JPH09156596A - Steering device for water jet propeller for ship - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering device for a water jet propeller which can set ship steering force properly and is favorable for complicate steering which includes many manoeuvre factors such as arrival and leave. SOLUTION: At least a pair of main propellers 5, 6 having a reverser mechanism which controls front and rear propulsion force and a deflector mechanism which controls a deflector angle and a pair of auxiliary propellers 7, 8 having a reverser mechanism are arranged on port and starboard sides of a stern part to constitute a water jet propulsion ship having four shafts. Front and rear propulsion force of the main propellers 5, 6 and a deflector angle are controlled by one joy stick 1, and front and rear propulsion force of the auxiliary propellers 7, 8 is controlled independently and separately by a turning round dial 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The invention according to the present application relates to a water jet propulsion ship having two or more axes, and the main engine speed (thrust), reverser and deflector angle of the water jet propulsion machine can be controlled by a single joystick. Alternatively, the present invention relates to a control device for a water jet propulsion device for a marine vessel, which can be operated by this and a turning dial so that even one person can easily perform complicated marine vessel maneuvering required at the time of departure and arrival of a ship.

[0002]

2. Description of the Related Art
A water jet propulsion boat having a two-axis configuration is known, but the thrust (reverser angle and main engine speed) and deflector angle of each water jet propulsion are controlled individually for each machine or the same for each machine. In many cases, common control is performed so that the amount becomes the same in the direction. This is, for example, 4
When applied to a four-axis machine configuration, it is very difficult to operate each machine individually because of the large number of operation elements, and complicated common ship maneuvering such as taking off and landing is impossible with simple common control.

On the other hand, Japanese Patent Application Laid-Open No. 1-285486 discloses that two propulsion units capable of arbitrarily setting the direction and intensity of propulsion are installed on the left and right sides of the stern, and an omnidirectional controller such as a joystick is provided. And a changeover switch and a steering handle, and a marine vessel steering device has been proposed which controls the direction and strength of the propulsion force of each propulsion device according to the position and turning amount of the operation unit of the omnidirectional controller. I have. In this control device, the omnidirectional controller and the changeover switch are operated to operate the boat at the time of leaving and landing on the shore, that is, to make the hull move right sideways, diagonally, or turn on the spot. But,
When any of these operations is to be performed, it is necessary to perform mode switching, which results in loss of continuity of operation and lack of speed of maneuvering. Not suitable for

Further, the steering apparatus described in Japanese Patent Application Laid-Open No. 6-24388 requires a simultaneous operation of two forward and backward levers in addition to the steering handle. is there.

An object of the present invention is to provide a steering device of a water jet propulsion machine which can appropriately set a ship maneuvering force and is suitable for complicated ship maneuvers having many ship maneuvering elements such as leaving and berthing. .

[0006]

The means for achieving the above object are as follows. That is, in the control device for a marine water jet propulsion device according to claim 1, one joystick is provided, and the joystick can be freely moved within a certain operation surface, and the center of the operation surface is a neutral origin. A plurality of set points are set at the operation limit position on the operation surface of the joystick, and the unit amounts of the maximum thrust and the maximum deflector angle of each of the starboard main propulsion units are determined at the plurality of set points, and the operation surface of the joystick is set. For the intermediate operating point, the thrust command value and the deflector angle command value are obtained by interpolation from three points of the above-mentioned two set points in the vicinity including the origin, and based on these command values, the one joystick is used for the port side. The feature is that the forward / backward thrust of the main propulsion unit and the deflector angle are controlled.

According to a second aspect of the present invention, there is provided a steering device for a water jet propulsion device for a marine vessel, wherein an auxiliary propulsion device having at least a pair of reverser mechanisms on the left and right sides of the above construction is provided to form a water jet propulsion ship having four or more axes. For this pair of auxiliary propulsion units, one turning dial is provided near the joystick, and the zero rotation angle position of this turning dial is set as the neutral origin of thrust zero. It is characterized in that a unit amount of thrust is set and the forward / backward thrust of each auxiliary propulsion unit is controlled independently of the main propulsion unit by operating the turning dial.

According to a third aspect of the present invention, there is provided a steering device for a water jet propulsion machine for a marine vessel, which comprises at least a pair of left and right main propulsion units and at least a pair of left and right reversers having a reverser mechanism for controlling forward and backward thrust and a deflector mechanism for controlling a deflector angle. Auxiliary propulsion unit with a mechanism was deployed at the stern 4
In a water jet propulsion ship with more than one axis, one joystick is provided, and the joystick can move freely within a certain operation surface, and the center of the operation surface is the neutral origin, and the joystick is A plurality of set points are set for the operation limit position, and at these set points, the maximum thrust unit amount of each main propulsion unit and each auxiliary propulsion unit on the starboard side and the maximum deflector angle unit amount of each main propulsion unit are determined. , For the intermediate operation point on the operation surface of the joystick, the thrust command value and the deflector angle command value are obtained by interpolation from three points of the two above-mentioned set points in the vicinity including the origin, and the above-mentioned one line is obtained based on these command values. The forward and backward thrust of the port side main propulsion unit and the deflector angle and the forward and backward thrust of the port side auxiliary propulsion unit are controlled by the joystick of The features.

According to a fourth aspect of the present invention, there is provided a steering device for a water jet propulsion device for a marine vessel, wherein one turning dial is provided near each joystick for each auxiliary propulsion device, and the turning angle of the turning dial is zero. With the position as the neutral origin, the unit amount of the maximum thrust of each auxiliary propulsion device on the starboard side is set at a symmetrical left and right rotational angle position, and the control command value of the turning dial and the control command value of the joystick are superposed. It is characterized in that the forward and backward thrust of the auxiliary propulsion unit is controlled.

According to the means of claims 1 to 4, all of the water jet propulsion machines can be operated by using only the joystick or by operating the turning dial together with the water jet propulsion machine, which has the most elements for maneuvering at the time of departure and arrival. . In addition, since the operation of the joystick or the turning dial and the direction in which the ship actually moves can be configured to match, the feeling of the ship operator is also matched, and the operation of the ship becomes extremely easy. As a result, quick and accurate maneuvering becomes possible, and the time required for taking off and landing on the shore is greatly reduced.

Since a plurality of water jet propulsion devices are provided, it is easy to increase the maneuvering power accordingly, and a water jet propulsion device optimal for maneuvering a large ship can be obtained.

Particularly, in the means of claims 2 to 4, since the turning moment generated by the pair of auxiliary propulsion units can be utilized, the same maneuvering operation as that in which the bow thruster is provided, that is, the ship is moved to the side or the stern is mainly centered. It is possible to carry out a turn.

In particular, according to the means of claim 3, the operation of only the joystick enables the lateral movement of the ship and the rapid turning in a small radius.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. [First Embodiment] In a two-axis ship, the ship maneuvering element is operated by only one joystick. That is, Fig. 1 is a ship equipped with a two-machine, two-axis waterjet propulsion device, Fig. (A) is a schematic plan view thereof, and (b) is a stern end equipped with the two waterjet propulsion devices. It is an enlarged perspective view of a part.

As shown in FIG. 1 (a), a remote control device (including a controller) equipped with one joystick 1 having omnidirectionality so that it can be easily operated by one person (one-man control) at the time of departure and arrival of a ship. ) 3 is installed. The steering device 3 is usually installed on both wings outside the wheelhouse for convenience of maneuvering at the time of berthing. A main machine 4 for operating the water jet propulsion machine is connected to each of two water jet propulsion machines (main propulsion machines) 5 and 6 arranged at the stern end portion, whereby a two-machine, two-shaft water machine is provided. A jet propulsion device is formed. By operating the joystick 1, the number of revolutions of each main engine 4 and the reverser mechanism R or the deflector mechanism D of the starboard main propulsion machines 5 and 6 are controlled. That is, as shown in FIG. 1 (b), the two water jet propulsion devices are configured as a main propulsion device having a reversing mechanism R for controlling forward and backward movement and a deflector mechanism D for controlling steering. The two aircraft are located symmetrically on both sides. Of the two water jet propulsion machines, the one arranged on the port side is also referred to as port machine 5, and the one arranged on the starboard side is also referred to as starboard machine 6.

