JPH0141680Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a turning device for turning a turning cylinder in a Z-type propulsion device.

In recent years, as maritime traffic has become more congested, tugboats that safely and quickly move large ships, etc. away from and berth are required to be agile. It has become common to have a Z-type propulsion device that can be freely changed to In such a Z-type propulsion device, by engaging the clutch 2, the rotation of the main engine 1 is transmitted to the input shaft 6 via the universal 3, the intermediate shaft 4, and the universal 5, and the rotation of the input shaft 6 is further transmitted to the bevel gear 7, The rotation of the hydraulic motor 14 controlled by the control device 13 is transmitted to the propeller 12 attached to the propeller shaft 11 via the propeller shaft 11, and the propeller 12 rotates to move the ship forward.
5 and the rotating cylinder 17 via the worm wheel 16
The rotation cylinder 17 is rotated by the transmission of the force to change the direction of the thrust of the propeller 12, thereby causing the ship to turn.

By the way, as a method for controlling the turning of the Z-type propulsion system, a method is generally used in which the rotational speed of the hydraulic motor 14 is controlled relative to the rotational speed of the main engine 1. There are cases where the hydraulic motor 14 is controlled by driving a pump, and cases where the hydraulic motor 14 is controlled by driving the hydraulic pump with an electric motor. When the hydraulic pump is driven by the main engine 1, the control method is to detect the rotation speed of the main engine 1 and set the tilting angle of the hydraulic pump in inverse proportion to the rotation speed of the main engine 1 so that the rotation of the hydraulic motor 14 is constant. Some types control the hydraulic pump by rotating the hydraulic motor 14, others detect the rotational speed of the hydraulic motor 14 and control the tilting angle of the hydraulic pump so that the rotational speed of the hydraulic motor 14 is constant, and others drive the hydraulic pump with an electric motor. In this case, a voltage value corresponding to the rotation speed is detected by a potentiometer attached to the control handle of the main engine 1, and the rotation speed of the hydraulic motor 14 is controlled in inverse proportion to this value. 1 and controls the rotation speed of the hydraulic motor 14 to be inversely proportional to the rotation speed of the main engine 1 by controlling the opening degree of a throttle valve provided between the hydraulic motor 14 and the hydraulic pump. etc.

Among these control methods, the above Z in which the turning force is proportional to the rotational speed of the main engine 1 and proportional to the square of the ship speed
In the case of a ship using a Z-type propulsion device, a control method is used in which the turning speed (rotational speed of the hydraulic motor 14) is inversely proportional to the rotational speed of the main engine 1, and a ship using such a Z-type propulsion device When the rotational speed of the main engine 1 is high, the turning speed is slowed down to prevent an increase in hydraulic driving force and sudden turns, and when the rotational speed of the main engine 1 is low, the turning speed is increased to compensate for the excess hydraulic driving force. The structure is designed to make effective use of the space and enable quick turns.

However, many ships using such Z-type propulsion systems are used as tugboats, and in the case of tugboats that need to work alongside the main ship, the speed of the ship and the rotational speed of the main engine 1 do not necessarily match. There are times when the rotational speed of the main engine 1 is low and the ship speed is high, or the rotational speed of the main engine 1 is high and the ship speed is low, so the turning speed is controlled in inverse proportion to the rotational speed of the main engine 1 as in the past. In the method of The disadvantage is that the main engine rotates at high speed but the vessel speed is low (when the tugboat is pulling the main vessel), and a high turning speed cannot be obtained.

In order to eliminate such drawbacks, for example, it is possible to install a pressure detector in the output system of the hydraulic pump and control the hydraulic pump based on the value of this pressure detector and adjust the rotation speed. . This is because, regardless of the rotational speed of the main engine, if the ship's speed is high, the load on the turning tube increases.
This is because if this load is detected by a pressure detector and the hydraulic pump is controlled, overload will not occur. By the way, when performing such control,
Stability of the detected value of the pressure detector is an essential condition for increasing the stability of this control system and fully demonstrating its functions, but as is well known, certain points of the hydraulic pump The pressure value at the pressure usually pulsates, and even if control is performed based on such a value, it is difficult to achieve good control.

This invention was made in view of the above circumstances,
The purpose is to provide a turning device for a Z-type propulsion system that can fully utilize the engine's capabilities and stably control the turning speed in accordance with the navigation conditions. Hereinafter, the present invention will be specifically explained with reference to the drawings.

