WO2014054304A1 - Dispositif de commande de rotation pour dispositif de propulsion de bateau - Google Patents

Dispositif de commande de rotation pour dispositif de propulsion de bateau Download PDF

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Publication number
WO2014054304A1
WO2014054304A1 PCT/JP2013/060790 JP2013060790W WO2014054304A1 WO 2014054304 A1 WO2014054304 A1 WO 2014054304A1 JP 2013060790 W JP2013060790 W JP 2013060790W WO 2014054304 A1 WO2014054304 A1 WO 2014054304A1
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WO
WIPO (PCT)
Prior art keywords
motor
motor speed
servo
value
speed command
Prior art date
Application number
PCT/JP2013/060790
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English (en)
Japanese (ja)
Inventor
正識 古寺
進一 田中
浩二 竹居
浩一 白石
和尚 樋口
Original Assignee
新潟原動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 新潟原動機株式会社 filed Critical 新潟原動機株式会社
Priority to ES13844375.9T priority Critical patent/ES2642405T3/es
Priority to NO13844375A priority patent/NO2905219T3/no
Priority to EP13844375.9A priority patent/EP2905219B1/fr
Publication of WO2014054304A1 publication Critical patent/WO2014054304A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
    • 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
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • 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
    • B63H2025/026—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring

Definitions

  • the present invention relates to a turning control device as a steering system for turning control of a marine vessel propulsion device generally called an azimuth thruster having a propulsion function and a rudder function such as a Z-type propulsion device, an L-type propulsion device, and a pod propulsion device.
  • the present invention relates to an electric turning control device using a plurality of AC servo motors, and the load shared by each AC servo motor is uniform, and the operation is performed even when some AC servo motors have a problem.
  • the present invention relates to a turning control device that can continue without trouble.
  • a hydraulic turning device In the case of turning with an azimuth thruster such as a Z-type propulsion device or a pod propulsion device, a hydraulic turning device has been generally used.
  • the conventional hydraulic swivel device has a complicated structure in which hydraulic equipment such as a hydraulic pump, servo valve, suction filter, oil tank, etc. are connected by piping, and there is also contamination due to oil leakage, etc. Since repair work and maintenance work such as removing oil by filling with oil is required, stable operation of equipment may be hindered.
  • Patent Document 1 discloses a turning control device for an azimuth thruster proposed by the applicant of the present application, and the problem is to provide a turning control device that is difficult to be controlled by an AC servo motor and has high tracking accuracy. It is in.
  • the turning control board 26 calculates a motor speed command based on the deviation between the handle signal from the operation handle 4 and the feedback signal from the sensor 5, and outputs this to the plurality of AC servo amplifiers 32a to 32c. Simultaneously, the same digital signal is transmitted by digital communication.
  • FIG. 5 is a diagram showing the configuration of the AC servo amplifier 100.
  • the motor speed instruction value sent from the preceding turn control board is sent to the subsequent stage via a limiter 101 that gives a speed limit.
  • the AC servo motor 102 is provided with a sensor 103 for measuring the motor speed, and a feedback signal from the sensor 103 is converted into a voltage signal by the frequency voltage converter 104.
  • the comparison unit 105 calculates a deviation between the motor speed instruction value passed through the limiter 101 and the feedback signal converted into a voltage signal, and the control unit (PID regulator) 106 calculates a motor speed command value according to the deviation. .
  • This motor speed command value is amplified by the current amplifier 108 via the limiter 107 and is given to the AC servo motor 102.
  • each pinion P (P1, P2) of a plurality of AC servo motors is a circumferential drive provided in the turning drive mechanism of the azimuth thruster.
  • the driving force of each AC servo motor 102 is transmitted to the turning gear G via each pinion P to turn the azimuth thruster.
  • the load may be applied to a specific AC servo motor depending on whether the external water flow that exerts a force on the azimuth thruster is against or following, which is not preferable.
  • the left-side pinion P2 is practically unloaded due to backlash.
  • the present invention solves the problems in the prior art described above.
  • the load shared by each AC servomotor is uniform, and some AC
  • the purpose is to allow the operation to continue without any trouble even if the servo motor malfunctions.
  • a turning control device for a ship propulsion unit is provided.
  • a turning control device that controls a marine vessel propulsion device that is provided with a propeller that is rotationally driven and that is freely slewed in a vessel to arbitrarily set a propulsion direction,
  • An operation handle for outputting a handle signal indicating the turning position by setting a turning position of the ship propulsion device;
  • a sensor for detecting a turning position of the ship propulsion device and outputting a feedback signal;
  • a deviation between a handle signal output from the operation handle and a feedback signal from the sensor is calculated, a motor speed instruction value is calculated according to the deviation, and the motor speed instruction value is simultaneously applied to a plurality of objects as the same digital signal.
  • Control means for transmitting by digital communication;
  • a plurality of AC servo amplifiers that respectively receive the motor speed instruction values transmitted by digital communication as the same digital signal from the control means, respectively, and output motor speed instruction values according to the motor speed instruction values;
  • a plurality of AC servo motors for turning the marine vessel propulsion machine by being driven by receiving the motor speed command values from the AC servo amplifiers;
  • the AC servo amplifier calculates and outputs the motor speed command value by correcting the motor speed instruction value transmitted from the control means according to a load amount of the corresponding AC servo motor. It is a feature.
  • the turning control device for a ship propulsion device according to claim 2 is the turning control device for a ship propulsion device according to claim 1,
  • the AC servo amplifier performs a calculation to decrease the motor speed command value according to the load amount when the load of the AC servo motor is power running, and the load amount when the load of the AC servo motor is regenerative. Accordingly, a calculation for increasing the motor speed command value is performed.
  • the turning control device for a ship propulsion device is the turning control device for a ship propulsion device according to claim 2,
  • the AC servo amplifier when the load amount of the AC servo motor is equal to or less than a predetermined constant value, sets the motor speed command value without correcting the motor speed instruction value according to the load amount of the AC servo motor. It is characterized by calculating and outputting.
  • the turning control device for a ship propulsion device is the turning control device for a ship propulsion device according to claim 3,
  • the AC servo amplifier includes load amount calculation means for calculating a load amount from a current value flowing through the AC servo motor;
  • a correction calculation unit that performs a necessary calculation according to the load amount of the AC servomotor calculated by the load amount calculation unit with respect to the motor speed instruction value transmitted from the control unit, and outputs the correction value as a correction value;
  • a deviation between the correction value from the correction calculation unit and a feedback signal from a sensor that measures the motor speed of the AC servo motor is calculated, and the motor speed command value is calculated and output according to the deviation.
  • Two control means It is characterized by having.
  • the control means calculates a motor speed instruction value based on a deviation between the handle signal from the operation handle and the feedback signal from the sensor, and a plurality of AC The same digital signal is simultaneously transmitted to the servo amplifier via digital communication.
  • the AC servo amplifier corrects this motor speed instruction value according to the load amount of the corresponding AC servo motor, and outputs it to each AC servo motor as a motor speed command value. For this reason, each load of a plurality of AC servomotors can be distributed to a uniform value obtained by dividing the total load by the number of AC servomotors.
  • the turning control device for a marine vessel propulsion device described in claim 2 when the external water flow exerts an assisting force on the vessel propulsion device that is driven to turn, the driving of the AC servo motor with respect to the external load is performed.
  • the main state is a state called powering that turns the marine propulsion device by driving the AC servomotor.
  • the loads on the other AC servo motors increase, and the loads on the plurality of AC servo motors are made uniform as a whole.
  • the AC servo motor is driven with respect to the external load in a state called regeneration in which the marine propulsion device is rotated by the external water flow.
  • a large load is applied to the AC servo motor with the slowest speed at which the pinion comes into contact with the swivel gear. Therefore, in order to distribute the load, the AC servo motor with a large load is used. To increase the speed of the motor in proportion to the load.
  • the loads on the other AC servo motors increase, and the loads on the plurality of AC servo motors are made uniform as a whole.
  • the AC servo amplifier is sent from the control means.
  • the motor speed command value can be calculated using the feedback signal without correcting the motor speed instruction value, and can be output to the AC servomotor.
  • the correction calculation unit corrects the motor speed instruction value from the control means with the load amount of the AC servo motor acquired by the load amount calculation means, and the correction value.
  • the second control means calculates the deviation between the feedback signal from the motor speed sensor and the correction value, and calculates the motor speed command value according to the deviation and outputs it to each AC servo motor.
  • FIG. 1 is a configuration diagram showing a turning control device for a marine vessel propulsion apparatus according to an embodiment of the present invention, and shows an outline of a configuration for control.
  • FIG. 2 is a configuration diagram showing the turning control device of the embodiment, and shows an outline of the control configuration and a turning mechanism of an azimuth thruster to be controlled.
  • FIG. 3 is a block diagram showing details of the configuration of an AC servo amplifier and the like in the turning control device of the same embodiment.
  • FIG. 4 is a view showing the correction characteristic of the motor speed instruction value in the turning control device of the same embodiment in relation to the motor load and the motor rotation speed.
  • FIG. 5 is a block diagram showing details of the configuration of an AC servo amplifier or the like in the prior art.
  • FIG. 6 is a view showing a turning drive mechanism of an electric turning control apparatus using a plurality of motors, and particularly shows a state where there is a backlash between a pinion driven by the motor and a turning gear of the azimuth thruster. is there.
  • FIG. 1 is a configuration diagram showing a turning control device 2 of a marine vessel propulsion apparatus 1 according to an embodiment of the present invention, and shows an outline of a configuration for control.
  • a marine vessel propulsion device 1 is provided on a casing 3 that protrudes from the outer surface of the bottom of a marine vessel (not shown) and is turnable.
  • a propeller 4 Then, the turning control device 2 of this example is used to turn the ship propulsion device 1 by a desired angle and set it to a desired turning position in order to arbitrarily set the propulsion direction of the ship propulsion device 1. .
  • the turning control device 2 will be described for each component.
  • the operation handle 5 provided in the steering room of the ship is a device for setting a target turning position of the ship propulsion device 1 when operated by a crew member of the ship. From the operated operation handle 5, a handle signal indicating a turning position to be set by the marine vessel propulsion device 1 is output.
  • the marine vessel propulsion device 1 is provided with an angle sensor 6 that is a sensor that detects an actual turning position of the marine vessel propulsion device 1 and outputs a feedback signal.
  • the handle signal output from the operation handle 5 and the feedback signal from the angle sensor 6 are digitized by the A / D converter 8, and the deviation between the two signals is detected by the CPU 9. Calculated.
  • the CPU 9 includes a ROM 10 that stores a control program and various data necessary for control, specifically, data indicating a relationship between the deviation and the motor speed instruction value, and a RAM 11 that reads and writes various data as necessary. It has.
  • the motor speed instruction value is a numerical value (signal) indicating the motor rotation direction and the motor rotation speed.
  • the CPU 9 calculates a motor speed instruction value according to the control program stored in the ROM 10 by using the calculated deviation and the data stored in the ROM 10.
  • the motor speed instruction value is converted into a digital signal by the serial signal generator 12 (SIO), which is a communication IC, and passed through three drivers 13a and 13b connected in parallel to the serial signal generator 12 (SIO).
  • SIO serial signal generator 12
  • the signals are respectively output to a plurality (two in this embodiment) of AC servo amplifiers A1 and A2 (hereinafter also referred to as “servo amplifiers”).
  • the digital motor speed instruction value output from the turning control board 7 is input to each of the two AC servo amplifiers A1 and A2 provided outside the turning control board 7, and these two AC servo amplifiers A1.
  • A2 are mutually independent amplifiers, which receive transmission of motor speed instruction values, whereby the two AC servo amplifiers A1, A2 send motor speed command values to the corresponding AC servo motors M1, M2, respectively. Take control.
  • Each AC servo amplifier A1, A2 is provided with an alarm switch 14 as an alarm means for notifying the turning control board 7 of an abnormality of the AC servo amplifier A1, A2.
  • the alarm switches 14 and 14 of the AC servo amplifiers A1 and A2 send an alarm (contact signal) to the turning control board 7 and receive the turning control board 7 Is controlled by turning off the servo ON / OFF switches 15 and 15 provided corresponding to the AC servo amplifiers A1 and A2, and turning off the servo servo A1 or A2 that has reported the abnormality. Remove from the subject.
  • FIG. 2 is a configuration diagram showing the turning control device 2 of the present embodiment.
  • the turning control device 2 of the azimuth thruster to be controlled is also shown together with the outline of the control configuration described above with reference to FIG. It is shown.
  • a swivel gear G shown in FIG. 2 is coaxially fixed to the upper end portion of the casing 3 that is turnably provided on the outer surface of the bottom of a ship (not shown).
  • Each pinion P1, P2 attached to each drive shaft of M2 is meshed.
  • the other pinions P3 of the AC servo motors M1 and M2 that are located away from the pinions P1 and P2 are attached to the input shaft of the angle sensor 6 described above.
  • a feedback signal indicating the actual turning position of the ship propulsion device 1 is output from the angle sensor 6 and input to the turning control board 7.
  • FIG. 3 is a configuration diagram showing details of the configuration of the AC servo amplifier A and the AC servo motor M in the turning control device 2 of the present embodiment.
  • the AC servo amplifier A is provided with a correction calculation unit 20 that corrects the motor speed instruction value sent from the turning control board 7.
  • the correction calculation unit 20 has a function of performing a calculation for correcting the motor speed instruction value from the turning control board 7 in accordance with the load amount of the AC servo motor M and outputting it as a motor speed command value. For this reason, the servo amplifier A obtains the current value flowing through the AC servomotor M from the current amplifier 21 that outputs the motor speed command value finally given to the motor M, and calculates the load amount of the motor M.
  • An amount calculation unit 22 is included, and the load amount calculation unit 22 is connected to the correction calculation unit 20. The specific contents of the correction calculation of the correction calculation unit 20 will be described later with reference to FIG.
  • the motor speed command value output from the correction calculation unit 20 is sent to a subsequent comparator 24 via a limiter 23 that gives a speed limit.
  • the AC servomotor M is provided with a sensor S for measuring the motor speed, and a speed feedback signal from the sensor S is converted into a voltage signal by a frequency voltage converter 25 and given to the comparator 24.
  • the comparator 24 calculates the deviation between the motor speed command value passed through the limiter 23 and the feedback signal converted into the voltage signal, and the control unit 26 (PID regulator) as the second control means calculates the deviation.
  • the motor speed command value is calculated.
  • This motor speed command value is amplified by the above-described current amplifier 21 via the limiter 27 and given to the AC servo motor M.
  • FIG. 4 shows the correction characteristic of the motor speed instruction value (characteristic when the motor speed instruction value is corrected to the motor correction instruction value according to the load amount of the motor M) of the correction calculation unit 20 of the servo amplifier A. It is the graph shown by the relationship between load amount (horizontal axis) and motor rotation speed (vertical axis).
  • Motor speed command value Motor speed command value x ⁇ 1-A x (Load amount / Rated load) ⁇ ... (1)
  • A is a constant during power running
  • the motor speed command value is a calculation command in the AC servo amplifier
  • the motor speed command value is a motor speed command from the turning control board 7.
  • the main state is a state called regeneration in which the ship propulsion device 1 is rotated by the external water flow.
  • the AC servo with a large load is used to distribute the load.
  • FIG. 4B regenerative characteristics
  • correction is performed to increase the speed of the motor M in proportion to the load.
  • the characteristic of the motor speed command value at the time of regeneration shown in the graph of FIG. 4B can be expressed as the following equation (2).
  • Motor speed command value Motor speed command value x ⁇ 1 + B x (Load amount / Rated load) ⁇ (2)
  • B is a constant during regeneration
  • a motor speed command value is a calculation command in the AC servo amplifier
  • a motor speed instruction value is a motor speed instruction from the turning control board 7.
  • the AC servo amplifier A rotates as shown in FIG. 4C (characteristic when the load is constant or less). Without correcting the motor speed instruction value sent from the control board 7 by the correction calculation unit 20, the motor speed command value is calculated by the control unit 26 using the speed feedback signal from the sensor S as it is, via the current amplifier 21. Can be output to the AC servo motor M.
  • the motor speed command value when the load is less than or equal to the load shown in the graph of FIG. 4C can be expressed as the following equation (3).
  • Motor speed command value Motor speed command value ... (3)
  • the motor speed command value is a calculation command in the AC servo amplifier, and the motor speed command value is a motor speed command from the turning control board 7.
  • the motor speed instruction value from the turning control board 7 as the host controller is a value proportional to the actual load amount actually applied to each motor M.
  • a correction calculation for addition / subtraction is performed in accordance with the motor speed command value to be given to the motor M.
  • the motor speed command value is reduced in proportion to the load amount of the motor M
  • the load is regenerative
  • the motor speed command value is proportional to the load amount of the motor M.
  • a control logic that outputs the speed command value from the turning control board 7 as a speed command value is incorporated in each servo amplifier A. Yes. Therefore, each load of the plurality of AC servomotors M can be distributed to a uniform value obtained by dividing the total load by the number of AC servomotors M.
  • the plurality of AC servo amplifiers A are independently connected to the turning control board 7 and simultaneously receive the motor speed instruction value, which is the same digital signal, from the turning control board 7 through digital communication.
  • the plurality of AC servo amplifiers A are not in a master-slave relationship with each other and can be controlled independently from one to all units. Therefore, communication between AC servo amplifiers is not required as in the case of master-slave control, and even if some AC servo amplifiers A fail, the alarm switch 14 and servo ON / OFF switch 17 cause a failure. Since the load balance can be achieved by driving with the remaining normal motor M after disconnecting the motor M, the entire apparatus is unlikely to become uncontrollable and stable operation can be performed. Since the control is performed by a plurality of AC servo motors M, the present invention can be widely applied to small to large turning type marine propulsion devices, and there is an effect that high tracking accuracy can be obtained without being affected by an offset as in the analog type.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

La présente invention vise à équilibrer la charge distribuée sur de multiples servomoteurs à courant alternatif d'un dispositif de commande de rotation électrique. La présente invention porte sur un dispositif de commande de rotation électrique (2) destiné à commander un dispositif de propulsion de bateau rotatif, qui comprend : un panneau de commande de rotation (7) qui calcule une valeur de commande numérique de vitesse de moteur à partir d'un écart entre un signal provenant d'un capteur (6), qui détecte une position de rotation du dispositif de propulsion de bateau, et un signal de manipulation ; et de multiples servo-amplificateurs à courant alternatif (A1, A2) qui émettent des valeurs de commande de vitesse de moteur lors de la réception de la valeur de commande de vitesse de moteur provenant du panneau de commande de rotation pour entraîner les servomoteurs à courant alternatif (M1, M2). Chaque amplificateur réduit la valeur de commande de vitesse de moteur en fonction du niveau de charge pendant une opération d'alimentation du moteur, augmente la valeur de commande de vitesse de moteur en fonction du niveau de charge pendant une opération de récupération, ou n'exécute aucune correction si le niveau de charge sur le moteur est égal ou inférieur à une valeur fixe. Les charges sur les multiples servomoteurs à courant alternatif peuvent être distribuées avec une valeur uniforme.
PCT/JP2013/060790 2012-10-05 2013-04-10 Dispositif de commande de rotation pour dispositif de propulsion de bateau WO2014054304A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
ES13844375.9T ES2642405T3 (es) 2012-10-05 2013-04-10 Dispositivo de control de giro para dispositivo de propulsión de barcos
NO13844375A NO2905219T3 (fr) 2012-10-05 2013-04-10
EP13844375.9A EP2905219B1 (fr) 2012-10-05 2013-04-10 Dispositif de commande de rotation pour dispositif de propulsion de bateau

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012223023A JP6395996B2 (ja) 2012-10-05 2012-10-05 船舶推進機の旋回制御装置
JP2012-223023 2012-10-05

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WO2014054304A1 true WO2014054304A1 (fr) 2014-04-10

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EP (1) EP2905219B1 (fr)
JP (1) JP6395996B2 (fr)
ES (1) ES2642405T3 (fr)
NO (1) NO2905219T3 (fr)
WO (1) WO2014054304A1 (fr)

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CN114428475A (zh) * 2021-12-31 2022-05-03 青岛海研电子有限公司 一种船载角度跟踪补偿系统

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JP6419897B2 (ja) * 2017-06-05 2018-11-07 新潟原動機株式会社 船舶推進機の旋回制御装置
DE102017213420A1 (de) * 2017-08-02 2019-02-07 Siemens Aktiengesellschaft Elektrisches Stellantriebssystem einer Gondel zum Antrieb eines Schwimmkörpers
KR102504760B1 (ko) * 2021-01-14 2023-02-28 시엔에이전기 주식회사 엔진축 회전속도신호 생성장치

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JP2009057002A (ja) * 2007-09-03 2009-03-19 Niigata Power Systems Co Ltd 船舶推進機の旋回制御装置
JP2009227235A (ja) * 2008-03-25 2009-10-08 Niigata Power Systems Co Ltd 船舶推進機の旋回制御装置
JP2010058741A (ja) 2008-09-05 2010-03-18 Niigata Power Systems Co Ltd 船舶推進機の旋回制御装置
JP2011063064A (ja) * 2009-09-15 2011-03-31 Nabtesco Corp 推進ユニット用旋回装置

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DE10062354B4 (de) * 2000-12-14 2007-12-20 Siemens Ag Stellantrieb für einen, insbesondere elektrisch angetriebenen, Ruderpropeller eines Seeschiffes
EP2218639B1 (fr) * 2009-02-16 2015-06-03 Niigata Power Systems Co., Ltd. Système de contrôle de rotation pour unité de propulsion de bateaux

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JP2009057002A (ja) * 2007-09-03 2009-03-19 Niigata Power Systems Co Ltd 船舶推進機の旋回制御装置
JP2009227235A (ja) * 2008-03-25 2009-10-08 Niigata Power Systems Co Ltd 船舶推進機の旋回制御装置
JP2010058741A (ja) 2008-09-05 2010-03-18 Niigata Power Systems Co Ltd 船舶推進機の旋回制御装置
JP2011063064A (ja) * 2009-09-15 2011-03-31 Nabtesco Corp 推進ユニット用旋回装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114428475A (zh) * 2021-12-31 2022-05-03 青岛海研电子有限公司 一种船载角度跟踪补偿系统

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Publication number Publication date
JP2014073783A (ja) 2014-04-24
EP2905219A4 (fr) 2016-07-13
EP2905219B1 (fr) 2017-09-27
EP2905219A1 (fr) 2015-08-12
JP6395996B2 (ja) 2018-09-26
ES2642405T3 (es) 2017-11-16
NO2905219T3 (fr) 2018-02-24

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