JPH0137999Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a Z-type propulsion device that prevents reverse turning.

In recent years, as maritime traffic has become increasingly congested, tugboats that safely and quickly move large ships away from and berth are required to operate quickly. Vehicles equipped with a Z-type propulsion device that can freely change direction have become common. Conventionally, a turning control device for controlling the turning of a ship equipped with such a Z-type propulsion device includes a turning tube of the Z-type propulsion device and a turning operation for controlling the turning angle of the turning tube of the Z-type propulsion device. a handle, an operating potentiometer that detects the operating angle θ ₁ of the operating handle for turning, and a following angle potentiometer that detects the turning angle (following angle) θ ₂ of the turning cylinder of the Z-type propulsion device; The outputs _{of the} two potentiometers generate _a sine signal sin( _{θ 1}
−θ ₂ ), a trigonometric function vector calculation circuit that outputs
A servo circuit that outputs a servo signal using this sine signal sin (θ ₁ - _{θ 2} ), a servo motor that is controlled by this servo signal, a hydraulic circuit that is controlled by the rotation and stopping of this servo motor, and this hydraulic circuit. The gear mechanism is connected to a hydraulic motor and rotates the rotating cylinder of the Z-type propulsion device.

However, the conventional swing control device configured as described above uses a sine signal of the deviation angle (θ ₁ −θ ₂ ) between the operating angle θ ₁ of the operating handle and the following angle θ ₂ of the swing tube.
Since the servo motor is controlled by inputting sin (θ ₁ − θ ₂ ) directly to the servo circuit, the deflection angle (θ ₁ − θ ₂ ) is ±
When the angle exceeds 180°, the sign of the sine signal sin(θ ₁ −θ ₂ ) is reversed. In other words, as shown in Figure 1, when the operating angle θ ₁ suddenly rotates more than 180° clockwise from 0°, the follow-up angle θ ₂ does not follow the clockwise direction but turns counterclockwise as shown by the dotted line. As a result, the ship does not turn clockwise as indicated by the operation angle θ ₁ but instead turns counterclockwise. As described above, the conventional turning control device has a problem in that a reverse turning occurs when the deviation angle (θ ₁ −θ ₂ ) exceeds ±180°.

In order to solve the above-mentioned problems, the present applicant proposed a reverse rotation prevention device for a Z-type propulsion system (Utility Application No. 58-46139 (Utility Model Application No. 59-150698)). This Z
The reverse rotation prevention device in the Z-type propulsion device is based on the operation angle θ ₁ of the operating handle that rotates the rotation tube of the Z-type propulsion device.
_{The cosine signal cos ( θ 1 -} When θ ₂ ) is greater than the set value, the above sine signal sin (θ ₁ - θ ₂ ) is output, and the above deviation angle (θ ₁
−θ ₂ ) is positive and the above cosine signal cos (θ ₁ −θ ₂ ) is lower than the above set value, outputs a positive constant value,
And by providing a signal processing circuit that outputs a constant negative value when the argument angle (θ ₁ - θ ₂ ) is negative and the cosine signal cos (θ ₁ - _{θ 2} ) is lower than the set value. , the above deviation angle (θ ₁ −θ ₂ ) is within a predetermined range,
(For example, when the above setting value is 0, −270°<deflection angle (θ ₁ −θ ₂ )<+270°), and it is possible to turn following the commanded direction of the operating angle θ ₁ .

However, in some cases, the reverse rotation prevention device in the Z-type propulsion device configured as described above may
270° ≦ Declination (θ ₁ − θ ₂ ) ≦ +360°, −360° ≦ Declination (
θ ₁ −
(within the range of θ ₂ )≦−270°), there is a risk of turning in the direction opposite to the direction commanded by the operating angle θ ₁ .

The present invention has been made in view of the above circumstances, and its purpose is to provide a Z-type propulsion device that can turn while following the commanded direction of the operating angle. Hereinafter, the present invention will be specifically explained with reference to the drawings.

