WO2021177213A1 - 操舵装置 - Google Patents

操舵装置 Download PDF

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Publication number
WO2021177213A1
WO2021177213A1 PCT/JP2021/007639 JP2021007639W WO2021177213A1 WO 2021177213 A1 WO2021177213 A1 WO 2021177213A1 JP 2021007639 W JP2021007639 W JP 2021007639W WO 2021177213 A1 WO2021177213 A1 WO 2021177213A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
rudder
mode
steering mode
setting unit
Prior art date
Application number
PCT/JP2021/007639
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
忠重 箱山
孝夫 野中
Original Assignee
東京計器株式会社
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 東京計器株式会社 filed Critical 東京計器株式会社
Priority to JP2022504344A priority Critical patent/JPWO2021177213A1/ja
Priority to EP21765320.3A priority patent/EP4116186A4/de
Publication of WO2021177213A1 publication Critical patent/WO2021177213A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
    • 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
    • B63H25/06—Steering by rudders
    • B63H25/38—Rudders
    • B63H25/382—Rudders movable otherwise than for steering purposes; Changing geometry
    • 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
    • B63H2025/066—Arrangements of two or more rudders; Steering gear therefor
    • 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
    • B63H25/38—Rudders
    • B63H2025/387—Rudders comprising two or more rigidly interconnected mutually spaced blades pivotable about a common rudder shaft, e.g. parallel twin blades mounted on a pivotable supporting frame
    • 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
    • B63H5/14—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in non-rotating ducts or rings, e.g. adjustable for steering purpose

