JPH03148395A - Steering device for boat - Google Patents

Abstract

PURPOSE:To entirely eliminate hydraulic piping cornering steering control, and thereby make a configuration simple by inputting the output of a sensor detecting the rotating angle of a steering wheel into a controller, and thereby drivingly controlling a steering output mechanism based on the steering output signal obtained from the aforesaid controller. CONSTITUTION:A steering angle sensor 23 is provided in the vicinity of the rotating shaft 20 of a steering wheel 21 provided for the driver's seat of a hull 19, and the detected signals are outputted to a remote steering unit 24 so that a first target steering angle is thereby obtained based on the angle of the steering wheel. A steering angle setting dial 26 is attached to the remote steering unit 24, and a second target steering angle is determined based on the set steering angle set by the dial. The first or second target steering angle is selected herein by a change-over switch 29 so as to be outputted to a controller 28, the output is compared with an actual steering angle by a steering angle sensor 34 in the controller 28, and the motor 37 of a steering output mechanism 36 is drivingly controlled in response to the deviation in steering angle so that an outboard motor 30 is thereby rotated (steered) around a shaft 42 via a pinion 39, a rack 46 and a link mechanism 41.

Description

[Detailed Description of the Invention] ∪ (Field of Application in Industry) This invention is a port steering device that electrically controls the steering angle according to the rotation angle of the handle! Regarding t-.

(Prior Art) The conventional device shown in FIG. 4 is provided with a hydraulic eagi mechanism 3 on a steering shaft 2 of a handle l. This hydraulic actuating mechanism 3 discharges pressurized oil according to the amount of rotation of the handle I to either one of the pipes 4 or 5 depending on the rotation direction of the handle I. Then, either the other pipe 5 or 4 is connected to a tank (not shown) to discharge the return pressure oil.

Also. The pipe 4 is connected to the bottom side chamber 6a of the control cylinder 6, and the pipe 5 is connected to the loft side chamber 6b.

The piston port of the control cylinder 6 thus constructed.

A spool portion 9 of a servo switching valve 8 is linked to the tip of the doff.

Now, if we turn the handle l to discharge pressure oil into the pipe 4 and connect the pipe 5 to the tank, the piston rod of the control cylinder 6 will move to the right in the drawing, and the sprue 9 will also move to the right in the drawing. , and switch this servo switching valve 8 to the left position in the figure. When the switching valve 8 is switched to the left position as described above, the oil discharged from the pump P is transferred to the power cylinder via piping 10.11. It flows into one pressure chamber 12 of the PC. At this time, the other pressure chamber 13- communicates with the tank T via the pipe 14.151. Therefore, the piston port of this power cylinder PC.

The door 16 moves to the right in the drawing, and steers a rudder (not shown) in a predetermined direction.

Here, the piston loft 16 is linked to a main body portion 18 of the servo switching valve 8 via a link mechanism 17. Therefore, when the piston rod 16 moves to the right as described above, the main body portion ia also moves accordingly.

Then, when the rotation of the handle l is stopped, the control cylinder 6 is also stopped accordingly. The main body portion 18 catches up with the spool portion 9 a little later than the stop of the control cylinder 6.

The relative positions of the two become in the indicated state as shown in the figure, and the power cylinder PC also stops. In this way, the turning angle of the rudder of the port is determined at the position where the power cylinder PC stops.

(A!In that the invention seeks to solve) In the conventional device as described above, when this hydraulic device is installed in the port, the problem is that the configuration of the piping and steering angle feedback mechanism becomes complicated. was there. For this reason, installation locations were limited. In addition, there was a problem that maintenance etc. were troublesome.

An object of the present invention is to provide a boat steering device that can be easily installed anywhere and is easy to maintain.

<Means for Solving Problem S) In order to achieve the above object, the device of the present invention detects a handle rotatably attached to the hull, the rotation angle of this handle, and outputs a handle angle signal. A steering angle sensor detects the angle of the rudder and outputs a rudder angle signal to the controller, and the steering angle sensor and the rudder angle sensor are electrically connected, and the steering angle sensor detects the rudder angle and outputs a rudder angle signal to the controller. The controller includes a controller that outputs an output signal, and a steering output mechanism that is electrically connected to the controller and steers the rudder in accordance with the steering output signal, and the controller includes:
a deviation calculation unit that compares the input steering wheel angle signal and the steering angle signal and calculates a deviation signal;

The steering wheel is characterized by comprising an output value calculating section that calculates a steering output signal according to this deviation signal.

(Operation of the present invention) In the present invention, the rotation angle of the handle detected by the handle angle sensor is outputted to the controller as a handle angle signal.

In the controller, the deviation calculation section uses this steering wheel angle signal and the steering angle signal detected by the steering angle sensor.

The output value calculating section which compares and calculates a deviation signal calculates a turning output signal according to this deviation signal and outputs it to the turning output mechanism.

The steering output mechanism steers the rudder according to the steering output signal.

(Effects of the Present Invention) According to the boat steering device of the present invention, between the steering wheel angle sensor and the controller.

Since the controller and the steering output mechanism are electrically connected, for example, there is no need for any conventional hydraulic piping, which simplifies the configuration and allows installation anywhere. At the same time, its maintenance becomes easier.

(Embodiment of the present invention) In the device of the first embodiment of the present invention shown in FIGS. 1 to 3, a rotating shaft 20 is installed near the driver's seat of the hull 19 so as to rotate with respect to the hull 19. . This rotating shaft 20 is connected to the hull 19 by a C spring 22. And this rotating shaft 2
A handle 21 is provided at the tip of the 0, and by rotating the handle 21, the rotating shaft 20 also rotates together.

At this time, the torsion spring 22 is twisted and a spring reaction force is generated, so that the driver can feel an appropriate steering feeling. Also. When you release your hand from the handle 21, the spring reaction force of the torsion spring 22 causes the

The handle 21 returns to the neutral position.

A handle angle sensor 23 is provided near the rotating shaft 20 to detect the rotation angle of the rotating shaft.

The steering wheel angle sensor 23 is electrically connected to the remote steering unit 24 by electrical wiring, and outputs the detected steering wheel angle signal 0■ to the remote steering unit 24.

This remote steering unit 24 has a built-in circuit 25 that converts the steering wheel angle signal ON into the l-mark steering angle signal Ost. The remote steering unit 24 has a built-in rudder angle setting dial 26 and a circuit 27 that converts a set rudder angle signal OD sent from the rudder angle setting dial 26 into a target rudder angle signal 052. Furthermore, this long-distance steering unit 24.

By switching, the target steering angle signal es1 and the target steering angle signal OS2
A changeover switch 29 is provided to output either of the above to the controller 28.

In addition, in the device of this embodiment, an ignition key switch 31 for starting the engine 30 and a throttle lever 32 for controlling the engine speed are provided near the remote steering unit 24, but the installation position is particularly limited. It is not limited to.

The controller 28 includes this remote steering unit 24.
In addition, a battery 33 supplies power.

A steering angle sensor that detects the steering angle and outputs an actual steering angle signal OS to the controller 28, and an engine rotation sensor that is installed near the engine and detects the engine rotation speed and outputs an engine rotation speed signal R to the controller. A number sensor 35 is connected.

Furthermore, a motor 37 of a steering output mechanism 36, which will be described later, is connected to this controller 28 by electrical wiring, so that a steering output signal IN is outputted from the controller 28 to this motor 37.

The motor 37 is driven in accordance with a steering output signal from the controller 28. A deceleration a38 is connected to the output side of this motor 37.

A pinion 39 is provided on the output shaft of this speed reducer 38, and this pinion 39 is engaged with a rack 40. The rotational movement of the pinion 39 is converted into a slow movement of the rack 40 in the horizontal direction.

The rack 40 configured in this manner is linked to the engine 30 via a link mechanism 41 and a steering frame 43. Therefore, when the motor 37 is driven, the pinion 39 rotates.

Along with this, the rack 40 also moves. If the rack 40 operates in this way, the link mechanism 4
1 rotates, causing the steering arm 43 to rotate around the rotating shaft 42. The engine 30 rotates in the left-right direction due to the rotation of the steering arm 43. This rotation of the engine 30 changes the direction of propulsion of the screw 44, effectively steering the vehicle. Now, when the handle 21 is turned, the rotation angle of the handle 21 is as follows.
It is detected by the steering wheel angle sensor 23.

