JP6539454B2 - Steering gear, steering device, steering plate control method - Google Patents

Description

  The present invention relates to a steering gear, a steering device, and a steering plate control method.

  A ship has a steering device having a steering gear and an operation unit that controls the steering gear. The steering gear controls the traveling direction of the hull by changing the direction of the rudder plate disposed in the water by the drive device.

  The steering device controls the direction of the steering plate of the steering gear based on the steering angle input to the operation unit. In addition, the steering device detects the direction of the steering plate, and performs feedback control to correct the direction of the steering plate based on the detection result and the steering angle, whereby the direction of the steering plate deviates from the command of the operation unit. (See Patent Document 1).

JP, 2008-230484, A

  Here, in the steering device, the position of the steering plate may be controlled without performing the feedback control based on the direction of the steering plate. For example, when the main pump that supplies hydraulic fluid to control the position of the rudder plate is neutral, that is, when the instruction to maintain the rudder plate at the current position is issued, the position of the rudder plate is moved Even if an instruction to move the main pump is not input to the equipment to be driven or the servomotor that drives the main pump, the force from the equipment to move the position of the steering plate to the steering plate due to a shift in control conditions of the equipment or disturbance to the steering plate Acts to change the position of the steering plate.

  The present invention solves the above-described problem, and even when feedback control of the direction of the rudder plate is not performed, the direction of the rudder plate is fixed when an instruction to maintain the rudder plate at the current position is issued. It is an object of the present invention to provide a steering gear and a steering device that can be carried out.

  In order to achieve the above-mentioned object, the present invention is a steering gear that rotates a rudder shaft connected to a rudder plate to rotate the rudder plate, and a rudder stem connected to the rudder shaft A first cylinder that biases the steering wheel in one direction, a second cylinder that biases the steering wheel in the other direction, a hydraulic fluid supply device that supplies hydraulic fluid to the first cylinder and the second cylinder, and A hydraulic circuit connecting the first cylinder and the second cylinder to the hydraulic fluid supply device, and the hydraulic circuit being installed, the first cylinder and the second cylinder, and the hydraulic fluid supply device being connected by the hydraulic circuit The connection state to be connected, the connection by the hydraulic circuit between the first cylinder and the second cylinder, and the hydraulic oil supply device is shut off, and the movement of the hydraulic oil to the first cylinder and the second cylinder is shut off Switch to the shut off state And a switching control unit for switching between the connection state by the main valve and the cutoff state, the switching control unit does not perform feedback control according to the position of the steering plate, and When it is detected that the position of the steering plate is fixed, the main valve is brought into the shutoff state.

  The steering gear has a main valve in the hydraulic circuit, does not perform feedback control according to the position of the steering plate, and when it is detected that the position of the steering plate is fixed, the main valve By closing the hydraulic circuit, the steering plate can be fixed at the current position under the above conditions. Thereby, it can suppress that a steering plate moves in the state which is not performing feedback control.

  The main valve brings the hydraulic circuit into the connected state by being supplied with hydraulic oil, and makes the hydraulic circuit into the disconnected state by stopping the supply of the hydraulic oil, and the switching control unit makes the main It is preferable to switch the connection state and the shutoff state by controlling the hydraulic oil supplied to the valve.

  In the steering gear, the main valve is a valve driven by hydraulic pressure, and the switching control unit controls the hydraulic oil supplied to install a device whose control is switched according to the hydraulic pressure in the circuit to which the hydraulic oil is supplied, By configuring the circuit, it is possible to automatically switch the opening and closing of the main valve. This makes it possible to easily switch the opening and closing of the main bubble.

  A signal output unit that outputs a control signal when the switching control unit does not perform feedback control according to the position of the steering plate and detects that the position of the steering plate is fixed; It is preferable that an electromagnetic switching valve is provided to switch the connection state of the hydraulic circuit by the main valve and the shutoff state when the control signal output from the signal output unit is input.

  The steering gear can perform control with a control signal by using an electromagnetic switching valve in the switching control unit. Thereby, control can be performed using the signal output in order to operate a steering plate.

  The switching control unit includes a duration determination unit disposed between the signal output unit and the electromagnetic switching valve, and the duration determination unit is configured to output a control signal from the signal output unit. It is preferable to output the control signal to the electromagnetic switching valve after a threshold time or more has elapsed.

  The steering gear is controlled to close the hydraulic circuit by the main valve after a predetermined time has elapsed since the control signal was output, so that the water hammer phenomenon occurs with the hydraulic oil confined in the first cylinder and the second cylinder side Can be suppressed.

  The steering gear has an orifice disposed between the hydraulic fluid supply device of the hydraulic circuit and the main valve, and the switching control unit is the hydraulic circuit on the hydraulic fluid supply device side with respect to the orifice. A first hydraulic oil flow pipe connected to the second hydraulic oil flow pipe connected to the second hydraulic oil flow pipe connected to the hydraulic circuit closer to the main valve than the orifice, and one end connected to the first hydraulic oil flow pipe; It is biased by the hydraulic oil supplied to the first hydraulic oil flow pipe, and the other end is connected to the second hydraulic oil flow pipe, and biased by the hydraulic oil supplied to the second hydraulic oil flow pipe A hydraulic pressure switching valve for switching between the connection state and the shut-off state of the main valve, wherein the hydraulic pressure switching valve has a pressure difference between hydraulic fluid supplied from both ends that is larger than a threshold value. Connect the hydraulic circuit to the And, when the difference between the pressure of the working oil supplied from both ends of the threshold value or less, it is preferable to the hydraulic circuit and the cut-off state by the main valve.