Definitions

  • the present invention relates to a steering technique for a ship having a rudder having two rudders.
  • a gate ladder in which two rudders are arranged so as to sandwich a screw propeller from both sides orthogonal to the propulsion direction is known as a rudder of a ship.
  • the propulsion flow is not obstructed behind the screw propeller, so the propulsion capacity of the screw propeller is substantially improved compared to the general rudder placed behind the screw propeller, and by extension, , The fuel efficiency of the ship is improved.
  • a technique related to the gate rudder it is a steering device having a drive mechanism for rotating the rudder shaft and a power mechanism for driving the rudder shaft, and the rudder shaft is rotatably on both sides above the screw shaft instead of the wake of the propeller.
  • the shafts are arranged, and each rudder shaft connects the rudder plate at the upper part of the rudder plate and hangs down, and by rotating the two rudder shafts, the two rudder plates are placed from the side of the propeller to a position where the wake of the propeller can be almost shielded directly behind it.
  • a steering device characterized in that it can turn to the wake side of the propeller is known (see, for example, Patent Document 1).
  • the problem to be solved by the present invention is to provide a steering device capable of switching the steering mode.
  • the rudder is a steering device having two rudders provided so as to sandwich the propulsion device from the left and right, and the rudder is steered so that the two rudders are substantially parallel to each other.
  • Mode setting unit that sets the steering mode to either the first steering mode or the second steering mode in which the rudder is steered with the rear ends of the two rudders closer to each other as compared with the first steering mode.
  • a steering angle control unit that controls the steering angles of the two steering plates according to the steering mode set by the mode setting unit.
  • the steering mode can be switched.
  • FIG. 1 is a block diagram showing a configuration of a steering system.
  • the steering system 1 includes an ECS (Electronic Chart System: electronic chart device) 2, a route control device 3, a steering device 4, a hull 10 of a ship, and a hull 10. It includes a gate rudder 11 that changes the traveling direction, a drive device 12 that drives the gate rudder 11, and sensors 13 that detect the state of the hull 10.
  • the sensors 13 include at least a gyro compass that detects the bow direction of the hull 10 and a GNSS sensor that detects the hull position by a satellite positioning system (GNSS).
  • the ECS2 may be an ECDIS (Electronic Chart Display System: Electronic Chart Display and Information System).
  • ECS2 displays the own ship and other ships on the electronic chart, displays various information for the operator to set the planned route of the ship, and the user interface, and the position of the own ship has entered the predetermined area.
  • the steering device 4 is notified of the intrusion notification indicating that.
  • the route control device 3 performs route control for controlling the hull position to follow the planned route set in ECS 2 and directional control for following the bow direction to the reference direction, and outputs the reference direction to the steering device. ..
  • the steering device 4 has a mode setting unit 41 that sets the steering mode to either the first steering mode or the second steering mode by the mode setting process described later, and the steering mode set by the mode setting unit 41 to change the bow direction. It includes a rudder angle control unit 42 that controls a drive device 12 that drives the gate ladder 11 so as to face the reference direction.
  • Gate ladder The configuration of the gate ladder will be described.
  • 2 and 3 are a schematic plan view and a schematic rear view showing the configuration of the gate ladder, respectively.
  • the gate rudder 11 includes two rudder plates 110a and 110b provided so as to sandwich the screw propeller 14 in the left-right direction, that is, in the direction orthogonal to the propulsion direction and the vertical direction of the ship. , It has two rudder shafts 111a and 111b provided corresponding to each of these rudder plates 110a and 110b.
  • the two rudder plates 110a and 110b are not particularly distinguished, they are simply referred to as the rudder plate 110.
  • the two rudder shafts 111a and 111b are also referred to as rudder shafts 111 at the ends unless they are particularly distinguished.
  • the rudder plate 110 is a substantially plate-shaped member that faces in a substantially vertical direction.
  • the rudder shaft 111 is provided so as to be located inward in the left-right direction with respect to the corresponding rudder plate 110, and the corresponding rudder plate 110 is rotated by the rotation of the drive device 12 in the axial direction in the substantially vertical direction. The orientation is adjusted.
  • FIG. 4 is a flowchart showing the operation of the steering mode setting process.
  • 5 and 6 are schematic plan views showing the gate rudder when the starboard direction and the port side direction are steered in the first steering mode, respectively.
  • 7, 8 and 9, respectively, are schematic plan views showing a gate rudder when the rudder is steered in the straight direction, the starboard direction, and the port side in the second steering mode, respectively.
  • the mode setting unit 41 of the steering device 4 first determines the bow orientation at a fixed time detected by the sensors 13 immediately after the actual rudder angle matches the commanded rudder angle by the rudder angle control unit 42.
  • the turning angular velocity is calculated based on (S101), and it is determined whether or not the calculated turning angular velocity is equal to or less than a preset threshold value (S102).
  • the mode setting unit 41 determines whether or not the intrusion notification has been given by ECS2 (S103). This intrusion notification is given when the ship is located within a preset area on the electronic chart displayed by ECS2, for example, a quay, a mooring buoy, an offshore anchorage site, and a maritime structure. This is done when the ship is located within a certain distance from the above.
  • the mode setting unit 41 sets the steering mode by the steering angle control unit 42 to the first steering mode (S104).
  • the rudder angle control unit 42 set to the first steering mode adjusts the rudder angle of the gate ladder 11 so that the two rudder plates 110 are kept parallel to each other. Control. Further, the rudder angle control unit 42 may control the rudder angle of the gate ladder 11 so that the rear side of the two rudder plates 110 is maintained in a state of being inclined outward in the left-right direction.
  • the mode setting unit 41 sets the steering mode by the steering angle control unit 42 to the second steering mode (S105).
  • the rudder angle control unit 42 set in the second steering mode maintains a state in which the rear side of the two rudder plates 110 is inclined inward in the left-right direction.
  • the rudder angle of the gate ladder 11 is controlled.
  • step S102 when the turning angular velocity is equal to or less than the threshold value (S102, YES), the mode setting unit 41 sets the steering mode by the steering angle control unit 42 to the second steering mode (S105).
  • the gate ladder 11 suitable for the navigation situation is used. Steering can be performed.
  • the first steering mode was set to the steering mode for steering while maintaining the state of being inclined in parallel or outward
  • the second steering mode was set to the steering mode for steering while maintaining the state of being inclined inward.
  • the steering mode may be a steering mode in which the rear ends of the two rudder plates 110 are closer to each other as compared with the first steering mode.
  • the ship provided with the screw propeller 14 has been described, but other propulsion devices such as a water jet propulsion device may be used.
  • FIG. 10 is a flowchart showing the operation of the steering mode setting process according to the present embodiment.
  • the sensors 13 include a speed log for detecting the water speed of the hull 10, and the steering device 4 acquires the water speed detected by the sensors 13. It is different from the first embodiment.
  • the mode setting unit 41 of the steering device 4 determines whether or not the water speed detected by the sensors 13 is equal to or less than a preset threshold value (S201).
  • the threshold value is set based on the steering effect according to the water speed grasped in advance, and the correlation between the water speed and the steering effect is, for example, a simulation using a ship motion model. , Obtained based on experimental values from water tank experiments, measured values from ship test operations, etc.
  • the mode setting unit 41 sets the steering mode by the steering angle control unit 42 to the first steering mode (S202).
  • the mode setting unit 41 sets the steering mode by the steering angle control unit 42 to the second steering mode (S203).
  • the calculation of the turning angular velocity is omitted by setting the steering mode based on the judgment of the water speed by the threshold value set based on the steering effect, that is, the correlation between the turning angular velocity and the water speed. It is possible to reduce the amount of calculation related to the setting of the steering mode. Further, by using the water speed, it is possible to switch the steering mode in consideration of the influence of the wind direction, the wind speed, the flow direction of the tidal current, the flow velocity, and the like on the hull 10.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2021/007639 2020-03-02 2021-03-01 操舵装置 WO2021177213A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2022504344A JPWO2021177213A1 (de) 2020-03-02 2021-03-01
EP21765320.3A EP4116186A4 (de) 2020-03-02 2021-03-01 Lenkvorrichtung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-034917 2020-03-02
JP2020034917 2020-03-02

