WO2014017401A1

WO2014017401A1 - Steering device for ship

Info

Publication number: WO2014017401A1
Application number: PCT/JP2013/069659
Authority: WO
Inventors: 修次植木; 佐藤　寛; 司中川; 英利山本; 松本　隆弘; 阿久津　誠
Original assignee: 三井造船株式会社; 第一電気株式会社; 株式会社ケーイーアイシステム; 山本鐵工株式会社
Priority date: 2012-07-26
Filing date: 2013-07-19
Publication date: 2014-01-30
Also published as: PH12014502666B1; KR101487292B1; CN104379444A; KR20140136062A; JP2014024432A; PH12014502666A1; JP5641369B2; CN104379444B

Abstract

A steering device for a ship is provided with: first and second electric motors; first and second liquid pumps which are configured to be connected to and driven by the first and second electric motors, respectively, and which are each provided with first and second discharge openings for discharging liquid in both directions; and first and second double-acting cylinders which are provided corresponding to the first and second liquid pumps and which are connected to a rudder to be steered. The first discharge opening of the first liquid pump connects to a first operating chamber of the first double-acting cylinder and to a second operating chamber of the second double-acting cylinder, and the second discharge opening of the first liquid pump connects to a second operating chamber of the first double-acting cylinder and to a first operating chamber of the second double-acting cylinder. The first discharge opening of the second liquid pump connects to the first operating chamber of the second double-acting cylinder and to the second operating chamber of the first double-acting cylinder, and the second discharge opening of the second liquid pump connects to the second operating chamber of the second double acting cylinder and to the first operating chamber of the first double-acting cylinder.

Description

Marine steering system

The present invention relates to a marine steering apparatus that can directly control a hydraulic actuator with a liquid pump using an electric motor without using a control valve.

Conventionally, in a marine steering system that is generally used, oil from a tank is pressurized by a hydraulic source pump driven by an electric motor, and the pressurized oil is supplied to a direction control valve through various pipes. The rudder is rotated by supplying pressurized oil to a cylinder connected to an arm that drives the rudder of the ship by feeding and controlling the direction control valve.

Without using such a hydraulic source pump, piping and directional control valve, a pair of liquid pumps capable of discharging liquid in both directions is rotated by a pair of electric motors provided corresponding to each of the pair of liquid pumps. In addition, a technology has been proposed in which hydraulic pressure is generated and hydraulic pressure is directly supplied from a pair of liquid pumps to a pair of actuators, and the rudder of the ship is driven by the pair of actuators ( Patent Document 1).

JP 2002-139003 A

According to the steering device described in Patent Document 1 in which hydraulic pressure is directly supplied from a pair of liquid pumps to a pair of actuators and the rudder is driven by the pair of actuators, a directional control valve is unnecessary. In addition, when one of the liquid pumps and actuators fails, the rudder can be controlled using the other liquid pumps and actuators, so that a fail-safe function can be obtained.

However, in this steering device described in Patent Document 1, when one of the liquid pump and the actuator fails, the electromagnetic switching valve is operated so that the actuator is in a free state and is operated without resistance by an external force. It is essential to do. For this reason, it is necessary to provide an electromagnetic switching valve that does not operate during normal operation but operates only during failure, and accordingly, the device configuration becomes complicated, and failure is likely to occur.

Accordingly, an object of the present invention is to provide a marine steering apparatus capable of obtaining an automatic fail-safe function capable of reliably and automatically ensuring safety and reliability with a more simplified configuration.

According to the present invention, the marine steering apparatus is configured to be connected to and driven by the first and second electric motors and the first and second electric motors, respectively, and each discharges liquid in both directions. First and second liquid pumps having first and second discharge ports, and first and second liquid pumps corresponding to the first and second liquid pumps and connected to a rudder to be steered. And a second double-action cylinder. The first discharge port of the first liquid pump communicates with the first working chamber of the first double acting cylinder and the second working chamber of the second double acting cylinder, and the first liquid pump The second discharge port communicates with the second working chamber of the first double acting cylinder and the first working chamber of the second double acting cylinder. The first discharge port of the second liquid pump communicates with the first working chamber of the second double acting cylinder and the second working chamber of the first double acting cylinder, and the second liquid pump The second discharge port communicates with the second working chamber of the second double acting cylinder and the first working chamber of the first double acting cylinder. The steering device is electrically connected to a steering angle detector that detects a steering angle θ _f of the rudder, a steering angle detector that detects a steering angle θ _i of the steering steering, a steering angle detector, and a steering angle detector The difference (θ _i −θ _f ) and difference (θ _f −θ _i ) between the detected rotation angle and steering angle are calculated, and the drive signal S corresponding to the difference (θ _i −θ _f ) is calculated. a control circuit that outputs a drive signal S _d2 corresponding to _d1 and the difference (θ _f −θ _i ), and a control circuit that is electrically connected to the control circuit, and the first electric motor is connected to the output drive signal S _d1. A first drive circuit for driving and a second drive circuit that is electrically connected to the control circuit and drives the second electric motor in accordance with the output drive signal S _d2 are further provided.

Since the first and second double-acting cylinders are connected to each other, the hydraulic pressure from the first liquid pump is not limited to the second working chamber of the first double-acting cylinder. It is also supplied to the first working chamber of the cylinder to rotate the rudder in a predetermined direction. Further, the hydraulic pressure from the second liquid pump is supplied not only to the first working chamber of the second double-acting cylinder but also to the second working chamber of the first double-acting cylinder, so that the rudder is driven in a predetermined direction. Turn to. Conversely, the hydraulic pressure from the first liquid pump is supplied not only to the first working chamber of the first double-acting cylinder but also to the second working chamber of the second double-acting cylinder so that the rudder is predetermined. Turn in the direction opposite to the direction. Further, the hydraulic pressure from the second liquid pump is supplied not only to the second working chamber of the second double-acting cylinder but also to the first working chamber of the first double-acting cylinder, so that the rudder is driven in a predetermined direction. Rotate in the opposite direction. Therefore, when one of the electric motors and / or the liquid pump fails, for example, when the second electric motor and / or the second liquid pump fails, the hydraulic pressure from the first liquid pump driven by the first electric motor. Is automatically supplied to the second working chamber (first working chamber) of the first double-acting cylinder and the first working chamber (second working chamber) of the second double-acting cylinder, Both the first double-acting cylinder and the second double-acting cylinder can be operated to rotate the rudder in a predetermined direction (in a direction opposite to the predetermined direction). For this reason, the fail-safe operation can be automatically performed without switching and controlling the failed double-acting cylinder to a free state by an electromagnetic switching valve or the like. As a result, it is possible to obtain an automatic fail-safe function that can ensure safety and reliability reliably and automatically with a more simplified configuration.

The first drive circuit and the second drive circuit send voltage signals having different positive and negative voltages to the first motor and the second liquid so that the rotation directions of the first liquid pump and the second liquid pump are opposite to each other. It is preferable to be configured to output to the electric motor.

The arm further includes an arm that is integrally fixed to the rudder and that is driven to rotate around the fulcrum of the rudder. The first double-acting cylinder and the second double-acting cylinder are provided at both ends of the arm, respectively. It is preferable that they are a pair of single rod double acting cylinders that are swingably connected to the pair of connecting portions.

In this case, the rudder angle detector is preferably a rotary encoder that detects the rotation angle of the arm.

The steering angle detector is preferably a rotary encoder that detects the turning angle of the steering steering.

The first liquid pump and the second liquid pump are rotatable in both a clockwise direction and a counterclockwise direction, and a pair of fixed pumps that discharge a predetermined hydraulic pressure corresponding to the rotational speed in a direction corresponding to the rotational direction. A positive displacement liquid pump is preferred.

The first driving circuit and the second driving circuit generate voltage signals of the same level opposite to each other in accordance with the driving signal S _d1 and the driving signal S _d2 to the first motor and the second motor, respectively. A pair of servo amplifiers to be applied is preferable.

A first check valve having an output side connected to the first discharge port of the first tank and the first liquid pump, and an input side connected to the first liquid pump and the first tank; and a first liquid A second check valve having an output side connected to the second discharge port of the pump and an input side connected to the first liquid pump and the first tank; a second tank; and a first of the second liquid pump. An output side is connected to the discharge port of the second liquid pump, a third check valve whose input side is connected to the second liquid pump and the second tank, and an output side is connected to the second discharge port of the second liquid pump, It is preferable to further include a second check pump having an input side connected to the second liquid pump and the second tank.

According to the present invention, it is possible to automatically perform a fail-safe operation without switching and controlling the failed double-acting cylinder to a free state by an electromagnetic switching valve or the like. As a result, it is possible to obtain an automatic fail-safe function that can ensure safety and reliability reliably and automatically with a more simplified configuration.

1 is a hydraulic circuit diagram schematically showing an overall configuration in an embodiment of a marine steering apparatus of the present invention. FIG. 2 is a block diagram schematically showing an electrical configuration of a control circuit in the embodiment of FIG. 1. 3 is a flowchart for explaining the operation of the control circuit of FIG. 2. It is a figure explaining operation | movement (when a rudder rotates clockwise) of the hydraulic circuit and control circuit in embodiment of FIG. It is a figure explaining operation | movement (when a rudder rotates counterclockwise) of the hydraulic circuit and control circuit in embodiment of FIG.

FIG. 1 is a hydraulic circuit diagram schematically showing the overall configuration of an embodiment of a marine steering system according to the present invention.

In the figure, 10 is a rudder of a ship that can be turned to the left and right as indicated by an arrow, 11 is an arm that is integrally fixed to the rudder 10, and is driven to rotate around its

fulcrum

11a, 12 And 13 are a pair of single rod type double acting cylinders (first and second single rod type double acting cylinders) that are swingably connected to connecting

portions

11b and 11c provided at both ends of the arm 11, respectively. Show.

1st and 2nd single rod type double acting

cylinders

12 and 13 are arranged in parallel in the left-right symmetric position to fulcrum 11a located in the central part of arm 11. The arm 11 is configured to rotate by receiving the pulling force or the pushing force of the first and second single rod type double acting

cylinders

12 and 13 so that the rudder 10 can be operated left and right.

The first single rod double acting cylinder 12 includes a rod chamber 12a (corresponding to the first working chamber of the present invention) and a bottom chamber 12b (corresponding to the second working chamber of the present invention). The inlet of the rod chamber 12a and the inlet of the bottom chamber 12b are respectively connected to a rod side pipe 14a and a bottom side pipe 14b which are pipe lines of a hydraulic circuit. The rod side pipe 14a is connected to one discharge port 16a (corresponding to the first discharge port of the present invention) of the first constant capacity liquid pump 16, and the bottom side pipe 14b is connected to the first constant capacity type liquid pump 16. It is connected to the other discharge port 16b (corresponding to the second discharge port of the present invention) of the capacitive liquid pump 16. The first constant-capacity liquid pump 16 is a constant capacity (cc / ev) type that can rotate in both the clockwise and counterclockwise directions. Discharge fluid pressure. The first constant capacity liquid pump 16 is connected to a first electric motor 18 and is driven at a variable speed from zero rotation to a predetermined rotation speed. The first electric motor 18 is constituted by, for example, an AC servo motor, a DC servo motor, an IPM (Interior Permanent Magnet) motor, an induction motor, or the like, and the first servo amplifier 27 (in the first drive circuit of the present invention). In response to a positive or negative voltage signal given by (corresponding), it can rotate in the corresponding direction. The first electric motor 18 can rotate in both directions at a variable speed from zero rotation to a predetermined rotation speed, and thereby the first constant displacement liquid pump 16 is driven. The first servo amplifier 27 that drives the first electric motor 18 desirably uses an inverter when the first electric motor 18 is an induction motor.

The second single rod type double acting cylinder 13 includes a rod chamber 13a (corresponding to the first working chamber of the present invention) and a bottom chamber 13b (corresponding to the second working chamber of the present invention). The inlet of the rod chamber 13a and the inlet of the bottom chamber 13b are respectively connected to a rod side pipe 15a and a bottom side pipe 15b which are pipes of a hydraulic circuit. The rod side pipe 15a is connected to one discharge port 17a (corresponding to the first discharge port of the present invention) of the second constant capacity liquid pump 17, and the bottom side pipe 15b is connected to the second constant volume type liquid pump 17. It is connected to the other discharge port 17b (corresponding to the second discharge port of the present invention) of the capacitive liquid pump 17. The second constant capacity liquid pump 17 is a constant capacity (cc / ev) type that can rotate in both the clockwise and counterclockwise directions. Discharge fluid pressure. The second constant capacity liquid pump 17 is connected to a second electric motor 19 and is driven at a variable speed from zero rotation to a predetermined rotation speed. The second electric motor 19 is composed of, for example, an AC servo motor, a DC servo motor, an IPM motor, an induction motor, or the like, and is given from a second servo amplifier 28 (corresponding to the second drive circuit of the present invention). In response to the positive or negative voltage signal generated, it can rotate in the corresponding direction. The second electric motor 19 can rotate in both directions at a variable speed from zero rotation to a predetermined rotation speed, and thereby the second constant capacity liquid pump 17 is driven. The second servo amplifier 28 that drives the second electric motor 19 preferably uses an inverter when the second electric motor 19 is an induction motor.

The first electric motor 18 and the second electric motor 19 are configured to rotate in mutually different rotation directions when voltage signals having different positive and negative are applied to each other. The first electric motor 18 and the second electric motor 19 The first constant-capacity liquid pump 16 and the second constant-capacity liquid pump 17 connected to and driven by the electric motor 19 are switched and driven so that the rotation directions are opposite to each other.

The important points in this embodiment are the rod-side piping 14a communicating with the rod chamber 12a of one first single rod double acting cylinder 12 and the bottom chamber 13b of the other second single rod double acting cylinder 13. The communicating bottom side pipe 15 b communicates with each other, and the bottom side pipe 14 b communicating with the bottom chamber 12 b of the first single rod double acting cylinder 12 and the rod chamber 13 a of the second single rod type double acting cylinder 13. And the rod side pipe 15a communicating with each other. That is, the first and second single rod double acting

cylinders

12 and 13 are connected to each other, and the supply amount when the first and second single rod double acting

cylinders

12 and 13 are stroked. Push-pull drive is performed with the same amount of oil as the return amount.

Between the rod side pipe 14a and the bottom side pipe 14b, the IN side is connected to the first constant capacity liquid pump 16 and the first tank 21, and the OUT side is connected to the rod side pipe 14a and the bottom side pipe 14b, respectively. A connected rod side check valve 20a (corresponding to the first check valve of the present invention) and a bottom side check valve 20b (corresponding to the second check valve of the present invention) are provided. The rod side check valve 20a and the bottom side check valve 20b are provided to compensate for internal leakage of the first constant displacement liquid pump 16.

Between the rod side pipe 15a and the bottom side pipe 15b, the IN side is connected to the second constant capacity liquid pump 17 and the second tank 23, and the OUT side is connected to the rod side pipe 15a and the bottom side pipe 15b, respectively. A connected rod side check valve 22a (corresponding to the third check valve of the present invention) and a bottom side check valve 22b (corresponding to the fourth check valve of the present invention) are provided. The rod side check valve 22a and the bottom side check valve 22b are provided to compensate for internal leakage of the second constant displacement liquid pump 17.

The rudder angle detector 25 is configured to detect a rotation angle that is a driving amount of the rudder 10 and to send an angle signal corresponding to the detected rotation angle to the control circuit 24. Specifically, the steering angle detector 25 of the present embodiment is configured by a rotary encoder that detects the rotation angle of the arm 11.

The steering angle detector 26 is configured to detect a steering angle of a steering steering at a boat maneuvering console (not shown) and send an angle signal corresponding to the detected steering angle to the control circuit 24. The steering angle detector 26 of the present embodiment is configured by a rotary encoder that detects a turning angle of steering steering (not shown).

As shown in FIG. 2, the control circuit 24 includes an input interface 24a electrically connected to a steering angle detector 25, a steering angle detector 26, and an operation unit 29 provided in the boat maneuvering console, and first and second Output interface 24b electrically connected to the

servo amplifiers

27 and 28, an image output unit 24c electrically connected to the display 30 provided in the boat maneuvering console, a central processing unit (CPU) 24d, a lead Only the memory (ROM) 24e, the random access memory (RAM) 24f, the hard disk drive (HDD) 24g, the input interface 24a, the output interface 24b, the image output unit 24c, the CPU 24d, the ROM 24e, the RAM 24f, and the HDD 24g are mutually connected. Computer having bus 24h to be connected And it consists of a program for operating the same.

The CPU 24d executes a program stored in the RAM 24f according to a basic program such as an operation system (OS) or a boot program stored in the ROM 24e to perform the processing of the present embodiment. The CPU 24d controls operations of the RAM 24f, the HDD 24g, the image output unit 24c, the input interface 24a, and the output interface 24b.

The RAM 24f is used as a main memory of the control circuit 24, and stores programs and data transferred from the HDD 24g. The RAM 24f is also used as a work area for temporarily storing various data during program execution.

The HDD 24g stores programs and data in advance.

The image output unit 24c generates image data according to an instruction from the CPU 24d and outputs the image data to the display 30.

The input interface 24a controls transfer of input data from the steering angle detector 25, the steering angle detector 26, and the operation unit 29 to the CPU 24d or the RAM 24f.

The output interface 24b controls the transfer of output data from the CPU 24d to the first and

second servo amplifiers

27 and 28.

In the control circuit 24 having such a configuration, the CPU 24d first secures a program storage area, a data storage area, and a work area in the RAM 24f at the start of operation, and fetches the program and data from the HDD 24g or from the outside. And stored in the data storage area. Next, the processing shown in FIG. 3 is executed based on the program stored in the program storage area.

The program shown in FIG. 3 is configured to be repeatedly executed at regular intervals for a short time until the end of operation.

First, the angle command signal S _i representing the steering angle θ _i corresponding to the steering amount of the steering steering provided in the boat maneuvering console is fetched from the steering angle detector 26 via the input interface 24a (step S1).

Next, an angle signal S _f representing the current turning angle θ _f of the rudder 10 is fetched from the rudder angle detector 25 via the input interface 24a (step S2).

Next, the drive signal S _d1 for driving the first servo amplifier 27 is obtained by calculating θ _i -θ _f , that is, by subtracting the rotation angle θ _f from the steering angle θ _i (step S3). The drive signal S _d2 for driving the second servo amplifier 28 is obtained by calculating θ _f −θ _i , that is, calculating the subtraction of the steering angle θ _i from the rotation angle θ _f (step S4).

Thereafter, the drive signal S _d1 obtained in this way is outputted to the first servo amplifier 27 via the output interface 24b (step S5), and the drive signal S _d2 obtained in the same manner is outputted via the output interface 24b. Output to the second servo amplifier 28 (step S6).

As described above, the first and

second servo amplifiers

27 and 28 output the drive signal S _d1 and the drive signal S _d2 instructing to apply voltages of the same level, which are opposite to each other. For example, when a positive drive signal S _d1 is applied to the first servo amplifier 27, the first servo amplifier 27 outputs a positive voltage (+ voltage), and at the same time, the second servo amplifier 28 is negatively driven. When the signal S _d2 is applied, the second servo amplifier 28 outputs a negative voltage (−voltage) of the same level, and as a result, the rudder 10 rotates clockwise.

More specifically, when a positive voltage (+ voltage) is output from the first servo amplifier 27, the first electric motor 18 rotates clockwise, and the liquid from the first constant capacity liquid pump 16 is rotated. The pressure is supplied to the bottom chamber 12 b of the first single rod double acting cylinder 12, and the first single rod double acting cylinder 12 moves in the protruding direction (upward in the figure) and pushes the arm 11. Perform the action. On the other hand, since a negative voltage (−voltage) is output from the second servo amplifier 28, the second electric motor 19 rotates counterclockwise and the liquid from the second constant capacity liquid pump 17 is rotated. The pressure is supplied to the rod chamber 13a of the second single rod type double acting cylinder 13, the second single rod type double acting cylinder 13 moves in the pulling direction (downward in the figure) and pulls the arm 11. Perform the action. Thereby, the rudder 10 rotates clockwise as shown in FIG.

At this time, the hydraulic pressure from the second constant displacement liquid pump 17 is also supplied to the bottom chamber 12b of the first single rod double acting cylinder 12, while the rod of the second single rod double acting cylinder 13 is supplied. The hydraulic pressure from the first constant capacity liquid pump 16 is also supplied to the chamber 13a. That is, both the first single rod double acting cylinder 12 and the second single rod double acting cylinder 13 discharge from both the first constant displacement liquid pump 16 and the second constant displacement liquid pump 17. It operates with the discharge amount which added. Accordingly, the discharge amount of the first constant displacement liquid pump 16 and the discharge amount of the second constant displacement liquid pump 17 can be operated even if they are different from each other, but it is desirable that the discharge amounts are substantially equal. .

In the flowchart of FIG. 3, after the process of step S6, it is determined whether or not the steering operation has ended (step S7). If it is determined that the operation has ended (in the case of YES), this program ends. When it is determined that the operation is not finished (in the case of NO), the process returns to step S1, and the processes of steps S1 to S7 are repeated.

As described above, the processes of steps S1 to S7 are periodically repeated, so that the turning angle of the rudder 10 approaches and matches the steering angle of the steering steering. That is, the current turning angle θ _f of the rudder 10 represented by the angle signal S _f from the rudder angle detector 25 and the steering angle θ _i represented by the angle command signal S _i from the steering angle detector 26. Difference | θ _i −θ _f | becomes zero, and as a result, the first electric motor 18 and the second electric motor 19 stop, and unless the steering angle θ _i by the set angle command signal S _i changes, The rudder 10 maintains that angle.

At this time, the drive signal S _d1 to the first servo amplifier 27 and the drive signal S _d2 to the second servo amplifier 28 are controlled based on the turning angle θ _f of the rudder 10 from the rudder angle detector 25. Thus, the rotational speeds of the first electric motor 18 and the second electric motor 19 are controlled so that the first single rod double acting cylinder 12 and the second single rod double acting cylinder 13 move at a synchronized speed. In addition, the discharge amounts of the first constant displacement liquid pump 16 and the second constant displacement liquid pump 17 are controlled.

On the other hand, when a negative voltage (−voltage) is output from the first servo amplifier 27, the first electric motor 18 rotates counterclockwise, and the hydraulic pressure from the first constant displacement liquid pump 16 changes to the first pressure. The first single rod type double acting cylinder 12 is supplied to the rod chamber 12a of the single rod type double acting cylinder 12 and moves in the retracting direction (downward in the figure) to pull the arm 11. . On the other hand, since a positive voltage (+ voltage) is output from the second servo amplifier 28, the second electric motor 19 rotates in the clockwise direction, and the hydraulic pressure from the second constant capacity liquid pump 17 is increased. Is supplied to the bottom chamber 13b of the second single rod double acting cylinder 13, and the second single rod double acting cylinder 13 moves in the protruding direction (upward in the figure) and pushes the arm 11. I do. As a result, the rudder 10 rotates counterclockwise as shown in FIG.

As described above, in the present embodiment, the first and second single rod type

double acting cylinders

12 and 13 are piped in a cross, and the rod chamber 12a of the first single rod type double acting cylinder 12 and the The bottom chamber 13b of the two single rod double acting cylinders 13 communicates with each other, and the bottom chamber 12b of the first single rod double acting cylinder 12 and the rod chamber 13a of the second single rod double acting cylinder 13 are connected. And communicate with each other.

Therefore, the hydraulic pressure from the first constant displacement liquid pump 16 is applied not only to the bottom chamber 12b of the first single rod double acting cylinder 12 but also to the rod chamber 13a of the second single rod double acting cylinder 13. Is also provided to assist in the clockwise rotation of the arm 11 and thus the rudder 10. Further, the hydraulic pressure from the second constant displacement liquid pump 17 is applied not only to the rod chamber 13a of the second single rod double acting cylinder 13 but also to the bottom chamber 12b of the first single rod double acting cylinder 12. Supplied to assist in the clockwise rotation of the arm 11 and thus the rudder 10.

Conversely, the hydraulic pressure from the first constant displacement liquid pump 16 is applied not only to the rod chamber 12 a of the first single rod double acting cylinder 12 but also to the bottom chamber 13 b of the second single rod double acting cylinder 13. Is also provided to assist in the counterclockwise rotation of the arm 11 and thus the rudder 10. Further, the hydraulic pressure from the second constant displacement liquid pump 17 is applied not only to the bottom chamber 13 b of the second single rod double acting cylinder 13 but also to the rod chamber 12 a of the first single rod double acting cylinder 12. Supplied to assist in the counterclockwise rotation of the arm 11 and thus the rudder 10.

Accordingly, when one of the electric motors and / or the constant displacement liquid pump fails, for example, when the second electric motor 19 and / or the second constant displacement liquid pump 17 fails, the first electric motor 18 is driven. The hydraulic pressure from the first constant displacement liquid pump 16 is automatically supplied to the bottom chamber 12b of the first single rod double acting cylinder 12 and the rod chamber 13a of the second single rod double acting cylinder 13. Thus, both the first single rod type double acting cylinder 12 and the second single rod type double acting cylinder 13 are operated, and the rudder 10 can be rotated clockwise. Therefore, the rod chamber 13a and the bottom chamber 13b of the second single rod double acting cylinder 13 on the failed side are communicated with each other by an electromagnetic switching valve or the like, and the fail safe operation is automatically performed without switching control to the free state. It can be performed.

Next, the operation of the ship steering apparatus according to this embodiment will be described.

First, when the operator operates (steers) the steering steering in the boat maneuvering console, the steering angle detector 26 sends an angle command signal S _i representing the steering angle θ _i corresponding to the steering angle amount to the control circuit 24. On the other hand, the rudder angle detector 25 sends an angle signal S _f representing the current turning angle θ _f of the rudder 10 to the control circuit 24.

The control circuit 24 sends the drive signal S _d1 corresponding to the calculation result of θ _i −θ _f to the first servo amplifier 27, and the drive signal S _d2 corresponding to the calculation result of θ _f −θ _i to the second servo. By sending to the amplifier 28, different positive and negative voltage commands are output to the first electric motor 18 and the second electric motor 19, respectively, and the first electric motor 18 and the second electric motor 19 are started, Both are rotated in opposite directions. The first electric motor 18 and the second electric motor 19 rapidly increase in rotational speed from zero to a predetermined rotational speed, and rotate the first constant capacity liquid pump 16 and the second constant capacity liquid pump 17. To generate hydraulic pressure. The hydraulic pressure of the first constant displacement type liquid pump 16 is supplied to the rod chamber 12a or the bottom chamber 12b of the first single rod type double acting cylinder 12 to move the first single rod type double acting cylinder 12 in the retracting direction or Move in the protruding direction. On the other hand, the hydraulic pressure of the second constant displacement type liquid pump 17 is supplied to the bottom chamber 13b or the rod chamber 13a of the second single rod double acting cylinder 13 so that the second single rod double acting cylinder 13 can It is moved in the projecting direction or the retracting direction, which is the direction opposite to the one-rod double-acting cylinder 12. Further, the hydraulic pressure of the first constant displacement type liquid pump 16 is supplied to the bottom chamber 13b or the rod chamber 13a of the second single rod double acting cylinder 13 and protrudes from the second single rod double acting cylinder 13. Move in the direction or pull-in direction. The hydraulic pressure of the second constant displacement type liquid pump 17 is supplied to the rod chamber 12a or the bottom chamber 12b of the first single rod double acting cylinder 12, and the first single rod double acting cylinder 12 is supplied to the second single acting double pump cylinder 12. It is moved in the retracting direction or the protruding direction, which is the opposite direction to the single rod type double acting cylinder 13.

As a result, the arm 11 has a multiple resultant force in the projecting direction or the retracting direction by the first single rod double acting cylinder 12 and the retracting direction or the projecting direction in the opposite direction by the second single rod double acting cylinder 13. And easily and quickly rotate.

By the above-described operation of the control circuit 24, the turning angle θ _{f of the} rudder 10 represented by the angle signal S _f from the rudder angle detector 25 and the angle command signal S _i from the steering angle detector 26 are represented. The difference | θ _i −θ _f | from the steering angle θ _i becomes zero, the first electric motor 18 and the second electric motor 19 stop, and the arm 11 and thus the rudder 10 are controlled to an accurate rotation angle. can do. The rudder 10 maintains the angle unless the angle command signal S _i from the steering angle detector 26 fluctuates. Further, the first single rod double acting cylinder 12 and the second single rod double acting cylinder 13 rotate at a synchronized speed by controlling the discharge amount of the hydraulic pump according to the instruction of the control circuit 24. The arm 11 is rotated by receiving a large rotational force.

As described above, according to the marine vessel steering apparatus of the present embodiment, the first and second single rod double acting cylinders connected to the hydraulic pressure from the first constant displacement liquid pump 16. Of the first and second single rod type

double acting cylinders

12 and 13 which are directly supplied to both 12 and 13 and the hydraulic pressure from the second constant displacement liquid pump 17 is connected thereto. Further, a plurality of single-rod double-acting

cylinders

12 and 13 are connected to one arm 11, and the arm 11 and thus the rudder 10 are coupled by the combined force of the plurality of double-acting cylinders. Driving. According to this direct control system, the first and second constant displacement liquids are pushed and pulled, the rod speed, and the rod thrust of the first and second single rod double acting

cylinders

12 and 13 without using a directional control valve. It can be controlled directly by

pumps

16 and 17.

In particular, in the steering device of the present embodiment, the hydraulic pressure from the first constant displacement liquid pump 16 is not limited to the rod chamber 12a of the first single rod double acting cylinder 12, but also the second single rod double acting cylinder. 13 is also supplied to the bottom chamber 13b to rotate the arm 11 and thus the rudder 10 counterclockwise. Further, the hydraulic pressure from the second constant displacement liquid pump 17 is supplied not only to the bottom chamber 13 b of the second single rod double acting cylinder 13 but also to the rod chamber 12 a of the first single rod double acting cylinder 12. As a result, the arm 11 and thus the rudder 10 are rotated counterclockwise.

Accordingly, when one of the electric motors and / or the constant displacement liquid pump fails, for example, when the second electric motor 19 and / or the second constant displacement liquid pump 17 fails, the first electric motor 18 is driven. The hydraulic pressure from the first constant displacement liquid pump 16 is such that the bottom chamber 12b or the rod chamber 12a of the first single rod double acting cylinder 12 and the rod chamber 13a of the second single rod double acting cylinder 13 or Automatically supplied to the bottom chamber 13b, both the first single rod double acting cylinder 12 and the second single rod double acting cylinder 13 are operated, and the rudder 10 is rotated clockwise or counterclockwise. Can be moved. In this case, the arm 11 can be rotated without controlling the switching to the free state by connecting the rod chamber and the bottom chamber of the failed single rod type double acting cylinder with an electromagnetic switching valve or the like. With a simplified configuration, it is possible to obtain an automatic fail-safe function that can reliably and automatically ensure safety and reliability. Further, the amount of liquid between the rod chamber 12a and the bottom chamber 12b of the first single rod double acting cylinder 12 and between the rod chamber 13a and the bottom chamber 13b of the second single rod double acting cylinder 13 is as follows. Therefore, since it is not necessary to provide a liquid amount compensation circuit between them, a simpler configuration can be achieved in this sense.

In the above-described embodiment, the example using the variable speed electric motor and the constant displacement liquid pump has been described. However, the control circuit is configured by using the electric motor having a constant rotational speed and the variable displacement liquid pump. May control the rotation direction of the electric motor and the discharge amount of the variable displacement liquid pump, or may control the discharge direction and the discharge amount of the variable displacement liquid pump while keeping the rotation direction of the electric motor constant. .

The embodiments described above are all illustrative of the present invention and are not intended to be limiting, and the present invention can be implemented in other various modifications and changes. Therefore, the scope of the present invention is defined only by the claims and their equivalents.

Claims

The first and second electric motors and the first and second electric motors are connected to and driven by the first and second electric motors, respectively, and each includes first and second discharge ports that discharge liquid in both directions. First and second liquid pumps, and first and second double-acting cylinders provided corresponding to the first and second liquid pumps and connected to a rudder to be steered, respectively. And
The first discharge port of the first liquid pump communicates with a first working chamber of the first double acting cylinder and a second working chamber of the second double acting cylinder, and The second discharge port of the first liquid pump communicates with the second working chamber of the first double acting cylinder and the first working chamber of the second double acting cylinder;
The first discharge port of the second liquid pump communicates with a first working chamber of the second double acting cylinder and a second working chamber of the first double acting cylinder, and The second discharge port of the second liquid pump communicates with the second working chamber of the second double acting cylinder and the first working chamber of the first double acting cylinder;
Further, a steering angle detector for detecting the turning angle θ f of the rudder, a steering angle detector for detecting a steering angle θ i of steering steering, and the steering angle detector and the steering angle detector are electrically connected to the steering angle detector. A drive that is connected, calculates a difference (θ i −θ f ) and a difference (θ f −θ i ) between the detected rotation angle and the steering angle, and corresponds to the difference (θ i −θ f ) A control circuit that outputs a drive signal S d2 corresponding to the signal S d1 and the difference (θ f −θ i ), and is electrically connected to the control circuit, and is configured to respond to the output drive signal S d1. A first drive circuit for driving the first electric motor; and a second drive circuit that is electrically connected to the control circuit and drives the second electric motor in accordance with the output drive signal S d2. A marine steering apparatus further comprising:
The first drive circuit and the second drive circuit are configured to output voltage signals having different positive and negative voltages so that rotation directions of the first liquid pump and the second liquid pump are opposite to each other. The marine steering apparatus according to claim 1, wherein the marine steering apparatus is configured to output to an electric motor and the second electric motor.
The arm is fixed integrally with the rudder, and further includes an arm that is rotationally driven around a fulcrum of the rudder. The first double-acting cylinder and the second double-acting cylinder are provided on the arm. 3. The marine steering apparatus according to claim 1, wherein the marine steering apparatus is a pair of single-rod double-acting cylinders swingably connected to a pair of connecting portions provided at both ends. 4.
The ship steering apparatus according to claim 3, wherein the rudder angle detector is a rotary encoder that detects a rotation angle of the arm.
3. The marine steering apparatus according to claim 1, wherein the steering angle detector is a rotary encoder that detects a rotation angle of the steering steering.
The first liquid pump and the second liquid pump are rotatable in both a clockwise direction and a counterclockwise direction, and discharge a predetermined hydraulic pressure corresponding to a rotational speed in a direction corresponding to the rotational direction. 3. The marine vessel steering apparatus according to claim 1 or 2, characterized by being a constant displacement liquid pump.
The first driving circuit and the second driving circuit generate voltage signals of the same level opposite in polarity to the first electric motor and the second driving circuit according to the driving signal S d1 and the driving signal S d2. The marine steering apparatus according to claim 1 or 2, wherein the steering apparatus is a pair of servo amplifiers respectively applied to the second electric motor.
A first check valve having an output side connected to the first discharge port of the first tank and the first liquid pump, and an input side connected to the first liquid pump and the first tank; A second check valve having an output side connected to the second discharge port of the first liquid pump, an input side connected to the first liquid pump and the first tank, and a second tank; A third check valve whose output side is connected to the first discharge port of the second liquid pump and whose input side is connected to the second liquid pump and the second tank; and the second liquid pump And a second check valve having an output side connected to the second discharge port and a second check valve having an input side connected to the second liquid pump and the second tank. Or the steering apparatus for ships of 2.