JPS6225437Y2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to a steering system for ships, and in particular, even if the steering mode is switched despite the large difference between a manual steering signal and an automatic steering signal or a remote steering signal, The object is to provide a steering device that prevents dangerous situations such as sudden changes in course from occurring.

FIG. 1 shows a conventional steering system. In the figure, 1 indicates a manual steering transmitter, and 2 indicates an automatic or remote steering transmitter. One of the steering signals δ ₁ and δ 2 transmitted from these transmitters 1 and ₂ is selected by a steering mode changeover switch 3 and supplied to a steering control device 4 . The steering control device 4 includes, for example, an adder 5
, a servo amplifier 6 , a control device 7 , a power unit 8 , and a steering angle transmitter 9 .

That is, when the steering signal δ ₁ or δ ₂ is supplied to the adder 5, the power unit 8 is controlled by the steering signal to steer the rudder 10. This steering changes the steering angle signal δf output from the steering angle transmitter 9, and the rudder 10 is steered until the input steering signal δ ₁ or δ ₂ and the steering angle signal δf are in equilibrium. When the steering signal δ ₁ or δ ₂ and the steering angle signal δf are balanced, the steering of the rudder 10 is stopped. In this way, the steering control device of the ship operates so that the applied steering signal δ ₁ or δ ₂ and the steering angle signal δf are always balanced, forming a so-called servo loop.

By the way, when switching from manual steering mode to automatic steering or remote steering mode, it is common to make the manual steering direction and automatic steering direction or remote steering direction coincide with each other, but when there is a large difference in the steering signals, In other words, if the mode changeover switch 3 is mistakenly turned on when the steering direction is significantly different, the course will suddenly change greatly, which is dangerous. In particular, small vessels have good rudder control, so if the rudder is turned suddenly and sharply, there is a risk of capsizing, which is extremely dangerous.

To solve this problem, Japanese Patent Publication No. 1989-8900 ``Servo Device Setting Mechanism'' has been proposed. The invention provides that when a load is controlled by either the main drive part or one or more remote setting parts, the operating parts of the other drives or setting parts are always controlled to the same state. When the load control is changed to another arbitrary one, the load can be controlled continuously to prevent danger at the time of switching. However, this method requires as many servo control mechanisms as the total number of main drive sections and remote setting sections, and has the drawback that it requires a plurality of devices and is expensive.

In this invention, when switching from manual steering mode to automatic or remote steering mode, the switching is not performed unless the difference in signals between them is below a predetermined level, and the rudder is not significantly steered by switching the steering mode. This was done to ensure that this would not happen.

An embodiment of this invention will be explained in detail below using FIG. 2.

In FIG. 2, parts corresponding to those in FIG. 1 will be described with the same reference numerals, and 1 indicates a manual steering signal transmitter, and 2 indicates an automatic or remote steering transmitter. In this example, the steering mode changeover switch 3 is constructed of FET switches 3a and 3b. Either one of the manual steering transmitter 1 and the automatic or remote steering transmitter 2 is selected by the steering mode changeover switch 3, and the steering signal δ ₁ or δ ₂ from either one is selected.
is supplied to the adder 5, added to the steering angle signal δf output from the steering angle transmitter 9, and then supplied to the servo amplifier 6, as in FIG.

In this invention, in such a steering device, a manual steering signal δ ₁ and an automatic or remote steering signal δ ₂ are used.
A subtraction circuit 11 that calculates the difference between
a determination circuit 12 that determines whether the output of the output is equal to or less than a predetermined value K determined by the maximum value of the steering amount allowed by the ship; When switching to the automatic or remote steering side, the mode changeover switch 3 is held in the previous state, and when the subtraction output of the subtraction circuit 11 becomes less than a predetermined value in the discrimination circuit 12, the holding state is released and the mode changeover switch is turned off. A holding circuit 14 for switching to automatic or remote steering mode is provided.

