JPH02227393A - Hull attitude controller - Google Patents

Abstract

PURPOSE:To keep a hull attitude stable as well as to make its controllability so better and compact in size by installing an attitude control plate rotatably by a plate driving part, and constituting it to control this plate driving part with a pressure signal out of a pressure sensor detecting water pressure attending on sailing. CONSTITUTION:Some moment is produced in the hull by rotation of a propeller of an outboard motor, but since there is produced such compensation moment as neutralizing hull moment in both attitude control plates 20A, 20B, a hull attitude is stabilized. When hull speed comes high, the hull moment by rotation of the propeller grows larger, but at this time, a control unit rotates these attitude control plates 20A, 20B on the basis of a pressure signal out of pressure sensors 21A, 21B, the compensation moment being produced by this rotation, thereby controlling the hull moment so as to just offset it. In consequence, the hull attitude is stabilized irrespective of hull speed.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to a hull attitude control device capable of stably maintaining the attitude of a boat fitted with a marine propulsion device such as an outboard motor. .

(Prior art) As shown in Figure 7, there is an overboard at the stern 1! ! In the hull 3 to which the propeller 12 is attached, when the outboard vs2 propeller 4 rotates clockwise A, for example, a counterclockwise moment B is generated. For this reason, a pilot's seat is installed on the right side of the hull 3 in order to cancel out the moment B, especially when the boat is occupied by a passenger.

However, if the weight of the operator is light or the power of the installed engine is large, the attitude of the ship tends to become unstable.

Therefore, in the hull 3 equipped with an inboard engine, etc., an attitude stabilizing plate 5 as shown in FIG. 8 is attached to the stern 1 of the hull 3.
Even if a moment B is generated in the hull 3 due to the rotation of the propeller 4, the attitude of the hull 3 is stabilized.

(Problem to be Solved by the Invention) However, the attitude control board 5 itself is generally large. Moreover, since the tilt of the attitude stabilizing plate 5 needs to be adjusted sequentially by manual operation using hydraulic pressure, it is hard to say that it is easy to use.

For these reasons, the attitude stabilizer 5 cannot be used in lightweight, high-performance motorboats.

This invention was made in consideration of the above circumstances,
To provide a compact ship attitude control device which maintains the attitude of the ship stable by canceling the moment of the ship body caused by the rotation of a propeller, and has good operability.

[Structure of the invention]

(Means for Solving Problems 12) This invention provides an attitude control plate and a pressure sensor installed in a submerged part of an outboard motor that is attached to the rear of a boat body and propels the boat body, and the attitude control plate is arranged to protrude from the side of the submerged part, and is generally rotatable by a plate drive part so as to change the angle with respect to the water flow, and the pressure sensor detects and controls the water pressure accompanying the movement of the ship. A pressure signal is output to the unit, and the control unit is configured to control the plate drive section based on the pressure signal from the pressure sensor.

(Function) A moment is generated in the hull due to the rotation of the propeller of the outboard motor, but a correction moment is generated in the attitude control plate to cancel this moment of the hull, so that the attitude of the hull can be stabilized. -Generally, as the ship speeds up, the moment of the ship due to the rotation of the propeller increases.At this time, the control unit rotates the attitude control plate based on the pressure signal from the pressure sensor to control the attitude. υ1wJ is set so that the correction moment generated by the plate exactly cancels out the increased hull moment.As a result, the attitude of the hull can be stabilized regardless of the hull speed.

Further, the hull attitude control device can be configured compactly because the attitude control plate needs to be small compared to the outboard motor.

In addition, a pressure sensor detects water pressure as the ship moves,
The control unit operates the attitude control plate based on the pressure signal from this pressure sensor, so
There is no need for manual operation.

(Example) Embodiments of the present invention will be described below based on the drawings.

FIG. 2 is an overall side view showing an outboard motor to which an embodiment of the hull attitude control device according to the present invention is applied;
The figure is a side view of the main parts of the outboard motor.

In the outboard motor 11 that is attached to the hull and propels the hull, the second
As shown in the figure, an engine 13 is mounted on the upper part of the drive shaft housing 12, and the engine 13 is covered with an engine cover 14.

Gear case 1 at the bottom of drive shaft housing 12
5 is joined, and a propeller shaft (not shown) is pivotally supported within this gear case 15. The rotational driving force from the engine 13 is transmitted to the propeller shaft through a rotation transmission mechanism in the drive shaft housing 12 and the σ gear case 15, and drives the propeller 16 to rotate.

This outboard motor is provided with a swivel bracket 17 and a clamp bracket 18.
The outboard motor 11 is attached to the transom of the hull. The clamp bracket 18 is supported by the swivel bracket 17 via a swivel shaft 19. Further, a pilot shaft (not shown) is attached to the drive shaft housing 12, and this pilot shaft is rotatably housed within the swivel bracket 17.

Therefore, the drive shaft housing 12 is provided so as to be horizontally rotatable with respect to the swivel bracket 17 around the pilot shaft, and is also provided so as to be vertically rotatable with respect to the clamp bracket 18 around the swivel shaft 19 .

Such overboard! f! 11, attitude control plates 20A, 20B and pressure sensors 21A, 21B as shown in FIG.

Attitude control plates 20A and 20B are gear case 1
5, and are arranged in opposite directions at an inclination angle θ with respect to the direction of water flow. Further, within the gear case 15, as shown in FIG. 1, a stepping motor 22 as a plate drive section is arranged.

A control pinion 23 is press-fitted into the shaft of the stepping motor 22. On the other hand, posture control plate 2
A control shaft 24 is fixed to one end of OA and B. This control shaft 24 has a bearing 25
is rotatably supported by the gear case 15. Note that the reference numeral 26 indicates an oil seal.

A control gear 27 is fixed to the other end of the control shaft 24. These control gears 27 and the control gears 23 are both bevel gears and mesh with each other. Therefore, the rotational driving force of the stepping motor 22 is in opposite phase to the control shaft 24.
The control shaft 24 is rotated so that the attitude control plates 2OA and 2B can change the inclination angle θ relative to the water flow direction in opposite directions.

Further, the pressure sensors 21A and 21B are installed in front of both sides of the gear case 15 at a portion where positive pressure acts, and detect the water pressure associated with the running of the ship. The pressure sensors 21A and 21B and the stepping motor 22 are connected to leads 128.
29, the control unit 30 shown in FIG.
connected to.

This control unit 30 is installed near the engine 13, and the lead wires 28, 29 are arranged in the aforementioned pilot shaft.

The water pressure detected by the pressure sensors 21A and 21B is output to the control unit 30 through the lead wire 28 as a pressure signal. The control unit 30 includes a constant voltage circuit 31, an input/output device 32, a central processing unit 33, and a memory 34, as shown in FIG.

When the switch 35 is turned on, current from the power supply 36 flows to the transistor 37 and the constant voltage circuit 31, and from the constant voltage circuit 31 to the input/output device 32 and the central processing unit 33. The input/output device 32 inputs pressure signals from the pressure sensors 21A and 21B and outputs them to the central processing unit 33, which in turn supplies current to the transistor 37 via the input/output device 32 according to the control pattern in the memory 34. output and control the operation of the stepping motor 22.

The memory 34 stores various controllers shown in FIGS. 5 and 6.
Roll patterns are stored. The control pattern shown in Fig. 5 is a pattern for stabilizing the attitude of the ship by canceling the moment B generated by the propeller, and the control pattern shown in Fig. 6 is a pattern for stabilizing the attitude of the ship when turning the ship. It is.

First, the former (stabilization of the ship's posture) will be explained. The control unit 30 controls the stepping motor 22 to set the inclination angle of the attitude control plates 2OA and B.
, B, a correction moment is generated which cancels the moment B of the hull caused by the propeller 16. For example, propeller 1
is clockwise rotation A, the attitude control plate 20
A is outboard as shown by the broken line in Figure 3! ! The attitude control plate 20B is tilted downward toward the front of the outboard motor 111 at an angle θ, as shown by the solid line in FIG.
The angle of inclination θ is set upward toward the front of the vehicle. As a result, the attitude control plate 2O
An upward force acts on A, and posture control plate 2
A downward force acts on 0B, creating a compensating moment that cancels the moment B created by propeller 16.

Generally, the moment B generated by the propeller increases as the ship speed increases, but the degree of increase differs depending on each ship. Further, the water pressure detected by the pressure sensors 21A and 21B also increases due to an increase in the hull speed. Therefore, in the case of a ship in which the moment B generated by the propeller increases in proportion to the speed of the ship, the stepping motor 22 is controlled using the memory 34 that stores the characteristics shown in case 1 of FIG. In addition, when the moment 8 generated by the propeller 16 increases exponentially as the hull speed increases, the memory 3 that stores the characteristics shown in case 2 of diagram jI5
4 to drive the stepping motor 22. Further, when the moment B generated by the propeller increases logarithmically as the hull speed increases, the stepping motor 22 is controlled using the memory 34 storing the characteristics shown in case 3 of FIG.

In any of the above cases 1.2.3, the propeller 16
The moment B generated by this can be canceled out by the correction moment generated by the attitude control plates 2OA and 2B, regardless of the hull speed, and the attitude of the hull can be stabilized.

Next, the latter (stabilization of attitude during turning) will be described6.The memory 34 also stores the characteristics of either case 4 or case 5 in FIG. Case 4 is a control pattern used, for example, in a ship whose center of gravity is high and which tends to become unstable. That is, when turning, the water pressures detected by the left and right pressure sensors 21A and 21B are different. For example, when turning right, the right pressure sensor 21A
The water pressure P^ detected on the left side 21B is the water pressure P^ detected on the left side 21B.
Becomes larger than 8. Therefore, in this case, the water pressure difference (P
As A-s) becomes larger, the attitude control plate 20B (Real II in Fig. 3) is rotated so that its inclination angle θ becomes larger in the negative side, and the attitude control plate 20A (broken line in Fig. 3) is rotated. is rotated so that its inclination angle θ increases toward the positive side. As a result, the downward force of the outboard motor 11 acts on the attitude control plate 20B, and the upward force of the outboard motor 11 acts on the attitude control plate 2OA, making corrections that suppress the inclination when the hull turns to the right. A moment is generated.

Further, case 5 is a control pattern used, for example, in the case of a small and lightweight pontoon boat.

In other words, for example, if the water pressure difference (P - PB) detected by the pressure sensors 21A and 21B increases when turning to the right,
Attitude control plate 20B (shown as a solid line in FIG. 3) is rotated so that its inclination angle θ increases in the positive direction, and attitude control plate 20A (shown as a broken line in FIG. 3) is rotated.
is rotated so that its inclination angle θ increases toward the negative side. As a result, the upward force of the outboard motor 11 acts on the attitude control plate 20B, and the downward force of the outboard motor 11 acts on the attitude control plate 2OA, promoting the tilting of the boat when turning to the right. A correction moment is generated that allows a small edge turn.

Next, the effects will be explained.

According to the above embodiment, as shown in FIG. 3, the gear case 15 includes the attitude control plate 20A.

Since B is arranged, a correction moment is generated by the attitude control plates 2OA and 2B to cancel the moment B generated by the rotation of the propeller 16, and the attitude of the ship body can be stabilized. Also, these attitude control plates 2OA.

The tilt angle θ of B is controlled m+ by the control unit 30 based on pressure signals from the pressure sensors 21A and 21B. Therefore, even if the moment B caused by the propeller 16 increases as the hull speed increases, the control unit 30 appropriately increases the tilt angle θ of the attitude control plates 2OA and 2B. As a result, a correction moment is generated in the attitude control plates 20A, B' that cancels out the increased moment B caused by the propeller 16, and the attitude of the ship can be stabilized.