2 and 3 show an embodiment of the present invention, and reference numeral 1 in the figures represents an operating handle for rotating the rotating tube 2 of the Z-type propulsion device.
is connected to an operation angle detector 3 such as a potentiometer or synchronizer that detects the operation angle θ ₁ . Further, a following angle detector 4 such as a potentiometer or a synchronizer for detecting the following angle (swivel cylinder) θ ₂ of the rotating tube 2 is connected to the worm shaft 5 via a gear. The operating angle detector 3 and the following angle detector 4 are connected to a trigonometric function generating circuit 6, and this trigonometric function generating circuit 6 detects the operating angle θ ₁ of the operating handle 1 and the following angle θ of the rotating tube 2. A sine signal sin (θ ₁ −θ ₂ ) having a declination angle (θ ₁ −θ _{2 )} with respect to
The polarity reversal detection circuit 9 is configured to input a cosine signal cos (θ ₁ −θ ₂ ) of the argument angle (θ ₁ −θ ₂ ). Furthermore, the polarity reversal detection circuit 9 receives a cosine signal cos
It is detected that the polarity of the difference between (θ ₁ −θ ₂ ) and a predetermined set value is reversed. It is configured to input the result to the increase/decrease pulse generation circuit 10. The increase/decrease pulse generation circuit 10 is inputted with the output of the polarity determination circuit 8 that compares the sine signal sin(θ ₁ −θ ₂ ) with a predetermined constant value, and the cosine signal cos(θ ₁ When the polarity of the difference between -θ ₂ ) and the above set value is reversed, the increase/decrease pulse generation circuit 10 outputs an increase pulse or a decrease pulse to the counter circuit 11 according to the output of the polarity determination circuit 8.
It is configured to output to. Furthermore, the output of the counter circuit 11 which counts the increasing pulses or decreasing pulses is inputted to the counter zero value detection circuit 12. This counter zero value detection circuit 12 is configured to compare the output of the counter circuit 11 with a predetermined value and output the result to the sample and hold circuit 7 and the increase/decrease pulse generation circuit 10. There is. The sample and hold circuit 7 is connected to a servo circuit 13 that controls a servo motor 14.

The servo motor 14 is connected to a hydraulic pump 15, which is connected to piping 16, 1.
7 to a hydraulic cylinder 18. The piston shaft 18a of the hydraulic cylinder 18 is connected to a control lever 19a that controls the discharge amount and oil flow direction of the hydraulic pump 19, and the hydraulic pump 19 is connected to an electric motor 20. Further, the hydraulic pump 19 is connected to a hydraulic motor 23 through pipes 21 and 22, and the hydraulic motor 23 is connected to a worm 2 formed on the worm shaft 5.
4 to a rotating worm wheel 25. And this turning worm wheel 25
is connected to the rotating cylinder 2.

Next, the operation of the Z-type propulsion device configured as described above will be explained with reference to FIG. 4.

First, with the operating angle θ _{1 of the operating handle 1} and the following angle θ ₂ of the rotating tube 2 matching,
When the operating handle 1 is rotated, a difference occurs between the operating angle θ ₁ and the following angle θ ₂ (in this embodiment, when the operating handle 1 is rotated to the right, the deviation angle (θ ₁ −θ ₂ ) becomes positive; When turning to the left, the declination angle (θ ₁ - θ ₂ ) becomes negative). Then, the trigonometric function generating circuit 6 synthesizes and outputs two types of signals, a sine signal sin (θ ₁ -θ ₂ ) and a cosine signal cos (θ ₁ -θ ₂ ) (see FIG. 4A). The cosine signal cos (θ ₁ - _{θ 2} ) output from the trigonometric function generation circuit 6 is input to the polarity reversal detection circuit 9, and the cosine signal cos (θ ₁ - θ ₂ ) and the set value are input to the polarity reversal detection circuit 9. (This embodiment will be explained assuming that the set value is 0). Therefore, −90°≦declination angle (θ ₁ −θ ₂ )≦
At +90°, the polarity of the cosine signal cos (θ ₁ −θ ₂ ) is not inverted, so the counter circuit 11 is 0. Therefore, the sample-and-hold circuit 7 enters the sample state (track mode) by the output of the counter zero value detection circuit 12, and the sine signal sin(θ ₁ −
θ ₂ ) is output as is.

