JPH0321359Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Field of Industrial Application) The present invention relates to a marine rudder control device configured to drive a rudder shaft drive mechanism of a marine vessel in response to a command signal that instructs the course direction. be.

(Prior Art) One type of marine rudder control device is one configured to drive a rudder by a hydraulic output proportional to a deviation signal between a commanded rudder angle signal and an actual rudder angle signal.

FIG. 3 is a block diagram showing an example of such a conventional marine rudder control device. In FIG. 3, reference numeral 1 denotes an arithmetic circuit which calculates the commanded steering angle signal θ and the fed-back actual steering angle signal μ, and calculates the deviation signal ε(ε
=θ−μ), a tilting angle control signal Sr for controlling the tilting angle of the hydraulic pump 7, which will be described later, is output. 2 is a polarity discrimination circuit that discriminates the polarity of the deviation signal ε.
(steering) side. 3 is a proportional amplifier circuit, the non-inverting input terminal is connected to a common potential point, the tilt angle control signal Sr is applied to the inverting input terminal via variable resistor VR ₁ , and the output terminal is connected to a fixed resistor.
It consists of an operational amplifier OP connected via _R1 . The gain of this operational amplifier OP is a variable resistance
It will be set by VR ₁ and fixed resistor R ₁ .
The output signal of the proportional amplifier circuit 3 is current-amplified by the amplifier circuit 4, and the detection signals Sp, Ss of the polarity discrimination circuit 2 are
It is applied as a control signal to each port 6a, 6b of the electromagnetic proportional pressure control valve via switches 5a, 5b which are controlled to open and close by. From each port 6a, 6b of the electromagnetic proportional pressure control valve, a hydraulic signal corresponding to the magnitude of the current signal applied from the amplifier circuit 4 is output as a control signal for controlling the tilt angle of the hydraulic pump 7. The hydraulic pump 7 has a tilt angle of 0 to ±
A variable displacement axial piston pump is used, which can be adjusted arbitrarily within a range of about 30 degrees and whose flow rate changes depending on the set angle. As a result, the hydraulic pump 7 outputs a hydraulic signal according to the deviation signal ε. 8 is a steering mechanism driven in accordance with a hydraulic signal output from the hydraulic pump 7; 9 is a displacement detector that detects the displacement of the steering mechanism 8 and returns an actual steering angle signal μ to the arithmetic circuit 1;

In such a configuration, the steering mechanism 8 is driven in a predetermined direction such that the deviation signal ε is always zero with respect to the command steering angle signal θ.

(Problems to be Solved by the Invention) However, the hydraulic pump 7 used in such a device often has different output characteristics depending on the polarity of its tilt angle. However, according to the conventional configuration, there is no mechanism to compensate for the difference in output characteristics due to the polarity of the tilting angle of the hydraulic pump 7, so the steering speed differs between the surface rudder side and the steering side. However, the disadvantage is that stable ship maneuvering cannot be performed.

The present invention solves these drawbacks, and its purpose is to obtain the same turning speed on the surface rudder side and the steered side even if the output characteristics of the hydraulic system differ depending on the polarity of the deviation signal. An object of the present invention is to provide a marine rudder control device.

(Means for Solving the Problems) The present invention that achieves the above object is configured to drive a rudder gear with a hydraulic output proportional to a deviation signal between a commanded rudder angle signal and an actual rudder angle signal. The marine steering control device is characterized in that a proportionality constant for each polarity of the deviation signal can be set individually.

(Example) Hereinafter, it will be explained in detail using the drawings.

FIG. 1 is a block diagram showing the main parts of an embodiment of the present invention, and the same parts as in FIG. 3 are given the same reference numerals. In FIG. 1, one detection signal Sp of the polarity discrimination circuit 2 is connected between the output terminal of the tilt angle control signal Sr of the arithmetic circuit 1 and the inverting input terminal of the operational amplifier OP constituting the proportional amplification circuit 3. A series circuit of a first switch SW ₁ and a first variable resistor VR ₁ whose opening and closing are controlled, and a second switch SW ₂ and a second variable resistor whose opening and closing are controlled by the other detection signal Ss of the polarity discrimination circuit 2. The series circuit with resistor VR ₂ is connected in parallel.