2 (a), 3 (a) and 4 (a) are longitudinal sectional views of the water jet propulsion machine, which show neutral, forward and reverse states of the water jet propulsion machine, respectively. ing. In the figure, the reversing mechanism R is also called a reverse injection device, and has an actuator (drive cylinder) 9.
The upper flap 10, the lower flap 11, and the reverse bucket 12 are interlocked with each other via a link mechanism L operated by the expansion / contraction operation. For example, when a ship moves forward,
As shown in FIG. 3 (a), the reverse bucket 12 is in the horizontal position, the upper and lower flaps 10, 11 are in the parallel position, and the maximum discharge opening 14 is formed between them (this state is the reverser angle for full forward movement, that is, , Is the state that generates the maximum forward thrust)
The jet flow discharged from the nozzle 18 is jetted straight rearward to obtain forward thrust.
In reverse, the upper and lower flaps 10, 10 as shown in FIG.
11 is in the closed position, and the reverse bucket 12 has the lower opening 1
5 is rotated downward to a position where it is fully opened (this state is a full reverse reversal angle, that is, a state in which maximum reverse thrust is generated), and the jet stream is bent downward on the upper and lower flaps 10 and 11. Thereafter, the fuel is discharged diagonally forward along the reverse bucket 12 to obtain a reverse thrust. Figure
1 (b) also illustrates the reverse state. The present invention is not limited to the above-described device configuration, but may be any water jet propulsion device having a configuration capable of exhibiting the same reversing function, deflector function, and the like as described above.

On the other hand, the deflector mechanism D is also called a horizontal jet angle deflecting device. As shown in FIG. 3A, the deflector 13 is pivotally supported on the pump casing 16 side by upper and lower pins 17, and the deflector 13 is The same function as a steering device by swinging horizontally using another actuator (not shown) as a fulcrum (this turning angle is the deflector angle, the maximum deflector angle when fully swinging left and right). It demonstrates. 2 (a) to 3 (a)
This actuator is not shown in the figure to avoid complicating the drawing.

As shown in FIG. 5, a so-called combinator control system is adopted in which the thrust of the main propulsion unit on the port side is controlled by a combination of the reversing angle and the rotation speed of the main unit. The same applies to). FIG. 5 is a diagram showing the relationship between the rotation speed RPM of the main engine and the reversing angle on the vertical axis and the thrust on the horizontal axis. The upper side of the vertical axis indicates the forward side, the lower side indicates the reverse side, and 0 indicates the neutral state. This neutral position corresponds to a state where the reverser mechanism R is at the position shown in FIG. The right side of the horizontal axis indicates the thrust in the forward direction, and the left side indicates the thrust in the reverse direction. As can be seen from this figure, the combinator control means that when a small thrust command is issued, the magnitude of the thrust is adjusted by reducing the rotation speed of the main engine to idle speed and changing the reversing angle. This is a control method in which the thrust is adjusted by increasing or decreasing the number of revolutions of the main engine while being fixed to the state of full forward or full reverse.

The joystick 1 is designed to freely move in a region surrounded by a square shown in FIG. 6, that is, within a certain operation surface, and the thrust and the deflector angle of each main propulsion device are set to a square (not necessarily a square). The operation surface is not limited to this, and may be, for example, a circular operation surface.)
0, the joystick's operation limit position on the operation surface, right above and right below the origin, right and left right from the origin,
The four corners on each diagonal which are intermediate positions of these, a total of 9
Defined by point set points. That is, normally, the maximum thrust and the maximum deflector angle are set to a unit amount (the unit amount means a control command value, and in the following embodiment, the maximum time is set to “1”), and the forward side is set to +, The reverse side is-, the left turn is +, and the right turn is-. This unit amount is determined as being specific to the applicable vessel, and is usually determined by simulation. In the above example, the unit amount of the maximum thrust of each main propulsion unit is set to “1” (absolute value) at eight set points other than the origin. Regarding the deflector angle, zero at the origin, set point and set point, other set points
, The unit quantity of the maximum deflector angle is set to “1” (absolute value). For example, when the joystick 1 is set to the set point, a thrust command value of “1” is transmitted from the control device 3 to the control device (not shown) of each main propulsion device, and the watercraft is set so as to generate the maximum thrust. Control the jet propulsion device (specifically, control the hydraulic cylinder 9 in FIG. 2)
Things.