Next, when the declination angle (θ ₁ - θ ₂ ) exceeds +90°,
At point a, the polarity of the cosine signal cos (θ ₁ -θ ₂ ) changes from positive to negative, and the polarity reversal detection circuit 9 outputs a signal. At this time, the polarity determination circuit 8 compares the sine signal sin(θ ₁ −θ ₂ ) with a predetermined constant value (in this embodiment, the constant value=0).
The result, that is, the fact that the sine signal sin (θ ₁ −θ ₂ ) is positive is output to the increase/decrease pulse generation circuit 10 . This increase/decrease pulse generation circuit 10 generates a sine signal.
Remembering that sin(θ ₁ −θ ₂ ) is positive,
Since the counter circuit 11 is 0, an increasing pulse is output to the counter circuit 11. Therefore, the counter circuit 11 changes the value from 0 to +1.
Therefore, the counter zero value detection circuit 12
compares the content (+1) of the counter circuit 11 with a predetermined predetermined value (in this embodiment, the predetermined value is explained as 0). Since the contents of the counter circuit 11 do not match the predetermined value, the counter zero value detection circuit 12 outputs a holding signal to the sample and hold circuit 7, and the sample and hold circuit 7 calculates the deviation angle (θ ₁ −θ ₂ ) = +90°, the value of the sine signal sin (θ ₁ - θ ₂ ), that is, sin (+
90°) and outputs (hold mode).
Then, each time the polarity of the cosine signal cos (θ ₁ −θ ₂ ) is reversed, the polarity of the sine signal sin (θ ₁ −θ ₂ ) at that time and the previous cosine signal cos stored in the increase/decrease pulse generation circuit 10 are The _sine signal sin(θ ₁ −θ ₂ ) when the polarity is reversed is
−θ ₂ ), and if the polarities are different, it is a pulse with the same sign as the pulse signal (increasing pulse or decreasing pulse) at the time of polarity reversal of the previous cosine signal cos(θ ₁ −θ ₂ ). The increase/decrease pulse generation circuit 10 outputs a signal to the counter circuit 11. Further, if the polarities are the same, a pulse signal having a different sign from the pulse signal when the polarity of the previous cosine signal cos (θ ₁ −θ ₂ ) is reversed is output to the counter circuit 11 . Therefore, the counter circuit 11 increases or decreases its value using this pulse signal.

Furthermore, when the declination angle (θ ₁ - _{θ 2} ) becomes smaller than -90°, the polarity of the cosine signal cos (θ ₁ - θ ₂ ) changes from positive to negative at point C, and the signal is output from the polarity reversal detection circuit 9. Output. At this time, the polarity determination circuit 8 that compares the sine signal sin(θ ₁ −θ ₂ ) with a constant value (=0) determines the result, that is, the sine signal sin(θ ₁ −θ ₂ ) is negative. This is output to the increase/decrease pulse generation circuit 10. This increase/decrease pulse generation circuit 10 generates a sine signal sin
It memorizes that (θ ₁ −θ ₂ ) is negative, and since the counter circuit 11 is 0, it outputs an increasing pulse to the counter circuit 11. Therefore, the counter circuit 11 changes the value from 0 to +1.
Therefore, the counter zero value detection circuit 12
outputs _a holding signal to the sample-and-hold circuit 7, and the sample-and-hold circuit 7 outputs a sine signal sin _{(θ 1 −θ
2} )
The value of sin (-90°) is held and output (hold mode). In addition, in this example, the declination angle (θ ₁
-θ ₂ ) becomes smaller than -90°, an increasing pulse is output to the counter circuit 11, and the counter circuit 11 changes the value from 0 to +1, but a decreasing pulse is output to the counter circuit 11. , the counter circuit 11 may change its value from 0 to -1.

Furthermore, specifically, the operating handle 1 is moved to the right.
A case of sudden rotation of 300° will be explained.

First, when the operating handle 1 starts to be rotated to the right, the turning angle (following angle) θ ₂ is 0° because it has not yet been followed, and only the operating angle θ ₁ begins to increase. Therefore, if the operating angle θ ₁ exceeds +90°, the declination angle (θ ₁ −
Since θ ₂ ) exceeds +90°, the cosine signal cos(θ ₁ −θ ₂ )
The polarity of changes from positive to negative. At this time, the sine signal
The polarity of sin (θ ₁ −θ ₂ ) is positive, and the increase/decrease pulse generation circuit 10 stores this polarity, and since the counter circuit 11 is 0, the increase/decrease pulse generation circuit 10 outputs an increase pulse, Counter circuit 1
Change the value of 1 from 0 to +1. As a result, until now,
Sample and hold circuit 7 that outputs the sine signal sin (θ ₁ - _{θ 2} ) as it is (track mode)
holds the value of sin (+90°) (hold mode)
Output. When the operating angle θ ₁ exceeds +270°, the polarity (θ ₁ - _{θ 2} ) exceeds +270°, and the polarity of the cosine signal cos (θ ₁ - _{θ 2} ) changes from negative to positive. At this time, the polarity of the sine signal sin(θ ₁ −θ ₂ ) is negative,
The increase/decrease pulse generation circuit 10 compares this polarity with the previously stored polarity. The previous polarity is positive;
Since the current polarity is negative, increase/decrease pulse generation circuit 1
0 memorizes the current polarity and outputs a pulse signal (increase pulse) with the same sign as the previously output pulse. As a result, the counter circuit 11 increases its value from +1 to +2. Since the counter circuit 11 is not 0, the sample-and-hold circuit 7 continues to output sin (+90°). When the operating angle θ ₁ reaches +300°, tracking starts and the tracking angle θ ₂ increases, so the deviation angle (θ ₁ −θ ₂ ) starts to decrease. When the declination angle (θ ₁ - θ ₂ ) becomes smaller than +270°,
The polarity of the cosine signal cos (θ ₁ − _{θ 2} ) changes from positive to negative, and at this time, the polarity of the sine signal sin (θ ₁ − θ ₂ ) is negative, and the previous polarity is negative, so the increase/decrease pulse The generating circuit 10 stores the current polarity and outputs a pulse (decrease pulse) with a different sign from the previously output pulse. As a result, the counter circuit 11
decreases its value from +2 to +1. and,
The sample-and-hold circuit 7 continues to output sin (+90°). Furthermore, when the declination angle (θ ₁ − _{θ 2} ) decreases to less than +90°, the cosine signal cos (θ ₁ − _{θ 2} )
The polarity of changes from negative to positive. At this time, the sine signal
The polarity of sin(θ ₁ −θ ₂ ) is positive, and the previously stored polarity is negative, so the increase/decrease pulse generation circuit 10
outputs a pulse (decreasing pulse) with the same sign as the previously output pulse. As a result, the counter circuit 11 decreases its value from +1 to 0, so the sample-and-hold circuit 7 releases the hold state and outputs the sine signal sin (θ ₁ -θ ₂ ) as it is (track mode). And the declination angle (θ ₁ −θ ₂ )
Tracking is completed when becomes 0°.

Based on the output signal of the sample and hold circuit 7, the servo circuit 13 controls the servo motor 14.
The hydraulic pump 15, the hydraulic cylinder 18, and the hydraulic pump 1 are controlled by the rotation of the servo motor 14.
9. The worm 24 of the worm shaft 5 is rotated via the hydraulic motor 23. As a result, the turning worm wheel 25 rotates, so the turning tube 2 of the Z-type propulsion device starts turning following the rotational direction of the operating handle 1. Then, when the deflection angle (θ ₁ −θ ₂ ) becomes 0°, the rotating cylinder 2 stops rotating.

In this way, no matter how the declination angle (θ ₁ - θ ₂ ) changes, for example, even if the declination angle (θ ₁ - _{θ 2} ) exceeds +360°, the counter circuit 11 completely controls the operation handle 1. Control is performed according to the direction commanded by
The rotating cylinder 2 rotates according to the rotating direction of the operating handle 1. Furthermore, by increasing the capacity of the counter circuit 11, it is possible to follow the rotation of the operating handle 1 and turn as many times as desired. You can control the number of times. Furthermore, the ratio between the operating angle θ ₁ and the following angle θ ₂ can be changed not only to 1:1 but also to 1:n or n:1, thereby improving accuracy.

Note that a limiter circuit may be provided at the input end of the servo circuit 13 to limit the output waveform of the sample-and-hold circuit 7. Also, the sine signal sin(θ ₁ −
θ ₂ ) and cosine signal cos (θ ₁ - _{θ 2} ) can be extracted by combining the output using a potentiometer or by combining a synchro and Scott transformer to remove alternating current from the output. There are two methods, one is a method of synthesis using a resolver, a differential transformer, a rotary encoder, etc.
It goes without saying that either method may be used.

