JPH0423757Y2 - - Google Patents

Description

[Detailed description of the invention] a. Field of industrial application The present invention relates to an automatic steering system used in ships, and in particular, an automatic steering system for ships that can be automatically steered by either a gyro compass or a magnetic compass using a changeover switch. It relates to an automatic steering device.

b. Prior Art In conventional marine automatic steering systems, the method for detecting the deviation signal between the set heading of the ship and the current heading differs depending on the type of compass. That is, the configuration and operation of a conventional marine vessel automatic steering system will be described with reference to FIG. 2, but the weather adjustment mechanism and the rudder angle limiting mechanism are omitted to simplify the explanation.

In the figure, when using a magnetic compass, switch SW1 is opened, switch SW2 is closed, and a magnetometer 7 for setting the direction attached to the compass (not shown) is connected to an AC power source E2, for example, with a frequency of 2KHz. By supplying voltage, a magnetometer 7 set at an arbitrary direction and a magnetic compass detect an AC deviation signal corresponding to the deviation from the current direction, which is demodulated by a demodulator 8 to generate a DC deviation signal. The rudder is driven via the computing unit 4 and the control drive unit 5 to automatically steer the ship.

On the other hand, when using a gyroscope, close switch SW1 and open switch SW2 in Fig. 2.
The rotor side (terminals R1, R
2) Supply an AC voltage with a frequency of, for example, 400 Hz from the AC power source E1, convert the current direction of the ship using the gyro compass into an AC electric signal, and send the signal from the stator side (terminals S1, S2, S3) of the synchro electric machine 1 for transmission. It is sent to the stator side (terminals S1, S2, S3) of the control transformer 2 as the receiving side synchro electric machine. Normally, the heading of the ship can be read with a compass card 6 provided on a gyro compass. and,
The control transformer 2 on the receiving side of this azimuth electric signal detects an AC azimuth deviation signal from the rotor side (terminals R1, R2) by comparing it with the azimuth arbitrarily set on the rotor shaft, and outputs this to the demodulator. After demodulating in step 3, the DC component deviation signal is sent to the computing unit 4 and the control drive unit 5 in the same manner as described above.
The rudder is driven through the system to automatically steer the ship.

Note that the calculation section 4 compensates for the steering characteristics of the ship, and usually uses the PID method.

c. Problems to be solved by the invention However, in the conventional marine automatic steering system, in order to provide both a magnetic compass and a gyro compass on the hull and to automatically steer either of them, the azimuth setting section is required. Must be installed in two separate locations. This poses a problem in that it is extremely troublesome not only in terms of ship operation but also in terms of ship instrumentation and maintenance.

The present invention was devised in view of these points, and its purpose is to automatically steer the ship by setting the direction in one location, regardless of whether the magnetic compass or the gyro compass installed on the hull is currently used to detect the direction. An object of the present invention is to provide an automatic steering system for a ship that is capable of

d Means for solving the problem The configuration of the present invention to achieve the above object is to switch to either a gyro compass or a magnetic compass installed on the ship's hull, and to send a current direction signal from the compass. and a set azimuth, detecting a deviation signal thereof, and automatically steering the ship based on the deviation signal,
In order to transmit the current azimuth signal, a synchro electric machine for transmission is coupled to the gyroscope compass, and a magnetic sensor is attached to the magnetic compass to receive the current azimuth signal, set the azimuth, and receive its deviation signal. A control transformer is provided to detect the transmission, and a changeover switch is provided to selectively switch the connection between the output side of either the transmitting synchro electric machine or the magnetic sensor and the input side of the control transformer. It is characterized by

e. Effect: A changeover switch is inserted between the synchro electric machine or magnetic sensor for transmitting the ship's current direction, which is connected to the gyro compass and magnetic compass disposed on the ship's hull, respectively, and the control transformer of the receiving side synchro electric machine, The direction can be set in one place, and automatic steering using either a gyro compass or a magnetic compass is possible by arbitrarily selecting the switch and switching the signal.

f. Embodiments Hereinafter, preferred embodiments of the present invention will be described in detail based on the drawings.

Fig. 1 shows an embodiment of the present invention, in which a synchro electric machine (1X transmission synchronizer) 11 for transmitting the ship's current direction, whose rotor shaft is connected to a gyro compass (not shown), and a synchro electric machine 11 on the ship's hull. A direction transmitting magnetic sensor 17 mounted on a magnetic compass (not shown)
In order to select and switch the direction signal to either of the two compasses, a changeover switch 13 is connected between the two direction transmitting devices 11 and 17 and the control transformer 12a as a receiving synchro electric machine.
1, S2, S3 and terminals S1, S2, S3, respectively. A direction setting card 12b on which a 360 degree scale is engraved for setting the direction of the course the ship wants to sail is coupled to the rotor shaft of the control transformer 12a of the receiving side synchro electric machine, and the direction setting device 12 is connected to the control transformer 12a. Configure. The azimuth deviation between the current azimuth of the gyro compass or magnetic compass and the set azimuth set on the azimuth setting card 12b is detected as an AC deviation signal from the rotor side terminals R1 and R2 of the control transformer 12a. Ru. In addition to switches SW11 and SW12 for switching this AC deviation signal, and demodulators 13 and 18 for demodulating this AC deviation signal,
The oscillator 19 is used as an AC power source for excitation of the synchro electric machine 11 for transmission (excitation from the rotor side terminals R1, R2) and the reference for the demodulator 13, and for the excitation of the magnetic sensor 17 (excitation from the primary coil side terminals R1, R2). ) and the oscillator 2 as a reference AC power source for the demodulator 18.
0, and further includes a calculation section 4 and a control drive section 5.

The magnetic sensor 17 is a primary coil (terminals R1, R2) wound in a certain direction on a ring-shaped core.
and a pair of two pieces having an equal number of turns arranged on the annular core at equal intervals so that the magnetic flux linkage to the excitation magnetic flux generated by the primary coil becomes almost zero, and connected with opposite polarity to the excitation magnetic flux. Three sets of secondary coils are connected to star and delta (terminals S1, S2, S3) (star connection is shown in this embodiment).

The magnetic sensor 17 is preferably one with a correction coil having an equal number of turns located approximately at the center between the secondary coils in addition to the above. (Proposed by the present applicant in Japanese Patent Application No. 60-123905 (see Japanese Patent Application Laid-Open No. 61-281982)) To further explain such a magnetic sensor, suppose that When a magnetic field is applied to the secondary coil, a second harmonic voltage appears at both ends of the secondary coil, which corresponds to the magnitude and direction of the input axis direction component of the secondary coil of the magnetic flux within the iron core generated by the magnetic field. At this time, 3
By arranging a set of secondary coils at equal intervals on the input shaft, the direction of the applied magnetic field, that is, the magnetic orientation, can be determined from the secondary voltage (second harmonic voltage) appearing in each secondary coil.

Therefore, if these three sets of secondary coils are star-connected and their output terminals are S1, S2, and S3, this magnetic sensor can be treated in the same way as Synchro Electric's controlled oscillator, and the receiving side can control It can be put into practical use by combining a transformer.

Next, the operation of this embodiment will be explained with reference to FIG. If using a gyro compass, switch
Put SW13 into G side, close switch SW11,
When the switch SW12 is opened, the oscillator 19 is connected to the rotor side (terminals R1, R2) of the synchro electric machine 11 for transmitting, which is connected to the gyro compass (not shown).
For example, an AC voltage of 400 Hz is supplied from the source, and the current direction signal of the ship is converted into an AC electric signal to the stator side (terminals S1, S2, S3) of the synchro electric machine 11 for transmission.
The signal is sent to the stator side (terminals S1, S2, S3) of the control transformer 12a, which serves as the receiving side synchro electric machine of the direction setting device 12, via the changeover switch SW13. Then, this azimuth signal is transmitted to the control transformer 12.
An AC azimuth deviation signal is detected from the rotor side (terminals R1, R2) of the control transformer 12a by comparing it with a set azimuth (also referred to as a set course) set on the azimuth setting card 12b connected to the rotating shaft of the control transformer 12a. The demodulator 13 outputs this via the switch SW11 to the oscillator 1.
demodulates based on the reference frequency power source from 9. The direct current azimuth deviation signal obtained by the demodulator 13 is passed through the calculator 4 and the control drive section 5 to drive the rudder, thereby automatically steering the ship.

On the other hand, when using a magnetic compass, there is a changeover switch.
Put SW13 into the M side, open switch SW11,
The switch SW12 is closed, and an AC voltage of, for example, 400 Hz is supplied from the oscillator 20 to the primary coil side (terminals R1, R2) of the direction transmitting magnetic sensor 17 mounted on the magnetic compass (not shown). Converts the current direction signal of the
3) via the changeover switch SW13 to the stator side (terminals S1, S2, S3) of the control transformer 12a as the receiving side synchro electric machine of the direction setting device 12.
Send to. Thereafter, in the control transformer 12a, as in the case using the above-mentioned gyroscope, an AC azimuth deviation signal is detected from its rotor side (terminals R1, R2) in comparison with the set azimuth, and the switch SW is detected.
12, the signal is demodulated by a demodulator 18 (receiving reference frequency power from the oscillator 20), and the rudder is driven via the arithmetic unit 4 and control drive unit 5, thereby automatically steering the ship. In this case, the frequency of the reference frequency power supply from the oscillator 20 supplied to the demodulator 18 is 2 times higher than the excitation power supply frequency because the detected azimuth signal of the magnetic sensor 17 is the second harmonic voltage of the excitation power supply frequency.
times, for example 800Hz.

The transmitting synchro electric machine 11 and the control transformer 1
It is preferable that 2a be of the same type or type including the applicable frequency, but there is no practical difference in the use of different types or different types if consideration is given to the design.

It should be noted that the present invention is not limited to the above-mentioned embodiments, and may have other embodiments that perform similar functions. The present invention also includes various modifications within the scope of the above configuration.
It is possible to add.

g. Effects of the invention As is clear from the above explanation, according to the marine automatic steering system of the present invention, the direction can be set as before in both cases of automatic steering using a gyro compass and automatic steering using a magnetic compass. There is no need to provide separate parts for each part, and the automatic steering allows the direction of the ship to be set with only one point, which is the direction setting device 12, which is made up of the control transformer 12a and the direction setting card 12b connected to its rotating shaft. You can get the equipment. This makes ship maneuvering easier, and the azimuth setting device can be placed away from the compass, making vessel instrumentation and maintenance easier.

[Brief explanation of the drawing]

FIG. 1 is a block system diagram of a marine vessel automatic steering system showing an embodiment of the present invention, and FIG. 2 is a block system diagram of a conventional marine vessel automatic steering system. DESCRIPTION OF SYMBOLS 11... Synchro electric machine for transmission, 12... Direction setter, 12a... Control transformer, 12b... Direction setting card, 13, 18... Demodulator, 17... Magnetic sensor, 19, 20... Oscillator, SW11, SW
12... Switch, SW13... Changeover switch.

Claims (1)

[Scope of utility model registration request] Switch to either a gyro compass or a magnetic compass disposed on the hull, compare the current direction signal sent from the compass with the set direction, detect the deviation signal, and use the deviation signal to detect the In a device that automatically steers a ship, in order to transmit the current azimuth signal, a synchro electric machine for transmitting is coupled to the gyroscope compass, and a magnetic sensor is attached to the magnetic compass to receive the current azimuth signal and calculate the azimuth. is set, and a control transformer is provided to detect the deviation signal, and the connection between the output side of either the transmitting synchro electric machine or the magnetic sensor and the input side of the control transformer is selectively established. An automatic steering device for a ship, characterized in that it is provided with a changeover switch for switching.