At a certain set point, this value itself may be adjusted or changed for the convenience of maneuvering.
For example, it is also possible to change “1” to “0.75” at a certain set point in view of the actual state of maneuvering.

When the joystick 1 is at the intermediate operation point, for example, at the position A in FIG. 6, the origin 0
The control command values for the thrust of each water jet propulsion device and the deflector angle are obtained instantaneously each time the joystick 1 is operated by interpolation from three neighboring points (in this case, the origin and the set point). For example, assuming that the joystick is tilted to 1/2 position forward and 1/4 position to the right side from point 0 to point A, the thrust and deflector angle at this time are determined by interpolation as follows.

Port side thrust = (port side thrust−0 port side thrust) × 1/2 + (port side thrust−port side thrust) × 1/4 =
0.5 Starboard thrust = (starboard thrust of -O starboard thrust) x 1/2 +
(Starboard thrust of −starboard thrust) × 1/4 = 0.5 port machine deflector angle = (port angle of −port angle of O) × 1/2 + (port angle of −port angle of port) × 1/4 =
-0.25 Starboard deflector angle = (starboard angle of -O starboard angle of X) x 1/2 + (starboard angle of -starboard angle of) x 1/4 =
-0.25 With the above configuration, nine examples of marine vessel maneuvering shown in Fig. 7 are realized. This will be individually described below. The numerical value in the upper part of FIG. 7 is a command value of thrust, the numerical value on the left side is a command value to the port side machine, and the numerical value on the right side is a command value to the starboard plane. The lower part shows the command value of the deflector angle. As described above, the numerical value itself is set for convenience, and in this example, the numerical value “1” means a given command value to take the maximum thrust or the maximum deflector angle. Therefore, when a command value smaller than “1” is given, a command value that takes a thrust or a deflector angle smaller than the maximum thrust or the maximum deflector angle is transmitted from the control device of the control device 3 to each of the main propulsion units 5, 5.
6 means that it is listed.

In the figure, a substantially triangular shape indicates a water jet propulsion ship schematically represented, black arrows indicate the jet flow jetting direction (thrust direction is opposite to the above), and white arrows indicate the movement of the hull. Is shown. The control device in the upper right corner indicates the position where the joystick is taken.

0 is neutral In the nine examples of maneuvering in FIG. 7, the center figure is neutral (N) because the joystick is located at the center origin 0.
Fig. 2 (a) shows the state of the water jet propulsion unit on the port and starboard side at this time. Note that, in FIG.
The numbers in parentheses correspond to the positions of the joystick in FIG. The same applies hereinafter.

When the forward joystick is set to the position shown in FIG. 6, the water jet propulsion units on both sides are in the state shown in FIG. 3 (a), and the jet stream is jetted backward to obtain forward thrust. In this case, since the command value is “1”, a maximum forward thrust is generated, and the ship proceeds in the white arrow direction.

When the forward right turning joystick is set to the position shown in FIG. 6 (the upper right diagonal corner), the thrust command values given to the port and port aircraft are both "1", and the deflector angle command values are both "-1". , The port and aircraft generate the maximum forward thrust, the deflector swings to the right to the maximum deflector angle, the jet stream is jetted diagonally backward, and the ship moves forward and turns right.

When the starboard transversal joystick is set to the position shown in FIG. 6 (right side), "1" is given as the thrust command value and "1" is given as the deflector angle command value of the port machine, and at the same time starboard. “−1” is given as the thrust command value of the machine, and “−1” is given as the deflector angle command value. Therefore, the deflector of the port aircraft oscillates to the left to the maximum deflector angle, and the jet stream jets out diagonally to the left.The deflector of the starboard aircraft oscillates to the right to the maximum deflector angle, and the jet stream moves to the left. It is ejected diagonally forward. At this time, the ship moves to starboard, but the hull slowly turns to the left because there is no bearing compensation.

When the reverse left turning joystick is set at the position shown in FIG. 6 (the lower right corner), the thrust command value of both the port and starboard machines is "-1", and the deflector angle command value is "-".
1 ”is given. Accordingly, since the deflectors of the left and right port machines swing rightward to the maximum deflector angle and the jet stream is jetted obliquely upward and to the left, the ship moves backward and turns left.

When the reverse joystick is set to the position shown in FIG. 6, a thrust command value of "-1" is given to both the left and right side aircraft. Since the deflector angles are all “0”, the jet flow jets forward (see FIG. 4), maximum reverse thrust is generated, and the ship travels straight backward.

When the reverse right turn joystick is set to the position shown in FIG. 6, a thrust command value of "-1" is given to both the left and right port machines.
At the same time, "1" is given as the deflector angle command value. Therefore, the deflector swings to the left, and the jet stream squirts diagonally forward and to the right, so that the ship moves backward and turns right.

When the port-side transversal joystick is set to the position shown in FIG. 6, a thrust command value of "-1" and a deflector angle of "1" are given to the port machine, and at the same time, "1" is given to the starboard machine. Thrust command value,
A deflector angle of "-1" is provided. Therefore, the deflector of the port machine swings to the left and ejects a jet stream diagonally to the right, and the deflector of the starboard machine swings to the right and ejects a jet stream diagonally to the right. But
The hull slowly turns to the right because there is no bearing compensation.

When the forward left turning joystick is set to the position shown in FIG. 6, the thrust command value "1" and the deflector angle command value "1" are given to both the left and right port machines. Therefore, the deflectors of the port and starboard all swing to the left, ejecting the jet stream obliquely leftward and rearward, so that the ship turns forward and turns left.

When the joystick is set at the point A (intermediate position) in FIG. 6, the port machine thrust command value is 0.5 and the starboard machine thrust command value is 0.5 as determined by the above-mentioned interpolation.
The port deflector angle is -0.25, and the starboard deflector angle is -0.25. Therefore, at this time, the ship slowly (the turning radius is increased) in the same movement as in the forward right turning state in FIG.

[Second Embodiment] A four-axis water jet propulsion machine is operated by one joystick and one turning dial. That is, as shown in FIG. 8 (a), one joystick 1 and one turning dial 2 having the same omnidirectionality as described above are provided so as to be easily operated by one person (one-man control) when the ship leaves and docks. A remote control device (including a controller) 3 provided is provided. A main engine 4 for operating the water jet propulsion machine is connected to each of the four water jet propulsion machines 5 to 8 arranged at the stern end portion, whereby the four water jet propulsion machines are connected.
A shaft waterjet propulsion device is formed. The one located on the inside of the port (close to the center of the hull) is called the main port propulsion unit (inside unit) 5, and the one located on the outside is called the port auxiliary propulsion unit (outside unit) 7. The paired units are called a starboard main propulsion unit (inside unit) 6 and a starboard auxiliary propulsion unit (outside unit) 8, respectively.

As shown in FIG. 8 (b), two of the four water jet propulsion units (in this example, a pair of inner units 5, 6) have a reversing mechanism R for forward and backward movement and a deflector for steering. The main propulsion units 5 and 6 having the mechanism D are provided, and the other two units (the outer units 7 and 8) have only the reversing mechanism R (they are fixed types without swinging and turning horizontally). Inside machine 5,
It is not necessary to set 6 and the outside machines 7 and 8 to the same ability, but at least comrades that are paired should be set to the same ability from the viewpoint of avoiding complicated control.

The joystick 1 controls the number of revolutions of each main engine 4 of the starboard and starboard propulsion machines 5 and 6 and its reversing mechanism R or deflector mechanism D. The control command value is the same as that of the first embodiment. Is determined. A turning dial 2 is provided in the vicinity of the joystick 1, and the turning dial 2 controls the number of revolutions of each main engine 4 of the starboard auxiliary propulsion devices 7 and 8 and its reversing mechanism. The joystick 1 is independent of the control of the auxiliary propulsion devices 7 and 8. That is, the zero rotation angle position of the turning dial 2 is set as the neutral origin of thrust zero, and the unit amount of the maximum thrust of each auxiliary propulsion unit 7, 8 is set at the symmetrical symmetrical rotation angle position (usually 90 °) (Fig. 10), by operating the turning dial 2, independently of the main propulsion units 7 and 8,
It is possible to control the forward / backward thrust of each of the auxiliary propulsion units 7 and 8 through the reversing mechanism of each of the auxiliary propulsion units 7 and 8.