As explained above, the present invention includes a polarity reversal detection circuit that compares a cosine signal with a predetermined set value, a polarity determination circuit that compares the sine signal with a predetermined constant value, and a polarity reversal detection circuit that compares the cosine signal with a predetermined constant value. When the polarity of the difference between the cosine signal and the set value is reversed in the reversal detection circuit, the polarity of the sine signal output by the polarity determination circuit is stored, and this polarity and the sine signal at the previous polarity reversal are stored. and if the polarities are different, output a pulse signal with the same sign as the previous polarity inversion, and if the polarity is the same, output a pulse signal with a different sign from the previous polarity inversion. An increase/decrease pulse generation circuit that outputs a pulse signal of A counter zero value detection circuit that determines whether the signal is 0 or not; and if the counter zero value detection circuit determines that the signal is 0, the sine signal is output as is, and the counter zero value detection circuit determines that it is not 0. In this case, it is equipped with a sample-and-hold circuit that holds the sine signal when the polarity of the difference between the cosine signal and the set value is reversed, and outputs the sine signal value at the time when it is held. When the polarity of the cosine signal is reversed, the polarity of the sine signal at the time of inversion and the sine signal at the previous time of inversion is compared, and the value of the counter circuit is increased or decreased based on the result, and if the counter circuit is 0, the sine signal is output as is. In addition, if the counter circuit is not 0, it holds the sine signal and outputs the sine signal value at the time it is held, so even if the turning angle suddenly exceeds 180°, the operating angle of the operating handle will not change. It turns following the commanded direction and never turns in the opposite direction. Also, since it is counted by a counter circuit, even if it exceeds ±360°, it will accurately follow the commanded direction and turn. Therefore, the ship can be safely and easily turned in a predetermined direction, and the ship has excellent maneuverability.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing the turning state of a conventional Z-type propulsion device, Figs. 2 and 3 show an embodiment of the present invention, Fig. 2 is a schematic configuration diagram, and Fig. 3 is an explanatory diagram showing the turning state of a conventional Z-type propulsion device. FIG. 4 is a schematic configuration diagram showing the rotating state of the rotating tube, and a waveform diagram of each part of the circuit showing the operation of the Z-type propulsion device according to the present invention. DESCRIPTION OF SYMBOLS 1... Operating handle, 2... Swivel cylinder, 3... Operating angle detector, 4... Following angle detector, 6... Trigonometric function generation circuit, 7... Sample and hold circuit, 8... Polarity determination circuit , 9...Polarity reversal detection circuit, 10...Increase/decrease pulse generation circuit, 11...Counter circuit, 12...Counter zero value detection circuit,
θ ₁ ...Operation angle, θ ₂ ...Following angle (turning angle), X...
signal processing circuit.

Claims (1)

[Claims for Utility Model Registration] The above two detectors include an operating angle detector that detects the operating angle of the operating handle that rotates the rotating tube, and a follow-up angle detector that detects the rotating angle of the rotating tube. A Z-type propulsion device having a trigonometric function generating circuit that outputs a sine signal and a cosine signal of the declination angle between the operating angle of the operating handle and the turning angle of the turning tube, the cosine signal and a predetermined setting value. a polarity reversal detection circuit that compares the sine signal with a predetermined constant value; and a polarity reversal detection circuit that compares the sine signal with a predetermined constant value; At times, the polarity of the sine signal outputted by the polarity determination circuit is stored, and this polarity is compared with the polarity of the sine signal at the previous polarity reversal, and if the polarity is different, the polarity of the sine signal output from the previous polarity is An increase/decrease pulse generation circuit outputs a pulse signal with the same sign as when the polarity is reversed, and if the above polarity is the same, outputs a pulse signal with a different sign from the previous polarity inversion, and this increase/decrease pulse generation circuit outputs a counter circuit that counts the output pulse signals; a counter zero value detection circuit that compares the output of this counter circuit with a predetermined value and determines whether the difference is 0; If the circuit determines that it is 0, the sine signal is output as is, and if the counter zero value detection circuit determines that it is not 0, the polarity of the difference between the cosine signal and the set value is reversed. 1. A Z-type propulsion device comprising: a sample-and-hold circuit that holds a sine signal at the time of the sine signal and outputs a sine signal value at the time when the sine signal is held.