KR20160098058A - Rudder apparatus, steering apparatus and method of controlling rudder plate - Google Patents

Abstract

The present invention relates to a rudder apparatus, a steering apparatus and a method of controlling a rudder plate capable of fixing a direction of a rudder plate when a command of maintaining the ruder plate at a current position is ordered even when a feedback control is not performed in a direction of a rudder plate. The rudder apparatus rotating the rudder plate by rotating a rudder shaft connected to the rudder plate comprises: a helm; a first cylinder and a second cylinder; a working oil supply device; a hydraulic circuit; a main valve installed in the hydraulic circuit and converting between a contact state connecting the working oil supply device with the first cylinder and the second cylinder by the hydraulic circuit and a blocking state of blocking the movement of the working oil to the first cylinder and the second cylinder by blocking the connection by the hydraulic circuit of the working oil supply device; and a conversion control unit converting between the connection state and the blocking state by the main valve. The conversion control unit blocks the main valve when a feedback is not controlled depending on the position of the rudder plate and the state of fixing the position of the rudder plate is detected.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a rudder apparatus, a steering apparatus, a rudder apparatus, a rudder apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rider, a steering device, and a rudder plate control method.

The ship has a steering apparatus having an operating section for controlling the rider and the rider. The rider operates to control the direction of the hull by changing the direction of the bottom plate disposed in the water to a driving device.

The steering device controls the direction of the rudder plate of the rider on the basis of the steering angle inputted to the operating portion. The steering apparatus detects the direction of the bottom plate and performs feedback control for correcting the direction of the bottom plate based on the detection result and the steering angle to suppress deviation of the direction of the bottom plate from the command of the control unit 1).

Japanese Patent Application Laid-Open No. 2008-230484

 Here, in the steering apparatus, the position of the top plate may be controlled without feedback control based on the orientation of the bottom plate. When the main pump for supplying the operating fluid for controlling the position of the bottom plate is neutral, that is, when an instruction is issued to hold the bottom plate at the current position, a device for moving the position of the bottom plate, Even if a command for not moving the servo motor for driving the pump is inputted, if a force acts on the bottom plate from a device that moves the position of the bottom plate due to a difference in control conditions of the apparatus or disturbance to the bottom plate, .

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and it is an object of the present invention to provide a rider and a steering device capable of fixing the direction of the rudder plate when an instruction to keep the rudder plate at the current position is issued, And to provide the above-mentioned objects.

In order to achieve the above-described object, the present invention provides a rider for rotating a rudder plate by rotating a rudder shaft connected to a rudder plate, the rudder being connected to the other axle, A first cylinder for elastically supporting the first cylinder and the second cylinder in one direction, a second cylinder for elastically supporting the other cylinder for the other cylinder, a working oil supply device for supplying working oil to the first cylinder and the second cylinder, A connection state in which the first cylinder and the second cylinder and the hydraulic oil supply device are connected by the hydraulic circuit and a connection state in which the first cylinder and the second cylinder are connected by the hydraulic circuit, The hydraulic circuit of the cylinder and the hydraulic cylinder of the hydraulic cylinder is disconnected, and the hydraulic oil is supplied to the first cylinder and the second cylinder And a switching control unit for switching the connection state and the blocking state by the main valve, wherein the switching control unit does not perform the feedback control according to the position of the top plate, And the main valve is placed in the disconnected state when it is detected that the position of the top plate is fixed.

The rider operates the main valve to close the hydraulic circuit by the main valve when the main valve is formed in the hydraulic circuit and the feedback control according to the position of the top plate is not performed and it is detected that the position of the top plate is fixed, In the case of the above condition, the bottom plate can be fixed at the position of the current situation. Thereby, it is possible to suppress the movement of the bottom plate in a state in which the feedback control is not performed.

Wherein the main valve causes the hydraulic circuit to be in the connected state by supplying the operating oil and stops the supply of the operating oil to bring the hydraulic circuit into the cut-off state, and the switching control section controls the hydraulic oil supplied to the main valve So as to switch the connection state and the blocking state.

The rider operates the main valve as a valve driven by the hydraulic pressure and controls the hydraulic oil supplied to the switching control section so as to constitute the circuit by providing a device for switching the control according to the hydraulic pressure in the circuit to which the hydraulic oil is supplied, The opening and closing of the valve can be switched. This makes it possible to switch the opening and closing of the main valve simply.

Wherein the switching control section comprises: a signal output section for outputting a control signal when feedback control according to the position of the top plate is not performed and it is detected that the position of the top plate is fixed; And an electronic switching valve for switching the connection state and the blocking state of the hydraulic circuit by the main valve when a control signal is input.

The rider can perform control with the control signal by using the electronic switching valve in the switching control section. Thereby, control can be performed by using a signal output for manipulating the top plate.

Wherein the switching control section includes a continuation time determination section disposed between the signal output section and the electronic switching valve, wherein the continuation time determination section determines that the state in which the control signal is being output from the signal output section exceeds a threshold value time And then outputs the control signal to the electromagnetic switching valve.

