the steering angle is not in the neutral range (step S21: NO), the speed control unit 45 determines that the fuel injection amount of the auxiliary power unit 32 is 0 (step S22).

  Next, the turning control unit 42 specifies the turning direction based on the steering angle (step S3). When it is determined that the turning direction is the starboard direction (step S3: starboard direction), the turning control unit 42 determines the fuel injection amount of the port power device 22 based on the operation amount of the steering handle (step S4). Next, the turning control unit 42 determines the fuel injection amount of the starboard power device 12 based on the fuel injection amount of the port power device 22 and the steering angle (step S5). On the other hand, when it is determined that the turning direction is the port direction (step S3: port direction), the turning control unit 42 determines the fuel injection amount of the starboard power unit 12 based on the operation amount of the steering handle (step S6). . Next, the turning control unit 42 determines the fuel injection amount of the port power device 22 based on the fuel injection amount of the starboard power device 12 and the steering angle (step S7).

When the turning control unit 42 determines the fuel injection amount by the processing from step S4 to step S7, the speed control unit 45 determines whether or not an elapsed time from the start of turning has passed a predetermined time (step S31). The elapsed time from the turning start is, for example, the elapsed time from the time when the steering angle goes out of the neutral range.
If the elapsed time from the start of turning has not reached a predetermined time (step S31: NO), the power unit control unit 44 determines the starboard power unit 12 and the port unit power unit 22 by using the starboard power unit 12 determined by the turning control unit 42. The operation is performed based on the lower fuel injection amount among the fuel injection amounts of the port power unit 22 (step S32). That is, when the turning direction is the starboard direction, the power unit control unit 44 controls the starboard power unit 12 and the port side power unit 22 with the fuel injection amount determined in step S5, and when the turning direction is the port direction The starboard power unit 12 and the port power unit 22 are controlled with the fuel injection amount determined in S7. Thereby, the turning control device 40 can reduce the speed of the boat 100 when starting turning. At this time, the auxiliary power unit 32 has stopped operating. Further, the actuator control unit 43 operates the starboard steering actuator 14 and the port steering actuator 24 so that the angles of the starboard steering plate 13 and the port steering plate 23 become the steering angle indicated by the steering command (step S10).

  On the other hand, when the elapsed time from the start of turning has passed for a fixed time (step S31: YES), the power unit control unit 44 controls the starboard power unit 12, the port power unit 22 and the auxiliary power unit 32 The controller 45 is operated based on the fuel injection amount determined (step S24). Further, the actuator control unit 43 operates the starboard steering actuator 14 and the port steering actuator 24 so that the angles of the starboard steering plate 13 and the port steering plate 23 become the steering angle indicated by the steering command (step S10).

  On the other hand, when the steering angle is in the predetermined neutral range (step S21: YES), the speed control unit 45 determines the fuel injection amount of the auxiliary power unit 32 based on the operation amount of the steering wheel (step S23). Further, the turning control unit 42 determines the fuel injection amount of the starboard power unit 12 and the port power unit 22 based on the operation amount of the steering handle (step S8). Then, the power unit control unit 44 operates the starboard power unit 12 and the port power unit 22 and the auxiliary power unit 32 based on the fuel injection amount determined by the turning control unit 42 and the speed control unit 45 (step S24). Further, the actuator control unit 43 operates the starboard steering actuator 14 and the port steering actuator 24 so that the angles of the starboard steering plate 13 and the port steering plate 23 become the steering angle indicated by the steering command (step S10).

  Thus, the turning control device 40 according to the present embodiment reduces the fuel injection amount of both the starboard power unit 12 and the port side power unit 22 when starting turning of the hull, and after a certain time, turns outside Increase the fuel injection amount of the power unit of the propeller. Thereby, the turning control device 40 can secure turning efficiency while making the turning radius smaller than that of the second embodiment.

  In the present embodiment, the turning control device 40 decreases the fuel injection amount of both the starboard power unit 12 and the port power unit 22 for a certain period of time, but the invention is not limited thereto. For example, in another embodiment, the speed control unit 45 monitors the speed of the hull and reduces the fuel injection amount of both the starboard power unit 12 and the port power unit 22 until the speed falls below a constant speed, and the speed is constant. When the speed becomes lower, the fuel injection amount of the power unit of the propeller on the outside of the turn may be increased.

Fourth Embodiment
The fourth embodiment will be described. The turning control device 40 according to the first embodiment changes the fuel injection amount of the starboard power unit 12 and the port power unit 22 at the time of turning, so that the lift generated at the steering plate provided inside the turning is turning Control is performed so as to be smaller than the lift force generated on the steering plate provided on the outside. On the other hand, in the turning control device 40 according to the present embodiment, the lift generated on the steering plate provided on the turning inner side is provided on the turning outer side by making the angles of the port steering plate 23 and the starboard steering plate 13 different. Control is made to be smaller than the lift generated on the steering plate.
The software configuration of the turning control device 40 according to the present embodiment is the same as that of the first embodiment.

Next, the operation of the turning control device 40 according to the present embodiment will be described.
FIG. 7 is a flowchart showing the operation of the turning control device 40 according to the fourth embodiment.
The input unit 41 detects a steering command output according to the angle of the steered wheels and an operation amount of the steering wheel (step S41). Next, the turning control unit 42 determines whether the steering angle indicated by the steering command is within a predetermined neutral range (step S42). If the steering angle is in the neutral range (step S42: YES), the actuator control unit 43 controls the right steering actuator 14 and the left steering so that the angles of the starboard steering plate 13 and the left steering plate 23 become the steering angle indicated by the steering command. The actuator 24 is operated (step S43).

  On the other hand, when the steering angle is not in the neutral range (step S42: NO), the turning control unit 42 corrects the steering angle target value of the starboard steering plate 13 to the steering angle indicated by the steering command detected by the input unit 41. A value obtained by adding the value α is determined (step S44). Further, the turning control unit 42 determines the target steering angle value of the left steering plate 23 as a value obtained by subtracting a predetermined correction value α from the steering angle indicated by the steering command detected by the input unit 41 (step S45). The correction value α is a positive number smaller than the difference between the maximum value of the steering angle and the stall angle of attack.

When the steering angle is a positive number, the turning direction is the starboard direction, and the angle of attack of the starboard steering plate 13 provided inside the turning (ie, the absolute value of the steering angle) is corrected by the corrections in steps S44 and S45. , The angle of attack of the left side rudder plate 23 becomes a larger value. On the other hand, when the steering angle is a negative number, the turning direction is the port direction, so the angle of attack of the left steering plate 23 provided on the inner side of the turning from the angle of attack of the right steering plate 13 by the corrections in steps S44 and S45. It will be a large value. That is, the turning control unit 42 controls the steering angle of the steering plate so that the lifting force generated on the steering plate provided inside the turning becomes smaller than the lifting force generated on the steering plate provided outside the turning.
Then, the actuator control unit 43 operates the starboard steering actuator 14 and the portside steering actuator 24 so that the angles of the starboard steering plate 13 and the port steering plate 23 become the steering angle target value calculated by the turning control unit 42 (step S46).

  When the actuator control unit 43 operates the starboard rudder actuator 14 and the left rudder actuator 24 in step S43 or step S46, the power unit control unit 44 inputs the starboard power unit 12, the port side power unit 22 and the auxiliary power unit 32 The operation is performed based on the operation amount of the steering handle detected by the F.41 (step S47).

Here, the reason why the angle of attack of the steering plate provided on the inner side of turning is made larger than the angle of attack of the steering plate provided on the outer side of turning will be described.
When the ship 100 turns, the straight line connecting the inner rudder plate to the center of the turn and the straight line connecting the outer rudder plate to the center of the turn are not parallel. Specifically, an angle formed by a straight perpendicular connecting the rudder plate inside the turning and the center of turning with the bow stern axis is a straight perpendicular connecting the rudder plate outside the turning to the center of turning and the bow stern axis It becomes larger than the angle that This is because the steering plate is provided behind the center of gravity of the hull. According to the present embodiment, the turning control device 40 controls the actuator such that the attack angle of the steering plate on the outside of the turning becomes smaller than the attack angle of the steering plate on the inside of the turning. As a result, the turning control device 40 can reduce the difference between the angle of attack of the steering plate and the perpendicular perpendicular to the straight line connecting the steering plates and the center of turning, so that the turning efficiency of the ship 100 can be improved. . Further, in the present embodiment, the angle of attack of the steering plate is controlled instead of the number of revolutions of the propulsion unit. As a result, even when using a heat engine having a large time delay with respect to feedback as the power unit, the turning control can be appropriately performed.