FIG. 2 shows an embodiment of the present invention, and reference numeral 20 in the figure indicates a hydraulic motor. This hydraulic motor 20 is connected to a worm wheel 23 via a worm 22 formed on a worm shaft 21, and this worm wheel 23 is connected to the Z
It is connected to the rotating cylinder 17 of the type propulsion device. Further, a speed generator (rotational speed detector) 24 is connected to the worm shaft 21, and gears 25,
A follow-up potentiometer (follow-up angle detector) 27 is provided to detect the turning angle of the turn tube 17 via a follow-up potentiometer 26 . The speed generator 24, whose polarity is reversed depending on the direction of rotation, is connected to one input terminal of a comparison circuit 29 of the control device 28, and the follow-up potentiometer 27 is connected to one input terminal of the comparison circuit 30 of the control device 28. connected to the end. The other input end of the comparator circuit 30 is connected to an operating potentiometer (operating angle detector) that detects the operating angle of the operating handle 38 as the operating handle 38 issues a command to rotate the rotating cylinder 17. container) 39
is connected, and the comparator circuit 30 is configured to determine the turning direction based on the potential difference between the operating potentiometer 39 and the following potentiometer 27 and output a command voltage. Further, the hydraulic motor 20 is connected to a hydraulic pump 33 of a control device 28 via pipes 31 and 32, and these pipes 31 and 32 are connected to detect the hydraulic pressure at the entrance and exit of the hydraulic motor 20, respectively (two pressures are connected to each other). Pressure detectors 34 and 35 (both of which are detected as positive values) are provided. The pressure detector 34 is connected to the input terminal of the operational amplifier 36 via the resistor _R1 of the control device 28, and the discrimination circuit 37
is connected to one input end of the pressure sensor 3.
5 is connected to the input terminal of the operational amplifier 36 via the resistor R ₂ of the control device 28, and is also connected to the other input terminal of the discrimination circuit 37. This determination circuit 37 determines which of the X and Y ports of the hydraulic motor 20 has higher pressure.

The input terminal of the operational amplifier 36 of the control device 28 is grounded via a resistor R ₃ , and a resistor R ₄ is connected between the input terminal and the output terminal of the operational amplifier 36 . ₁ , R ₂ , R ₃ , R ₄ make two pressure detectors 3
An adder circuit 40 is configured to add the outputs of 4 and 35. The output end of this adder circuit 40 is connected to one end of a switch 41, and also to one end of a switch 44 via a polarity inversion circuit 43 made up of an operational amplifier 42 and resistors R ₅ , R ₆ , and R ₇ . According to the discrimination circuit 37, when the oil pressure at the X port of the hydraulic motor 20 is higher than the oil pressure at the Y port, the switch 44 is turned on and the addition circuit 4 is turned on.
X port and Y of hydraulic motor 20 added at 0
When the port pressure is reversed and output and the hydraulic pressure of the Y port of the hydraulic motor 20 is higher than the hydraulic pressure of the It is configured so that the port pressure is output as is. The other ends of the switches 41 and 44 are connected to one input end of a maximum output limiting circuit 45, and the output end of the comparison circuit 30 is connected to the other input end of the maximum output limiting circuit 45. The maximum output limiting circuit 45 outputs the output from the comparator circuit 30 to a switch 41 or a switch 44.
The maximum value is limited and output in inverse proportion to the output of the adder circuit 40 via the . Also,
The output end of the maximum output limiting circuit 45 is connected to the other input end of the comparator circuit 29, and the output end of the comparing circuit 29 is connected to the electromagnetic proportional valve 46. The output of the speed generator 24 is compared with the output of the speed generator 24, and the difference between the inputs is output. The P port of the electromagnetic proportional valve 46 is connected to a pilot hydraulic pump 48 connected to the hydraulic pump 33 via a pipe 47, and the A and B ports of the electromagnetic proportional valve 46 are
The ports are connected to ends C and D of a hydraulic cylinder 51 via pipes 49 and 50, respectively. Furthermore, the piston rod 51a of the hydraulic cylinder 51
is connected to a control lever 33a that controls the flow direction and discharge amount of oil from the hydraulic pump 33. The hydraulic pump 33 is connected to the main engine 1 or a drive device 52 such as an electric motor.

Next, the operation of the swing device in the Z-type propulsion device configured as described above will be explained.

First, when the operation handle 38 is rotated, a potential difference is generated between the operation potentiometer 39 and the follow-up potentiometer 27, so the comparator circuit 3
The turning direction is determined based on 0, and a turning command is output. At this time, the hydraulic motor 20 is in a stopped state and the outputs of the speed generator 24 and pressure detectors 34 and 35 are respectively 0, so the swing command is transmitted to the electromagnetic proportional valve 4 via the maximum output limiting circuit 45 and the comparison circuit 29.
6 is input. As a result, the valve of the electromagnetic proportional valve 46 opens and the piston rod 51a of the hydraulic cylinder 51 moves, so that the control lever 33
a rotates and the hydraulic pump 33 starts discharging oil.
Therefore, the hydraulic motor 20 rotates and the rotating cylinder 17 starts rotating. When the hydraulic motor 20 starts rotating, signals are output from the pressure detectors 34 and 35 and the speed generator 24.