The rider operates the control to close the hydraulic circuit by the main valve after a lapse of a predetermined time from the output of the control signal, thereby suppressing the occurrence of the water hammer phenomenon with the operating oil trapped in the first cylinder and the second cylinder have.

Wherein the switchover control unit includes a first hydraulic oil flow pipe connected to the hydraulic circuit on the side of the hydraulic oil supply device than the orifice, A second hydraulic oil flow pipe connected to the hydraulic circuit on the main valve side of the orifice and one end connected to the first hydraulic oil flow pipe and elastically supported by hydraulic oil supplied to the first hydraulic oil flow pipe, And a hydraulic pressure switching valve that is connected to the second hydraulic oil flow pipe and is resiliently supported by hydraulic oil supplied to the second hydraulic oil flow pipe and switches the connection state and the blocking state of the main valve, , And when the difference between the pressures of the operating oil supplied from both ends is larger than the threshold value, It is preferable that the hydraulic circuit is put in the connected state and the hydraulic circuit is brought into the cut-off state by the main valve when the difference in pressure of the working oil supplied from both ends is equal to or less than the threshold value.

The rubbing machine can switch the opening and closing of the main valve based on the differential pressure between the front and rear of the orifice of the hydraulic circuit, that is, whether or not the hydraulic fluid in the hydraulic circuit has moved. Thereby, the main valve can be automatically opened and closed in accordance with the condition of the striker.

Wherein the hydraulic circuit includes a first path in which the orifice is disposed and a second path that bypasses the orifice, and the switching control portion is configured to switch the hydraulic fluid flowing between the hydraulic oil supply device and the main valve, And a path switching mechanism for switching the flow of the hydraulic fluid through the second path when the feedback control is performed in accordance with the position of the top plate, When the feedback control according to the position is not performed, it is preferable that the hydraulic oil flows in the first path.

By switching whether or not the operating oil passes through the orifice, it is possible to reduce the pressure loss due to the orifice with respect to the entire operation at the time of running, while executing the above control.

In order to achieve the above-mentioned object, the present invention provides, as a steering apparatus, a steering mechanism according to any one of the above, a second shaft which is pivoted on the rudder, a second stage fixed on the other shaft, And an operation device for inputting an operation.

When the main control unit detects that the position of the top plate is fixed without performing the feedback control according to the position of the top plate and the main valve is formed in the hydraulic circuit of the rider so that the hydraulic circuit is closed by the main valve , It is possible to fix the bottom plate to the position of the current situation in the case of the above condition. Thereby, it is possible to suppress the movement of the bottom plate in a state in which the feedback control is not performed.

In order to achieve the above-described object, the present invention provides a rudder control method for a rider, which has a plurality of cylinders for moving another shaft connected to a rudder plate and controls the hydraulic fluid supplied to the cylinder to rotate the rudder, A step of correcting a position of the top plate based on a detected position of the top plate and a position on the commanded position of the top plate when judging to perform the feedback control, And a determination unit that determines whether or not there is a steering command to move the position of the top plate when it is determined that the feedback control is not to be performed, , The control unit controls the supplied hydraulic fluid to move the bottom plate, and the position of the bottom plate is shifted When it is determined that the package, by shielding a path for supplying operating fluid to the cylinder, characterized in that for fixing the oil pressure of the cylinder.

In the case of detecting the absence of the turning command, that is, by closing the hydraulic circuit by the main valve, the above-mentioned condition The top plate can be fixed at the position of the current situation. Thereby, it is possible to suppress the movement of the bottom plate in a state in which the feedback control is not performed.

According to the present invention, it is possible to suppress the movement of the bottom plate when feedback control is not performed and the position of the bottom plate is fixed.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic diagram schematically showing a ship's aft vicinity of a ship having a steering apparatus according to a first embodiment of the present invention; Fig.
Fig. 2 is a schematic diagram showing a schematic configuration of a rider of a helmet according to a first embodiment of the present invention. Fig.
Fig. 3 is an explanatory view for explaining the operation of the rider in the first embodiment. Fig.
Fig. 4 is a flowchart showing an example of the control operation of the rider in the first embodiment. Fig.
5 is a flowchart showing an example of the control operation of the rider in the first embodiment.
Fig. 6 is a schematic diagram showing the schematic structure of the rider of the second embodiment. Fig.
Fig. 7 is a flowchart showing an example of the control operation of the rider in the second embodiment. Fig.
Fig. 8 is a schematic diagram showing the schematic structure of the rider of the third embodiment. Fig.
Fig. 9 is a schematic view showing a schematic structure of a rider in the fourth embodiment. Fig.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The present invention is not limited by these embodiments. It should be noted that the constituent elements in the following embodiments include those which are easily replaceable by those skilled in the art, or substantially the same ones.

[First Embodiment]

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic diagram schematically showing a ship's aft vicinity of a ship having a steering apparatus according to a first embodiment of the present invention; Fig.

