JPH0986492A - Control oil hydraulic circuit for fin stabilizer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the number of parts of the control hydraulic circuit of a fin stabilizer, to facilitate regulation, and to provide a self-return function to a safe fin angle. SOLUTION: A variable delivery pump 3 to deliver working oil according to a variation amount of the fin angle θ of a fin stabilizer has a flow rate regulation lever 12 and a spring loaded hydraulic cylinder 9 exerts a spring energizing force on a flow rate regulation lever 12 during a time in which control oil to control a fin angle θ is not pressed in so that the fin angle θis returned to a neutral position. Control oil to control the fin angle θ is fed from a control valve 11 and when the control oil is pressed in against a spring energizing force, a flow rate regulation lever 12 is operated so that a delivery amount of the variable delivery pump 3 is regulated according to an oil amount of the pressed-in control oil.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fin stabilizer control hydraulic circuit for controlling the fin angle of a fin stabilizer applied to, for example, a navigation body on or in a fluid such as a ship or an underwater vehicle. Regarding

[0002]

2. Description of the Related Art FIG. 2 shows an example of a conventional control hydraulic circuit for a fin stabilizer. In FIG. 2, the fin 1 is swung around a swing axis by a hydraulic cylinder 2, and the fin angle θ is set by swinging the fin 1 by the hydraulic cylinder 2. The hydraulic cylinder 2 can be operated in two reciprocating directions according to the positive / negative flow rate of the hydraulic oil, that is, the positive / negative flow rate Q of the discharged oil discharged by the variable discharge pump 3 whose positive / negative discharge flow rate is variable. The flow rate Q is adjusted by a flow rate adjusting lever 12 which is a flow rate adjusting means of the variable discharge pump 3. The flow rate adjusting lever 12 is controlled by the hydraulic cylinder 13 according to the stroke x of the hydraulic cylinder 13. Hydraulic cylinder 13
Stroke x is automatically controlled by a control system including a stroke detector 14 and an electromagnetic hydraulic servo valve 15. First, the auxiliary pump 4 supplies the hydraulic oil whose pressure is adjusted through the pressure reducing valve 6 to the variable discharge pump 3 through the check valve 7 in order to replenish the hydraulic oil flowing out from the drain 10 of the variable discharge pump 3. At the same time, secondly, the hydraulic oil regulated by the safety valve 5 is supplied to the hydraulic cylinder 13 that drives the flow rate adjusting lever 12 via the electromagnetic hydraulic servo valve 15.

FIG. 4 shows a control system of the control hydraulic circuit of the conventional fin stabilizer shown in FIG.
In FIG. 4, in order to match the fin angle command value θ _d with the actual fin angle θ, the deviation value of the actual fin angle θ from the fin angle command value θ _d is obtained by the comparator 16. The deviation value obtained by the comparator 16 is amplified by the amplifier 17, and the deviation value amplified by the amplifier 17 is sent from the amplifier 17 as a command value of the stroke x. The comparator 22 obtains a deviation value with respect to the command value of the actual stroke x detected by the stroke detector 14, and causes the servo amplifier 23 as an amplifier to operate the electromagnetic hydraulic servo valve 15 according to the command value of the stroke x. Send its output signal. As a result, the electromagnetic hydraulic servo valve 15 that operates according to the output signal of the servo amplifier 23 sends the hydraulic oil having a flow rate proportional to the command value from the servo amplifier 23 to the hydraulic cylinder 13, so that the hydraulic cylinder 13 follows the command value. Driven to. Since the stroke x is proportional to the flow rate Q of the discharge oil of the variable discharge pump 3, the reaction speed of the fin angle θ is determined by the size of the constant K ₁ multiplied by the multiplier 19 and the size of the hydraulic cylinder 2, and the constant K ₁
By appropriately setting the dimensions of the hydraulic cylinder 2, the fin angle θ can be controlled so as to be set as the fin angle command value θ _d . In FIG. 4, the stroke detector 14 and the comparator 1 surrounded by the one-dot chain line 20.
6, the amplifier 17, the comparator 22, and the servo amplifier 23 form an electrical control section.