That is, the holding circuit 14 can be constructed by, for example, a flip-flop circuit. When the operating switch 13 is brought into contact with the manual steering side H, the holding circuit 1 is activated.
L logic is applied to the input terminal 14a of No. 4. The output of the output terminal 14c of the holding circuit 14 is applied to the gate of the FET switch 3b constituting the steering mode changeover switch 3, and the output of the output terminal 14d is applied to the gate of the FET switch 3a.

Therefore, when the operation switch 13 is in contact with the manual steering H side, the output terminal 14c of the holding circuit 14
is held at H logic, and 14d is held at L logic. At this time, FET switch 3a is on and 3b is on.
is held off and held in manual steering mode.

When the operating switch 13 is switched to the automatic or remote steering AR side, H logic is input to the input terminal 14a of the holding circuit 14. However, in this state, if the difference signal |δ ₁ −δ ₂ | between the manual steering signal δ ₁ and the automatic or remote steering signal δ ₂ in the discrimination circuit 12 has not become smaller than the predetermined value K, the transistor 15
is held off, so the holding circuit 14 is held in the previous state, that is, the steering mode changeover switch 3 is held in the manual steering mode. When the discrimination circuit 12 determines that the difference signal |δ ₁ −δ ₂ | has become |δ ₁ −δ ₂ |<K, the transistor 15 is turned on and provides L logic to the input terminal 14 b of the holding circuit 14 . Therefore, the state of the holding circuit 14 is reversed, and the output terminal 14c becomes the L logic state and the output terminal 14d becomes the H logic state. Therefore, FET switch 3a is turned off,
3b is controlled to be on, and the steering mode changeover switch 3 is switched to automatic or remote steering mode.
At this time, the lamp 16 lights up to indicate that the mode has been switched to automatic or remote steering mode.

In addition, the operation switch 13 can be automatically or remotely controlled by AR.
When switching from the manual steering side to the H side, the operation switch 13 connects the gate of the FET switch 3a to the common potential point, and also connects the input terminal 14a of the holding circuit 14 to the common potential point.
The FET switch 3a is turned on, the FET switch 3b is turned off, and the mode changeover switch 3 is forcibly switched to manual steering mode.

As explained above, according to this invention, when the operating switch 3 is switched from the manual steering H side to the automatic or remote steering AR side, the difference signal between the steering signals δ ₁ and δ ₂ |δ ₁ − Since the holding circuit 14 is reversed and the steering mode changeover switch 3 is switched to automatic or remote steering mode only when δ ₂ | is in the relationship of |δ ₁ −δ ₂ |<K with respect to the predetermined value K, there is no problem. Even if the operation switch 13 is changed over, the mode changeover switch 3 will not be changed while the difference signal |δ ₁ -δ ₂ | is in the state of |δ ₁ -δ ₂ |>K. Therefore, the rudder 10 is not suddenly steered greatly, and safety is high.

In this way, according to this invention, the safety of the steering device is ensured, and it can be constructed at low cost with a simple circuit without increasing the number of servo control mechanisms, and its effects are extremely large in practical use. be.

[Brief explanation of the drawing]

FIG. 1 is a system diagram for explaining a commonly used steering device, and FIG. 2 is a system diagram showing an embodiment of this invention. DESCRIPTION OF SYMBOLS 1... Manual steering signal transmitter, 2... Automatic or remote steering signal transmitter, 3... Steering mode changeover switch, 11... Subtraction circuit, 12... Judgment circuit, 13
...Operation switch, 14...Holding circuit.

Claims (1)

[Claims for Utility Model Registration] A manual steering signal and an automatic steering signal or a remote steering signal are switched by a steering mode changeover switch and supplied to a steering control device, and the steering signal and the steering signal supplied to the steering control device are supplied by the steering control device. A steering device that detects a difference between a steering angle signal from an angle transmitter and servo-controls a rudder according to the detected difference signal, comprising: an operation switch that controls switching of the steering mode changeover switch; and a manual steering signal. and a determination circuit that determines whether a difference signal between the automatic steering signal or the remote steering signal is less than a predetermined value; and a holding circuit that holds the steering mode in this state and releases the holding state when the discrimination circuit determines that the difference signal is below a predetermined value and switches the steering mode changeover switch to automatic or remote steering. Steering device.