JPS6334078B2 - - Google Patents
Info
- Publication number
- JPS6334078B2 JPS6334078B2 JP56103719A JP10371981A JPS6334078B2 JP S6334078 B2 JPS6334078 B2 JP S6334078B2 JP 56103719 A JP56103719 A JP 56103719A JP 10371981 A JP10371981 A JP 10371981A JP S6334078 B2 JPS6334078 B2 JP S6334078B2
- Authority
- JP
- Japan
- Prior art keywords
- angular velocity
- signal
- turning angular
- turning
- azimuth
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
この発明はジヤイロコンパスよりの方位角信号
と方位設定信号との偏差に応じて船舶を設定した
進路を進むように自動的に操舵する船舶用自動操
舵装置に関し、特に設定した旋回角速度で自動的
に旋回することができるようにしようとするもの
である。[Detailed Description of the Invention] The present invention relates to an automatic steering system for ships that automatically steers a ship to follow a set course according to the deviation between an azimuth signal from a gyro compass and a azimuth setting signal, and particularly relates to The purpose is to enable automatic turning at a set turning angular velocity.
従来の自動操舵装置は第１図に示すようにジヤ
イロコンパス１１からの船舶の方位を示す方位角
信号iと進路設定器１２からの設定方位角信号s
とが、方位角差回路１３に入力され、これらの偏
差s−iが演算器１４に供給される。演算器１４
では入力された偏差が例えば比例、微分演算され
て比較器１５へ供給される。比較器１５では舵角
信号発信器１６から発信される舵角信号と演算器
１４からの演算出力との偏差がとられ、その偏差
がサーボ増幅器１７を通じて油圧パワーユニツト
１８に供給されてこれが制御される。油圧パワー
ユニツト１８によつて舵取り機１９が駆動され、
舵取り機１９により舵２１が操舵される。油圧パ
ワーユニツト１８の機械出力軸に連結されて、そ
の機械出力軸の操作量に応じた電気的舵角信号を
舵角信号発信器１６から発信する。比較器１５の
出力が常にゼロになるように舵２１が自動操舵さ
れて船舶は進路設定器１２で設定された通路を自
動的に進行するように制御される。 As shown in FIG. 1, a conventional automatic steering system uses an azimuth signal i indicating the ship's direction from a gyro compass 11 and a set azimuth signal s from a course setting device 12.
are input to the azimuth angle difference circuit 13, and these deviations s − i are supplied to the arithmetic unit 14. Arithmetic unit 14
Then, the input deviation is subjected to proportional and differential calculations, for example, and then supplied to the comparator 15. The comparator 15 calculates the deviation between the steering angle signal transmitted from the steering angle signal transmitter 16 and the calculated output from the calculator 14, and the deviation is supplied to the hydraulic power unit 18 through the servo amplifier 17 to control it. Ru. A steering gear 19 is driven by a hydraulic power unit 18,
A rudder 21 is steered by a steering gear 19 . The steering angle signal transmitter 16 is connected to the mechanical output shaft of the hydraulic power unit 18, and transmits an electrical steering angle signal corresponding to the amount of operation of the mechanical output shaft. The rudder 21 is automatically steered so that the output of the comparator 15 is always zero, and the ship is controlled to automatically proceed along the path set by the course setting device 12.
ところで例えばしゆんせつ船においてはその船
を旋回させながらしゆんせつ作業をすることがよ
くある。このような場合においては、レートジヤ
イロを備えてそのレートザイルの指示、つまりし
ゆんせつ船の旋回角速度が一定になるように手動
で船舶の旋回速度を制御していた。このように旋
回角速度が一定になるように手動で操船すること
は熟練を要し、しかもあまり高い精度で操作する
ことができず、またしゆんせつ作業も効率良く行
うことができなかつた。 By the way, for example, in the case of a dredging vessel, the dredging work is often carried out while the ship is turning. In such cases, a rate gyro is provided to manually control the turning speed of the vessel so that the rate gyro, that is, the turning angular speed of the dredger, remains constant. Manually maneuvering the ship to maintain a constant turning angular velocity in this manner requires skill, and it is not possible to operate with very high precision, nor can the shedding work be performed efficiently.
