JPH1129095A - Thruster system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To turn a bow around in an optimum mode by controlling the flow rate and flow direction of oil according to azimuth deviation that is the difference between set azimuth and bow azimuth. SOLUTION: On the basis of a signal from an azimuth sensor 11, an azimuth deviation computing means 15a of a control unit 15 computes azimuth deviation that is the difference between set azimuth and bow azimuth. On the basis of the computed result, a valve control means 15b controls a proportional valve unit 14 according to the direction and size of the azimuth deviation so as to switch the flow direction of oil and to change the flow rate of oil, thus holding the bow azimuth to the set azimuth.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a thruster system for maintaining a heading in a set heading.

[0002]

2. Description of the Related Art Conventionally, for example, in recreational fishing boats, there has been a demand that the direction of the boat (heading) be directed in a certain direction. Spankers that maintain upwind are known. By the way, such a device cannot be used if there is no wind.

[0003] Therefore, a thruster and a direction sensor (for example, one that detects the direction using geomagnetism) are provided on the ship, the direction of rotation of the bow is detected by the direction sensor, and the thruster is operated according to the detection result. It is conceivable to turn the ship in the opposite direction so as to return the ship to its original state.

[0004]

However, conventional thrusters are generally operated by manual on / off operation using hydraulic pressure, and the bow is turned at a constant speed. No control.

[0005] Further, such an on / off operation involves a problem of sound and vibration caused by the on / off operation. That is, when the direction of the boat is changed, the hydraulic pressure rises sharply by the on operation, and thus there is a possibility that the hydraulic pressure may resonate on the boat or resonate depending on the way of piping.

The present invention has been made in view of such a point, and controls the flow rate and flow direction of oil in accordance with an azimuth deviation which is a difference between a set azimuth and a heading azimuth, thereby turning the head in an optimum manner. It is an object of the present invention to provide a thruster system capable of performing the following.

[0007]

According to a first aspect of the present invention, there is provided a heading sensor for detecting a heading, a heading changing means for changing a heading, and a driving means for driving the heading changing means with hydraulic pressure. In a thruster system for controlling the azimuth changing means based on a signal from the azimuth sensor to maintain the heading in a set azimuth, a function provided between the azimuth changing means and the driving means for switching a flow direction of oil is provided. A proportional valve unit having a function of changing the flow rate, a signal from the direction sensor, and calculating a direction shift that is a difference between the set direction and the heading direction. Valve control means for receiving a signal and controlling the proportional valve unit in accordance with the direction and magnitude of the misalignment to switch the oil flow direction and change the flow rate Equipped with a.

According to the first aspect of the present invention, the current heading is detected in real time by the heading sensor.
The azimuth deviation calculating means calculates the azimuth deviation, which is the difference between the set azimuth and the heading azimuth. Based on this calculation result,
The proportional valve unit is controlled by the valve control means in accordance with the direction and magnitude of the misalignment, the flow direction of the oil is switched in accordance with the direction of misalignment, and the flow rate is changed in accordance with the magnitude of the misalignment. Then, the heading is corrected and kept at the set heading. Therefore, for example, the oil flow direction is switched in a direction in which the azimuth deviation is reduced, and the flow rate is increased as the azimuth deviation is large. And it is possible to change the heading.

According to a second aspect of the present invention, in the thruster system according to the first aspect, the valve control means increases the flow rate of the oil when the misalignment is larger than when the misalignment is not larger. is there.

According to the second aspect of the invention, when the heading deviation is expanding, the flow rate of the oil is set to be larger than when the heading deviation is not expanded, and the heading can be quickly changed with a large turning force. Corrected to the set direction.

According to a third aspect of the present invention, in the thruster system according to the first or second aspect, the valve control means shuts off the oil flow when the misalignment is equal to or less than a predetermined value.

According to the third aspect of the present invention, when the azimuth deviation is equal to or less than the predetermined value, it is regarded as an allowable range, the flow of oil is shut off, and the heading is not corrected.