  In the turn control device 40 according to the present embodiment, the correction value α of the steering angle is a fixed value, but is not limited thereto. For example, the turning control device 40 according to the other embodiment calculates the center of turning based on the steering angle, and corrects based on the difference between the perpendicular and the steering angle of a straight line connecting each steering plate and the center of turning. The value α may be calculated. In addition, the turning control device 40 according to another embodiment may calculate the correction value α from the steering angle based on a table calculated in advance.

  Further, in addition to the control of the steering angle similar to the present embodiment, the turning control device 40 according to the other embodiments is not limited to the fuel injection amount of the power unit as shown in the first to third embodiments. You may control.

FIG. 8 is a schematic view showing the configuration of a ship 100 according to the fourth embodiment.
The possible range of the steering angle of the right-hand steering plate 13 provided in the ship 100 according to the present embodiment is obtained by adding the correction value α to the maximum value of the steering angle from the value obtained by adding the correction value α to the minimum value of the steering angle. It is a range to the value. Similarly, the range that can be taken by the steering angle of the left steering plate 23 is a range from a value obtained by subtracting the correction value α from the minimum value of the steering angle to a value obtained by subtracting the correction value α from the maximum value of the steering angle. Therefore, as shown in FIG. 8, by arranging the right-handed steering actuator 14 and the left-handed steering actuator 24 so that the middle angle of their movable range points outward by α degrees, the same movable range as in the first embodiment The ship 100 according to the present embodiment can be realized by using the above-described actuator.

Fifth Embodiment
The fifth embodiment will be described. The turning control device 40 according to the fourth embodiment has the rudder provided inside the turning by making the angle of attack of the steering plate provided inside the turning larger than that of the steering plate provided outside the turning. The lift generated on the board is controlled to be smaller than the lift generated on the steering plate provided outside the turning.
The software configuration of the turning control device 40 according to the present embodiment is the same as that of the first embodiment.

Next, the operation of the turning control device 40 according to the present embodiment will be described.
FIG. 9 is a flowchart showing the operation of the turning control device 40 according to the fifth embodiment.
The input unit 41 detects the steering command and the operation amount of the steering wheel output according to the angle of the steered wheels (step S51). Next, the turning control unit 42 determines whether the steering angle indicated by the steering command is within a predetermined neutral range (step S52). If the steering angle is in the neutral range (step S52: YES), the actuator control unit 43 controls the right steering actuator 14 and the left steering so that the angles of the starboard steering plate 13 and the left steering plate 23 become the steering angle indicated by the steering command. The actuator 24 is operated (step S53).

  On the other hand, when the steering angle is not in the neutral range (step S52: NO), the turning control unit 42 specifies the turning direction based on the steering angle (step S54). When it is determined that the turning direction is the starboard direction (step S54: starboard direction), the turning control unit 42 determines the steering angle target value of the starboard steering plate 13 to a value equal to or greater than the stall attack angle (step S55). The actuator control unit 43 operates the starboard steering actuator 14 such that the angle of the starboard steering plate 13 becomes the steering angle target value determined by the turning control unit 42. The actuator control unit 43 also operates the left steering actuator 24 so that the angle of the left steering plate 23 becomes the steering angle indicated by the steering command (step S56). The steering angle indicated by the steering command is an angle less than the stall attack angle.

  On the other hand, when the turning direction is the port direction (step S54: port direction), the turning control unit 42 determines the steering angle target value of the left steering plate 23 to a value equal to or more than the stall attack angle (step S57). The actuator control unit 43 operates the left steering actuator 24 so that the angle of the left steering plate 23 becomes the steering angle target value determined by the turning control unit 42. Further, the actuator control unit 43 operates the starboard rudder actuator 14 so that the angle of the starboard rudder plate 13 becomes the steering angle indicated by the steering command (step S58).

  When the actuator control unit 43 operates the starboard left steering actuator 14 and the left side steering actuator 24 by the processing from step S53 to step S58, the power unit control unit 44 generates the starboard power unit 12, the left arm power unit 22, and the auxiliary power unit 32 The operation is performed based on the operation amount of the steering wheel detected by the input unit 41 (step S59).

Here, the reason for making the angle of attack of the steering plate provided on the inner side of the turn equal to or higher than the stall angle of attack will be described.
It is known that when the angle of attack of the steering plate becomes equal to or greater than the angle of stall, the separation of the flow causes the lift to decrease and the resistance to increase. That is, as in the present embodiment, by setting the attack angle of the steering plate provided on the inside of the turn to be equal to or more than the stall attack angle, the propulsive force on the inside of the turn is reduced. As described in the first embodiment, when the vessel 100 turns, the path taken by the propelling device inside the turning becomes shorter than the path taken by the propelling device outside the turning, so according to the present embodiment, the turning control device 40 Since the propulsive force of each propulsion unit via the rudder plate can be made to have a strength corresponding to the length of the path through which each propulsion unit passes, the turning efficiency of the ship 100 can be improved.

  In addition to the control of the steering angle similar to the present embodiment, the turning control device 40 according to the other embodiments is not limited to the fuel injection amount of the power unit as shown in the first to third embodiments. You may control.

FIG. 10 is a schematic view showing the configuration of a ship 100 according to the fifth embodiment.
The range that the steering angle of the starboard rudder plate 13 provided in the ship 100 according to the present embodiment can take is the range from the negative lapse attack angle to the maximum value of the steering angle. Similarly, the range that can be taken by the steering angle of the left side steering plate 23 is the range from the minimum value of the steering angle to the positive lapse attack angle. Therefore, as shown in FIG. 10, by arranging the right-handed steering actuator 14 and the left-handed steering actuator 24 so that the middle angle of the movable range is directed inward, the present embodiment is implemented using the actuator of the minimum movable range. The ship 100 according to the embodiment can be realized.

Sixth Embodiment
A sixth embodiment will be described. The turning control device 40 according to the present embodiment does not control the fuel injection amount of the power unit according to the turning direction in the operation of the turning control device 40 according to the second embodiment.

  FIG. 11 is a flowchart showing the operation of the turning control device 40 according to the sixth embodiment. Among the procedures of the sixth embodiment, the same procedures as those of the second embodiment will be described using the same reference numerals as the first embodiment.

  The input unit 41 detects a steering command output according to the angle of the steered wheels and an operation amount of the steering wheel (step S1). Next, the speed control unit 45 determines whether the steering angle indicated by the steering command is within a predetermined neutral range (step S21). When it is determined that the steering angle is not in the neutral range (step S21: NO), the speed control unit 45 determines that the fuel injection amount of the auxiliary power unit 32 is 0 (step S22).

  On the other hand, when the steering angle is in the predetermined neutral range (step S21: YES), the speed control unit 45 determines the fuel injection amount of the auxiliary power unit 32 based on the operation amount of the steering wheel (step S23). That is, the turning control device 40 operates the auxiliary propulsion device 31 when the steering angle is in the predetermined neutral range.

  When the fuel injection amount of the auxiliary power unit 32 is determined in step S22 or step S23, the turning control unit 42 determines the fuel injection amounts of the starboard power unit 12 and the left power unit 22 based on the operation amount of the steering handle (step S8). Next, the power unit control unit 44 operates the starboard power unit 12 and the port power unit 22 and the auxiliary power unit 32 based on the fuel injection amount determined by the turning control unit 42 and the speed control unit 45 (step S24). . Further, the actuator control unit 43 operates the starboard steering actuator 14 and the port steering actuator 24 so that the angles of the starboard steering plate 13 and the port steering plate 23 become the steering angle indicated by the steering command (step S10).

  As described above, according to this embodiment, the turning control device 40 drives the auxiliary propulsion unit 31 when the steering angle is in the neutral range, and stops the auxiliary propulsion unit 31 when the steering angle is not in the neutral range. Thus, when the turning of the hull starts, the speed of the hull is reduced. Thus, the turning control device 40 can reduce the turning radius.