The ship 1 shown in Fig. 1 has a hull 2, a propeller 4, and a steering device 10. Here, the vessel 1 is a variety of vessels having a propeller and a key. In short, the ship (1) is a target of various types of large-sized and small-sized vessels, and is used for various types of vessels such as vessels for carrying cargo and resources and vessels for carrying passengers. The propeller (4) is provided on the stern side of the hull (2). In the propeller (4), a part of a propeller or the like is exposed to the outside of the hull (2). The propeller (4) imparts propulsion to the hull (2) by rotating the propeller. In addition, the propeller 4 may rotate the propeller by an engine that generates a rotational force by burning fuel, or may drive the propeller by an electrically driven motor.

The steering apparatus 10 of the present embodiment is provided in the hull 2 of the ship 1. The steering apparatus 10 includes a top plate 12, a second shaft 14, an operating device 18, a control device 19, and a drier 16. The top plate 12 is arranged on the stern side of the ship 2 rather than the propeller 4. The other shaft (14) is a shaft for fixing the top plate (12). The other shaft (14) is supported on the hull (2) in a state where it can rotate freely. The top plate (12) rotates together with the other shaft (14). The operating device 18 is a device for inputting an operation by a navigation company that operates the ship 1 such as a key. The operation device 18 outputs the input operation to the control device 19. [ The control device 19 converts the operation input from the operation device 18 into a control signal and outputs it to the rider 16. The rubbing machine 16 adjusts the position of the top plate 12 by rotating the other shaft 14.

Fig. 2 is a schematic diagram showing a schematic configuration of a rider of a helmet according to a first embodiment of the present invention. Fig. Next, in addition to Fig. 1, the drier 16 will be described with reference to Fig. 2. Fig. The rider (16) is provided with a sickle (20) and a sickle driving device (22). The other bottle 20 is connected to the other shaft 14. The vulture 20 converts an operation of the vulture-driving device 22 in a linear direction into a rotating direction and transmits it to the other axis 14. [ The rider 16 moves a part of the battle vat 20 in the direction of the straight line by the battle driving device 22. When the partial bottle 20 is partially moved in the linear direction, the portion fixed to the other shaft 14 rotates in conjunction with the rotation of the other bottle 20, thereby rotating the other shaft 14.

Next, the occupation-type driving apparatus 22 will be described. The occupation driving device 22 is a mechanism for supplying operating oil to each part, and controls the position of the occupation bottle 20 by adjusting the supplied operating oil. The occupation driving device 22 has a hydraulic oil supply device 24, a hydraulic circuit 25, a first cylinder 26, and a second cylinder 28. 2, the main control unit 44 includes a main valve 42 and a switching valve 44, as shown in Fig.

The operating oil supply device 24 serves as a power source for moving the bottom plate and supplies operating oil as a power source for controlling the operation of each of the units. The hydraulic oil supply unit 24 includes a hydraulic oil tank 30, a main pump 31, a main hydraulic oil line 32, a servo control unit 33, an auxiliary pump 34, a supplementary hydraulic oil line 35, , And a motor (36). The working oil tank 30 stores the operating oil. The main pump 31 is connected to the hydraulic circuit 25 and is a pump for transferring operating oil to the hydraulic circuit 25. [ The main working oil line 32 is a pipe connecting the working oil tank 30 and the main pump 31. The servo control unit 33 is a device for switching the path through which the main pump 31 supplies the hydraulic fluid. The auxiliary pump 34 is a pump that transfers operating oil that assists the operation of the servo control unit 33 and the hydraulic pressure control of the hydraulic circuit 25. [ The auxiliary working oil line 35 is connected to the working oil tank 30 and the servo control unit 33 and is a pipe for guiding the operating oil conveyed by the auxiliary pump 34 to each part. The motor 36 is a driving source for driving the main pump 31 and the auxiliary pump 34. The motor 36 supplies the hydraulic oil from the main pump 31 and the auxiliary pump 34 to the respective parts by rotating the main pump 31 and the auxiliary pump 34. [

The hydraulic circuit 25 connects the hydraulic oil supply device 24 with the first cylinder 26 and the second cylinder 28 and is a path through which the hydraulic oil flows. The hydraulic circuit 25 has a first hydraulic oil line 25a and a second hydraulic oil line 25b. The first hydraulic oil line 25a connects the main pump 31 of the hydraulic oil supply device 24 and the first cylinder 26. [ The second hydraulic oil line 25b connects the main pump 31 and the second cylinder 28 of the hydraulic oil supply device 24.

The first cylinder (26) is in contact with one end of a linear portion of the bottle (20). The hydraulic oil is supplied to the first cylinder 26 by hydraulic oil, so that the first cylinder 26 elastically supports the linear portion of the incendiary 20 from one side to the other. The second cylinder (28) is in contact with the other end of the linear portion of the battle (20). The hydraulic oil is supplied to the second cylinder 28 by hydraulic oil, so that the second cylinder 28 elastically supports the linear portion of the incendiary 20 from one side to the other.