この発明の目的は、従来と同様に設定した進路
を自動的に進むように操舵することができると共
に船舶を設定した所望の旋回角速度で自動的に旋
回させることができる船舶用自動操舵装置を提供
することにある。 An object of the present invention is to provide an automatic steering system for a ship that can steer the ship so as to automatically follow a set course as in the past, and can also automatically turn the ship at a set desired turning angular velocity. It's about doing.
この発明によればジヤイロコンパスからの方位
角信号を信号変換器により旋回角速度信号に変換
し、また目的とする旋回角速度を設定する設定器
を設け、この旋回角速度設定器により設定された
旋回角速度信号と信号変換器からの旋回角速度信
号との偏差信号を角速度差回路により検出し、こ
の角速度差回路からの信号を方位角信号の偏差信
号と切換えて演算器に供給するようにする。この
ようにしてレートジヤイロを設けることなく従来
の自動操舵装置に対してわずかの回路を付加する
だけで設定した旋回角速度で船舶を旋回させる自
動操舵を行うことが可能となる。 According to this invention, a signal converter converts an azimuth signal from a gyro compass into a turning angular velocity signal, and a setting device is provided for setting a target turning angular velocity, and the turning angular velocity set by the turning angular velocity setting device is provided. A deviation signal between the signal and the turning angular velocity signal from the signal converter is detected by the angular velocity difference circuit, and the signal from the angular velocity difference circuit is switched to the deviation signal of the azimuth signal and supplied to the arithmetic unit. In this way, it is possible to perform automatic steering for turning a ship at a set turning angular velocity by simply adding a few circuits to a conventional automatic steering system without providing a rate gyro.
例えば第２図に第１図と対応する部分に同一符
号を付けて示すがこの発明においてはジヤイロコ
ンパス１１からの方位角信号を旋回角速度信号に
変換する信号変換器２２が設けられる。信号変換
器２２は、例えばジヤイロコンパスからの方位角
信号iを微分する回路である。また目的とする旋
回角速度を設定する旋回角速度設定器２３が設け
られる。この旋回角速度設定器２３よりの設定旋
回角速度信号sと信号変換器２２よりの旋回角速
度信号iとの偏差が角速度差回路２４でとられ
る。この角速度差回路２４と方位角差回路１３の
出力が切換スイツチ２５で切換えられて演算器１
４に供給されるようにする。 For example, in FIG. 2, parts corresponding to those in FIG. 1 are denoted by the same reference numerals, and in this invention a signal converter 22 is provided for converting the azimuth signal from the gyro compass 11 into a turning angular velocity signal. The signal converter 22 is, for example, a circuit that differentiates the azimuth signal i from a gyro compass. Further, a turning angular velocity setting device 23 is provided for setting a target turning angular velocity. The deviation between the set turning angular velocity signal s from the turning angular velocity setter 23 and the turning angular velocity signal i from the signal converter 22 is determined by an angular velocity difference circuit 24. The outputs of the angular velocity difference circuit 24 and the azimuth difference circuit 13 are switched by a changeover switch 25, and the arithmetic unit 1
4.
この構成によれば、従来と同様に設定した進路
に船舶を進行させる場合はスイツチ２５を方位角
差回路１３側に切換え設定すれば第１図に示した
と同様の構成になつて設定進路を進むように船舶
を自動操舵させることができる。 According to this configuration, when the ship is to proceed on a set course in the same manner as in the past, by switching the switch 25 to the azimuth angle difference circuit 13 side, the ship will have the same configuration as shown in FIG. 1 and will proceed on the set course. The ship can be automatically steered.