  According to the above configuration, the steering gear can switch the opening and closing of the main valve based on the differential pressure before and after the orifice of the hydraulic circuit, that is, whether or not the hydraulic oil in the hydraulic circuit is moving. Thereby, the main valve can be automatically opened and closed in accordance with the state of the steering gear.

  The hydraulic circuit includes a first path in which the orifice is disposed, and a second path bypassing the orifice, and the switching control unit is configured to receive hydraulic oil flowing between the hydraulic oil supply device and the main valve. It has a path switching mechanism that switches whether to flow through the first path or the second path, and the path switching mechanism performs the feedback control according to the position of the steering plate, the second path It is preferable to flow the hydraulic oil and to flow the hydraulic oil to the first path when feedback control according to the position of the steering plate is not performed.

  The steering gear can reduce pressure loss due to the orifice with respect to the entire operation while performing the above control by switching whether or not the hydraulic oil passes through the orifice depending on whether or not feedback control is performed. it can.

  In order to achieve the above-mentioned object, the present invention is a steering device, which is fixed to the steering gear according to any one of the above, a rudder shaft rotated by the steering gear, and the rudder shaft And an operating device for inputting an operation to the steering gear.

  When the steering gear is provided with a main valve in the hydraulic circuit of the steering gear, feedback control according to the position of the steering plate is not performed, and it is detected that the position of the steering plate is fixed By closing the hydraulic circuit with the main valve, the steering plate can be fixed at the current position under the above conditions. Thereby, it can suppress that a steering plate moves in the state which is not performing feedback control.

  In order to achieve the above object, the present invention has a plurality of cylinders for moving a rudder shaft connected to a rudder plate, controls the hydraulic oil supplied to the cylinders, and rotates the rudder plate. A method of controlling a steering plate of a gear, comprising: determining whether feedback control is to be performed according to the position of the steering plate; and determining that the feedback control is performed, the detected position of the steering plate and the rudder The step of correcting the position of the steering plate based on the commanded position of the plate, and if it is determined that the feedback control is not performed, whether there is a steering command to move the position of the steering plate or not If it is determined that there is the steering command and it is determined that the position of the steering plate is moved, the hydraulic fluid supplied is controlled to move the steering plate, and the steering plate is moved without the steering command. If it is determined not to It shields the path for supplying hydraulic oil to Sunda, characterized in that to fix the hydraulic pressure of the cylinder.

  The steering plate control method does not perform feedback control according to the position of the steering plate, and when it is detected that the position of the steering plate is fixed, that is, when there is no steering command, the main valve By closing the hydraulic circuit, the steering plate can be fixed at the current position under the above conditions. Thereby, it can suppress that a steering plate moves in the state which is not performing feedback control.

  According to the present invention, when the feedback control is not performed and the position of the steering plate is fixed, movement of the steering plate can be suppressed.

FIG. 1 is a schematic view schematically showing the vicinity of a stern of a ship having a steering apparatus according to a first embodiment of the present invention. FIG. 2 is a schematic view showing a schematic configuration of a steering gear of the steering apparatus according to the first embodiment of the present invention. FIG. 3 is an explanatory view for explaining the operation of the steering gear of the first embodiment. FIG. 4 is a flow chart showing an example of the control operation of the steering gear of the first embodiment. FIG. 5 is a flow chart showing an example of the control operation of the steering gear of the first embodiment. FIG. 6 is a schematic view showing a schematic configuration of the steering gear of the second embodiment. FIG. 7 is a flowchart showing an example of the control operation of the steering gear according to the second embodiment. FIG. 8 is a schematic view showing a schematic configuration of a steering gear of a third embodiment. FIG. 9 is a schematic view showing a schematic configuration of a steering gear of a fourth embodiment.

  Hereinafter, embodiments according to the present invention will be described in detail based on the drawings. The present invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by persons skilled in the art or those that are substantially the same.

First Embodiment
FIG. 1 is a schematic view schematically showing the vicinity of a stern of a ship having a steering apparatus according to a first embodiment of the present invention.

  The ship 1 shown in FIG. 1 includes a hull 2, a propulsion unit 4 and a steering device 10. Here, the vessel 1 is a variety of vessels having a propeller and a rudder. That is, the ship 1 is intended for various large-sized and small-sized vessels, as well as various vessels such as vessels for transporting cargo and resources, vessels for transporting passengers, and the like. The propeller 4 is installed on the stern side of the hull 2. In the propeller 4, a part of a propeller or the like is exposed outside the hull 2. The propeller 4 applies a propulsive force to the hull 2 by rotating a propeller. The propulsion unit 4 may burn the fuel to rotate the propeller with an engine that generates rotational force, or may drive the propeller with an electrically driven motor.

  The steering device 10 of the present embodiment is installed on the hull 2 of the ship 1. The steering device 10 includes a steering plate 12, a steering shaft 14, an operating device 18, a control device 19, and a steering gear 16. The steering plate 12 is disposed closer to the stern of the hull 2 than the propulsion unit 4. The rudder shaft 14 is an axis for fixing the rudder plate 12. The rudder shaft 14 is supported by the hull 2 in a rotatable state. The steering plate 12 rotates with the steering shaft 14. The operating device 18 is a device such as a rudder or the like by which an navigator operating the vessel 1 inputs an operation. The operating device 18 outputs the input operation to the control device 19. The control device 19 converts the operation input from the operating device 18 into a control signal and outputs the control signal to the steering gear 16. The steering gear 16 adjusts the position of the steering plate 12 by rotating the steering shaft 14.

  FIG. 2 is a schematic view showing a schematic configuration of a steering gear of the steering apparatus according to the first embodiment of the present invention. Next, the steering gear 16 will be described using FIG. 2 in addition to FIG. The steering gear 16 includes a steering wheel 20 and a steering wheel drive device 22. The rudder 20 is connected to the rudder axle 14. The rudder handle 20 converts the motion in the linear movement direction applied by the rudder drive device 22 into a pivoting direction and transmits it to the rudder shaft 14. The steering gear 16 causes the steering wheel drive device 22 to move a part of the steering wheel 20 in the linear movement direction. When a part of the rudder handle 20 is moved in the linear movement direction, a portion fixed to the rudder shaft 14 rotates in conjunction with it, and rotates the rudder shaft 14.

  Next, the steering wheel drive device 22 will be described. The steering wheel drive device 22 is a mechanism which supplies hydraulic oil to each part, and controls the position of the steering wheel 20 by adjusting the hydraulic oil to be supplied. The steering wheel drive device 22 has a hydraulic fluid supply device 24, a hydraulic circuit 25, and a first cylinder 26 and a second cylinder 28. Moreover, although the steering wheel drive device 22 abbreviate | omits description in FIG. 1, as shown in FIG. 2, the main valve 42 and the switch control part 44 are provided.

  The hydraulic oil supply device 24 serves as a power source for moving the steering plate, and supplies the hydraulic oil serving as a power source for controlling the operation of each part to each part. The hydraulic oil supply device 24 includes a hydraulic oil tank 30, a main pump 31, a main hydraulic oil line 32, a servo control unit 33, an auxiliary pump 34, an auxiliary hydraulic oil line 35, and a motor 36. The hydraulic oil tank 30 stores hydraulic oil. The main pump 31 is connected to the hydraulic circuit 25 and is a pump that feeds hydraulic fluid to the hydraulic circuit 25. The main hydraulic oil line 32 is a pipe connecting the hydraulic oil tank 30 and the main pump 31. The servo control unit 33 is a device that switches the path through which the main pump 31 supplies the hydraulic oil. The auxiliary pump 34 is a pump that feeds hydraulic fluid that assists the operation of the servo control unit 33 and the control of the hydraulic pressure of the hydraulic circuit 25. The auxiliary hydraulic oil line 35 is connected to the hydraulic oil tank 30 and the servo control unit 33, and is a pipe for guiding the hydraulic oil sent by the auxiliary pump 34 to each part. The motor 36 is a drive source that drives the main pump 31 and the auxiliary pump 34. The motor 36 supplies the hydraulic oil to each part from the main pump 31 and the auxiliary pump 34 by rotating the main pump 31 and the auxiliary pump 34.

  The hydraulic circuit 25 connects the hydraulic fluid supply device 24 to the first cylinder 26 and the second cylinder 28, and is a path through which hydraulic fluid flows. The hydraulic circuit 25 has a first hydraulic fluid line 25a and a second hydraulic fluid line 25b. The first hydraulic oil line 25 a connects the main pump 31 of the hydraulic oil supply device 24 and the first cylinder 26. The second hydraulic oil line 25 b connects the main pump 31 of the hydraulic oil supply device 24 and the second cylinder 28.

  The first cylinder 26 is in contact with one end of the linear movement portion of the steering handle 20. The first cylinder 26 urges the linearly moving part of the rudder 20 from one side to the other as the hydraulic oil is supplied and the hydraulic pressure rises. The second cylinder 28 is in contact with the other end of the linear movement portion of the steering handle 20. The second cylinder 28 urges the linearly moving part of the rudder 20 from the other side to one side by the supply of the hydraulic oil and the increase of the oil pressure.

  The steering wheel drive device 22 adjusts the amount and pressure of hydraulic fluid supplied from the hydraulic fluid supply device 24 to the first cylinder 26 and the second cylinder 28 via the hydraulic circuit 25. The steering wheel drive device 22 supplies the hydraulic oil supplied from the main pump 31 by the servo control unit 33 to the first hydraulic oil line 25a, to the second hydraulic oil line 25b, or to neither. By switching, the amount and pressure of the hydraulic oil supplied to the first cylinder 26 and the second cylinder 28 are adjusted. The steering wheel drive device 22 moves the steering wheel 20 from one side to the other by making the pressure of the hydraulic oil supplied to the first cylinder 26 higher than the pressure supplying the second cylinder 28. The steering plate 12 rotates in one direction in conjunction with the steering wheel 20. The steering wheel drive device 22 moves the steering wheel 20 from the other side to one side by setting the pressure of the hydraulic oil supplied to the second cylinder 28 higher than the pressure supplied to the first cylinder 26. The steering plate 12 is interlocked with the steering wheel 20 and pivots to the opposite side to one direction.

  The main valve 42 is installed in the hydraulic circuit 25. Specifically, it is installed across both the first hydraulic fluid line 25a and the second hydraulic fluid line 25b. The main valve 42 is a valve that switches the opening and closing of the first hydraulic fluid line 25a and the second hydraulic fluid line 25b, the first hydraulic fluid line 25a and the first cylinder 26 are connected, and the second hydraulic fluid line 25b And the second cylinder 28 are connected, the first hydraulic fluid line 25a is disconnected from the first cylinder 26, and the second hydraulic fluid line 25b is disconnected from the second cylinder 28. Can be switched to

  The main valve 42 is supplied with hydraulic fluid at one end and a spring is installed at the other end. The main valve 42 is pushed from one to the other by the hydraulic pressure generated by the supply of the hydraulic oil, and is pushed from the other to the other by a spring. The main valve 42 is connected to the first hydraulic fluid line 25a and the first cylinder 26 when the hydraulic pressure is larger than the force of the spring and pushed from one to the other, and the second hydraulic fluid line 25b and the second hydraulic fluid line 25b and the second It will be in the state where it is connected with cylinder 28. This state is also referred to as a connected state. When the force of the spring in the main valve 42 is larger than the hydraulic pressure and pushed from one side to the other, the first hydraulic fluid line 25a and the first cylinder 26 are shut off, and the second hydraulic fluid line 25b and the second hydraulic fluid line 25b The two cylinders 28 are shut off. This state is also referred to as a blocked state. Further, when the main valve 42 is in the shutoff state, the path connected to the first cylinder 26 and the second cylinder 28 is closed, and the hydraulic oil in the portion connected to the first cylinder 26 and the second cylinder 28 can not move It will be in the state.

  The switching control unit 44 switches between the connection state and the blocking state by switching the opening and closing of the main valve 42. The switching control unit 44 includes a hydraulic fluid supply line 45, an electromagnetic switching valve 46, a signal output unit 48, and a drain line 49. The hydraulic oil supply line 45 connects the auxiliary hydraulic oil line 35 and the main valve 42. The hydraulic oil supply line 45 supplies the main valve 42 with hydraulic oil supplied from the auxiliary hydraulic oil line 35. The electromagnetic switching valve 46 is provided in the hydraulic oil supply line 45 and switches opening and closing of the hydraulic oil supply line 45. The solenoid switching valve 46 can use, for example, a single solenoid solenoid valve. The electromagnetic switching valve 46 is provided with a mechanism for biasing in a state of being supplied with electricity, a spring is provided at the other end, and power is supplied to the mechanism for biasing in a state of being supplied with electricity. Whether the hydraulic fluid supply line 45 connects the auxiliary hydraulic fluid line 35 to the main valve 42 or not by connecting the auxiliary hydraulic fluid line 35 to the main valve 42. That is, it switches to the state in which the connection is disconnected. The signal output unit 48 is connected to the control device 19 and controls the opening and closing of the electromagnetic switching valve 46 based on a signal input from the control device 19. The drain line 49 is connected to the solenoid control valve 46, and when the hydraulic oil supply line 45 is closed by the solenoid switching valve 46, the hydraulic oil between the solenoid switch valve 46 of the hydraulic oil supply line 45 and the main valve 42. Are discharged to the hydraulic oil tank 30.

  In the steering gear 16, as shown in FIG. 2, when the electromagnetic switching valve 46 of the switching control unit 44 is opened and the hydraulic fluid supply line 45 connects the auxiliary hydraulic fluid line 35 and the main valve 42, The hydraulic oil is supplied to the main valve 42, the main valve 42 is opened, and the hydraulic oil supply device 24 is in communication with both the first cylinder 26 and the second cylinder 28.

  FIG. 3 is an explanatory view for explaining the operation of the steering gear of the first embodiment. Next, as shown in FIG. 3, in the steering gear 16, the electromagnetic switching valve 46 of the switching control unit 44 is closed, and the hydraulic oil supply line 45 does not connect the auxiliary hydraulic oil line 35 to the main valve 42. Then, the hydraulic oil is not supplied to the main valve 42, and the hydraulic oil between the main valve 42 and the electromagnetic switching valve 46 is sent to the hydraulic oil tank 30 through the drain line 49. As a result, the hydraulic pressure supplied to the main valve 42 is lowered, the main valve 42 is closed, and both the hydraulic oil supply device 24 and the first cylinder 26 and the second cylinder 28 are shut off. Further, the main valve 42 closes the path of the hydraulic oil on the side of the first cylinder 26 and the second cylinder 28 so that the hydraulic oil supplied to the first cylinder 26 and the second cylinder 28 is not discharged.

  Next, the control operation of the steering gear 16 will be described using FIGS. 4 and 5. FIG.4 and FIG.5 is a flowchart which shows an example of control operation of the steering gear of 1st Embodiment, respectively. In the processes shown in FIG. 4 and FIG. 5, the operation of each part is executed based on the signal outputted from the control function and the change of the state resulting from the signal.

  The steering gear 16 switches control based on whether or not feedback control is being performed (step S12). When feedback control is being performed (Yes in step S12), the steering gear 16 executes feedback control while controlling the direction of the steering plate 12 based on the command value (step S14). That is, the steering gear 16 controls the servo control unit 33 based on the control signal, and adjusts the hydraulic oil supplied to the first cylinder 26 and the second cylinder 28 to control the position of the steering handle 20. , Control the direction of the steering plate 12. At this time, the steering gear 16 performs control using a control signal input from the steering device 10 and performs feedback control using the detection result of the position of the steering plate 12. The mode in which the steering gear 16 corrects the position of the steering plate 12 by feedback control is referred to as a follow-up mode. A mode in which the steering gear 16 does not correct the position of the steering plate 12 by feedback control is referred to as a non-follow-up mode.