The occupation driving device 22 adjusts the amount and pressure of the operating oil supplied from the operating oil supply device 24 to the first cylinder 26 and the second cylinder 28 through the hydraulic circuit 25. [ The occupation-driving device 22 is configured such that the operating oil supplied from the main pump 31 by the servo control unit 33 is supplied either to the first working oil line 25a or to the second working oil line 25b The amount and pressure of the operating fluid supplied to the first cylinder 26 and the second cylinder 28 are adjusted. The occupation bottle driving device 22 moves the occupation bottle 20 from one side to the other by making the pressure of the working oil supplied to the first cylinder 26 higher than the pressure supplied to the second cylinder 28. [ The top plate (12) rotates in one direction in conjunction with the other bottle (20). The occupation driving device 22 moves the occupation bottle 20 from one side to the other by making the pressure of the operating oil supplied to the second cylinder 28 higher than the pressure supplied to the first cylinder 26. [ The top plate (12) rotates in a direction opposite to the one direction in conjunction with the other bottle (20).

The main valve 42 is provided in the hydraulic circuit 25. Specifically, it is provided over both the first working oil line 25a and the second working oil line 25b. The main valve 42 is a valve for switching the opening and closing of the first working oil line 25a and the second working oil line 25b so that the first working oil line 25a and the first cylinder 26 are connected, 2 operating fluid line 25b and the second cylinder 28 are connected and the first operating fluid line 25a and the first cylinder 26 are shut off and the second working fluid line 25b and the second cylinder 28 are disconnected, 28 can be switched to the blocked state.

The main valve 42 is supplied with operating fluid at one end and a spring at the other end. The main valve 42 is pushed from one side to the other by the hydraulic pressure generated by the supply of the operating oil and is pushed to the other side by the spring. The first hydraulic oil line 25a and the first cylinder 26 are connected to each other and the second hydraulic oil line 25b is connected to the second hydraulic oil line 25a when the hydraulic pressure is greater than the spring force, And the second cylinder 28 are connected to each other. This state is also referred to as a connection state. The first hydraulic oil line 25a and the first cylinder 26 are shut off and the second hydraulic oil line 25b is disconnected when the spring force is greater than the hydraulic pressure and the hydraulic oil is pressurized in one direction. And the second cylinder 28 are shut off. This state is also referred to as a blocking state. When the main valve 42 is in the cutoff state, the first cylinder 26 and the second cylinder 28 are closed by closing the path to which the first cylinder 26 and the second cylinder 28 are connected Make sure that the hydraulic fluid in the connected area can not move.

The switching control section 44 switches the connection state and the blocking state by switching the opening and closing of the main valve 42. [ The switching control section 44 has a hydraulic oil supply line 45, an electromagnetic switching valve 46, a signal output section 48 and a drain line 49. [ The hydraulic oil supply line 45 connects the auxiliary hydraulic oil line 35 and the main valve 42. The hydraulic oil supply line 45 supplies the hydraulic oil supplied from the auxiliary hydraulic oil line 35 to the main valve 42. The electronic switching valve 46 is formed in the operating oil supply line 45 and switches the opening and closing of the operating oil supply line 45. [ As the electromagnetic switching valve 46, for example, a single solenoid solenoid valve can be used. The electromagnetic switching valve 46 is provided with a mechanism for elastically supporting the motor in a state in which electricity is supplied and a spring is formed at the other end and a power is supplied to a mechanism for elastically supporting the motor in a state where electricity is supplied The hydraulic oil supply line 45 connects the auxiliary hydraulic oil line 35 and the main valve 42 and connects the auxiliary hydraulic oil line 35 and the main valve 42 to each other, That is, a state in which the connection is blocked. The signal output section 48 is connected to the control device 19 and controls opening and closing of the electronic switching valve 46 based on a signal inputted from the control device 19. [ The drain line 49 is connected to the electromagnetic switching valve 46 and is connected to the electromagnetic switching valve 46 of the operating oil supply line 45 and the main switching valve 46 when the operating oil supply line 45 is closed by the electromagnetic switching valve 46. [ And discharges the working oil present between the valves 42 to the working oil tank 30.

2, the electronic switch valve 46 of the switching control section 44 is opened so that the operating oil supply line 45 is connected to the auxiliary operating oil line 35 and the main valve 42, The hydraulic oil is supplied to the main valve 42 and the main valve 42 is opened so that both of the hydraulic oil supply device 24 and the first and second cylinders 26 and 28 It is connected.

Fig. 3 is an explanatory view for explaining the operation of the rider in the first embodiment. Fig. 3, the electronic switch valve 46 of the switching control section 44 is closed so that the operating oil supply line 45 is closed by the auxiliary operating oil line 35 and the main valve The operating fluid between the main valve 42 and the electromagnetic switching valve 46 flows through the drain line 49 and the operating oil is not supplied to the main valve 42. As a result, And is transferred to the tank 30. Thereby, the hydraulic pressure supplied to the main valve 42 is lowered, the main valve 42 is closed, and the hydraulic oil supply device 24, the first cylinder 26 and the second cylinder 28 are shut off . The main valve 42 closes the path of the operating oil on the side of the first cylinder 26 and the second cylinder 28 so that the operating oil supplied to the first cylinder 26 and the second cylinder 28 is discharged .

Next, the control operation of the rider 16 will be described with reference to Figs. 4 and 5. Fig. Fig. 4 and Fig. 5 are flowcharts showing an example of the control operation of the rider in the first embodiment. The processing shown in Figs. 4 and 5 is performed based on the signal output from the control function and the change in the state resulting from the control function.

The rider 16 switches the control based on whether or not the feedback control has been executed (step S12). When the feedback control is performed (YES in step S12), the rider 16 performs feedback control while controlling the direction of the top plate 12 based on the command value (step S14). In short, the rider 16 controls the servo control unit 33 on the basis of the control signal to adjust the operating oil supplied to the first cylinder 26 and the second cylinder 28, And controls the direction of the top plate 12. [ At this time, the rider 16 performs control with the control signal inputted from the steering apparatus 10, and also performs feedback control using the detection result of the position of the top plate 12. The mode in which the rider 16 corrects the position of the top plate 12 by feedback control is referred to as a follow-up mode. The mode in which the striker 16 does not correct the position of the top plate 12 by feedback control is referred to as a non-up-up mode.

In the case where the position of the top plate 12 is not corrected using the detection result of the position of the top plate 12, (Step S16). Here, the turning command is a command to move the position of the top plate 12. [ The turning command is a command for moving the top plate 12 to the right or moving the top plate 12 to the left.

When there is a turning command (YES in step S16), the rider 16 moves the direction of the top board 12 based on the turning command (step S18). In short, the rider 16 moves the top board 12 to the right or left based on the turning command.

The rider 16 determines that the position of the top plate 12 is fixed without moving the top plate 12 and determines that the position of the top plate 12 is fixed to the main valve 42, The circuit 25 is cut off (step S20). In short, the rubbing machine 16 switches the main valve 42 from the state of Fig. 2 to the state of Fig.

Next, the flow of the processing of step S20 will be described in more detail using Fig. The rider 16 performs the process shown in Fig. 5 when feedback control according to the position of the top plate 12 is not performed and it is detected that the position of the top plate 12 is fixed.

The striker 16 outputs a closing command from the signal output section 48 to the electromagnetic switching valve 46 (step S30). The signal output section 48 does not perform feedback control according to the position of the top plate 12 and transmits a closing command to the signal output section 48 when a signal indicating that the position of the top plate 12 is fixed is transmitted from the control device 19 And outputs it to the electromagnetic switching valve 46.

When the electromagnetic switching valve 46 receives the closing command, the rider 16 closes the path where the electromagnetic switching valve 46 is provided (step S32). That is, the electromagnetic switching valve 46 closes the hydraulic oil supply line 45 to make the hydraulic oil of the auxiliary hydraulic oil line 35 not to be supplied to the main valve 42.

When the electromagnetic switch valve 46 is closed, the hydraulic pressure of the hydraulic oil supplied to the main valve 42 is reduced (step S34), and the hydraulic pressure applied to the main valve 42 And the path in which the main valve 42 is installed is closed (step S36).

When the driver 16 detects that the position of the top plate 12 is fixed without performing the feedback control according to the position of the top plate 12 and the hydraulic circuit 25 is driven by the main valve 42, So that the operating fluid on the first cylinder 26 side and the second cylinder 28 side can not be moved, so that the top plate 12 can be fixed at the current position. That is, the position of the top plate 12 can be forcibly fixed to the current position, and the movement of the top plate 12 can be suppressed without performing the feedback control. Here, the case of detecting the state of fixing the position of the top plate 12 is a case where the operation of the steering lever of the operating device 18 is completed or the movement of the top plate 12 based on the turning instruction is completed.

The take-up machine 16 is a device in which the main valve 42 is a valve driven by hydraulic pressure and controls the hydraulic oil supplied to the switching control section 44 so that the hydraulic oil is supplied to the circuit The main valve 42 can be opened and closed automatically. As a result, it is possible to switch the opening and closing of the main valve 42 simply.

The rider 16 can perform control with the control signal by using the electronic switching valve 46 in the switching control section 44 and can control the output of the control signal by using the signal outputted to operate the top plate 12. [ Can be performed.

[Second Embodiment]

Fig. 6 is a schematic diagram showing the schematic structure of the rider of the second embodiment. Fig. The rider 16a of the second embodiment has the same configuration as that of the striker 16 except for the switching control section 44a, and hence the same reference numerals are given to the same parts as those of the first embodiment, and a description thereof is omitted.

The switching control section 44a has an on delay timer 50 in addition to the respective sections of the switching control section 44. [ The on delay timer 50 is disposed between the signal output section 48 and the electronic switching valve 46. The signal output from the signal output section 48 passes through the on-delay timer 50 and is input to the electromagnetic switching valve 46. [ The on-delay timer 50 inputs the signal output from the signal output section 48 to the electronic switching valve 46 after a predetermined time elapses. The on delay timer 50 of the present embodiment is a continuation time determining section which determines whether or not the control signal is outputted from the signal output section 48 to the electronic switching valve 46 Output. The threshold value time can be set by the user in advance. The threshold time is one second. The on-delay timer 50 may output a signal after a predetermined time elapses without determining the continuation time.

Fig. 7 is a flowchart showing an example of the control operation of the rider in the second embodiment. Fig. The rider 16a performs the process shown in Fig. 7 when it is detected that the feedback control according to the position of the top plate 12 is not performed and the position of the top plate 12 is fixed.

The striker 16a outputs a closing command from the signal output unit 48 (step S40). When the closure command is output, the rider 16a determines whether or not a threshold time has passed with the on-delay timer 50 (step S42). If the threshold value time has not elapsed (NO in step S42), the ratchet 16a detects whether the closing command is still continuing (step S44). When there is a closing command (YES in step S44), the rider 16a returns to step S42, and when there is no closing command (NO in step S44), the rider 16a ends this processing.

When the threshold value time has elapsed (YES in step S42), the ratchet 16a passes the closing command output from the signal output unit 48 to the electronic switching valve 46 through the on-delay timer 50 And outputs a command (step S46). The signal output section 48 does not perform feedback control according to the position of the top plate 12 and transmits a closing command to the signal output section 48 when a signal indicating that the position of the top plate 12 is fixed is transmitted from the control device 19 And outputs it to the electromagnetic switching valve 46.

When the electromagnetic switching valve 46 receives the closing command, the rider 16a closes the path where the electromagnetic switching valve 46 is provided (step S32). That is, the electromagnetic switching valve 46 closes the hydraulic oil supply line 45 to make the hydraulic oil of the auxiliary hydraulic oil line 35 not to be supplied to the main valve 42.

The hydraulic pressure of the hydraulic oil supplied to the main valve 42 is reduced (step S34), and the hydraulic pressure of the hydraulic oil supplied to the main valve 42 And the path in which the main valve 42 is installed is closed (step S36).

The on-delay timer 50 forms the on-delay timer 50 and performs control to close the hydraulic circuit 25 by the main valve 42 after a lapse of a predetermined time from the output of the control signal, The hydraulic circuit can be closed after a predetermined time has elapsed after the main pump 31 becomes neutral. The state in which the main pump 31 becomes neutral is a state in which the amount of the hydraulic fluid supplied from the main pump 31 to the first hydraulic oil line 25a and the second hydraulic oil line 25b is small, The difference between the differential pressure of the second hydraulic oil line 25b, that is, the difference between the hydraulic oil pressure of the first cylinder 26 and the hydraulic oil of the second cylinder 28 is smaller than the threshold value. That is, the state in which the main pump 31 becomes neutral is a state in which the top plate 12 is held at the current position. Thereby, the hydraulic circuit 25 can be closed in the state in which the hydraulic fluid does not flow into the hydraulic circuit 25, and the hydraulic fluid 25 can be supplied from the main valve 42 to the first cylinder 26 and the second cylinder 28, The occurrence of the water hammer phenomenon can be suppressed.

[Third embodiment]

Fig. 8 is a schematic diagram showing the schematic structure of the rider of the third embodiment. Fig. The rider 16b of the third embodiment has the same configuration as that of the driv- er 16 except that it has the configuration of the switching control section 44b and the orifice 60. Therefore, And a description thereof will be omitted.

The orifice (60) is disposed in the first hydraulic oil line (25a) of the hydraulic circuit (25). More specifically, the orifice 60 is disposed between the hydraulic oil supply device 24 and the main valve 42 of the first hydraulic oil line 25a. The orifice 60 is a flow path resistance. When the working fluid flows through the first working fluid line 25a, the pressure of the working fluid changes before and after the orifice 60. [

The switching control section 44b has a first hydraulic oil flow pipe 62, a second hydraulic oil flow pipe 64 and a hydraulic pressure switching valve 66. [ The first hydraulic oil flow pipe 62 is connected to the first hydraulic oil line 25a on the working oil supply device 24 side rather than the orifice 60. [ A part of the hydraulic oil flowing in the first hydraulic oil flow pipe 62 through which the first hydraulic oil line 25a is connected flows. The second hydraulic oil flow pipe 64 is connected to the first hydraulic oil line 25a on the side of the main valve 42 rather than the orifice 60. [ A part of the hydraulic oil flowing in the second hydraulic oil flow pipe 64 through the portion to which the first hydraulic oil line 25a is connected flows.

The hydraulic pressure switching valve 66 is formed in the hydraulic oil supply line 45 to switch the opening and closing of the hydraulic oil supply line 45. [ One end of the hydraulic pressure switching valve 66 is connected to the first hydraulic oil flow pipe 62 and the other end is connected to the second hydraulic oil hydraulic pipe 64. The hydraulic pressure switching valve 66 is elastically supported from one side to the other by the working oil supplied to the first working oil flow pipe 62 and is elastically supported from one side to the other by working oil supplied to the second working oil flow pipe 64. The hydraulic pressure switching valve 66 is opened or closed by a difference between the hydraulic pressure of the hydraulic oil supplied to the first hydraulic oil flow pipe 62 and the hydraulic pressure of the hydraulic oil supplied to the second hydraulic oil flow pipe 64. The hydraulic pressure switch valve 66 has a path for opening the hydraulic oil supply line 45 at both ends in the moving direction and a path for closing the hydraulic oil supply line 45 at the center of the moving direction.

When the difference between the pressures of the hydraulic oil supplied from both ends is larger than the threshold value, the hydraulic pressure changeover valve 66 opens the hydraulic oil supply line 45 and supplies the hydraulic oil to the main valve 42. [ Thereby, the main valve 42 brings the hydraulic circuit 25 into a connected state. The hydraulic pressure switching valve 66 closes the hydraulic oil supply line 45 when the difference between the pressures of the hydraulic oil supplied from both ends is equal to or smaller than the threshold value and makes the hydraulic oil not supplied to the main valve 42. Thereby, the main valve 42 sets the hydraulic circuit 25 to the off state.

The drain line 49 is connected to the hydraulic pressure switch valve 66 and is connected to the hydraulic pressure switch valve 66 of the hydraulic oil supply line 45 and the hydraulic pressure switch valve 66 of the hydraulic oil supply line 45 when the hydraulic oil supply line 45 is closed by the hydraulic pressure switch valve 66. [ And discharges the working oil present between the valves 42 to the working oil tank 30.

The ratchet 16b can switch the opening and closing of the main valve 42 based on the differential pressure between the front and rear of the orifice 60 of the hydraulic circuit 25, that is, whether or not the hydraulic fluid in the hydraulic circuit has moved. Specifically, the rider 16b switches the opening and closing of the main valve 42 in accordance with the discharge amount of the operating oil of the main pump 31. [ For example, when the discharge amount of the hydraulic oil from the main pump 31 is small, the differential pressure across the orifice 60 becomes small and the hydraulic oil is supplied from the hydraulic oil supply line 45 and the main The connection of the valve 42 is cut off, and the main valve 42 is closed. Here, the state in which the discharge amount of the hydraulic fluid of the main pump 31 is small means that the main pump 31 is in the neutral state as described above. Thereby, the rider 16b can automatically open and close the main valve 42 in accordance with the state without using the electric signal.

In the present embodiment, the path for supplying the orifice 60 and the hydraulic oil to the hydraulic pressure switching valve 66 is formed in the first hydraulic oil line 25a, but it may be formed in the second hydraulic oil line 25b.

[Fourth Embodiment]

Fig. 9 is a schematic view showing a schematic structure of a rider in the fourth embodiment. Fig. The rider 16c of the fourth embodiment has the same configuration as the rider 16b except for the configuration of the switching control section 44c and the hydraulic circuit 25 and therefore the same reference numerals are given to the same parts as those of the third embodiment , And a description thereof will be omitted.

The hydraulic circuit 25 has a first path 70 and a second path 72 in the first hydraulic oil line 25a. The first path 70 and the second path 72 are disposed between the hydraulic oil supply device 24 and the main valve 42 of the first hydraulic oil line 25a. One of the first path 70 and the second path 72 becomes the other bypass line. In the first path 70, an orifice 60 is formed.

The switching control section 44c has a route switching mechanism 80 in addition to each section of the switching control section 44b. The path switching mechanism 80 switches whether the hydraulic fluid flowing between the hydraulic fluid supply device 24 and the main valve 42 flows through the first path 70 or the second path 72. [ The path switching mechanism 80 has a switching signal output unit 81 and path switching valves 82 and 84. The switching signal output section 81 outputs a signal for switching whether the working oil flows through the first path 70 or the second path 72. [ The path switching valves 82 and 84 are formed at the junctions and junctions of the first path 70 and the second path 72, respectively. Further, the bifurcation point and the confluence point are changed in accordance with the flow of the operating oil, but they have the same structure. The path switching valves 82 and 84 are connected to the path switching valve 82 and the path switching valve 84 on the basis of the signal transmitted from the switching signal output unit 81, Switch to connect with the first path 70 or the second path 72. [

When the feedback control according to the position of the top plate 12 is performed by the path switching mechanism 80 and the hydraulic fluid is made to flow through the second path 72 and the feedback control according to the position of the top plate 12 is not performed , And the hydraulic fluid flows through the first path (70).

The driver 16c switches whether or not the operating oil passes through the orifice 60 by determining whether or not the feedback control has been performed so that the operating fluid does not pass through the orifice 60 while the feedback control is being performed To the first hydraulic oil line 25a. Thus, in the follow-up mode, that is, when the opening and closing control of the main valve 42 is unnecessary, the operating oil can be made to flow without passing through the orifice 60, so that the pressure loss due to the orifice 60 can be reduced.