Here, the output waveforms of the pressure detectors 34 and 35 (hydraulic pressure at the entrance and exit of the hydraulic motor 20) are waveforms with pulsations, as shown in FIG. If the output is input alone to the control device 28, pulsation causes phenomena such as resonance and hunting, resulting in instability. and,
In order to eliminate this pulsation, it is possible to insert an integral circuit or the like into the electric circuit or to insert an accumulator or the like into the hydraulic circuit, but both methods involve a time delay and cause hunting. By the way, as shown in FIG. 3, the pulsations in the output waveforms of the pressure detectors 34 and 35 have a characteristic that when one reaches a maximum value, the other becomes a minimum value. By performing the addition in the adder circuit 40, the output of the adder circuit 40 becomes a stable waveform with no pulsation (see FIG. 3C). Then, the determination circuit 37 determines whether the hydraulic motor 20 is
Determine which port has higher pressure, and
When the port is higher, switch 44 is turned on and switch 41 is turned off. Therefore, the adder circuit 40
The output is inverted by the polarity inverting circuit 43 and inputted to the maximum output limiting circuit 45 as a positive value. Also, when the Y port is higher, switch 41 is
ON, and the switch 44 turns OFF, so the addition circuit 4
The output of 0 is directly input to the maximum output control circuit 45 as a negative value.

Pressure detectors 34, 3 added in this way
When the output of No. 5 is input to the maximum output control circuit 45, the maximum output is limited in inverse proportion to the sum of the output of the pressure detector 34 and the output of the pressure detector 35 from the output of the comparison circuit 30, and is input to the comparison circuit 29. be done. The comparison circuit 29 compares the output of the maximum output limiting circuit 45 with the output of the speed generator 24, and the output of this difference is input to the electromagnetic proportional valve 46. Therefore, the electromagnetic proportional valve 46 gradually lowers its opening degree,
When the output of the maximum output limiting circuit 45 and the output of the speed generator 24 are balanced, the output of the comparison circuit 29 becomes 0 and the electromagnetic proportional valve 46 is closed. Therefore, the piston rod 51a stops and the control lever 3
Since 3a stops rotating, the hydraulic pump 33
continues to discharge a constant amount. As a result, the hydraulic motor 20 stops increasing its rotational speed and rotates at a constant rotational speed, so the rotating cylinder 17 rotates at a constant speed.

With the rotating cylinder 17 rotating at a constant speed,
The rotating cylinder 17 of the Z-type propulsion system was damaged due to an increase in ship speed, etc.
When the swing load increases, the pressure detectors 34, 35
As the pressure increases and the output of the maximum output limiting circuit 45 decreases, the output of the comparator circuit 29 becomes negative, and the electromagnetic proportional valve 46 opens in the opposite direction to the direction in which it has operated up until now. Then, the piston rod 51a of the hydraulic cylinder 51 starts moving in the original direction, so the discharge amount of the hydraulic pump 33 decreases, the hydraulic motor 20 lowers its rotation speed, and the rotation speed of the rotation tube 17 becomes smaller. As a result, when the output of the speed generator 24 decreases and becomes balanced with the output of the maximum output limiting circuit 45, the output of the comparison circuit 29 becomes 0.
The electromagnetic proportional valve 46 is closed, and the discharge amount of the hydraulic pump 33 becomes constant. Therefore, the hydraulic motor 20 rotates at a constant rate, and the rotating cylinder 17 rotates at a constant rate of rotation. Furthermore, when the turning load on the turning cylinder 17 decreases due to a decrease in ship speed, etc., the situation is opposite to the above, the pressure in the pressure detectors 34 and 35 decreases, and the output of the maximum output limiting circuit 45 increases. Comparison circuit 2
9 becomes positive, and the valve of the electromagnetic proportional valve 46 opens in the direction in which the discharge amount of the hydraulic pump 33 increases.
Therefore, the rotation speed of the hydraulic motor 20 increases, and the rotation speed of the rotation tube 17 increases.

When the rotating cylinder 17 rotates and approaches the target value, 2
The potential difference generated between the two potentiometers 27 and 39 becomes lower, and the output of the comparator circuit 30 decreases, so the valve of the electromagnetic proportional valve 46 opens in the direction of decreasing the discharge amount of the hydraulic pump 33, and the hydraulic motor 20
The rotation speed of will gradually decrease. Then, when the potential difference between the two potentiometers 27 and 39 becomes 0, the output of the comparison circuit 30 becomes 0, and the outputs of the maximum output control circuit 45 and the comparison circuit 29 become 0, so the valve of the electromagnetic proportional valve 46 is closed, and the hydraulic pump 33 and hydraulic motor 20 are stopped. Therefore, Z
The rotating cylinder 17 of the type propulsion device stops rotating.