In particular, the memory 3 stores the optimal control pattern for each hull (Case 1.2.3).
If any one of 4 is selected, an ideal correction moment can be generated in each hull. Therefore, the moment B generated by the propeller 16 for each hull can be canceled out in just the right amount, and the attitude of the hull can be stabilized.

In addition, in this embodiment, the attitude control plate 2O
Since A and 8 are small, the device can be made compact. Furthermore, pressure sensors 2OA and 2B detect the water pressure accompanying the running of the ship, and the control unit 30 detects the water pressure caused by this pressure sensor 21A.

Since the attitude control plates 2OA and 2B are automatically operated based on the pressure signal from B, there is no need for manual operation.

Also, the gear case 15 includes an attitude control plate 2.
Only OA and B protrude, and the pressure sensors 21A and 21B are arranged in the gear case 15 and do not provide fluid resistance. As a result, it is possible to minimize fluid resistance and improve propulsion efficiency.

Furthermore, when the ship turns, the left and right pressure sensors 21A and 21B are
The inclination angle θ of the attitude control plates 2OA and 8 is changed by utilizing the fact that the detected water pressures are different, so that the inclination of the hull during turning can be controlled. Therefore, it is possible to improve turning stability and turning performance.

In addition, in the above embodiment, the attitude control plate 2O
A, B and the pressure sensors 21A, B are installed in the gear case 15, but other submerged parts of the outboard motor,
For example, it may be installed in the drive chassis or the Yaft housing 12.

〔Effect of the invention〕

As described above, according to the hull attitude control device according to the present invention, the attitude control plate and the pressure sensor are installed in the submerged part of the outboard motor, and the attitude control plate is arranged to protrude from the side surface of the submerged part. ,
The plate drive unit is rotatable so that the angle with respect to the water flow can be changed, and the pressure sensor detects the water pressure accompanying the running of the ship and outputs a pressure signal to the control unit. Since the plate driving section is controlled based on the pressure signal from the pressure sensor, it is possible to cancel out the moment of the hull caused by the rotation of the propeller and maintain a stable attitude of the hull, and the operability is improved. It can be made into a good and compact device.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an embodiment of a ship attitude control device according to the present invention, and is a sectional view taken along the line I-I in FIG. 3, and FIG. 3 is a side view of the main parts of the outboard motor shown in FIG. 2; FIG. 4 is a block diagram showing the configuration of the control unit shown in FIG. 2; FIG. The figure is a graph showing the relationship between the hull speed and the attitude control plate inclination angle stored in the memory of Fig. 4, and Fig. 6 is the inclination angle of the attitude control play h during turning stored in the memory of Fig. 4. Figure 7 is a graph showing the relationship between the water pressure and the difference in water pressure detected by the left and right pressure sensors, Figure 7 is a diagram showing the moment of the boat caused by the rotation of the propeller in a hull equipped with an outboard motor, and Figure 8 is a graph showing the relationship between FIG. 1 is a partial perspective view of a ship to which a conventional ship attitude control device is applied. 11...outboard motor, 15...gear case, 16...
Propeller, 2OA, B... Attitude control plate, 21A, B... Pressure sensor, 22... Stepping motor, 30... Control unit, 34...
·memory. Figure 1 Figure Figure Boat lie, ■ Figure Figure Figure Figure

Claims (1)

[Claims] An attitude control plate and a pressure sensor are installed in the submerged part of an outboard motor that is attached to the rear of the hull and propels the hull. It is rotatably provided to change the angle with respect to the
Further, the pressure sensor is configured to detect water pressure accompanying the travel of the hull and output a pressure signal to a control unit, and this control unit controls the plate drive unit based on the pressure signal from the pressure sensor. A ship attitude control device characterized by: