Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
  • B63H25/06—Steering by rudders
  • B63H25/08—Steering gear
  • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
  • B63H25/18—Transmitting of movement of initiating means to steering engine
  • B63H25/24—Transmitting of movement of initiating means to steering engine by electrical means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
  • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
  • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
  • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass

Definitions

• the present invention relates to a method for operating a steering unit for a steer-by-wire ship's control system comprising a helm (steering wheel), a controller that is connected to the electronic controller of the ship's control system (ECU), a sensor for detecting the angular position of the helm, and a device for generating mechanical resistance in the helm.
• helm steering wheel
• ECU electronic controller of the ship's control system
• steer-by-wire systems which are also used in ship control technology.
• the steering commands are detected by a sensor and relayed via a control unit to an actuator, which implements the steering command.
• an actuator which implements the steering command.
• a steer-by-wire ship's control system is known, for example, from U.S. Pat. No. 6,431,928 B1.
• an electric motor is provided for pivoting the entire propeller drive unit via a mechanical energy transmission chain, wherein the electric engine is controlled by a control unit that is connected, on the one hand, to the steering device, in order to receive steering command information, and on the other hand, to the sensor that detects the steering position.
• a steering unit for a steer-by-wire ship's control system which has a mechanically pivotable steering device, for example a helm, a sensor for detecting the rotation of the helm, and a stop-mechanism for blocking any further pivoting of the helm to starboard or to portside when the rudder of the vessel has reached a starboard or portside hardover position.
• a steer-by-wire ship's control system that comprises at least two steering units.
• the rudder is operated by means of a hydraulically actuatable actuator by means of steering signals which are generated by the steering device that demands faster movement of the rudder.
• the steering units each comprise a helm that is connected in each case to a controller, which is in turn connected to the control network.
• the steering devices in the event of an actuation, or as the case may be a pivoting of the helm, depending on signals from a sensor for detecting the rudder position, produce a mechanical resistance by means of clutches, this resistance becoming greater, the closer the rudder moves to an end position.
• the mechanical resistance of the helm is set such that further pivoting in the same direction is not possible. This is made possible by a clutch which does not allow any pivoting of the helm in a completely closed state.
• the invention is based on the object of providing a method for operating a steering unit for a steer-by-wire ship's control system, the implementation of which will increase comfort and safety.
• a method for operating a steering unit for a steer-by-wire ship's control system comprising a helm, a controller that is preferably connected by means of a CAN bus to the electronic controller of the ship's control system (ECU), a sensor for detecting the angular position of the helm (steering wheel), and a device for generating mechanical resistance in the helm, in the scope of which, in the event that no auto-pilot device is activated, the mechanical resistance generated at the helm upon actuation of the helm by the user depends on the speed, the resistance being increased with increasing speed up to a predefined threshold value. If an auto-pilot device is activated, the mechanical resistance has a constant (high) value at every speed.
• the design according to the invention increases the safety, because very rapid maneuvering at high speeds is largely avoided.
• An advantageous refinement of the invention defines a speed, which preferably amounts to 10 kn, below which no mechanical resistance is generated by movement of the helm, wherein above this speed, the mechanical resistance generated at the helm by the device for generating mechanical resistance in the helm is increased, preferably in a linear manner, as a function of the speed, up to a predefined threshold value.
• the predefined value can be 15 Nm.
• a non-reset zone, a reset zone, and a boundary zone are defined around the current zero position of the helm, which is to say around the starting position before conducting a steering movement, for the eventuality that the steering unit has a device for resetting the helm, wherein if the angular position of the helm is within the non-reset zone during a steering actuation by the user, the helm is not reset to the current zero position of the helm, wherein if the angular position of the helm, after a steering actuation by the user, is within the reset zone, the helm is reset by the device for resetting the helm at a constant speed to the current zero position of the helm, or to a position within the non-reset zone.
• the functionality of the device for resetting the helm can be performed by the device for generating a mechanical resistance at the helm, this is possible according to the design, for example, if the device for generating a mechanical resistance is configured as an electric motor. Both safety and comfort are increased by the pivotable range of the rudder the division into zones and zone-dependent control of the electric motor.
• the device for resetting the helm is operated in such a way that the helm cannot be moved farther in the direction of the steering movement, or can only be moved in the direction of the movement with considerable force (such force being greater than the force required to move the helm if the angular position thereof is within the reset zone), and is reset at a constant speed to a defined angular position within the reset zone, or to a position within the non-reset zone.
• the non-reset zone is defined as the region between +X° and X° around the current zero position of the helm (which is to say the starting position before the steering movement is performed), wherein the reset zone is defined as the region between the ends of the non-reset zone and Y% of the maximum possible number of helm rotations in a clockwise and counterclockwise direction; the regions between Y% and 100% of the maximum possible number of helm rotations in a clockwise and anticlockwise direction are defined as the boundary zone, where X can be values between 1 and 135, and Y can be values between 45 and 95.
• the mechanical resistance generated at the helm by the device for generating mechanical resistance at the helm in the reset zone and in the non-reset zone depends on the speed, wherein the resistance is raised with increasing speed until a predetermined threshold value is reached, wherein if an auto-pilot device is activated, the mechanical resistance has constant, predetermined, and preferably high value at every speed.
• the value of the mechanical resistance is either a constant maximum value, or the mechanical resistance is increased up to the maximum value, as a function of the number of revolutions still to go before the maximum possible number of helm revolutions is reached.
• a speed is defined, below which no mechanical resistance is generated by pivotal movement of the helm, wherein above that speed, a mechanical resistance is generated, which is increased, preferably in a linear manner, as a function of the speed, up to a predefined threshold value.
• the method according to the invention can be used in steer-by-wire ship's control systems regardless of the type of steering actuator connected to the rudder.
• the actuator can be configured as a hydraulic or electromechanical actuator.
• the ECU processes the signals from the steering unit that is activated by the user or from an auto-pilot device and relays them to the steering actuator.
• the steering actuator is operated according to the input from the steering unit and the ECU with respect to the steering angle and the rotational speed of the rudder. If the auto-pilot device is activated, the rudder position is continuously updated by the steering unit controller.

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Citations (32)

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• 2007
  • 2007-10-05 DE DE102007048055A patent/DE102007048055A1/de not_active Withdrawn
• 2008
  • 2008-09-26 WO PCT/EP2008/062898 patent/WO2009047135A2/de active Application Filing
  • 2008-09-26 US US12/678,862 patent/US20100241315A1/en not_active Abandoned
  • 2008-09-26 EP EP08804777.4A patent/EP2193076B1/de active Active

Patent Citations (33)

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