JPH0471756B2 - - Google Patents

Description

Detailed Description of the Invention <Industrial Application Field> The present invention relates to an actuator failure detection device for a marine automatic steering system equipped with an abnormality alarm circuit that detects and issues an alarm when the actuator failure is detected. The present invention relates to an actuator failure detection device for a marine automatic steering system configured to prevent the abnormality warning circuit from operating when the operation amount of a steering operation end exceeds a set position of a stopper in the case where there is no failure.

<Prior Art> Hereinafter, the conventional technology will be explained using a block diagram of an actuator failure detection device for a marine automatic steering system shown in FIG.

In FIG. 3, the commanded steering angle signal θ is compared with the actual steering angle signal μ in the deviation calculation circuit 1, and the deviation signal (θ−
μ), that is, the command rotation angle signal is amplified by the proportional amplifier circuit 2 and the power amplifier circuit 4, and then guided through the switch element 5 to the actuator 6, which is composed of, for example, a motor or a solenoid valve. The output of this actuator 6 (for example, the rotation angle of a motor) is guided to an operating end drive source 7 composed of a hydraulic device or the like,
The steering operation end 8 is operated by pressure oil (the amount of pressure oil is determined by the motor rotation angle) discharged from the operation end drive source 7, the steering gear is driven, and the ship is steered. By the way, the rotation angle (actual rotation angle) of the motor in the actuator 6 is detected by the rotation angle detector 11, fed back to the subtraction circuit 3, and compared with the command rotation angle signal amplified by the comparison amplifier circuit 2. . Further, the operation amount of the steering operation end 8 is detected by an actual steering angle detection circuit 9 and fed back to the deviation calculation circuit 1 as an actual steering angle signal μ. The operation of the steering operation end 8 is controlled by an operation end consisting of an OR gate circuit 10c comprising, for example, steering angle limit switches 10a and 10b, which sets the maximum operation limit value of the steering angle (generally about 36 degrees). The operation limiter 10 monitors the steering angle, and when any steering angle limit switch is turned on, a steering angle limit signal is output from the OR gate circuit 10c and the input to the actuator 6 is cut off by operating the switch element 5. do. As a result, the actuator 6 instantly automatically returns to zero rotation angle, the flow of pressure oil into the operating end drive source 7 becomes zero, and the rudder stops, so the ship will no longer be steered.

<Problems to be Solved by the Invention> By the way, this conventional actuator failure detection device for a marine automatic steering system has the following problems.

That is, the operation of the actuator 6, for example, the rotation angle (actual rotation angle) of a motor, is detected by the rotation angle detector 11, fed back to the subtraction circuit 3, and compared with the rotation angle commanded from the proportional amplifier circuit 2. If the comparison value exceeds a certain level and persists, an abnormality alarm circuit is used to issue an abnormality alarm. For example, follow-up abnormality detection circuit 12, timer 1
3 detects a follow-up abnormal state, that is, a mismatch between the commanded rotation angle and the actual rotation angle, and issues an abnormal alarm using the output of the follow-up abnormality alarm circuit 14, for example, by the buzzer 15. However, the original purpose of installing this abnormality alarm circuit is to detect failures in the actuator (for example, motor stagnation, etc.), and the actuator automatically returns to its original state when the steering angle limit signal generated by the maximum steering amount is used to issue an abnormality alarm. The occurrence of this does not mean that the actuator is operating abnormally, so it simply causes the operator to take extra precautions, which is not good for ship operation.

The present invention has been made in view of the problems of the prior art, and includes an abnormality alarm circuit that detects and issues an alarm when the steering angle of the steering operation end exceeds the maximum limit value. An object of the present invention is to provide an actuator failure detection device for a marine automatic steering system that is configured not to operate.

<Means for Solving the Problems> Actuator failure detection of the marine automatic steering system of the present invention to achieve the above-mentioned object detects the operation amount of the steering operation end 8 operated by the operation end drive source 7. an actual steering angle detection circuit 9 that outputs an actual steering angle signal μ; a deviation calculation circuit 1 that compares the commanded steering angle signal θ with the actual steering angle signal and outputs a deviation signal; an actuator 6 that outputs a signal for driving the end drive source 7; and a subtraction circuit 3 that is provided in front of the actuator and compares a detection signal of the actuator's operation with the deviation signal.
and an abnormality alarm circuit 1 configured to input the output of the subtraction circuit and issue an abnormality alarm when the output value at this time is above a certain level and continues.
2 to 14, an actuator 60 with a function stopping means disposed in the actuator to stop its function, and a maximum operation position of the steering operation end. a steering angle limiter 100 that is provided with a stopper to set and outputs a steering angle limit signal when the steering angle of the steering operation end is about to move beyond the stopper setting position; a deviation signal stop circuit 18 that can set the deviation value of the signal to the subtraction circuit to zero; a polarity discrimination circuit 16 that discriminates the polarity of the signal input to the deviation signal stop circuit; Based on the output signal of the circuit and the steering angle limit signal, an actuator function stop signal for operating the function stop means of the actuator with the function stop means and a deviation zero signal for operating the deviation signal stop circuit are generated. The abnormality alarm circuit is characterized in that it includes a function stop signal generating section 17 that outputs a function stop signal, so that the abnormality alarm circuit is not operated except when the actuator is abnormally operating.

<Examples> Examples of the present invention will be described in detail below based on the drawings. In the following drawings, parts that overlap with those in FIG. 3 are given the same numbers, and their explanations will be omitted.

FIG. 1 is a block diagram of a marine automatic steering system actuator failure detection device which is a specific embodiment of the present invention.

In FIG. 1, reference numeral 100 indicates a steering angle limit switch 10a, 1, which sets the maximum value (limit value) of the operation amount (steering angle of the steering gear) of the steering operation end 8.
This is a steering restriction section provided with a stopper made of 0b. This steering limiter 100 outputs a steering angle limit signal when the steering angle exceeds the set position of the stopper. 16 is a polarity discrimination circuit that discriminates the polarity (PORT [- polarity], STBD [+ polarity]) of the deviation signal (θ-μ), and 17 is a function stop signal generation section. Reference numeral 60 denotes an actuator with a function stop means, which is provided with a function stop means, for example, a built-in switch circuit _S1 , for stopping the function of the conventional actuator 6. At this time, the function stop signal generation unit 17 receives the polarity discrimination signal from the polarity discrimination circuit 16 and the PORT or PORT of this polarity discrimination signal.
Input the rudder angle limit signal corresponding to STBD,
an actuator function stop signal that turns off the switch circuit _S1 of the actuator 60 and stops the function of the actuator 60;
When the function of 0 stops, this actuator 60
For example, a switching element that forces the deviation value to zero by grounding the deviation signal (θ−μ) input to the
It outputs a zero deviation signal that causes the switching element S ₂ of the deviation signal stop circuit 18 constituted by S ₂ to switch. Although the switch circuit S ₁ for stopping the function of the actuator 60 is built in the actuator 60, the switch circuit S ₁ may be provided externally.

FIG. 2 is a time chart showing the operation of the configuration shown in FIG. The operation of FIG. 1 will be explained using FIG. 2.

Now, the stopper that sets the maximum limit value of the steering limiter 100 is set to ±36 degrees, and as shown in FIG. 2A, when the deviation signal (θ-μ) is zero at time _t1 , the command steering angle signal , there is a deviation signal (θ-μ) of 36.5°, this deviation signal (θ-μ) becomes zero at time t ₃ , then there is a command steering angle signal of 33° at time t ₄ , and at time t ₅
shall be zero.

As shown in FIG. 2D, the actuator 60 is driven at time _t1 , and the actual steering angle μ gradually increases as shown in FIG. 2B, so the deviation signal (θ−μ) gradually decreases accordingly. However, when the stopper reaches the set position (36°) at time _t3 , the rudder angle does not increase any further and the rudder angle limit switch (for example, 10a) is turned on as shown in Fig. 2C, and the rudder angle limit switch is turned on. The signal is output to the function stop signal generation section 17. At this time, the polarity discrimination signal from the polarity discrimination circuit 16 is
Since it is STBD [+ polarity], the function stop signal generation section 17
Then, an actuator function stop signal is output to the actuator 60 to turn off the switch circuit _S1 , thereby stopping the function of the actuator, that is, automatically returning the rotation angle to zero. This zero rotation angle is detected by the rotation angle detector 11 and fed back to the subtraction circuit 3. At this time, if the command rotation angle signal is present in the subtraction circuit 3, a circuit that warns of abnormality in follow-up of the actuator will operate depending on the result of the subtraction. In order to prevent such malfunctions, the function stop signal generator 1
7 outputs a zero deviation signal to the deviation signal stop circuit 18 at the same time as the actuator function stop signal.
When the zero deviation signal is received, the deviation signal stop circuit 18 switches the switching element S ₂ to ground the deviation signal (θ-μ) and outputs a signal with a zero deviation value to the subtraction circuit 3. Therefore, since the commanded rotation angle and the actual rotation angle match, even if the steering angle limit switch is turned on, no follow-up abnormality alarm is issued. Note that the actuator rotation angle between times t ₂ and _{t 3} indicates a state that occurs because it is controlled by advanced angle control.

When the command angle θ reaches 33° at time _t4 , the polarity discrimination signal from the polarity discrimination circuit 16 is output from STBR.
PORT, turns off the steering angle limit signal, cancels the actuator function stop signal and zero deviation signal of the function stop signal generator 17, and returns the actuator 60 to its normal function and operation.At the same time, the deviation signal stop circuit 18 to return to the normal circuit. As a result, a proportionally amplified deviation signal (.theta.-.mu.)=-3.degree. is output to the subtraction circuit 3, and as a result, the actuator 60 operates and steering is performed.

Note that the configuration of each switch and the configuration of the deviation signal stop circuit shown in FIG. 1 is not limited to this, and the input to the polarity discrimination circuit may be configured to be input from a proportional amplifier circuit. The point is that the present invention is configured such that the commanded rotation angle of the actuator always matches the actual rotation angle, and the abnormality alarm circuit is configured such that it does not operate except when the actuator is abnormal.

<Effects of the Invention> As described above in detail with reference to the embodiments, the actuator failure detection device for a marine automatic steering system of the present invention has a conventional circuit configuration including a steering restriction section and a polarity determination section. By adding a circuit, a function stop signal generator, a deviation signal stop circuit, etc., even if the steering angle exceeds the set stopper, the abnormality alarm circuit that operates in the event of an actuator failure will not be activated, making it easier to maneuver the vessel. There is no need to call unnecessary attention to the person. Therefore, the abnormality alarm circuit has the advantage that it can operate only when an actuator such as a motor stick fails, which is its original purpose.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an actuator failure detection device for a marine automatic steering system which is a specific embodiment of the present invention, FIG. 2 is a time chart, and FIG. 3 is a block diagram of an actuator failure detection device for a conventional marine automatic steering system. FIG. DESCRIPTION OF SYMBOLS 1... Deviation calculation circuit, 2... Proportional amplifier circuit, 3... Subtraction circuit, 4... Power amplifier circuit, 6, 60... Actuator, 7... Control end drive source, 8... Steering control end, 9
...Actual steering angle detection circuit, 11...Rotation angle detector, 100
... Steering restriction section, 16... Polarity discrimination circuit, 17... Function stop signal generation section, 18... Deviation signal stop circuit.

Claims (1)

[Claims] 1 An actual steering angle detection circuit 9 that detects the amount of operation of the steering operation end 8 operated by the operation end drive source 7 and outputs an actual steering angle signal μ; a deviation calculation circuit 1 that compares and outputs a deviation signal; an actuator 6 that outputs a signal for driving the operating end drive source 7 based on the deviation signal; A subtraction circuit 3 that compares the signal with the deviation signal, and an output of the subtraction circuit are input, and when the output value at this time is above a certain level and continues, an abnormality alarm is issued. An actuator failure detection device for a marine automatic steering system comprising: an actuator failure detection device for a marine automatic steering system, which comprises: an actuator 60 with a function stop means disposed in the actuator to stop its function; A steering angle limiter 100 is provided with a stopper for setting the maximum operation position and outputs a steering angle limit signal when the steering angle of the steering operation end is about to move beyond the stopper setting position.
and a deviation signal stop circuit 18 which is provided before the subtraction circuit 3 and can set the deviation value of the signal to this subtraction circuit to zero, and a deviation signal stop circuit 18 that can set the polarity of the signal input to the deviation signal stop circuit Polarity discrimination circuit 1 for discrimination
6, and an actuator function stop signal for operating the function stop means of the actuator with function stop means, and for operating the deviation signal stop circuit based on the output signal of the polarity discrimination circuit and the steering angle limit signal. actuator failure of a marine automatic steering system, characterized in that the abnormality warning circuit is not operated except when the actuator is abnormally operating. Detection device.