The steering wheel angle signal is output to the remote steering unit 24 as an ON signal. ' In the long-distance steering unit 24, this steering wheel angle signal OH
When input, the target steering angle signal 831 is processed in the circuit 25 as shown in the following equation (,l).

Ost=Ou/γ-(1) In equation (1), γ corresponds to the steering gear ratio. For example, if γ=IO.

When the steering wheel is turned 50 degrees, the engine 30 is steered 5 degrees.

When the changeover switch 29 provided on the remote steering unit 24 is switched to the circuit 25 side, the target steering angle signal OSl is output from the remote steering unit 24 to the controller 28.

In the controller 28, a target steering angle limiter 45 provided in the controller 28 controls the engine speed R according to the engine speed R.
Limiting the large value of the target steering angle signal Osl, the target steering angle signal O
Output as S. The limit on the maximum value of the steering wheel angle is set to the characteristics shown in FIG. 3, for example. In other words,
When the engine speed is high, it is dangerous to steer beyond a certain value, so ■ Set the maximum value of the steering angle to the engine speed R.
We are gradually restricting the amount depending on the situation.

In this way, since the maximum value of the ■ mark steering angle is gradually limited according to the engine speed R, dangers due to steering errors can be prevented.

This target steering angle signal IS is output to the comparison calculation section 46. The comparison calculation section 46 compares the target steering angle signal aS with the actual steering angle signal OS detected by the steering angle sensor, and calculates a deviation signal 0. This comparison operation is performed as shown in equation (2) below.

(J=Os−Os・−(2) In the device of this embodiment, as an output value calculation section.

It includes a correction calculation section 4-7 and an output value determination section 48. The deviation signal 0 is then output to the correction calculation section 47. The correction calculation unit 4 foot t7 calculates the optimum voltage signal Vl from the deviation signal 0 using the following equation. The optimum voltage signal Vl is calculated as shown in the following equation (3).

...(3) Here, 3 is a constant in kt~. In addition, the above item (3)
In the first item of the formula, 11 is the target value OS1 and the actual value O
Since it is proportional to the difference from S to 0, the larger the difference, the larger the current flows, and the greater the motor driving force. When the target value and the actual value match, 0=0, and the electric motor stops its output.

This is to cancel the rotor inertia of the electric motor and improve responsiveness.

In the integral term of the third term in the above equation (3), s)Odt is a deviation correction term. In other words, if only the first term is used, a certain amount of motor output is required to counter friction and external forces, so 0≠0, and a discrepancy occurs between the target value and the actual value. In the third term, integrate 0 until it balances out the friction and external force, and secure the current value that counteracts the friction and external force. Therefore, 0=0 in the end, and the target value and the actual value match.

The optimal voltage signal Vt determined in this way is output to the output value determining section 48.

The output value determination unit 48 calculates the steering output signal IN according to this optimum voltage signal Vl. This steering output signal IN
The calculation is performed as shown in the following equation (4),
- IN = ka Vt - (4) where 4 is a constant. The steering output signal IN thus calculated is output to the motor 37 of the steering output mechanism 36.

The motor 37 rotates in response to this steering output signal IN.
Turn the steering to the desired angle.

Next, when the changeover switch 29 provided in the remote steering unit 24 is set to the circuit 27 bias, the target steering angle signal OS2 is transferred from the remote steering unit 24 to the controller 28.
is output to.

That is, when the set rudder angle signal OD set by the rudder angle setting dial 26 is input to the circuit 27, the circuit 27 performs calculations as shown in the following equation (5) to obtain the target rudder angle signal OSZ. decide.

es2= #D-/-n...(5) -This (5th
), where n corresponds to the steering gear ratio. For example, if n=2, the steering angle setting dial 26
When the engine 30 is bent by 50 degrees, the engine 30 is steered by 25 degrees.

The value of n does not need to take the same value as the steering gear ratio γ, and the target steering angle signal Os2 determined in this way
teeth.

It is output to the controller 28.