またスイツチ２５を角速度差回路２４側に切替
えると、設定器２３において設定した角速度信号
と信号変換器２２よりの船舶のその時の旋回角速
度信号とが角速度差回路２４で検出され、これが
演算器１４に供給され、その偏差信号は比例微分
などの演算がなされて比較器１５に供給される。
従つて設定旋回角速度と船舶のその時の旋回角速
度とが常に一致するように舵２１が制御されるこ
とになる。 When the switch 25 is switched to the angular velocity difference circuit 24 side, the angular velocity signal set by the setting device 23 and the current turning angular velocity signal of the ship from the signal converter 22 are detected by the angular velocity difference circuit 24, and this is sent to the calculator 14. The deviation signal is subjected to calculations such as proportional differentiation, and is then supplied to the comparator 15.
Therefore, the rudder 21 is controlled so that the set turning angular velocity and the current turning angular velocity of the ship always match.
以上述べたようにこの発明による自動操舵装置
によれば従来の船舶を自動的に設定した進路に進
ませる自動操舵装置に、信号変換器２２、旋回角
速度設定器２３、角速度差回路２４、さらにスイ
ツチ２５など簡単な電気的回路をつけ加えただけ
で船舶を設定した旋回角速度で旋回させる自動操
舵を行わせることができる。そのため従来必要と
していたレートジヤイロを使用することなく、し
かも従来のレートジヤイロでの精度は0.5度／分
ないし１度／分であるが、これを見て手動操作す
るためこれよりはるかに低い精度の旋回角速度で
しか旋回させることができなかつたが、この発明
の装置によれば例えば２度／分精度で自動的に旋
回させることが容易であり、従来の手動操舵に較
べて高い精度が得られる。しかも従来の人手によ
る熟練を必要とせず自動的操舵される。 As described above, according to the automatic steering system according to the present invention, a signal converter 22, a turning angular velocity setter 23, an angular velocity difference circuit 24, and a switch are added to the conventional automatic steering system that automatically steers a ship along a preset course. By simply adding a simple electrical circuit such as 25, it is possible to automatically steer the ship to turn at a set turning angular velocity. This eliminates the need for a rate gyro, which was previously required, and the accuracy of conventional rate gyros is 0.5 degrees/minute to 1 degree/minute, but since it is manually operated based on this, the turning angular velocity is much lower than this. However, with the device of the present invention, it is easy to automatically turn with an accuracy of, for example, 2 degrees/minute, and higher accuracy can be obtained than with conventional manual steering. Moreover, it is automatically steered without requiring conventional manual skill.
このように一つのジヤイロコンパスのみで設定
した進路を自動的に進ませる操舵と、設定した旋
回角速度で自動的に旋回させる操舵とを自由に切
換えて使うことが可能であり、例えばしゆんせつ
船においてその作業を容易にすると共に大きな船
舶がせまい水路を運行する場合に対向船舶をよけ
る際に旋回しすぎないように自動旋回操舵を行つ
たり、あるいは接岸する際等に自動的に一定旋回
角速度で操舵でき、頗る便利である。 In this way, it is possible to freely switch between steering, which automatically follows a course set using only one gyro compass, and steering, which automatically turns at a set turning angular velocity. In addition to making this task easier on ships, when large ships navigate narrow waterways, automatic turning steering can be performed to avoid turning too much when avoiding oncoming ships, or automatic turning steering can be used to automatically maintain a constant position when berthing. It can be steered at turning angular velocity, which is extremely convenient.
第１図は従来の船舶用自動操舵装置を示すブロ
ツク図、第２図はこの発明による船舶用自動操舵
装置の一例を示すブロツク図である。
１１：ジヤイロコンパス、１２：進路設定器、
１３：方位角差回路、１４：演算器、１５：比較
器、１６：舵角発信器、１７：サーボ増幅器、１
８：油圧パワーユニツト、１９：舵取機、２１：
舵、２２：信号変換器、２３：旋回角速度設定
器、２４：角速度差回路、２５：切換器。
FIG. 1 is a block diagram showing a conventional ship automatic steering system, and FIG. 2 is a block diagram showing an example of a ship automatic steering system according to the present invention. 11: Gyroscope compass, 12: Course setting device,
13: Azimuth angle difference circuit, 14: Arithmetic unit, 15: Comparator, 16: Rudder angle transmitter, 17: Servo amplifier, 1
8: Hydraulic power unit, 19: Steering gear, 21:
Rudder, 22: Signal converter, 23: Turning angular velocity setting device, 24: Angular velocity difference circuit, 25: Switching device.
Claims (1)
定器からの方位設定信号との偏差を演算器へ供給
し、その演算器の出力により操舵装置を駆動する
ようにした船舶用自動操舵装置において、上記ジ
ヤイロコンパスからの方位角信号を旋回角速度信
号に変換する信号変換器と、所望の旋回角速度を
設定する旋回角速度設定器と、この旋回角速度設
定器からの角速度設定信号と上記信号変換器から
の旋回角速度信号との差信号を得る角速度差回路
と、その角速度差回路の出力と上記方位角信号の
偏差とを切換えて、上記演算器へ供給する切換器
とを具備する船舶用自動操舵装置。1. In a marine automatic steering system that supplies the deviation between the azimuth signal from the gyro compass and the azimuth setting signal from the course setting device to a computing unit, and drives the steering device by the output of the computing unit, the above-mentioned A signal converter that converts the azimuth signal from the gyro compass into a turning angular velocity signal, a turning angular velocity setting device that sets a desired turning angular velocity, and an angular velocity setting signal from this turning angular velocity setting device and a turning angular velocity setting signal from the above signal converter. An automatic steering device for a ship, comprising: an angular velocity difference circuit that obtains a difference signal from a turning angular velocity signal; and a switch that switches between the output of the angular velocity difference circuit and the deviation of the azimuth signal and supplies the same to the arithmetic unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56103719A JPS584698A (en) | 1981-07-01 | 1981-07-01 | Marine automatic steering apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56103719A JPS584698A (en) | 1981-07-01 | 1981-07-01 | Marine automatic steering apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS584698A JPS584698A (en) | 1983-01-11 |
| JPS6334078B2 true JPS6334078B2 (en) | 1988-07-07 |
Family
ID=14361493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56103719A Granted JPS584698A (en) | 1981-07-01 | 1981-07-01 | Marine automatic steering apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS584698A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7664060B2 (en) | 2021-03-12 | 2025-04-17 | ヤンマーホールディングス株式会社 | Navigation equipment and vessel |
-
1981
- 1981-07-01 JP JP56103719A patent/JPS584698A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS584698A (en) | 1983-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0035859A2 (en) | Ship maneuvering gear | |
| US20240116619A1 (en) | Steering system having steering angle correction function for single-propeller twin-rudder ship | |
| EP4480809A1 (en) | Uniaxial twin-rudder ship having automatic docking function | |
| CN110196439A (en) | A kind of dynamic positioning system based on Beidou differential signal | |
| JPS6334078B2 (en) | ||
| JP7530682B1 (en) | Single-screw, twin-rudder vessel equipped with a controllable pitch propeller | |
| NO790481L (en) | SPEED CONTROL FOR DRIVER FOR THE TURNING AND / OR LIFTING MOVEMENT OF A CRANE | |
| JP2510389B2 (en) | Hull movement instruction method and rudder angle instruction method | |
| JPH08216989A (en) | Automatic ship handling equipment | |
| EP0035858A2 (en) | Ship maneuvering gear | |
| JPS6233998B2 (en) | ||
| JPS5695798A (en) | Automatic pilot device for ship | |
| US3699420A (en) | Automatic control system controlling the course of a ship | |
| JP7634293B2 (en) | Single-screw, twin-rudder vessel equipped with a controllable pitch propeller | |
| JPS6094898A (en) | Steering device | |
| JPS6173015A (en) | automatic navigation system | |
| JP2622270B2 (en) | Marine automatic rotation control device | |
| SU1150155A1 (en) | Device for controlling ship movement | |
| JPH0438635B2 (en) | ||
| JPH0664589A (en) | Ship position automatic holding method | |
| JPS60248494A (en) | Rudder control device | |
| JPH04255Y2 (en) | ||
| JPS5544014A (en) | Course following steerage ordering apparatus | |
| JPH02200597A (en) | Overall maneuvering gear for marine vessel | |
| JP2007076489A (en) | Control device for propeller turning type propulsion machine |