[0004]

In the above-described conventional control hydraulic circuit for fin stabilizers, the stroke detector 14, the electromagnetic hydraulic servo valve 15, the comparators 16 and 22, the servo amplifier 23, and other devices are all the same. Adjustment is difficult, for example, adjustment of the zero point of the fin angle θ, adjustment of the zero point of the stroke detector 14, adjustment of the zero point of the comparators 16 and 22, electrical adjustment of the gain of the amplifier 17 and the servo amplifier 23, etc. However, there is a limit in reducing the cost of the circuit device because it is difficult and inconvenient for maintenance, and also expensive as parts. Further, when the supply of the control electricity is stopped, the electromagnetic hydraulic servo valve 15 always causes the hydraulic oil to flow in either direction even though the amount is very small.
It is inconvenient that the fin 1 moves freely until the fin angle θ reaches the maximum angle as a result of the operation of 3 to the hard over state.

Therefore, according to the present invention, the number of parts is small, the adjustment is easy and the maintenance is easy, the fin angle does not change apart from the control, and the cost is low as a whole. An object is to provide a control hydraulic circuit for a fin stabilizer.

[0006]

In order to achieve the above-mentioned object, the control hydraulic circuit of the fin stabilizer according to the present invention discharges the hydraulic oil for changing the fin angle in accordance with the change amount of the fin angle. While the flow rate adjusting means for adjusting the discharge amount of the discharge pump and the control oil for controlling the fin angle are not press-fitted, the spring biasing force is applied to the flow rate adjusting means so as to return the fin angle to the neutral position. When the control oil for applying and controlling the fin angle is press-fitted against the spring biasing force, the discharge amount of the variable discharge pump is adjusted according to the oil amount of the press-fitted control oil. A spring-loaded hydraulic cylinder that operates the flow rate adjusting means, and a control valve that sends control oil for controlling the fin angle to the spring-loaded hydraulic cylinder against the spring biasing force. It is characterized in that was example. Also,
The control hydraulic circuit for the fin stabilizer according to the present invention is such that the flow rate adjusting means always urges the spring so as to return to the neutral position of the spring biasing force corresponding to the neutral position of the fin angle in the cylinder chamber of the spring-loaded hydraulic cylinder. It is characterized in that the drain oil discharged from each cylinder chamber on both sides of the piston is discharged through the throttle valve. Furthermore, the fin hydraulic stabilizer control hydraulic circuit of the present invention is characterized in that the control valve is a pressure control valve provided corresponding to each cylinder chamber on both sides of the piston. Further, in the fin hydraulic stabilizer control hydraulic circuit of the present invention, when the control valve selectively supplies control oil to one of the cylinder chambers on both sides of the piston, the control oil in the other cylinder chamber is controlled. Is a direction switching control valve that operates so as to be discharged to the outside via the throttle valve.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, the fin 1 is swung around a swing axis by a hydraulic cylinder 2, and the fin angle θ is set by swinging the fin 1 by the hydraulic cylinder 2. The hydraulic cylinder 2
Two-way reciprocating operation is possible according to the positive / negative flow rate of the hydraulic oil, that is, the positive / negative flow rate Q of the discharge oil discharged by the variable discharge pump 3 whose positive / negative discharge flow rate is variable. Flow rate Q
Is adjusted by a flow rate adjusting lever 12 which is a flow rate adjusting means of the variable discharge pump 3. This flow rate adjusting lever 12
Is controlled by the spring-loaded hydraulic cylinder 9 according to the stroke x of the spring-loaded hydraulic cylinder 9. The stroke x of the spring-loaded hydraulic cylinder 9 is automatically controlled by a control system including pressure control valves 11 and 11 and throttle valves 8 and 8. First, the auxiliary pump 4 supplies the hydraulic oil whose pressure is adjusted through the pressure reducing valve 6 to the variable discharge pump 3 through the check valve 7 in order to replenish the hydraulic oil flowing out from the drain 10 of the variable discharge pump 3. At the same time, secondly, the hydraulic oil regulated by the safety valve 5 is supplied to the spring-loaded hydraulic cylinder 9 that drives the flow rate adjusting lever 12 via the pressure control valve 11.

The spring-loaded hydraulic cylinder 9 has a pair of left and right so as to always return to the neutral position of the spring biasing force corresponding to the neutral position of the fin angle θ, that is, the zero angle position, in the cylinder chamber of the spring-loaded hydraulic cylinder. Spring 9
The flow rate adjusting lever 12 of the variable discharge pump 3 has a piston 9c which is spring-biased by a and 9b.
It is connected to c. The drain oil discharged from each cylinder chamber on both sides of the piston 9c is discharged via the throttle valves 8 provided correspondingly. Also, the pressure control valve 1
1 and 11 are provided corresponding to each cylinder chamber on both sides of the piston 9c. Therefore, the spring-loaded hydraulic cylinder 9 is a flow rate adjusting means for returning the fin angle θ to the neutral position, that is, the zero angle position, while the control oil for controlling the fin angle θ is not pressed into the cylinder chamber. The control oil for applying the spring biasing force to the lever 12 and controlling the fin angle θ enters the cylinder chamber against the spring biasing force by the operation of one of the pressure control valves 11 and 11. When press-fitted, the variable discharge pump 3 is used according to the amount of control oil press-fitted.
The flow rate adjusting lever 12 is operated so as to adjust the discharge amount of.

FIG. 3 shows a control system of the control hydraulic circuit of the fin stabilizer shown in FIG. In FIG. 3, the fin angle command value θ _d and the actual fin angle θ
In order to match and, the deviation value of the actual fin angle θ with respect to the fin angle command value θ _d is obtained by the comparator 16. The deviation value obtained by the comparator 16 is amplified by the amplifier 17, and the deviation value amplified by the amplifier 17 is
The command value of the stroke x is sent from the amplifier 17 to the pressure control valve 11. The pressure control valve 11 operates according to the command value of the stroke x sent from the amplifier 17, and supplies the control oil corresponding to the command value of the stroke x to the spring-loaded hydraulic cylinder 9
Send to In the spring-loaded hydraulic cylinder 9, the piston 9c is pressed by the hydraulic pressure of the control oil that has been press-fitted to move against the spring biasing force of the springs 9a and 9b, while controlling the cylinder chambers on both sides of the piston 9c. The control oil in the cylinder chamber on the side where the oil is not press-fitted flows out to the outside via the corresponding throttle valve 8. Since the pressure control valve 11 sends the control oil to the spring-loaded hydraulic cylinder 9 so as to automatically compensate for the pressure drop in the cylinder chamber of the spring-loaded hydraulic cylinder 9, the spring-loaded hydraulic cylinder 9 is actually equivalent to the spring-loaded hydraulic cylinder 9. The obtained value of the stroke x is compared with the command value of the stroke x in the virtual mechanical comparator 18 through the springs 9a and 9b, and the pressing force corresponding to the deviation amount of the actual stroke x is applied to the piston 9, so that The mechanical feedback mechanism 24 that operates so as to match the stroke x of the stroke x with the command value of the stroke x is configured. Since the stroke x and the flow rate Q of the discharge oil of the variable discharge pump 3 are proportional to each other, the reaction speed of the fin angle θ is determined by the multiplier 19
The magnitude of the constant K ₁ multiplied by and the hydraulic cylinder 2
The fin angle θ can be controlled so as to be set as the fin angle command value θ _d by appropriately setting the constant K ₁ and the dimensions of the hydraulic cylinder 2. In FIG. 3, the electrical control part is only the comparator 16 and the amplifier 17 surrounded by the alternate long and short dash line 20, and the mechanical feedback mechanism 24 functions in the double feedback part forming the square loop.

FIG. 5 shows a second embodiment of the control hydraulic circuit for the fin stabilizer of the present invention. FIG.
In the above, the following matters are the same as the case of the control hydraulic circuit of the fin stabilizer shown in FIG. 1. That is, the fin 1 is swung around the swing axis by the hydraulic cylinder 2, and the fin angle θ is set by swinging the fin 1 by the hydraulic cylinder 2. The hydraulic cylinder 2 can operate in two reciprocating directions according to the positive / negative flow rate of the hydraulic oil, that is, the positive / negative flow rate Q of the discharged oil discharged by the variable discharge pump 3 whose positive / negative discharge flow rate is variable. The flow rate Q is adjusted by a flow rate adjusting lever 12 which is a flow rate adjusting means of the variable discharge pump 3. The flow rate adjusting lever 12 is controlled by the spring-loaded hydraulic cylinder 9 according to the stroke x of the spring-loaded hydraulic cylinder 9, and the stroke x of the spring-loaded hydraulic cylinder 9 is automatically controlled by a control system including the throttle valves 8, 8. To be done. First, the auxiliary pump 4 supplies the hydraulic oil whose pressure is adjusted through the pressure reducing valve 6 to the variable discharge pump 3 through the check valve 7 in order to replenish the hydraulic oil flowing out from the drain 10 of the variable discharge pump 3. At the same time, secondly, the hydraulic oil regulated by the safety valve 5 is supplied to the spring-loaded hydraulic cylinder 9 that drives the flow rate adjusting lever 12. The spring-loaded hydraulic cylinder 9 is provided with a pair of left and right springs 9a, so that the spring-loaded hydraulic cylinder 9 always returns to the neutral position of the spring biasing force corresponding to the neutral position of the fin angle θ, that is, the zero angle position in the cylinder chamber of the spring-loaded hydraulic cylinder. 9b has a piston 9c which is spring-biased by 9b.
Is connected to the piston 9c via a piston rod of the piston 9c as an interlocking mechanism. The drain oil discharged from each cylinder chamber on both sides of the piston 9c is discharged via the throttle valves 8 provided correspondingly.

In the control hydraulic circuit for the fin stabilizer shown in FIG. 5, the control oil is supplied from the auxiliary pump 4 to the spring-loaded hydraulic cylinder 9 via the electromagnetic directional control valve 21. Electromagnetic directional control valve 2
When the control oil is selectively supplied to one of the cylinder chambers on both sides of the piston 9c, the control oil 1 operates to discharge the control oil in the other cylinder chamber to the outside through the throttle valve 8. . Then, the electromagnetic directional control valve 21
When the neutral position is selected, the cylinder chambers on both sides of the piston 9c are released to the outside via the corresponding throttle valves 8 and 8, respectively.

The control system of the control hydraulic circuit of the fin stabilizer shown in FIG. 5 is replaced with the pressure control valve 11 in FIG. 3 shown as the control system of the control hydraulic circuit of the fin stabilizer shown in FIG. Electromagnetic directional control valve 2
Only 1 is replaced. In the fin stabilizer control hydraulic circuit shown in FIG. 5, since only one electromagnetic directional control valve 21 is used as a control valve, the fin stabilizer shown in FIG. The number of control hydraulic circuits is smaller than that of the control hydraulic circuits, the circuit becomes simpler, and maintenance management becomes easier.