In this way, the turning of the turning cylinder 17 of the Z-type propulsion device can be controlled, so that the turning speed of the turning device in the Z-type propulsion device according to the present invention changes from dotted line 1 to dotted line 5, as shown in FIG. It increases with time. Therefore, compared to the conventional system shown in FIG. 4 in which the turning speed of the turning tube 17 is controlled in inverse proportion to the main engine rotational speed, the turning speed can be increased when the main engine is high in rotation and the ship's speed is low. At the same time, when the main engine rotation is low and the ship speed is high, the turning speed can be suppressed, so that there is no overload area (the area above the solid line in FIG. 4) as in the past. Note that the curves shown by solid lines in FIGS. 4 and 5 indicate a state in which the ship is sailing alone.

As explained above, the present invention includes a hydraulic motor for rotating a rotating tube of a Z-type propulsion device, a rotation speed detector for detecting the rotational speed of the hydraulic motor, and a tracking device for detecting the rotation angle of the rotating tube. an angle detector, an operating angle detector that detects the operating angle of the operating handle that issues a command to rotate the rotating cylinder, two pressure detectors that detect oil pressure at the entrance and exit of the hydraulic motor, and the rotational speed detector. and a control device that controls the hydraulic motor based on the outputs of the two angle detectors and the outputs of the two pressure detectors, and the control device includes an adding circuit that adds the outputs of the two pressure detectors; Equipped with a discrimination circuit that compares the magnitude of the outputs of the two pressure detectors, adjusts the rotation speed of the rotating tube according to the output value of the adding circuit, and adjusts the rotation direction of the rotating tube according to the output value of the discrimination circuit. Since the hydraulic motor is controlled so that the pulsation in the hydraulic pressure is removed, accurate and stable output can be obtained without time delay, and the control system does not become unstable such as hunting, resulting in a good system. can be controlled. Therefore, the turning speed can be lowered when the main engine is at high rotation and the ship's speed is high, and the output can be kept low. Therefore, it is safe, energy-saving, and inexpensive because it can be made smaller and lighter. In addition, it is possible to increase the turning speed when the main engine is rotating at high speeds and at low ship speeds, and it is possible to keep the turning speeds low when the main engine is at low speeds and at high speeds, so the turning speed can be maintained without damaging the hydraulic pump. Good performance and easy to maneuver. Furthermore, it can be used regardless of whether the drive source of the hydraulic pump is an electric motor or a main engine.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram of a conventional Z-type propulsion device, Fig. 2 is a schematic diagram of an embodiment of the present invention, and Fig. 3 is a schematic diagram of a conventional Z-type propulsion device.
The figure is a characteristic diagram showing the pressure change at the entrance and exit of the hydraulic motor and the output waveform of the adding circuit showing an embodiment of the present invention, and FIG. 4 is a characteristic diagram showing the relationship between the conventional main engine rotation speed, ship speed, and turning speed. FIG. 5 is a characteristic diagram showing the relationship between main engine rotational speed, ship speed, and turning speed, showing an embodiment of the present invention. 17...Swivel tube, 20...Hydraulic motor, 24...
...speed generator (rotational speed detector), 27...following potentiometer (following angle detector), 28
...Control device, 34, 35...Pressure detector, 37
...Discrimination circuit, 38...Operation handle, 39...
Operation potentiometer (operation angle detector),
40...Addition circuit.

Claims (1)

[Claims for Utility Model Registration] A hydraulic motor 20 for rotating the rotating cylinder 17 of the Z-type propulsion device, a rotation speed detector 24 for detecting the rotational speed of the hydraulic motor, and a tracking device for detecting the rotation angle of the rotating cylinder. an operating angle detector 27, an operating angle detector 39 that detects the operating angle of the operating handle 38 that issues a command to rotate the rotating cylinder, and two pressure detectors 34 that detect the oil pressure at the entrance and exit of the hydraulic motor. 35, and a control device 28 that controls the hydraulic motor based on the outputs of the rotational speed detector 24, the two angle detectors 27 and 39, and the outputs of the two pressure detectors 34 and 35. , an adding circuit 40 that adds the outputs of the two pressure detectors, and a discrimination circuit 34 that compares the outputs of the two pressure detectors, and adjusts the rotating speed of the rotating tube according to the output value of the adding circuit. A turning device in a Z-type propulsion device, characterized in that a hydraulic motor is controlled to adjust a turning direction of a turning cylinder according to an output value of a discrimination circuit.