Publications (1)

Publication Number Publication Date
WO2021177213A1 true WO2021177213A1 (ja) 2021-09-10

Family

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PCT/JP2021/007639 WO2021177213A1 (ja) 2020-03-02 2021-03-01 操舵装置

Country Status (3)

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EP (1) EP4116186A4 (de)
JP (1) JPWO2021177213A1 (de)
WO (1) WO2021177213A1 (de)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01501384A (ja) * 1986-11-20 1989-05-18 マリコ　アクスゼセルスカプ 船の操縦装置
JP2008230379A (ja) * 2007-03-20 2008-10-02 Universal Shipbuilding Corp 一軸二舵船の操舵方法及び操舵装置
JP2014073815A (ja) * 2012-10-05 2014-04-24 National Maritime Research Institute 二枚舵システム及び二枚舵システムを装備した船舶
JP5833278B1 (ja) 2014-01-31 2015-12-16 株式会社ケイセブン 操舵装置及びその操舵方法
JP6515171B1 (ja) * 2017-12-18 2019-05-15 株式会社ケイセブン 操舵装置及び船舶
JP6860642B1 (ja) * 2019-11-26 2021-04-21 株式会社ケイセブン 操舵装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6467152B2 (ja) * 2014-07-09 2019-02-06 株式会社ケイセブン 操舵装置
JP6659747B2 (ja) * 2018-02-20 2020-03-04 株式会社ケイセブン 操舵装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01501384A (ja) * 1986-11-20 1989-05-18 マリコ　アクスゼセルスカプ 船の操縦装置
JP2008230379A (ja) * 2007-03-20 2008-10-02 Universal Shipbuilding Corp 一軸二舵船の操舵方法及び操舵装置
JP2014073815A (ja) * 2012-10-05 2014-04-24 National Maritime Research Institute 二枚舵システム及び二枚舵システムを装備した船舶
JP5833278B1 (ja) 2014-01-31 2015-12-16 株式会社ケイセブン 操舵装置及びその操舵方法
JP6515171B1 (ja) * 2017-12-18 2019-05-15 株式会社ケイセブン 操舵装置及び船舶
JP6860642B1 (ja) * 2019-11-26 2021-04-21 株式会社ケイセブン 操舵装置

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
ANONYMOUS: "Research report of the technology development of energy-saving promotion system using Gate Rudder", vol. 19, 20 March 2018 (2018-03-20), Tokyo, JP, pages 1 - 106, XP009538375, Retrieved from the Internet <URL:http://nippon.zaidan.info/jigyo/2018/0000093210/jigyo_info.html> *
ANONYMOUS: "Story of new technology development: Rudder and propeller are integrated into a thruster. Kamome propeller challenges new rudder development", MARITIME JOURNAL, no. 15975, 4 February 2020 (2020-02-04), JP, pages 10 - 11, XP009538377 *
KURIBAYASHI, SADATOMO ET AL.: "The New Hull Form with Twin Rudders Utilizing Duct Effects (3rd Report", CONFERENCE PROCEEDINGS OF THE JAPAN SOCIETY OF NAVAL ARCHITECTS AND OCEAN ENGINEERS, 26 May 2016 (2016-05-26), pages 305 - 308, XP055852495, DOI: 10.14856/conf.22.0_305 *
SEIICHIRO DOI: "For the future of SES: Summary of new product development of the 9th 'Energy-saving promotion system using Gate Rudder' of the super eco-ship study group", MONTHLY KYOYUSEN, no. 543, 20 January 2019 (2019-01-20), pages 59 - 65, XP009538376 *

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Publication number Publication date
EP4116186A1 (de) 2023-01-11
JPWO2021177213A1 (de) 2021-09-10
EP4116186A4 (de) 2023-08-30

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