  Although the turning control device 40 according to the present embodiment sets the fuel injection amount of the auxiliary power unit 32 to 0 when the steering angle is not in the neutral range, the present invention is not limited thereto. For example, when the steering angle is not within the neutral range, the turning control device 40 according to the other embodiment has a value obtained by multiplying the fuel injection amount determined from the operation amount of the steering wheel by a coefficient of 0 or more and 1 or less. The fuel injection amount of the auxiliary power unit 32 may be used.

As mentioned above, although one embodiment was described in detail with reference to drawings, a concrete configuration is not restricted to the above-mentioned thing, It is possible to do various design changes etc.
For example, the ship 100 according to the above-described embodiment includes the auxiliary propulsion unit 31 and the auxiliary power unit 32, but is not limited thereto. For example, in another embodiment, as shown in the first to fourth embodiments of the turning control device 40, lift generated in a steering plate provided on the turning inner side is provided on the steering plate provided on the turning outer side. The ship 100 may not include the auxiliary propulsion unit 31 and the auxiliary power unit 32 as long as the fuel injection amount of the power unit or the attack angle of the steering plate is controlled to be smaller than the lift force that occurs.

FIG. 12 is a schematic block diagram showing the configuration of a computer 900 according to at least one embodiment.
The computer 900 includes a CPU 901, a main storage 902, an auxiliary storage 903, and an interface 904.
The turning control device 40 described above is implemented in the computer 900. The operation of each processing unit described above is stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads a program from the auxiliary storage device 903 and develops the program in the main storage device 902, and executes the above processing according to the program.

  In at least one embodiment, the auxiliary storage device 903 is an example of a non-temporary tangible medium. Other examples of non-transitory tangible media include magnetic disks connected via an interface 904, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, and the like. Further, when this program is distributed to the computer 900 through a communication line, the computer 900 that has received the distribution may deploy the program in the main storage unit 902 and execute the above processing.

  Further, the program may be for realizing a part of the functions described above. Furthermore, the program may be a so-called difference file (difference program) that realizes the above-described function in combination with other programs already stored in the auxiliary storage device 903.

  100: ship 11: starboard thruster 12: starboard power unit 13: starboard rudder plate 14: starboard rudder actuator 21: port thruster 22: port helm plate 23: port rudder plate 24: port rudder actuator 31: auxiliary thruster 32 ... Auxiliary power unit 40: Turning control unit 41: Input unit 42: Turning control unit 43: Actuator control unit 44: Power unit control unit 45: Speed control unit 900: Computer 901: CPU 902: Main storage unit 903: Auxiliary storage unit 904 …interface

Claims (13)