  When the steering gear 16 does not execute feedback control (No in step S12), that is, when the position of the steering plate 12 is not corrected using the detection result of the position of the steering plate 12, whether or not there is a steering command The control is switched (step S16). Here, the steering command is a command to move the position of the steering plate 12. The steering command is any command for moving the steering plate 12 to the right or moving the steering plate 12 to the left.

  The steering gear 16 moves the direction of the steering plate based on the turning command (step S18) when there is a turning command (Yes in step S16). That is, the steering gear 16 moves the steering plate 12 to the right or left based on the turning command.

  When there is no steering command (No in step S16), the steering gear 16 determines that the position of the steering plate 12 is fixed without moving the steering plate 12, and the main valve 42 controls the hydraulic circuit 44. It shuts off (step S20). That is, the steering gear 16 switches the main valve 42 from the state of FIG. 2 to the state of FIG.

  Next, the process flow of step 20 will be described in more detail using FIG. When the steering gear 16 does not perform feedback control according to the position of the steering plate 12 and detects that the position of the steering plate 12 is fixed, the steering gear 16 performs the process shown in FIG. 5.

  The steering gear 16 outputs a close command to the electromagnetic switching valve 46 from the signal output unit 48 (step S30). The signal output unit 48 does not perform feedback control according to the position of the steering plate 12, and is closed when a signal indicating that the position of the steering plate 12 is fixed is transmitted from the control device 19. The command is output to the electromagnetic switching valve 46.

  When the electromagnetic switching valve 46 receives the closing command, the steering gear 16 closes the path where the electromagnetic switching valve 46 is installed (step S32). That is, the electromagnetic switching valve 46 closes the hydraulic oil supply line 45 so that the hydraulic oil of the auxiliary hydraulic oil line 35 is not supplied to the main valve 42.

  Thus, when the steering gear 16 closes the path where the electromagnetic switching valve 46 is installed, the hydraulic pressure of the hydraulic oil supplied to the main valve 42 decreases (step S34) and acts on the main valve 42. The pressure is higher than the hydraulic pressure, and the path where the main valve 42 is installed is closed (step S36).

  When the steering gear 16 does not perform feedback control according to the position of the steering plate 12 and detects that the position of the steering plate 12 is fixed, the hydraulic circuit 25 is closed by the main valve 42. By setting the hydraulic oil on the side of the first cylinder 26 and the second cylinder 28 in a non-movable state, the steering plate 12 can be fixed at the current position. That is, the position of the steering plate 12 can be forcibly fixed to the current position, and movement of the steering plate 12 can be suppressed without feedback control. Here, when it is detected that the position of the steering plate 12 is fixed, the operation of the steering lever of the operating device 18 is completed, or the movement of the steering plate 12 based on the steering command is completed. That's the case.

  Further, the steering gear 16 uses the main valve 42 as a hydraulically driven valve, and controls the hydraulic oil supplied by the switching control unit 44 to switch control according to the hydraulic pressure to the circuit to which the hydraulic oil is supplied. By installing the device and configuring the circuit, the opening and closing of the main valve 42 can be switched automatically. This makes it possible to easily switch the opening and closing of the main bubble 42.

  Further, the steering gear 16 can perform control by a control signal by using the electromagnetic switching valve 46 in the switching control unit 44, and control is performed using a signal output to operate the steering plate 12. It can be carried out.

Second Embodiment
FIG. 6 is a schematic view showing a schematic configuration of the steering gear of the second embodiment. The steering gear 16a according to the second embodiment has the same configuration as the steering gear 16 except for the switching control unit 44a, so the same parts as those in the first embodiment are given the same reference numerals, and the description will be omitted. .

  The switching control unit 44 a has an on-delay timer 50 in addition to the components of the switching control unit 44. The on delay timer 50 is disposed between the signal output unit 48 and the electromagnetic switching valve 46. The signal output from the signal output unit 48 passes through the on-delay timer 50 and is input to the electromagnetic switching valve 46. The on-delay timer 50 inputs the signal output from the signal output unit 48 to the electromagnetic switching valve 46 after a predetermined time has elapsed. The on-delay timer 50 of the present embodiment is a continuation time determination unit, and outputs a control signal to the electromagnetic switching valve 46 when the state where the control signal is output from the signal output unit 48 exceeds the threshold time. The threshold time can be set in advance by the user. The threshold time is exemplified as one second. The on-delay timer 50 may output a signal after a predetermined time has elapsed without determining the duration.

  FIG. 7 is a flowchart showing an example of the control operation of the steering gear according to the second embodiment. The steering gear 16a does not perform feedback control according to the position of the steering plate 12, and when it is detected that the position of the steering plate 12 is fixed, the processing shown in FIG. 7 is performed.

  The steering gear 16a outputs a closing command from the signal output unit 48 (step S40). When the closing command is output, the steering gear 16a determines with the on-delay timer 50 whether the threshold time has elapsed (step S42). If the threshold time has not elapsed (No in step S42), the steering gear 16a detects whether the closing command is still continuing (step S44). The steering gear 16a returns to step S42 when there is a closing command (Yes in step S44), and ends this processing when there is no closing command (No in step S44).

  When the threshold time has elapsed (Yes in step S42), the steering gear 16a causes the close command output from the signal output unit 48 to pass through the on-delay timer 50 and outputs the close command to the electromagnetic switching valve 46 (step S46). The signal output unit 48 does not perform feedback control according to the position of the steering plate 12, and is closed when a signal indicating that the position of the steering plate 12 is fixed is transmitted from the control device 19. The command is output to the electromagnetic switching valve 46.

  When the electromagnetic switching valve 46 receives the closing command, the steering gear 16a closes the path where the electromagnetic switching valve 46 is installed (step S32). That is, the electromagnetic switching valve 46 closes the hydraulic oil supply line 45 so that the hydraulic oil of the auxiliary hydraulic oil line 35 is not supplied to the main valve 42.

  Thus, when the steering gear 16a closes the path where the electromagnetic switching valve 46 is installed, the hydraulic pressure of the hydraulic oil supplied to the main valve 42 decreases (step S34) and acts on the main valve 42. The pressure is higher than the hydraulic pressure, and the path where the main valve 42 is installed is closed (step S36).

  The steering gear 16a is provided with the on delay timer 50, and after the control signal is output, the main valve 42 performs control to close the hydraulic circuit 44 so that the control signal is output. After the main pump 31 becomes neutral, the hydraulic circuit can be closed. The state where the main pump 31 becomes neutral means that the amount of hydraulic fluid supplied from the main pump 31 to the first hydraulic fluid line 25a and the second hydraulic fluid line 25b is small, and the first hydraulic fluid line 25a and the second hydraulic fluid The differential pressure with the line 25b, that is, the difference between the pressure of the hydraulic fluid of the first cylinder 26 and the pressure of the hydraulic fluid of the second cylinder 28 is smaller than the threshold. That is, the state in which the main pump 31 becomes neutral is a state in which the steering plate 12 is maintained at the current position. Thereby, the hydraulic circuit 25 can be closed in a state where the hydraulic oil does not flow in the hydraulic circuit 25, and the water hammer phenomenon is caused by the hydraulic oil confined from the main valve 42 to the first cylinder 26 and the second cylinder 28 side. It can control what happens.

Third Embodiment
FIG. 8 is a schematic view showing a schematic configuration of a steering gear of a third embodiment. The steering gear 16b of the third embodiment has the same configuration as the steering gear 16 except that it has the configuration of the switching control unit 44b and the orifice 60, so the same parts as in the first embodiment have the same reference numerals. The explanation is omitted.

  The orifice 60 is disposed in the first hydraulic fluid line 25 a of the hydraulic circuit 25. More specifically, the orifice 60 is disposed between the hydraulic fluid supply device 24 of the first hydraulic fluid line 25 a and the main valve 42. The orifice 60 is a flow path resistance, and when hydraulic fluid flows in the first hydraulic fluid line 25 a, the pressure of the hydraulic fluid changes before and after the orifice 60.

  The switching control unit 44 b has a first hydraulic fluid flow pipe 62, a second hydraulic fluid flow pipe 64, and a hydraulic pressure switching valve 66. The first hydraulic oil flow pipe 62 is connected to the first hydraulic oil line 25 a closer to the hydraulic oil supply device 24 than the orifice 60. In the first hydraulic oil flow pipe 62, part of the hydraulic oil flowing in the connected portion of the first hydraulic oil line 25a flows in. The second hydraulic oil flow pipe 64 is connected to the first hydraulic oil line 25 a closer to the main valve 42 than the orifice 60. In the second hydraulic oil flow pipe 64, part of the hydraulic oil flowing in the connected portion of the first hydraulic oil line 25a flows in.

  The hydraulic switching valve 66 is provided in the hydraulic oil supply line 45 and switches opening and closing of the hydraulic oil supply line 45. One end of the hydraulic switching valve 66 is connected to the first hydraulic fluid flow pipe 62, and the other end is connected to the second hydraulic fluid flow pipe 64. The hydraulic switching valve 66 is biased from one side to the other by the hydraulic oil supplied to the first hydraulic oil flow pipe 62, and is biased from the other to the other by the hydraulic oil supplied to the second hydraulic oil flow pipe 64. . The opening / closing of the hydraulic switching valve 66 is switched by the difference between the hydraulic pressure of the hydraulic fluid supplied to the first hydraulic fluid flow pipe 62 and the hydraulic pressure of the hydraulic fluid supplied to the second hydraulic fluid flow pipe 64. The hydraulic switching valve 66 is provided with a path for opening the hydraulic oil supply line 45 at both ends in the movement direction, and a path for closing the hydraulic oil supply line 45 in the middle of the movement direction.

  The hydraulic switching valve 66 opens the hydraulic oil supply line 45 when the difference in pressure of the hydraulic oil supplied from both ends is larger than the threshold, and the hydraulic oil is supplied to the main valve 42. Thereby, the main valve 42 brings the hydraulic circuit 25 into a connected state. The hydraulic switching valve 66 closes the hydraulic oil supply line 45 and prevents the hydraulic oil from being supplied to the main valve 42 when the difference in pressure of the hydraulic oil supplied from both ends is equal to or less than the threshold. As a result, the main valve 42 shuts off the hydraulic circuit 25.

  The drain line 49 is connected to the hydraulic switching valve 66, and when the hydraulic oil supply line 45 is closed by the hydraulic switching valve 66, the hydraulic oil between the hydraulic switching valve 66 of the hydraulic oil supply line 45 and the main valve 42. Are discharged to the hydraulic oil tank 30.