The controller 28 limits the maximum value of the target steering angle signal θs2 according to the engine rotational speed R using a target steering angle signal fi45 provided in the controller 28, and outputs it as a target steering angle signal OS. The limit on the maximum value of this target steering angle is set, for example, to the characteristics shown in FIG. That is, when the engine speed is high, it is dangerous to perform steering beyond a certain value, so the maximum value of the target steering angle is gradually limited according to the engine speed R.

In this way, since the maximum value of the target steering angle is gradually limited according to the engine speed H, it is possible that a mistake may occur in the steering angle setting dial 26.

Even if the set rudder angle is set to a large value, dangers such as capsizing can be avoided.

Then, the comparison calculation section 46 and the correction calculation section 47 of the controller 28 . In the output value determination unit 48, the target steering angle signal Os
is the steering output signal ■■ similar to the above ■■ steering angle signal Os1.
This is output to the steering output mechanism 36. The steering output mechanism 36 performs desired steering in response to this steering output signal IN.

Therefore, when performing remote control, first determine the destination to be reached. Then, in order to reach this destination from the current position, it is calculated how much the steering angle should be set, and it is set using the steering angle setting dial 26.

When the vehicle 21 is driven in this manner, a deviation may occur between the steering angle set as described above and the actual steering angle depending on various driving conditions. This deviation becomes a deviation signal 0, which is input to the correction calculation section 47.

In the correction calculation unit 47, as shown in the following equation (6),
Calculate the optimal voltage signal Vl.

・-(6) Note that l fJ in the first item of equation (6) above is proportional to the magnitude of the deviation signal 0 representing the difference 0 between the target value Os2 and the actual value OS, so the difference is The larger the current, the greater the current flowing, and the greater the motor driving force.

When the target value and the actual value match, 0=0, and the electric motor stops its output.

This is to cancel the inertia of the electric motor and improve responsiveness.

The third term kxffldt in the above equation (6) is a shift correction term. In other words, if only the first term is used, a certain amount of motor output is required to counter friction and external forces, so 0≠0, and a discrepancy occurs between the target value and the actual value. In this third term, 0 is integrated until the friction and external force are balanced, and a current value that counteracts the friction and external force is secured. Therefore, in the end, 0=O, and the target value and the actual value match.

Therefore, as described above, if you set the rudder angle using the rudder angle setting dial 26 so as to head toward the destination, the rest is easy.
The vehicle is automatically guided to the target location through calculations by the 1 steering unit 24 and the controller 28. By operating the remote steering unit 24 in this manner, when fishing on the port, the angler will not be distracted by steering the port and can concentrate on the leopard.

Furthermore, according to the device of this embodiment, the steering can be performed using the steering wheel or the steering angle setting dial of the remote steering unit 24, so there are no limitations on where the steering can be performed.

Furthermore, in the device of this embodiment, the remote steering unit 24 is connected to the steering wheel angle sensor 23 and the controller 28 by electrical wiring, so it can be removed from the installed location.
The rudder angle can be controlled from any position on the ship.

[Brief explanation of the drawing]

Figures 1 to 3 show examples of this invention.
The figure is an overall diagram showing the configuration of the device. FIG. 2 is a block diagram showing electrical connections, FIG. 3 is a graph showing the relationship between engine speed and maximum steering angle, and FIG. 4 is a hydraulic circuit diagram of a conventional device. 19.-@body, 21.. Handle, 23.. Handle angle sensor, 28.. Controller, 34.-E angle sensor, 36.. Steering output mechanism, 46.. Comparison calculation unit, 47 ...-correction calculation section, 48... output value determination section.

Claims (1)

[Claims] A steering wheel rotatably attached to the hull, a steering angle sensor that detects the rotation angle of the steering wheel and outputs a steering angle signal, and a rudder angle sensor that detects the angle of the rudder and outputs a steering angle signal to the controller. a controller that is electrically connected to the steering wheel angle sensor and the steering angle sensor and outputs a steering output signal in accordance with the input signal; , a steering output mechanism for steering the rudder, and the controller includes a deviation calculation unit that compares the input steering wheel angle signal and the steering angle signal and calculates a deviation signal, and a deviation calculation unit that calculates a deviation signal by comparing the input steering wheel angle signal and the steering angle signal, and A steering device for a boat, comprising: an output value calculation section that calculates a steering output signal.