In comparison with the first embodiment, a pair of auxiliary propulsion units are additionally provided, and a turning dial for controlling the auxiliary propulsion units is provided to control the auxiliary propulsion unit independently of the main propulsion unit. The difference is that only moments are generated.

FIG. 8 shows an example of a four-machine, four-axis equipment. However, as shown in FIG. 9, six-machine, six-axis equipment may be used.
When the capacity of the main propulsion unit needs to be enhanced, two or more pairs of the main propulsion units 5 and 6 may be installed.

FIG. 10 shows a part of an example of maneuvering in the above configuration. Only an example of maneuvering not shown in FIG. 7 is shown. Auxiliary propulsion machine 7,
By equipping with 8, a function similar to that of providing a bow thruster at the bow (this is called an azimuth compensation function) is obtained.
When the turning dial is set to the position a, no thrust is generated. When the turning dial is rotated 90 ° from this position to the position c, the command value of “−1” is given to the port auxiliary propulsion device 7 and “ A command value of "+1" is given. When operated in reverse, this sign is reversed. Also, a and c
When the turning dial is brought to the intermediate position (45 ° rotation), the command value becomes “0.5”. That is, the command value changes linearly according to the rotation angle of the turning dial.

As shown in FIG. 10, if the joystick is now held at the neutral point and the turning dial is brought to the position c, the jet flow directions of the port and starboard auxiliary propulsion devices are reversed (port port Thrust, starboard forward thrust),
The ship turns left on the spot. Turn to the right when taken to the symmetric d position.

On the other hand, when the joystick 1 is tilted right to the right and the turning dial is brought to the position b,
The azimuth compensation function is added to the example of maneuvering in FIG. 7, and the ship moves to the side on the port side. Similarly, when the joystick and the turning dial are set in symmetrical positions, the azimuth compensation function is added to the example of maneuvering in FIG. 7, and the ship moves to the starboard side. That is, by equipping the auxiliary propulsion devices 7 and 8, the same function as when a bow thruster is provided at the bow can be obtained.

[Third Embodiment] This embodiment is shown in FIG.
As shown in FIG. 4, the device configuration is the same as that of the second embodiment, with four machines and four axes, but without the turning dial, the main propulsion machines 5 and 6 and the auxiliary propulsion machines 7 and 8 on both sides of the port are provided by only one joystick. It is designed to be controlled.

That is, it is assumed that the joystick 1 can be freely moved in a fixed square operation surface, the center of the operation surface is a neutral origin of zero thrust, and the upper and lower ends passing through the origin are
The thrust unit amount of each main propulsion unit 7 and 8 is set at a total of eight set points at the left and right ends and four corners. Further, the origin and upper and lower ends are set as neutral points of zero deflector angle, and deflector angles are set at the left and right ends and four corners. Set the unit amount of. Then, the origin and the upper and lower ends are set to the neutral point of zero thrust of the auxiliary propulsion units 7 and 8, and the unit amount of the thrust of each auxiliary propulsion unit 7 and 8 is set at a total of six points at the left and right ends and four corners. For the intermediate operation point on the operation surface of the joystick 1, a thrust command value is obtained by interpolation from three of the above-mentioned set points including the origin.
Deflector angle command values are obtained, and based on these command values, one joystick is used to drive the main port propulsion units 5, 6
, Forward and backward thrusts and deflector angles, and forward and backward thrusts of the port and side auxiliary propulsion units 7 and 8 are controlled.

FIG. 12 shows an example of the set control command values.
For example, when the joystick is taken to the operating point of, the unit amount of thrust given to each main propulsion device, that is, the thrust command value is the maximum “1” or “−1”, and the thrust of each auxiliary propulsion device is zero. , The deflector angles are all zero. At the operating point of, the thrust command value of each main propulsion unit is “0.5
, The deflector angle is "-1", the thrust of each auxiliary propulsion unit is "-0.75" on starboard, "0.75" on port, and the deflector angle is zero. The values of “0.5” and “0.75” are not absolute values, but are based on the unique characteristics of the ship (for example, the position of the center of gravity inherent in various factors such as ship type, hull form, width, length, Etc.). Since FIG. 12 is generally determined by ordinary simulation, if the actual movement of the ship does not meet the requirements, the master may set these values to, for example, "0.75" to "1" on the ship. Absent. In this case, the movement of the ship is slightly changed (for example, the turning radius of the ship is changed).

Now, in the steering device having the above-described control contents, the operation of one joystick realizes the ship steering example shown in FIG. In these figures, the black arrow at the end of the stern indicates the direction of the jet (the direction of thrust is the opposite) and the magnitude, and the white arrow shown on the hull indicates the movement of the ship, as described above. In other words, the above-described ship maneuvering example of FIG. 7 can be realized as it is, but by disposing at least a pair of auxiliary propulsion devices 7 and 8 on the port side,
At the operation point (1), an azimuth compensation function is provided, and starboard traverse and port traverse without turning can be performed. Others are the same as those in FIG. 7, and the description is omitted here.

[Fourth Embodiment] Although not shown in the drawings, this embodiment is similar to the third embodiment in the four-machine, four-axis water jet propulsion machine of FIG. The turning dial of the second embodiment (FIG. 8) is added. That is, one turning dial is provided in the vicinity of the joystick for a pair of auxiliary propulsion units on the left and right sides, and the zero rotation angle position of the turning dial is set as the neutral origin. Set the unit amount of maximum thrust of each auxiliary propulsion unit on the side of the ship. Then, the control command value of the turning dial and the control command value of the joystick are superimposed to control the forward / reverse thrust through the reversing mechanism of each auxiliary propulsion device. When the two commands are superimposed and the value exceeds the maximum thrust, the value is fixed to the maximum thrust.

[0047]

In the inventions according to claims 1 to 4, a plurality of water jet propulsion machines are operated only by a joystick, or by operating these and a turning dial, all of the maneuvering operations at the time of berthing and landing with the most maneuvering elements. Therefore, it is possible to realize a control device for a water jet propulsion machine, which is optimal for one-man control.

Further, since the operation of the joystick or the turning dial and the direction in which the ship actually moves can be made to coincide with each other, the feeling of the operator can be matched and the operation of the ship becomes extremely easy. As a result, quick and accurate maneuvering becomes possible,
The time required for taking off and landing is greatly reduced.

Since a plurality of water jet propulsion devices are provided, it becomes easier to increase the marine vessel maneuvering power, and a water jet propulsion device optimal for maneuvering large ships can be obtained.

Particularly, in the inventions according to claims 2 to 4, since the turning moment generated by the pair of auxiliary propulsion units can be used, the same maneuvering operation as that in which the bow thruster is provided, that is, the ship is moved to the side or the vicinity of the stern is centered. Then you can turn around.

In particular, according to the third aspect of the invention, the ship can be moved laterally and the swiveling can be quickly performed with a small radius by operating only the joystick.

[Brief description of the drawings]

FIG. 1 shows a first embodiment of the present invention, in which (a) is 2
FIG. 3B is a schematic plan view of a water jet propulsion ship with a shaft, and FIG. 3B is an enlarged perspective view of the stern end portion in which two water jet propulsion machines are arranged.

FIG. 2A is a side sectional view showing a neutral state of the water jet propulsion machine, and FIG. 2B is a table of command values at that time.

FIG. 3A is a sectional side view showing a forward state of the water jet propulsion device, and FIG. 3B is a table of command values at that time.

FIG. 4 (a) is a side sectional view showing a backward movement state of the water jet propulsion machine, and FIG. 4 (b) is a table of command values at that time.

FIG. 5 is an explanatory diagram of combinator control.

FIG. 6 is a diagram showing an operation range of a joystick.

FIG. 7 is a diagram showing a command value and an example of marine vessel maneuvering in the first embodiment.

FIG. 8 shows a second embodiment of the present invention, in which (a) is
FIG. 4B is a schematic view of a four-axis water jet propulsion ship, and FIG. 6B is an enlarged perspective view in which the main propulsion unit and the auxiliary propulsion unit are arranged at the stern end.

FIG. 9 is a stern plan view in the case of a six-axis water jet propulsion boat.

FIG. 10 is a diagram of command values and an example of marine vessel maneuvering in the second embodiment.

FIG. 11 is a schematic view of a four-axis water jet propulsion ship showing a third embodiment of the present invention.

FIG. 12 is a diagram of command values and an example of marine vessel maneuvering in the third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Joystick 2 ... Turning dial 3 ... Steering device 4 ... Main engine 5 ... (Port side) Main propulsion machine 6 ... (Starboard) Main propulsion machine 8 ... (Port side) Auxiliary propulsion machine 8 ... (Starboard) Auxiliary propulsion machine R ... Reversing mechanism D: Deflector mechanism

Claims (4)

[Claims] 1. A water jet propulsion ship in which at least one pair of main propulsion units having a reversing mechanism for controlling forward / backward thrust and a deflector mechanism for controlling a deflector angle are provided on the left and right sides of the stern, and one joystick is provided. , The joystick is capable of freely moving within a fixed operation surface, the center of the operation surface is a neutral origin, a plurality of set points are set at operation limit positions on the operation surface of the joystick, and the plurality of set points are set. In (1), the unit amounts of the maximum thrust and the maximum deflector angle of each of the left and right main propulsion units are determined, and the intermediate operation point in the operation surface of the joystick is selected from the three points of the two above-mentioned set points in the vicinity including the origin. The thrust command value and deflector angle command value are obtained by interpolation, and based on these command values, the one joystick is used. Steering apparatus of marine water jet propulsion unit is characterized in that so as to control the reverse thrust and the deflector angle before the opening starboard main propulsors Te. 2. The construction according to claim 1, further comprising an auxiliary propulsion device having at least a pair of reverser mechanisms on the left and right sides to form a water jet propulsion ship with four or more axes. One turning dial is provided in the vicinity of the joystick, and the zero position of the turning angle of the turning dial is set as the neutral origin of the thrust of zero, and the unit amount of the maximum thrust of each auxiliary propulsion unit is set at a symmetrical constant turning angle position. 2. A control device for a marine water jet propulsion device according to claim 1, wherein the forward / backward thrust of each auxiliary propulsion device is controlled independently of the main propulsion device by operating the turning dial. 3. An auxiliary propulsion unit having at least a pair of left and right main propulsion units having a reverser mechanism for controlling forward / backward thrust and a deflector mechanism for controlling a deflector angle, and an auxiliary propulsion unit having at least a pair of left and right port reverser mechanisms is provided at the stern portion. In a water jet propulsion ship with four or more axes, one joystick is provided so that the joystick can move freely within a certain operation surface, and the center of the operation surface is the neutral origin, and the operation surface of the joystick is the same. Set a plurality of set points at the operation limit position in and set a unit amount of the maximum thrust of each main propulsion unit and each auxiliary propulsion unit on the starboard side and a unit amount of the maximum deflector angle of each main propulsion unit at the plurality of set points. At the same time, the intermediate operation point on the operation surface of the joystick is interpolated from three points of the above two set points in the vicinity including the origin. The thrust force command value and the deflector angle command value are obtained, and based on these command values, the forward / backward thrust of the starboard main propulsion unit and the deflector angle and the forward / backward thrust of the portside auxiliary propulsion unit are controlled by the one joystick. A control device for a water jet propulsion device for a ship, which is characterized by: 4. A structure according to claim 3, wherein one turning dial is provided near each joystick for each auxiliary propulsion device, and a zero rotation angle position of this turning dial is set as a neutral origin, and a symmetrical left and right rotation angle position. In, the unit amount of the maximum thrust of each auxiliary propulsion unit on the left and right sides was set, and the forward and backward thrust of each auxiliary propulsion unit was controlled by superimposing the control command value of the turning dial and the control command value of the joystick. The control device for a water jet propulsion device for a marine vessel according to claim 3, wherein