In such a configuration, the first switch SW ₁
and the second switch _SW2 are driven to open and close in a complementary manner. Here, for example, each of these switches SW ₁ and SW ₂
is closed at the “H” level of each corresponding detection signal Sp, Ss, when the detection signal Sp is “H”
In the case of level, SW ₁ is closed and SW ₂ is opened, so the operational amplifier that constitutes the proportional amplifier circuit 3
The gain of OP is -R ₁ /VR ₁ , and when the detection signal Ss is at "H" level, SW ₂ is closed and SW ₁ is opened, so the gain of operational amplifier OP is -R ₁ /VR 1.
It will be VR ₂ . Therefore, by adjusting the variable resistors VR ₁ and VR ₂ , the proportionality constant of each polarity of the tilt angle control signal Sr (deviation signal ε) can be individually set.

FIG. 2 is an explanatory diagram showing the relationship between the deviation signal ε and the tilt angle, in which the horizontal axis shows the deviation signal ε, and the vertical axis shows the tilt angle. In Figure 2, the magnitude of the tilt angle for the deviation signal ε is determined by the operational amplifier OP.
It can be set individually for each polarity by changing the gain. Then, in proportion to the magnitude of the tilt angle set in this way, the hydraulic pump 7
Even if the hydraulic output characteristics of the hydraulic system itself differ depending on the polarity of the deviation signal, it can be compensated for electrically, and the magnitude of the hydraulic output is equal between the surface rudder side and the steering side. The steering speed can be obtained. Note that the maximum hydraulic power is output at the maximum tilting angle, resulting in the maximum steering angle. .

In addition, in the above embodiment, a configuration was described in which the electromagnetic proportional pressure control valve is controlled by a current signal and the magnitude of the hydraulic output of the hydraulic pump is set by the hydraulic output of the electromagnetic proportional pressure control valve, but a motor may be used instead of the electromagnetic proportional pressure control valve. It may be something.

(Effect of the invention) As explained above, according to the invention, even if the output characteristics of the hydraulic system differ depending on the polarity of the deviation signal, the marine rudder can obtain the same turning speed on the surface rudder side and the steering side. A control device can be realized and stable ship operation can be performed.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing essential parts of an embodiment of the present invention, FIG. 2 is an explanatory diagram of the operation of FIG. 1, and FIG. 3 is a block diagram of a conventional device. 1...Arithmetic circuit, 2...Polarity discrimination circuit, 3...
Proportional amplifier circuit, OP... operational amplifier, SW ₁ , SW ₂
...Switch, R ₁ ...Fixed resistance, VR ₁ , VR ₂ ...
...variable resistance.

Claims (1)

[Scope of Claim for Utility Model Registration] In a marine rudder control device configured to drive a rudder by a hydraulic output proportional to a deviation signal between a commanded rudder angle signal and an actual rudder angle signal, an arithmetic circuit that calculates a deviation signal of the actual steering angle signal; a polarity discrimination circuit that determines the polarity of the deviation signal output from the arithmetic circuit; one end of which is connected in parallel to the output terminal of the arithmetic circuit; One end of each variable resistor is connected,
The two switches, which are driven to open and close in a complementary manner according to the output signal of the polarity discrimination circuit, and the non-inverting input terminal are connected to a common potential point, and the other end of each variable resistor is connected to the inverting input terminal. ,
a proportional amplifier circuit comprising an operational amplifier with a fixed resistor connected between an inverting input terminal and an output terminal, and in which proportionality constants for each polarity of the deviation signal are individually set;
A marine rudder control device comprising: