JPH0156035B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a marine vessel steering system in which a rudder is rotated in accordance with the amount of oil discharged from a plurality of hydraulic pumps, and in particular, the present invention relates to a ship steering system in which the rudder is rotated in accordance with the amount of oil discharged from a plurality of hydraulic pumps, and in particular, in which the number of operating hydraulic pumps can be selectively changed. It concerns what was done.

<Prior art> Fig. 1 shows a single-loop steering system. That is, in the steering stand 11, the deviation between the commanded steering angle signal from the terminal 12 and the actual steering angle signal from the terminal 13 is taken by the difference circuit 14, and the difference signal is supplied to the control amplifier 16 as a deflection angle signal through the amplifier 15. Ru. The output of the control amplifier 16 changes and controls the set value of the torque motor as a discharge amount control means. In other words, the tilt angle of the swash plate of the hydraulic pump is the torque motor 17
The discharge amount of the hydraulic pump 18 is controlled by the hydraulic pump 18. A potentiometer 19 is also controlled by the torque motor 17 in accordance with the set discharge amount, and the potentiometer 19 converts the set discharge amount into an electric signal, and this electric signal is sent to the control amplifier 16.
is fed back to the input side of the steering stand 11, and the difference between it and the declination signal from the steering stand 11 is taken by a difference circuit 21, and the output of the difference circuit 21 is amplified by an amplifier 22 and becomes the output of the control amplifier 16.

The hydraulic pump 18 is driven by a motor 23,
The oil discharged from the hydraulic pump 18 is guided to a steering gear 24 and rotates a rudder 25. The amount of the rudder angle of the rudder 25 is converted into an electric signal by the rudder angle transmitter 26 and is returned to the steering stand 11 from the terminal 13. When this value matches the commanded rudder angle signal of the terminal 12, the torque motor 17 is activated. The steering gear 24 returns to the neutral position and stops at the commanded steering angle position.

FIG. 2 shows a steering system configured to allow hydraulic pumps to be operated in parallel. Components corresponding to those in FIG.
a torque motor 17' controlled by its output;
A hydraulic pump 18' whose discharge amount is set by the torque motor 17', a potentiometer 19' which converts the set amount into an electric signal and returns it to the control amplifier 16', and a motor 2 which controls the hydraulic pump 18'.
3' is provided. The declination signal of the steering stand 11 is also input to the control amplifier 16', and the hydraulic pump 1
The oil discharged from 8' is also given to the steering gear 24. In other words, the two torque motors 17 and 17' are driven by electric signals corresponding to the deviation angle between the commanded steering angle and the actual steering angle from the steering stand 11, and the hydraulic pumps 18,
18' to the steering gear 24, and the amount of oil discharged is also doubled, and the amount of oil guided to the steering gear 24 is doubled compared to when there is only one hydraulic pump. 25's steering speed will also double. This parallel operation of the hydraulic pumps is carried out when the ship speed is slow and prompt steering is required, such as in a port, and to avoid a loss of steering accident due to pump failure.

At this point, the swash plate of the hydraulic pump 18, 18' moves from the neutral position to the maximum tilt angle (or from the maximum tilt angle to the neutral position)
Generally speaking, the higher the pump capacity, the slower the tilting speed. When hydraulic pumps with slow swash plate tilting speeds are operated in parallel and the same tilting angle control as in single operation is performed, overshoot or hunting may occur because the steering speed is doubled. . To prevent this, conventional hydraulic pumps 18, 1
The relationship between the tilt angle of the swash plate 8' and the amount of steering angle deviation is shown in the third table.
It was used with the characteristics shown by the dashed line 27 in the figure. In other words, when one hydraulic pump (for example, 18) is in operation (during normal navigation, one hydraulic pump is used for operation), the characteristics of the control amplifier (for example, 16) should be expressed as the solid line in Figure 3. In order to avoid overshoot during parallel operation, the characteristics of the constant control amplifier 16 should be changed to the characteristics shown by 28, as shown by the dashed line 27 in Fig. 3, when the parallel operation is used only at the input port. The gain was lowered to suit the characteristics of the Therefore, when one hydraulic pump is operating, a steering speed of, for example, 24 seconds/65 degrees can be obtained, but in order to prevent overshoot during parallel operation, the steering speed when operating one hydraulic pump has been reduced. For example, the actual situation was that we had no choice but to use it at 28 seconds/65 degrees.

<Summary of the Invention> The purpose of the present invention is to perform parallel operation without detracting from the characteristics of the original operation of a single pump, without overshooting or hunting during parallel operation of hydraulic pumps, and without detracting from the characteristics of single pump operation. An object of the present invention is to provide a ship steering device that can quickly control the tilting angle of a swash plate, that is, the discharge amount during pump operation.

According to this invention, it is detected in the operating state that the hydraulic pumps are in parallel operation, and the proportional range of the plurality of control amplifiers is expanded by this detection output, thereby increasing the proportionality of the tilting angle control of the pump swash plate. By automatically widening the area, overshoot is prevented during parallel operation, and when operating with a single pump, the system automatically returns to the original proportional area, so there is no risk of impairing steering performance.

<Example> FIG. 4 shows a specific example of this invention, and the second
Parts corresponding to those in the figure are given the same reference numerals. In this invention, it is detected that the hydraulic pumps 18, 18' are in parallel operation. Therefore, when the hydraulic pumps 18 and 18' are operated, the detectors 31 and 31' detect the outputs, and the logical product of their outputs is
It is taken by the AND circuit 32. An output is obtained from the AND circuit 32 only when the hydraulic pumps 18 and 18' are in operation at the same time. The output of this AND circuit 32 widens the proportional control range of the control amplifiers 16, 16'. For example, control amplifiers 30, 30'
decreases the gain of That is, one end of the output side of the declination signal from the steering stand 11 is connected to the inverting input side and the non-inverting input side of the operational amplifier 22 through resistors 33 and 34, and the resistor 34 is connected in parallel with the resistor 34.
5 and a series circuit of a switch 36 which is turned on by the output of the AND circuit 32 are connected. A feedback resistor 37 is connected between the inverting input side and the output side of the operational amplifier 22. The output of potentiometer 19 is then fed through resistor 38 to the inverting input of operational amplifier 22. The non-inverting input side of the operational amplifier 22 is connected to the inverting input side and the non-inverting input side of the operational amplifier 22' of the other control amplifier 30', respectively.
4'. A series circuit of a resistor 35' and a switch 36' which is turned on by the output of the AND circuit 32 is connected in parallel with the resistor 34', and a feedback resistor 3 is connected between the inverting input side and the output side of the operational amplifier 22'.
7' is connected, and the output of potentiometer 19' is further supplied to operational amplifier 22' through resistor 38'. The non-inverting input side of the operational amplifier 22' is connected to the other output side of the steering stand 11. In this configuration, when only one of the hydraulic pumps 18, 18' is in operation, the switches 36, 3
6' are both off, the apparent gain of the control amplifiers 30, 30' is large, and their input/output characteristics are as shown by the solid line 28 in FIG. The characteristics of the turning angle and the yaw angle are also similar, and the response to the yaw angle is fast and the steering performance is good. When the hydraulic pumps 18 and 18' are operated in parallel, the switches 36 and 36' are both turned on, so the receiving resistance values of the control amplifiers 30 and 30' become smaller, and the input voltage of the amplifiers 22 and 22' becomes smaller. , the gains of the control amplifiers 30, 30' are apparently reduced, and their input/output characteristics automatically change to those shown by the dash-dotted line 27 in FIG. This can prevent the steering gear from overshooting due to doubling of the steering speed due to parallel operation.

<Effects> As described above, according to the present invention, the proportional region of the control amplifier is automatically changed according to the number of hydraulic pumps in operation, and parallel operation, which was conventionally only used when entering and departing from port, can be used during voyages. The steering characteristics when operating a single pump, which is used in most ships, have been degraded, but this does not occur with this invention, and the steering characteristics when operating a single pump, which is used in most voyages, are not impaired. Moreover, when the hydraulic pumps are operated in parallel, the steering speed can be made twice the steering speed when one hydraulic pump is operated, and there is no risk of overshoot or hunting.

In FIG. 4, in order to change the input/output characteristics of the control amplifiers 30 and 30', the input signal level is changed to change the apparent characteristics of the control amplifier. For example, as shown by the dotted line in FIG. The gain may actually be controlled by connecting series circuits of a resistor 35, a switch 36, a resistor 35', and a switch 36' in parallel with the resistors 37 and 37'. Further, the number of hydraulic pumps during parallel operation is not limited to two.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing a conventional ship steering system using a single hydraulic pump; Fig. 2 is a block diagram showing a conventional ship steering system using parallel operation;
FIG. 3 is a characteristic diagram of the inclination angle (output of the control amplifier) versus the deflection angle (input of the control amplifier) of the swash plate of the hydraulic pump, and FIG. 4 is a block diagram showing an example of a ship steering system according to the present invention. 11... Steering stand, 16, 16', 30,
30'... Control amplifier, 17, 17'... Torque motor as discharge amount setting means, 18, 18'...
Hydraulic pump, 19, 19'... Set discharge amount - electrical signal conversion potentiometer, 23, 23'...
Pump drive motor, 24... Steering gear, 25...
Rudder, 26... Rudder angle transmitter, 31, 31'... Pump operation detector, 32... AND circuit for parallel operation detection.

Claims (1)

[Claims] 1. A steering stand that outputs a yaw angle signal corresponding to the yaw angle between the commanded rudder angle and the actual steering angle, and a plurality of controls that input this yaw angle signal and control the set values of the plurality of discharge amount control means. an amplifier, a plurality of conversion means for converting the set value of the discharge amount control means into an electrical signal and feeding it back to the control amplifier, and a plurality of converters whose discharge amount can be changed according to the set value of the discharge amount control means. A hydraulic pump, a steering gear that rotates the rudder according to the amount of oil discharged from the hydraulic pump, and a rudder that converts the amount of steering angle controlled by the steering gear into an electric signal and returns to the above-mentioned steering stand. An operating state detector for detecting that the plurality of hydraulic pumps enter into an operating state, and an output of the operating state detector to control the plurality of hydraulic pumps. A steering device for a ship, characterized in that it comprises means for automatically widening the proportional region of an amplifier.