JPS6313896A - Steering apparatus for fully submarged hydrofoil - Google Patents

Abstract

PURPOSE:To accomplish easy driving and comfortable cruising by providing an inclinometer which detects the amount of heel of a hull and a steering wheel angle detector and making steering control according to the amount of the angle of the steering wheel. CONSTITUTION:Each of the signal of steering wheel angle theta detected by a steering wheel angle detector 12 and the signal of rake angle theta detected by an inclinometer 13 is input to a controller 14 and processed, then the controller 14 generates signals which drive servomotors 8 and 9 and outputs the right and left steering amounts to steer a front rudder 6 and a rear rudder 7. The rudder 6 and 7 are steered in the same direction according to the amount of heed from the neutral position detected by the inclinometer 13 when the angle thetafrom the neutral position detected by the detector 12 is zero. They are steered in the same direction according to the amount of the angle theta when the angle thetais not zero and also, by the results of it, they are steered severally in the deferent directions according to the amount of heel detected by the inclinometer 13.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a steering device for a fully submerged hydrofoil boat.

[Prior art]

A fully submersible hydrofoil boat has legs that protrude downward at the front and rear of the bottom of the hull, and part or all of these front and rear legs are used as a front rudder and an aft rudder that can be steered from side to side, and near the lower end. Each ship is equipped with horizontal wings, and these horizontal wings and rudder are submerged under the water surface, and the ship is pushed up above the water surface for navigation.

In this way, a fully submersible hydrofoil boat navigates with only the wings submerged in the water via the front and rear legs, so the hull is not affected by the impact of waves, and therefore, compared to ships whose hulls are submerged in the water. You can get much better ride comfort. However, on the other hand, because the wings are completely submerged in the water, the wings themselves cannot maintain the lateral stability of the hull, unlike surface-penetrating hydrofoils. Therefore, fully submersible hydrofoils must be operated by a skilled driver to maintain lateral stability, or be equipped with an automatic stabilizer to maintain lateral stability.

[Purpose of the invention]

An object of the present invention is to provide a steering system for a fully immersed hydrofoil ship, which can automatically provide lateral stability by simply controlling the direction using the steering handle, and can also improve riding comfort when turning. It's about doing.

[Structure of the invention]

To achieve the above object, the present invention provides bullets projecting downward on the bottom of the hull at the front and rear, and makes part or all of these front and rear legs into a front rudder and a rear rudder that can be steered left and right, and near the upper end. In a fully immersed hydrofoil ship, which is equipped with horizontal wings on each side, the front and rear horizontal wings and the front and rear rudders are submerged under the water surface, and the hull is pushed up above the water surface to navigate. and a steering wheel angle detector for the steering wheel, and when the steering wheel angle θ from the neutral position detected by the steering wheel angle detector is zero for the front rudder and the rear rudder,
The steering is controlled in the same direction according to the amount of lateral inclination from the neutral position detected by the inclinometer, and when the steering wheel angle θ is other than zero, the steering is controlled in the same direction according to the size of the steering wheel angle θ. As a result, the steering control is performed in different directions depending on the amount of lateral inclination detected by the inclinometer.

〔Example〕

The present invention will be explained below with reference to embodiments shown in the drawings.

FIG. 1 schematically shows a fully immersive hydrofoil boat having a steering device according to an embodiment of the present invention. Reference numeral 1 denotes a hull, and the bottom surface of the boat has #2.3 that protrudes downward. They are located at the front and back. A horizontal wing 4.5 and a front rudder 6 and a rear rudder 7, which can be steered left and right, are attached to the lower ends of the front and rear legs 2, 3, respectively. Further, the rear leg 3 is provided with a propulsion device 10 driven by an engine (not shown). 1
1 is a steering wheel.

The front rudder 6 is connected to the shaft 6a, and the rear rudder 7 is connected to the shaft 7a.
It is fixed so that it can rotate. These shafts 6a, 7a
penetrate through the inside of the hull 1 and are driven by motors 8 and 9, respectively, and this drive causes the front rudder 6 and the rear rudder 7 to move as shown by arrows A, respectively.

It is designed to be steered as shown in B.

A steering wheel angle detector 12 is attached to the steering wheel 11 and detects the amount of left and right rotation (handle angle θ) when the neutral position (state when the vehicle is traveling straight) is O. The steering wheel angle θ is detected as + and - depending on the left and right steering directions.

The hull 1 also includes an inclinometer 13 that detects the amount of lateral inclination of the hull.
is installed. FIG. 1 shows the inclinometer 13 as seen from the front, and the inclinometer 13 is basically constructed from a weight W suspended from the left and right so as to be swingable. This inclinometer 13 is placed in a state where the front view matches the front view of the hull 1, and is installed so that its neutral line is parallel to the vertical direction when the hull is upright. The deflection angle is detected as the amount of lateral inclination (inclination angle α). Similarly to the above-mentioned handle angle θ, this inclination angle α also changes + depending on the left and right inclination direction.

- so that it can be detected separately.

The signal of the steering wheel angle θ detected by the steering wheel angle detector 12 and the signal of the inclination angle α detected by the inclinometer 13 are respectively input to a control section 14 consisting of a microcomputer as shown in FIG. In the section 14, the actuator is processed as shown in the λ-chart shown in FIG. It outputs a signal to drive the servo motor 8.9, and outputs left and right steering it of the front rudder 6 and the rear rudder 7.

In the device described above, the output from the servo motor 8.9 is determined by the forward rudder 6.9 based on the steering wheel angle θ. It appears as the sum of the steering control amount of the rear rudder 7 and the steering control amount based on the inclination angle α,
The front rudder 6 and the rear rudder 7 are controlled based on a roll mode and a yaw mode, which will be explained next.

In the roll mode, the front rudder 6 and the rear rudder 7 are moved in the same direction and at substantially the same angle (β
-β”), which causes the horizontal wings 4,
Move the contact point of 5 horizontally in the arrow direction or D゛ direction (sway)
This is to perform roll control.

The solid line shown in FIG. 3 indicates the case where lateral movement is caused to the right (in the direction of the arrow), and the chain line indicates the case where lateral movement is caused to the left (in the direction of arrow D° force).

Further, in the yaw mode, as shown in FIG.
#γ'), which controls the yaw control to turn the ship in the direction of arrow C or C'.
control). The solid line shown in FIG. 4 shows the case of turning to the right (in the direction of arrow C), and the chain line shows the case of turning to the left (in the direction of arrow C'').

In the configuration described above, the control layer by the steering system 4 is operated as follows, as shown in the flowchart of FIG.

First, when sailing straight ahead, the steering wheel angle θ is zero, and the 8th
It is controlled according to the route on the left side of the flowchart in the figure. When the hull tilts sideways during this straight sailing, the inclinometer 13 detects the inclination angle α from the neutral line, and the front rudder 6 and the rear rudder 7 move substantially in the same direction toward the inclination side depending on the amount of inclination α. is steered to an angle.

In other words, as shown in Figure 6 (showing the hull as seen from the front), when the hull is sailing straight ahead, the hull is moving in the direction of travel (in front of the plane of the paper).
On the other hand, if it is tilted to the left, the inclinometer 13 outputs the tilt angle α with respect to the neutral line because the weight W maintains the vertical direction due to gravity. The signal of this inclination angle α is transmitted to the control unit 1.
4, the front rudder 6 and the rear rudder 7 are steered in the same direction to the left as shown by the chain line in FIG. 3 via the servo motor 8.9, and the inclinometer 1 is
The water contact points of the horizontal wings 4 and 5 are automatically moved horizontally in the D' direction until the inclination angle α of No. 3 becomes O, that is, until the lateral stability of the hull is obtained.

When the hull leans to the right while sailing straight, the same forward rudder 6. Steering control of the rear rudder 7 is performed.

On the other hand, when turning navigation is performed by operating the steering handle 11, control is performed according to the right route in the flowchart of FIG. For example, in the case of a left turn, the control at this time is such that roll mode and yaw mode as shown in FIG. This is done so that the state of

That is, when the steering wheel angle detector 12 detects a change in the steering wheel angle θ from the neutral position due to the operation of the steering wheel 11, the front rudder 6 and the rear rudder 7 shift to the first position depending on the magnitude of the steering wheel angle θ. As shown in (1) in Figure 5, they are each steered to the right in the same direction, and depending on the roll mode, the hull 1
is tilted to the left as shown in Figure 7 (the hull is shown in front view). That is, in the roll mode, the water contact points of the horizontal wings 4 and 5 are moved laterally in the D direction (rightward) to tilt the hull to the left.

Next, this leftward inclination is detected by the inclinometer 13, and based on the magnitude of the inclination angle α (lateral inclination amount), the front rudder 6 and the rear rudder 7 are moved in different directions from each other as shown in FIG. 5(n). The vessel is steered to the state (III), which is the sum of the above-mentioned (I), and a left turn in yaw mode is generated while the hull 1 is tilted to the left. This left turn generates centrifugal force in the hull, and this centrifugal force is balanced with the horizontal component of gravity acting on the tilted hull to generate lateral stability of the hull. That is, referring to FIG. 7, when the hull 1 is tilted as shown in the figure, the weight W of the inclinometer 13 coincides with the neutral line due to the centrifugal force F (that is, α=0). It generates a yaw mode turning and stabilizes the ship laterally.

Contrary to the above, when turning to the right, the front rudder 6. The rear rudder 7 is similarly controlled.

As mentioned above, in the above steering system, the driver uses the steering wheel 1.
The lateral stability of the hull can be determined by operating the front rudder 6 and the rear rudder 6 according to the steering wheel angle θ and the inclination angle α detected by the steering wheel angle detector 12 and the inclinometer 13. The front 7 is automatically generated by the roll mode or a combination of the roll mode and the yaw mode.

Therefore, the driver only has to operate the steering wheel as if he were driving a normal boat. Especially during turning navigation,
Since control is performed by tilting the hull in advance and then turning it, the driver is not forced into an unreasonable position (and an extremely good ride comfort can be obtained).

In addition, in the above-mentioned embodiment, a detector using a weight was used as an inclinometer to detect the amount of lateral inclination of the hull, but it is not limited to this, and any device that can detect the amount of lateral inclination may be used. Other detectors may also be used, such as lateral accelerometers.

In addition, in the above-mentioned embodiment, a part of the cross section of the leg rotates left and right for both the front rudder and the rear, but the entire cross section of the leg rotates left and right. It may have a similar structure.

〔Effect of the invention〕

As described above, the steering device according to the present invention is a fully submerged hydrofoil boat, and includes an inclinometer that detects the amount of lateral inclination of the hull and a steering wheel angle detector of the steering handle,
When the steering wheel angle θ from the neutral position detected by the steering wheel angle detector is zero, the steering is controlled in the same direction according to the amount of lateral tilt from the neutral position detected by the inclinometer, and the steering wheel angle θ is When the value is other than zero, steering is controlled in the same direction depending on the magnitude of the steering wheel angle θ, and steering is controlled in different directions depending on the amount of lateral tilt detected by the inclinometer as a result. Regardless, the lateral stability of the hull is automatically achieved by a combination of the fore rudder and aft/forward roll mode or the roll mode and yaw mode.

Therefore, the driver only needs to use the steering wheel to steer the vehicle (which makes driving easier).

Further, when turning, since the hull is tilted in advance and then the turning control is performed, the driver is not forced into an unreasonable position, and an extremely good ride comfort can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of a full-stage wooden hydrofoil boat equipped with a steering device according to an embodiment of the present invention, FIG. 2 is a block diagram showing the control flow of the steering device, and FIG. 3 is a block diagram showing the control flow of the steering device. FIG. 4 is an explanatory diagram showing roll control in a plan view of the front and rear rudders; FIG. 4 is an explanatory diagram showing yaw control by the same steering device in a plan view of the front and rear rudders;
The figure is an explanatory diagram illustrating the control status of the front and rear rudders when making a left turn using the same steering device, Figure 6 is an explanatory diagram showing roll control when going straight as seen from the front of the hull, and Figure 7 is an explanatory diagram showing the roll control when making a left turn. FIG. 8 is an explanatory diagram showing the control as seen from the front of the ship, and is a flow chart diagram of the control section of the steering device. 1-hull, 2.3-legs, 4.5-horizontal wings, 6-front rudder, 7--rear and front, 8, 9--servo motor, 1
1-handle, 12--handle angle detector, 13
・-・Inclinometer, 14-control unit.

Claims (1)

[Claims] Legs protruding downward are provided on the bottom of the hull at the front and rear, and part or all of these front and rear legs are used as a front rudder and an aft rudder that can be steered left and right, and horizontal wings are provided near the lower end of the front and rear legs. An inclinometer for detecting the amount of lateral inclination of the ship's hull and a steering wheel angle detector between the fully submerged hydrofoils in which the horizontal wings and front and rear rudders of the ship are submerged under the water surface and the ship's hull is pushed up above the water surface for navigation. and the front rudder and the rear rudder,
When the steering wheel angle θ from the neutral position detected by the steering wheel angle detector is zero, the steering is controlled in the same direction according to the amount of lateral tilt from the neutral position detected by the inclinometer, and the steering wheel angle θ is other than zero. In this case, the fully immersed underwater vehicle is configured to be steered in the same direction depending on the size of the steering wheel angle θ, and in different directions depending on the amount of lateral inclination detected by the inclinometer. Wing boat steering system.