1: Ships
2: Hull
4: Propeller
10: Steering gear
12: Top plate
14:
16, 16a, 16b, 16c:
18: Operation device
19: Control device
20: Veterans
22: Scout drive
24: hydraulic oil supply device
25: Hydraulic circuit
25a: first working oil line
25b: second working oil line
26: First cylinder
28: second cylinder
30: Working oil tank
31: Main pump
32: Main working fluid line
33: Servo controller
34: auxiliary pump
35: auxiliary working oil line
36: Motor
42: Main valve
44, 44a:
45: hydraulic oil supply line
46: Electronic switching valve
48: Signal output section
49: drain line
50: On delay timer
60: Orifice
62: First hydraulic oil distributor
64: Second hydraulic oil distributor
66: Hydraulic switching valve
70: First path
72: second path
80: Path switching mechanism
81: Switching signal output section
82, 84: Path switching valve

Claims (8)

A rider which rotates another shaft connected to the rudder plate and rotates the rudder plate,
A second bottle connected to the second axis,
A first cylinder for elastically supporting the other bottle in one direction,
A second cylinder elastically supporting the other type of the bottle,
A hydraulic oil supply device for supplying hydraulic oil to the first cylinder and the second cylinder;
A hydraulic circuit for connecting the first cylinder and the second cylinder with the hydraulic oil supply device,
A connection state in which the first cylinder and the second cylinder and the hydraulic oil supply device are connected by the hydraulic circuit; A main valve for interrupting a connection by a circuit to switch a shutoff state for shutting off the movement of the working oil to the first cylinder and the second cylinder,
And a switching control unit for switching the connection state and the blocking state by the main valve,
Wherein the switching control section sets the main valve to the disconnected state when feedback control according to the position of the top plate is not performed and it is detected that the position of the top plate is fixed. The method according to claim 1,
Wherein the main valve causes the hydraulic circuit to be in the connected state by supply of the operating oil and stops the supply of the operating oil to bring the hydraulic circuit into the blocking state,
Wherein the switching control section controls the operating fluid supplied to the main valve to switch between the connection state and the blocking state. 3. The method of claim 2,
Wherein the switching control section includes a signal output section for outputting a control signal when feedback control according to the position of the top plate is not performed and it is detected that the position of the top plate is fixed,
And an electronic switching valve for switching the connection state and the blocking state of the hydraulic circuit by the main valve when the control signal output from the signal output unit is inputted. The method of claim 3,
Wherein the switching control section includes a continuation time determination section disposed between the signal output section and the electronic switching valve,
Wherein the continuation time judging section outputs the control signal to the electronic switching valve after a lapse of a time equal to or longer than a threshold value in a state where a control signal is being outputted from the signal output section. 3. The method of claim 2,
And an orifice disposed between the hydraulic oil supply device and the main valve of the hydraulic circuit,
Wherein the switching control section includes a first hydraulic oil flow pipe connected to the hydraulic circuit on the side of the hydraulic oil supply device than the orifice,
A second hydraulic oil flow pipe connected to the hydraulic circuit on the main valve side than the orifice,
And an end of one end is connected to the first hydraulic oil flow pipe and is elastically supported by hydraulic oil supplied to the first hydraulic oil flow pipe and the other end is connected to the second hydraulic oil flow pipe, And a hydraulic pressure switching valve that is elastically supported and switches the connection state and the blocking state of the main valve,
Wherein the hydraulic pressure switching valve sets the hydraulic circuit to the connected state by the main valve when a difference between pressures of hydraulic oil supplied from both ends is larger than a threshold value,
And when the difference between the pressures of the hydraulic oil supplied from both ends is equal to or less than the threshold value, the hydraulic circuit is brought into the cut-off state by the main valve. 6. The method of claim 5,
Wherein the hydraulic circuit has a first path in which the orifice is disposed and a second path in which the orifice is bypassed,
Wherein the switching control unit has a path switching mechanism for switching whether the hydraulic fluid flowing between the hydraulic fluid supply device and the main valve flows through the first path or the second path,
Wherein when the feedback control is performed according to the position of the top plate, the path switching mechanism causes the hydraulic oil to flow in the second path, and when the feedback control according to the position of the top plate is not performed, And the flow of air is made to flow. An air conditioner comprising: the air conditioner according to any one of claims 1 to 6;
A second shaft rotatably supported by the drum,
A bottom plate fixed to the other shaft,
And an operating device for inputting an operation to the rider. A method of controlling a top plate of a rider that has a plurality of cylinders for moving another shaft connected to a top plate and controls operating oil supplied to the cylinder to rotate the top plate,
A step of determining whether to perform feedback control according to the position of the top plate,
Correcting the position of the top plate based on the detected position of the top plate and the position on the command of the top plate when it is determined to perform the feedback control,
When it is determined that the feedback control is not performed, it is determined whether or not there is a command to move the position of the target board,
And when it is determined that the position of the top plate is to be shifted due to the turning command, the operating fluid to be supplied is controlled to move the bottom plate,
Wherein the hydraulic pressure of the cylinder is fixed by shielding a path for supplying hydraulic fluid to the cylinder when it is determined that the position of the bottom plate is not moved because there is no turning command.

Images