  The steering gear 16b can switch the opening and closing of the main valve 42 based on the differential pressure before and after the orifice 60 of the hydraulic circuit 25, that is, whether or not the hydraulic fluid in the hydraulic circuit is moving. Specifically, the steering gear 16b switches the opening and closing of the main valve 42 according to the discharge amount of the hydraulic oil of the main pump 31. As an example, in the steering gear 16b, when the discharge amount of the working oil of the main pump 31 is small, the differential pressure before and after the orifice 60 becomes small, and the hydraulic switching valve 55 connects the hydraulic oil supply line 45 and the main valve 42 Is shut off and the main valve 42 is closed. Here, the state where the amount of hydraulic oil discharged from the main pump 31 is small means that the main pump 31 is neutral as described above. Thereby, the steering gear 16b can automatically open and close the main valve 42 according to the state without using the electric signal.

  Further, in the present embodiment, the orifice 60 and the path for supplying the hydraulic fluid to the hydraulic pressure switching valve 66 are provided in the first hydraulic fluid line 25a, but may be provided in the second hydraulic fluid line 25b.

Fourth Embodiment
FIG. 9 is a schematic view showing a schematic configuration of a steering gear of a fourth embodiment. The steering gear 16c of the fourth embodiment has the same configuration as that of the steering gear 16b except for the configurations of the switching control unit 44 and the hydraulic circuit 25. Therefore, the same reference numerals are given to parts equivalent to the third embodiment. And I omit the explanation.

  The hydraulic circuit 25 has a first passage 70 and a second passage 72 in the first hydraulic fluid line 25 a. The first passage 70 and the second passage 72 are disposed between the hydraulic fluid supply device 24 of the first hydraulic fluid line 25 a and the main valve 42. One of the first path 70 and the second path 72 is the other bypass line. The first passage 70 is provided with an orifice 60.

  The switching control unit 44 c has a path switching mechanism 80 in addition to the components of the switching control unit 44 b. The path switching mechanism 80 switches whether the hydraulic oil flowing between the hydraulic oil supply device 24 and the main valve 42 flows in the first path 70 or in the second path 72. The path switching mechanism 80 has a switching signal output unit 81 and path switching valves 82 and 84. The switching signal output unit 81 outputs a signal for switching whether to flow hydraulic oil to the first path 70 or to the second path 72. The path switching valves 82 and 84 are provided at the branch point and the junction of the first path 70 and the second path 72, respectively. The branch point and the junction point vary depending on the flow of hydraulic oil, but have the same structure. Based on the signal sent from the switching signal output unit 81, the path switching valve 82, 84 is configured such that the portion other than the portion between the path switching valve 82 and the path switching valve 84 of the first hydraulic fluid line 25 a is the first path 70. It is switched whether it is connected or connected to the second path 72.

  When feedback control according to the position of the steering plate 12 is performed by the path switching mechanism 80, hydraulic fluid is flowed to the second path 72, and when feedback control according to the position of the steering plate 12 is not performed, the first Hydraulic fluid is allowed to flow through the passage 70.

  The steering gear 16 c switches whether or not the hydraulic fluid passes through the orifice 60 depending on whether or not the feedback control is performed, so that the hydraulic fluid does not pass through the orifice 60 while performing the feedback control. Can flow into the first hydraulic oil line 25a. Thus, in the follow-up mode, that is, when the opening and closing control of the main valve 42 is unnecessary, the hydraulic fluid can be flowed without passing through the orifice 60, and the pressure loss by the orifice 60 can be reduced.

Reference Signs List 1 ship 2 hull 4 propulsion unit 10 steering device 12 steering plate 14 steering shafts 16, 16a, 16b, 16c steering gear 18 operation device 19 control device 20 steering wheel 22 steering wheel drive device 24 hydraulic fluid supply device 25 hydraulic circuit 25a 1 hydraulic fluid line 25b second hydraulic fluid line 26 first cylinder 28 second cylinder 30 hydraulic fluid tank 31 main pump 32 main hydraulic fluid line 33 servo control unit 34 auxiliary pump 35 auxiliary hydraulic fluid line 36 motor 42 main valve 44, 44a Switching control unit 45 Hydraulic oil supply line 46 Electromagnetic switching valve 48 Signal output unit 49 Drain line 50 On delay timer 60 Orifice 62 1st hydraulic oil flow pipe 64 2nd hydraulic oil flow pipe 66 Hydraulic pressure switching valve 70 1st path 72 2nd Path 80 Path switching mechanism 81 Switching signal output unit 82, 84 Path switching valve

Claims (5)