A turning control device in a ship provided with the same number of propellers powered by heat engines as power sources on both the left and right sides sandwiching the forward and aft shafts of a hull, and provided with a steering plate behind the propellers,
An input unit that receives an input of a steering command;
Based on the steering command received by the input unit, the attack angle of the steering plate provided on the inner side of the turn is made equal to or greater than the stall attack angle, and the attack angle of the steering plate provided on the outer side of the turn is made less than the stall attack angle. A turning control device comprising: a turning control unit.   The same number of propellers powered by heat engines are provided on the left and right sides sandwiching the fore and aft shafts of the hull, and a steering plate is provided behind the propellers, on the bow aft shaft of the hull or of the hull. A turning control device in a ship provided with auxiliary propulsors on both left and right sides sandwiching a prow stern shaft,
  An input unit that receives an input of a steering command;
  Based on the steering command received by the input unit, the fuel injection amount of the heat engine is set such that the lift generated on the steering plate provided on the inner side of the turn is smaller than the lift generated on the steering plate provided on the outer side of the turn Or a turning control unit that controls an elevation angle of the steering plate;
  A speed control unit for reducing the output of the auxiliary propulsor when the input unit receives the steering command;
  Turning control device provided with The turning control unit makes the fuel injection amount of the heat engine driving the propulsion unit provided inside the turning smaller than the fuel injection amount of the heat engine driving the propulsion unit provided outside the turning. The turning control device according to claim 1 or 2 . The turning control unit makes the attack angle of the steering plate provided on the inner side of the turn smaller than the attack angle of the steering plate provided on the outer side of the turn.
The turning control device according to claim 2 . The speed control unit reduces the fuel injection amount of the heat engine for driving the propulsion unit provided outside the turning and the propulsion unit provided inside the turning when the steering command is received.
The turning control unit increases a fuel injection amount of the heat engine for driving the propulsion unit provided outside the turning after a predetermined time of reception of the steering command.
The turning control device according to claim 2 . A turn control device for a ship , wherein auxiliary propulsors are provided on the bow stern axis of the hull or on both left and right sides sandwiching the bow stern axis of the hull ,
An input unit that receives an input of a steering command;
And a speed control unit that reduces the output of the auxiliary propulsion unit when the input unit receives the steering command. The ship is provided with the same number of propellers on both the left and right sides sandwiching the fore and aft axes of the hull,
And a turning control unit that increases a fuel injection amount of a heat engine that drives the propulsion unit based on a steering command received by the input unit.
The speed control unit reduces the fuel injection amount of the heat engine for driving the propulsion unit provided outside the turning and the propulsion unit provided inside the turning when the steering command is received.
The turning control unit increases a fuel injection amount of the heat engine for driving the propulsion unit provided outside the turning after a predetermined time of reception of the steering command.
The turning control device according to claim 6 . The same number of propellers are provided on the left and right sides of the bow of the hull, and
A heat engine provided corresponding to each of the propulsion units and driving the propulsion units;
A steering plate provided at the rear of each of the propulsion units;
A vessel comprising the turn control device according to any one of claims 1 to 7 . It is a turning control method in a ship provided with the same number of propellers whose power sources are heat engines on both the left and right sides sandwiching a bow stern shaft of a hull, and a steering plate is provided behind the propellers,
A step of receiving an input of a steering command;
Based on the received steering command, the angle of attack of the steering plate provided on the inner side of the turn is made equal to or greater than the stalled angle of attack, and the angle of attack of the steering plate provided on the outer side of the turn is controlled to be less than the stalled angle of attack. Turning control method provided.   The same number of propellers powered by heat engines are provided on the left and right sides sandwiching the fore and aft shafts of the hull, and a steering plate is provided behind the propellers, on the fore and aft shafts of the hull or the bow of the hull A turning control method for a ship provided with auxiliary propellers on both the left and right sides of a stern shaft,
  A step of receiving an input of a steering command;
  The fuel injection amount of the heat engine or the rudder so that the lift generated on the steering plate provided on the inner side of the turn is smaller than the lift generated on the steering plate provided on the outer side of the turn based on the received steering command. Controlling the angle of attack of the board,
  Decreasing the output of the auxiliary propulsor when the steering command is received;
  Turning control method comprising: A computer for controlling the steering of a ship is provided with the same number of propellers powered by heat engines on the left and right sides sandwiching the fore and aft axes of the hull and a steering plate is provided behind the propellers.
An input unit that receives an input of a steering command,
Based on the steering command received by the input unit, the attack angle of the steering plate provided on the inner side of the turn is made equal to or higher than the stall attack angle, and the attack angle of the steering plate provided on the outer side of the turn is controlled to be less than the stall attack angle. Program to function as a turning control unit.   The same number of propellers powered by heat engines are provided on the left and right sides sandwiching the fore and aft shafts of the hull, and a steering plate is provided behind the propellers, on the bow aft shaft of the hull or of the hull. A computer that controls a ship provided with auxiliary propulsors on both the left and right sides sandwiching the prow stern shaft,
  An input unit that receives an input of a steering command,
  Based on the steering command received by the input unit, the fuel injection amount of the heat engine is set such that the lift generated on the steering plate provided on the inner side of the turn is smaller than the lift generated on the steering plate provided on the outer side of the turn Or a turning control unit for controlling an angle of attack of the steering plate,
  A speed control unit that reduces the output of the auxiliary propulsor when the input unit receives the steering command
  Program to function as. A computer for controlling the steering of a ship provided with auxiliary propulsors provided on the bow stern axis of the hull or on both left and right sides sandwiching the bow stern axis of the hull ,
An input unit that receives an input of a steering command,
The program for functioning as a speed control part which reduces the output of the above-mentioned auxiliary propulsor , when the above-mentioned input part receives the above-mentioned steering command.

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