According to a fourth aspect of the present invention, in the thruster system according to any one of the first to third aspects, the valve control means includes:
If the calculated value based on the misalignment exceeds the set value, the oil flow rate is set to the maximum value, while if the calculated value does not exceed the set value, the oil flow rate is set to a value corresponding to the calculated value.

According to the fourth aspect of the invention, when the calculated value based on the heading deviation exceeds the set value, the flow rate of the oil is set to the maximum value, and the heading is quickly returned to the set heading with a large turning force. On the other hand, if the calculated value does not exceed the set value,
The oil flow is set to a value corresponding to the calculated value, and the heading is gradually returned to the set heading with a small turning force so as not to cause much vibration.

According to a fifth aspect of the present invention, in the thruster system of the first to fourth aspects, the proportional valve unit shuts off the oil flow from the first and second communication positions where the oil flow directions are reversed. And an electromagnetic switching valve that switches from a shut-off position to a first or second communication position by selectively energizing the first and second solenoids, and a proportional solenoid that excites the proportional solenoid. An electromagnetic flow regulating valve for changing a flow rate according to a pulse width of a control signal to be provided is provided in series, and the valve control means excites the first or second solenoid according to a direction of azimuth deviation. The pulse width of the control signal to the proportional solenoid is changed according to the magnitude of the misalignment.

According to the fifth aspect of the invention, either the first or second solenoid is excited by the valve control means in accordance with the direction of the misalignment, and the proportional solenoid is switched in accordance with the magnitude of the misalignment. The pulse width of the control signal is changed, whereby the flow direction of the oil is easily switched and the flow rate of the oil is controlled.

[0017]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a schematic configuration of a thruster system.
Numeral 1 is a thruster system, which is a directional sensor 11 provided on the ship 2 for detecting a heading, a azimuth changing means 12 provided separately from the navigation screw means for changing the heading, and And a constant displacement hydraulic pump 13 which is a driving unit driven by the control unit. The azimuth changing unit 12 is controlled based on a signal from the azimuth sensor 11 to maintain the heading in a set azimuth.

The azimuth changing means 12 includes a screw 12 provided at the front of the boat 2 for applying a turning force to the side of the boat 2.
a, and a constant displacement hydraulic motor 12c that rotationally drives the screw 12a via a coupling mechanism 12b.

The hydraulic pump 13 and the hydraulic motor 1
A proportional valve unit 14 having a function of switching the flow direction of the oil and a function of changing the flow rate of the oil is provided between the proportional valve unit 14 and the second valve 2c. As shown in FIG. 2, the proportional valve unit 14 has first and second communication positions PS1 and PS2 in which oil flows in different directions, and a shutoff position PS3 for shutting off oil flow. The control unit 15 includes a port 3 position type electromagnetic switching valve 14a, an electromagnetic flow regulating valve 14b for proportionally controlling the oil flow, and a pressure control valve 14c for regulating the generation of excessive oil pressure. It is controlled.

The electromagnetic switching valve 14a includes a first or a second
Is excited to the first communication position PS1 or the second communication position PS2 against the urging force of the spring, and returns to the shut-off position PS3 by the urging force of the spring by demagnetization. I have. The electromagnetic flow regulating valve 14b is provided with a proportional solenoid S
It has an OLc, and the flow rate can be proportionally adjusted according to the pulse width of a control signal for exciting the OLc.

The control unit 15 receives a signal from the azimuth sensor 11 and calculates an azimuth deviation which is a difference between a set azimuth and a heading azimuth. The proportional valve unit 14 according to the direction and magnitude of the misalignment.
Or a valve control means 15b for sending a control signal having a predetermined pulse width to the proportional solenoid SOLc together with a control signal for exciting the second solenoid SOLa or SOLb, which is a manual remote controller for remote mode operation or the like. The controller 16 and the power switch 17 are linked.

An operation panel 15A is provided on the front of the control unit 15. As shown in FIG. 3, a liquid crystal display 21 for displaying various information is provided above a central portion of the operation panel 15A. On the lower side is a push key-key 22,
A confirmation key 23, a change key 24, and a + key 25 are provided. A first knob 26 for adjusting contrast, a second knob 27 for switching and selecting a manual mode, a remote mode, or an automatic mode, a neutral dead zone (for example, a range of ± 1 ° to ± 9 °) are provided on the left side. A third knob 28 for setting a thruster gain (for example, a range of 1 to 9) is provided on the right side.
Is provided.

Next, the flow of control by the control unit 15 in the thruster system 1 will be described.

In FIG. 4, first, when the power is turned on and started, the liquid crystal display unit 21 displays Malol Auto Thruster CB-188 Ver1.01 (step S1). The heading, the set heading, or the power supply voltage is displayed (step S2), and then the position of the second knob 27 (operation mode setting knob) on the operation panel unit 15A is read (step S2).
3). If the second knob 27 is at the manual position, the remote position, or the automatic position, the mode shifts to the manual mode, the remote mode, or the automatic mode, respectively (steps S4, S5, S
6).

In the following description, each angular relationship based on the set azimuth is as shown in FIG.
In FIG. 5, θ + θ0 is misalignment, θ0 is a neutral dead zone,
θ1 is the neutral dead zone hiss, θ2 is the hanger span, QMAX is the maximum pulse width of the control signal to the electromagnetic flow regulating valve 14b, QMI
N is the minimum pulse width of the control signal to the electromagnetic flow control valve 14b. G is a thruster gain. -Manual mode- In FIG. 6, first, it is determined which push key is operated (step S11). If the-key 22 is operated, the electromagnetic valve is electromagnetically actuated to the proportional valve unit 14 for emergency turning or the like. The control signal for exciting the solenoid SOLa of the switching valve 14a and the maximum pulse width QMA are supplied to the electromagnetic flow regulating valve 14b.
The control signal of X is output (step S12). If the confirmation key 23 is operated, the process proceeds to the confirmation state process (step S13), and if the change key 24 is operated, the process proceeds to the change state process (step S13). S14) Further, + key 2
If the solenoid valve 5 is operated, a control signal for exciting the solenoid SOLb of the electromagnetic switching valve 14a and a control signal of the maximum pulse width QMAX are output to the solenoid SOLc of the electromagnetic flow regulating valve 14b to the proportional valve unit 14 (step S1).
5) Return. -Remote mode- In FIG. 7, first, since the manual mode is prioritized, it is checked whether or not there is a push key before starting the remote mode (step S101). Is determined (step S102), and if the-key 22 is operated, the solenoid SOL of the electromagnetic switching valve 14a is instructed to the proportional valve unit 14.
A control signal having the maximum pulse width QMAX is output to the solenoid SOLc of the electromagnetic flow regulating valve 14b and the control signal for exciting the control signal a (step S103). ),
If the change key 24 has been operated, the processing shifts to the change state processing (step S105). If the + key 25 has been operated, the electromagnetic switching valve 14a is transmitted to the proportional valve unit 14.
The control signal for exciting the solenoid SOLb of the solenoid valve and the maximum pulse width QMA applied to the solenoid SOLc of the electromagnetic flow regulating valve 14b.
An X control signal is output (step S106), and the process returns.

On the other hand, if there is no push key, the remote controller 1
Based on the scale position of the knob 6 (not shown), a reference command value (target azimuth) is calculated based on the following equation (step S107). Command value = (knob position)-(neutral position) Then, it is determined whether or not the command value is larger than the dead zone (Step S108). In order to set the pulse width of the control signal, it is determined whether or not the command value is greater than the henser span θ2 (step S109). On the other hand, if it is not larger, it is considered that it is not necessary to turn the bow, so the electromagnetic switching valve 14a Solenoids SOLa and SO
The output to Lb is stopped (step S110), the flow of oil is cut off, and the routine returns. Therefore, in this case,
The heading remains unchanged and unchanged.

Also, in the determination of step S109,
If the command value is larger than the henspan θ2, it is considered that the deviation from the target azimuth is considerably large.
The maximum pulse width QMA is supplied to the solenoid SOLc of the electromagnetic proportional valve 14b together with a control signal for exciting the solenoid SOLa or SOLb of the electromagnetic switching valve 14a to the proportional unit 14.
An X control signal is output (step S111), and the process returns. On the other hand, if the command value is not larger than the henser span θ2, the pulse width is calculated (step S1).
12), a control signal having a corresponding pulse width is output to the solenoid SOLc of the electromagnetic flow regulating valve 14b together with a control signal for exciting the solenoid SOLa or SOLb of the electromagnetic switching valve 14a to the proportional unit 14 (step S11).
3) Return. Therefore, the heading is turned by the turning force according to the magnitude of the deviation from the target heading, and is corrected to the target heading.

Here, the calculation of the pulse width of the control signal to the solenoid SOLc of the electromagnetic flow regulating valve 14b is performed based on the following equation. Pulse width = Command value ｛(Maximum pulse width-Minimum pulse width)
/ Hensa span｝ + (minimum pulse width) Therefore, in this case, as shown in FIG.
In accordance with the scale of the knob of No. 6, the pulse width of the control signal to the solenoid SOLc of the electromagnetic flow regulating valve 14b is changed from the minimum pulse width to the maximum pulse width, and has a size corresponding to the scale of the knob. You. —Automatic Mode— In FIG. 9, first, as in the case of the remote mode, prior to the start of the automatic mode,
It is checked whether there is a push key (step S20).
1) If there is a push key, it is determined which push key is being operated (step S202), and the confirmation key 23
Is operated (step S204), and if the change key 24 is operated, the process shifts to the change state process (step S205) and returns.

Here, the set heading is the heading when the mode is switched to the automatic mode by the knob 27. Therefore, normally, in the remote mode or the like by the remote controller 16, first, the desired heading is set, and then the knob 2 is set.
7 switches to automatic mode. However, the setting of the set direction is not limited to the embodiment of the present invention, and the set direction can be set directly or indirectly by another method.

If none of the push keys are operated, the remote controller 16 is checked, that is, the remote controller 1
It is determined whether or not the operation angle by 6 exceeds 5 degrees (step S206). If it exceeds 5 degrees, it exceeds the control range of the automatic mode, and the mode shifts to the remote mode (see FIG. 7) (see FIG. 7). Step S207), while ending, 5
If not, the azimuth deviation is calculated based on the following equation to start the control in the automatic mode (step S208). (Azimuth deviation) = (set azimuth) − (heading azimuth) Then, it is determined whether or not the azimuth deviation is expanding (step S209). If the azimuth deviation is expanding, it is determined whether or not the azimuth deviation is larger than the neutral dead zone. Is determined (step S21).
0), if it is larger, the command value 1 is calculated based on the following equation (step S211), while if not larger, the output to the solenoids SOLa and SOLb of the electromagnetic switching valve 14a is stopped (step S212), The flow is interrupted and the flow returns. Command value 1 = (azimuth deviation)-(neutral dead zone) On the other hand, if the azimuth deviation is not expanding, it is determined whether or not the azimuth deviation is greater than (neutral dead zone-neutral dead zone hiss) (step S213). For example, the command value 1 is calculated based on the following equation (step S214).
The output of a to the solenoids SOLa and SOLb is stopped, and the routine returns. Specified value 1 = (azimuth shift)-(neutral dead zone)-(neutral dead zone hiss) As described above, when the heading deviation from the set heading exceeds the neutral dead zone, the proportional valve unit 14 returns the bow to the set heading. Hydraulic control is performed. Then, after the heading is returned and the vehicle enters the neutral dead zone, the output of the control signal from the proportional valve unit 14 is stopped at the position of the neutral dead zone hiss (see FIG. 10).

Further, the provision of the neutral dead zone is intended to avoid constant operation in consideration of mechanical durability,
This is because the inertial force is generated at the time of turning of the bow, and the command value 1 is made different when the azimuth deviation is expanding and when the azimuth deviation is not expanding,
This is because when the misalignment is expanding, it is considered that there is a higher demand for preventing the expansion of the misalignment by increasing the flow rate than when the misalignment is not expanding.

After calculating the command value 1, a command value 2 (calculated value θG based on azimuth deviation) obtained by multiplying the command value 1 by the thruster gain G is calculated (step S215). Therefore, the thruster gain G is set by the knob 29 to adjust the sensitivity, and is increased when, for example, the wind is strong or the wave is strong. When the gain G is increased, as shown in FIG. 11A, when the gain G is decreased, the command value 2 (corresponding to θG) changes as shown in FIG. The pulse width of the control signal to the solenoid SOLc of the electromagnetic flow regulating valve 14b depending thereon also changes.

Then, it is determined whether or not the command value 2 is larger than the henser span corresponding to the limiter (step S2).
16) If it is larger, a control signal having the maximum pulse width is output to the solenoid SOLc of the electromagnetic flow regulating valve 14b together with a control signal for exciting the solenoid SOLa or SOLb of the electromagnetic switching valve 14a to the proportional unit 14 (step S217). To return. On the other hand, if the command value 2 is not larger than the span,
4b is calculated (step S).
218) A control signal for exciting the solenoid SOLa or SOLb of the electromagnetic switching valve 14a to the proportional unit 14 and a control signal having a pulse width corresponding to the command value 2 are output to the solenoid SOLc of the electromagnetic flow regulating valve 14b (step S219). ), Return. Here, the calculation of the pulse width is performed based on the following equation. Q = (command value 2) · ｛(maximum pulse width-minimum pulse width)
/ Hensa span｝ + (minimum pulse width) In the above embodiment, as shown in FIG. 10, the neutral dead zone hiss is fixed irrespective of the magnitude of the misalignment, but the present invention is not limited to this. Instead, it can be changed according to the magnitude of the misalignment.

[0035]

The present invention is embodied in the form described above, and has the following effects.

According to the first aspect of the present invention, as described above, the heading is detected by the heading sensor, and the heading deviation, which is the difference between the set heading and the heading, is calculated by the heading deviation calculating means. By controlling the proportional valve unit according to the direction and magnitude of the heading deviation, switching the oil flow direction and controlling the flow rate, and driving the heading change means, the heading is changed from the set heading Even if it comes off, it is automatically returned to the set direction, and the set direction can be maintained.

Therefore, even if the heading is shifted due to tide, wind, etc. during navigation or berthing, the heading will be automatically corrected, so that the straightness of work boats such as laver boats and baiting boats It is also advantageous for securing. In addition, by performing such control, it is possible to change the force for turning the bow by the azimuth changing means in an optimal manner. For example, it is also possible to reduce a shock when the azimuth changing means is driven (so-called thruster operation). it can.

According to the second aspect of the present invention, the oil flow is set to be larger when the misalignment is widened than when the misalignment is not expanded. With a relatively large turning force, the heading can be quickly returned to the set heading, and the heading deviation does not increase carelessly.

According to the third aspect of the present invention, when the misalignment is equal to or less than a predetermined value, the oil flow is regarded as being within an allowable range and the flow of oil is shut off. This is advantageous in terms of mechanical durability.

According to a fourth aspect of the present invention, when the calculated value based on the azimuth deviation exceeds a set value, the oil flow rate is set to a maximum value, while when the calculated value does not exceed the set value,
Since the oil flow is set to a value corresponding to the calculated value, if the calculated value exceeds the set value, the heading is returned to the set direction promptly with a large turning force, so that the azimuth deviation can be reduced. Enlargement can be effectively prevented, and when the calculated value does not exceed the set value, the heading is returned to the set direction gently with a small turning force without causing much vibration. , It is possible to control the vehicle in an optimal manner according to the magnitude of the misalignment.

According to a fifth aspect of the present invention, the proportional valve unit comprises an electromagnetic switching valve for switching a flow direction of oil and an electromagnetic flow regulating valve for controlling a flow rate in series, and the valve control means is provided with a misalignment. The switching control of the electromagnetic switching valve and the flow control of the electromagnetic flow regulating valve are performed according to the direction and the size of the valve, respectively. It can be carried out.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a thruster system according to the present invention.

FIG. 2 is a configuration diagram of a proportional valve unit according to the present invention.

FIG. 3 is a perspective view of a control unit according to the present invention.

FIG. 4 is a flowchart showing a procedure for mode selection in control according to the present invention.

FIG. 5 is an explanatory diagram of a relationship between a set azimuth and each angle.

FIG. 6 is a flowchart showing a procedure in a manual mode in the control according to the present invention.

FIG. 7 is a flowchart showing a procedure for a remote mode in the control according to the present invention.

FIG. 8 is a diagram showing the relationship between the scale and the output pulse width of the remote controller according to the present invention.

FIG. 9 is a flowchart showing a procedure for an automatic mode in the control according to the present invention.

FIG. 10 is a diagram showing a relationship between a heading and an output pulse width in the automatic mode of the present invention.

11A is a diagram showing the relationship between the heading and the output pulse width in the automatic mode when the thruster gain is increased, and FIG. 11B is a diagram showing the heading and the output pulse in the automatic mode when the thruster gain is reduced. It is a figure showing the relation with width.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Thruster system 2 Ship 11 Orientation sensor 12 Orientation changing means 12a Screw 12b Hydraulic motor 13 Hydraulic pump 14 Proportional valve unit 14a 4 port 3 position electromagnetic switching valve 14b Electromagnetic flow regulating valve 15 Control unit 15a Orientation deviation calculating means 15b Valve control means

Claims (5)

[Claims] 1. An azimuth sensor for detecting a heading, an azimuth changing means for changing a heading, and a driving means for driving the azimuth changing means by hydraulic pressure, based on a signal from the azimuth sensor, In a thruster system for controlling a heading changing means to maintain a heading in a set heading, a proportional valve provided between the heading changing means and a driving means and having a function of switching a flow direction of oil and a function of changing a flow rate. A unit, receiving a signal from the azimuth sensor, calculating azimuth deviation which is a difference between a set azimuth and a heading azimuth, receiving a signal from the azimuth deviation calculating means, and detecting the direction and magnitude of the azimuth deviation Valve control means for controlling the proportional valve unit to switch the flow direction of the oil and to change the flow rate accordingly. Over system. 2. The thruster system according to claim 1, wherein the valve control means increases the flow rate of the oil when the misalignment is larger than when the misalignment is not larger. 3. The thruster system according to claim 1, wherein said valve control means cuts off the oil flow when the misalignment is equal to or less than a predetermined value. 4. The valve control means sets the oil flow rate to a maximum value when the calculated value based on the misalignment exceeds a set value, and sets the oil flow rate when the calculated value does not exceed the set value. The thruster system according to any one of claims 1 to 3, wherein is a value corresponding to the calculated value. 5. The proportional valve unit has first and second communication positions where oil flow directions are reversed and a shutoff position where oil flow is shut off, and selects one of the first and second solenoids. Electromagnetic switching valve that switches from the shut-off position to the first or second communication position by being energized electrically, and an electromagnetic flow that has a proportional solenoid and changes the flow according to the pulse width of a control signal that excites the proportional solenoid A regulating valve is provided in series; the valve control means excites the first or second solenoid according to the direction of the azimuth deviation; and a control signal to the proportional solenoid according to the magnitude of the azimuth deviation. The thruster system according to any one of claims 1 to 4, wherein the pulse width is changed.