A steering gear that rotates a rudder plate by rotating a rudder shaft connected to the rudder plate,
A rudder connected to the rudder axle,
A first cylinder that biases the steering wheel to one side;
A second cylinder that biases the steering wheel to the other;
A hydraulic oil supply device for supplying hydraulic oil to the first cylinder and the second cylinder;
A hydraulic circuit connecting the first cylinder and the second cylinder to the hydraulic oil supply device;
A connection state installed in the hydraulic circuit and connecting the first cylinder and the second cylinder and the hydraulic fluid supply device by the hydraulic circuit, the first cylinder and the second cylinder, and the hydraulic fluid supply device A main valve that switches the hydraulic circuit from the connection by the hydraulic circuit, and switches a shutoff state that shuts off movement of hydraulic fluid to the first cylinder and the second cylinder;
A switching control unit that switches between the connection state by the main valve and the shutoff state;
When the switching control unit does not perform feedback control according to the position of the steering plate and detects that the position of the steering plate is fixed, the main valve is brought into the shutoff state.
A signal output unit that outputs a control signal when the switching control unit does not perform feedback control according to the position of the steering plate and detects that the position of the steering plate is fixed; ,
An electromagnetic switching valve that switches between the connection state of the hydraulic circuit by the main valve and the shutoff state when the control signal output from the signal output unit is input;
The switching control unit includes a duration determination unit disposed between the signal output unit and the electromagnetic switching valve.
The duration determination unit outputs the control signal to the electromagnetic switching valve after a state in which the control signal is output from the signal output unit has passed a threshold time or more.
In the threshold time, a force is applied to the steering plate from a device that moves the position of the steering plate due to a shift in control conditions of the device, an influence of disturbance to the steering plate, etc. A steering gear characterized by having a short time . The main valve brings the hydraulic circuit into the connected state by being supplied with the hydraulic oil, and brings the hydraulic circuit into the shut-off state by stopping the supply of the hydraulic oil.
The steering gear according to claim 1, wherein the switching control unit switches between the connected state and the shut-off state by controlling hydraulic oil supplied to the main valve. A steering gear that rotates a rudder plate by rotating a rudder shaft connected to the rudder plate,
A rudder connected to the rudder axle,
A first cylinder that biases the steering wheel to one side;
A second cylinder that biases the steering wheel to the other;
A hydraulic oil supply device for supplying hydraulic oil to the first cylinder and the second cylinder;
A hydraulic circuit connecting the first cylinder and the second cylinder to the hydraulic oil supply device;
A connection state installed in the hydraulic circuit and connecting the first cylinder and the second cylinder and the hydraulic fluid supply device by the hydraulic circuit, the first cylinder and the second cylinder, and the hydraulic fluid supply device A main valve that switches the hydraulic circuit from the connection by the hydraulic circuit, and switches a shutoff state that shuts off movement of hydraulic fluid to the first cylinder and the second cylinder;
A switching control unit that switches between the connection state by the main valve and the shutoff state;
When the switching control unit does not perform feedback control according to the position of the steering plate and detects that the position of the steering plate is fixed, the main valve is brought into the shutoff state.
An orifice disposed between the hydraulic fluid supply device of the hydraulic circuit and the main valve;
The switching control unit includes a first hydraulic oil flow pipe connected to the hydraulic circuit closer to the hydraulic oil supply device than the orifice;
A second hydraulic oil flow pipe connected to the hydraulic circuit closer to the main valve than the orifice;
One end is connected to the first hydraulic fluid flow pipe, biased by hydraulic fluid supplied to the first hydraulic fluid flow pipe, and the other end is connected to the second hydraulic fluid flow pipe, And a hydraulic switching valve which is biased by the hydraulic fluid supplied to the second hydraulic fluid flow pipe and switches the connection state of the main valve and the shutoff state.
The hydraulic switching valve brings the hydraulic circuit into the connected state by the main valve when the difference in pressure of the hydraulic oil supplied from both ends is larger than a threshold value,
When the difference in pressure of the hydraulic oil supplied from both ends is equal to or less than a threshold value, the hydraulic circuit is shut off by the main valve,
The hydraulic circuit includes a first path in which the orifice is disposed, and a second path bypassing the orifice.
The switching control unit has a path switching mechanism that switches whether hydraulic oil flowing between the hydraulic oil supply device and the main valve flows through the first path or the second path,
When the path switching mechanism is performing feedback control according to the position of the steering plate, the hydraulic fluid is allowed to flow through the second path, and when feedback control according to the position of the steering plate is not performed, the path switching mechanism A steering gear characterized in that the hydraulic fluid flows in a first path. A steering gear according to any one of claims 1 to 3;
A rudder shaft rotated by the steering gear;
A steering plate fixed to the steering shaft;
A steering apparatus comprising: an operation device for inputting an operation to the steering gear. A steering plate control method of a steering gear, comprising a plurality of cylinders for moving a steering shaft connected to a steering plate, controlling hydraulic oil supplied to the cylinders, and rotating the steering plate,
Determining whether to perform feedback control according to the position of the steering plate;
Correcting the position of the steering plate based on the detected position of the steering plate and the commanded position of the steering plate when it is determined that the feedback control is to be performed;
When it is determined that the feedback control is not performed, it is determined whether or not there is a steering instruction to move the position of the steering plate,
When it is determined that the steering command is given and it is determined that the position of the steering plate is moved, the hydraulic oil supplied is controlled to move the steering plate,
When it is determined that there is no steering command and it is determined that the position of the steering plate is not moved, the path for supplying the hydraulic fluid to the cylinder is blocked, and the hydraulic pressure of the cylinder is fixed.
When it is detected that feedback control according to the position of the steering plate is not performed and it is detected that the position of the steering plate is fixed, a control signal is output,
The control signal is output to an electromagnetic switching valve that switches the state of a main valve that switches between the connection state and the shut-off state of a path that supplies hydraulic fluid to the cylinder after a state where the control signal is output has elapsed a threshold time or more Controlling the main valve with the electromagnetic switching valve and switching the path for supplying the hydraulic oil to the cylinder from the connected state to the shut-off state,
In the threshold time, a force is applied to the steering plate from a device that moves the position of the steering plate due to a shift in control conditions of the device, an influence of disturbance to the steering plate, etc. A steering plate control method characterized in that it is a short time .

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