[0013]

As described above, according to the control hydraulic circuit for the fin stabilizer of the present invention, the following effects can be obtained. (1) Flow rate adjusting means for adjusting the discharge amount of a variable discharge pump that discharges the hydraulic oil for changing the fin angle according to the change amount of the fin angle, and the control oil for controlling the fin angle. If not, the spring biasing force is applied to the flow rate adjusting means so as to return the fin angle to the neutral position, and the control oil for controlling the fin angle is pressed against the spring biasing force. In this case, a spring-loaded hydraulic cylinder that operates the flow rate adjusting means to adjust the discharge amount of the variable discharge pump according to the amount of the control oil that has been press-fitted, and a control for controlling the fin angle. Since it is equipped with a control valve that sends oil to the spring-loaded hydraulic cylinder against the spring biasing force, the number of parts, especially expensive electrical control parts, is small, and the adjustment of the control equipment is simple and easy. It is easy to maintain, and even if the control power is cut off or the control oil leaks in the control hydraulic system, the fin angle is self-held at the neutral position, which causes a problem in fin angle control. Never (Claim 1). (2) The flow rate adjusting means is coupled to the spring-biased piston so as to always return to the neutral position of the spring biasing force corresponding to the neutral position of the fin angle in the cylinder chamber of the spring-loaded hydraulic cylinder via the interlocking mechanism. Since the drain oil discharged from each cylinder chamber on both sides of the piston is discharged via the throttle valve, the structure of the adjusting mechanism for adjusting the discharge amount of the variable discharge pump is simple. Further, the feedback function for controlling the fin angle is reliably achieved by a mechanical feedback mechanism having a simple structure without using expensive parts, and further,
Even if the power supply for control is shut off or the control oil leaks in the control hydraulic system, the fin angle is self-held at the neutral position and no malfunction occurs in the operation of the control mechanism (claim 2). . (3) Since the control valve is a pressure control valve provided corresponding to each cylinder chamber on both sides of the piston, use a pressure control valve having a simple function having a single function as each pressure control valve. Further, the pressure control of the control oil can be individually performed for each pressure control valve, and the pressure control with delicate timing can be finely performed for each pressure control valve (claim 3). (4) When the control valve selectively supplies the control oil to one of the cylinder chambers on both sides of the piston, the control oil in the other cylinder chamber is discharged to the outside through the throttle valve. Since it is a directional control valve that operates, the number of parts as a control valve is small, and the control oil direction switching control is simple (claim 4).

[Brief description of drawings]

FIG. 1 is a control hydraulic circuit diagram of a fin stabilizer according to an embodiment of the present invention.

FIG. 2 is a control hydraulic circuit diagram of a conventional fin stabilizer.

FIG. 3 is a control system diagram in the control hydraulic circuit of the fin stabilizer according to the embodiment of the present invention.

FIG. 4 is a control system diagram in a control hydraulic circuit of a conventional fin stabilizer.

FIG. 5 is a control hydraulic circuit diagram of a fin stabilizer according to another embodiment of the present invention.

[Explanation of symbols]

1 Fin 2 Hydraulic Cylinder 3 Variable Discharge Pump 4 Auxiliary Pump 5 Safety Valve 6 Pressure Reducing Valve 7 Check Valve 8 Throttle Valve 9 Spring-loaded Hydraulic Cylinder 9a, 9b Spring 9c Piston 10 Drain 11 Electromagnetic Pressure Control Valve 12 Flow rate as flow rate adjusting means Adjustment lever 13 Hydraulic cylinder 14 Stroke detector 15 Electromagnetic hydraulic servo valve 16 Comparator 17 Amplifier 18 Mechanical comparator 19 Constant multiplier 20 Electric control part 21 Electromagnetic directional control valve 22 Comparator 23 Servo amplifier 24 Mechanical feedback mechanism Q Flow rate x Stroke θ Fin angle θ _d Fin angle command value

Claims (4)

[Claims] 1. A flow rate adjusting means for adjusting the discharge amount of a variable discharge pump that discharges the hydraulic oil for changing the fin angle according to the change amount of the fin angle, and a control oil for controlling the fin angle. While the is not being pressed, a spring biasing force is applied to the flow rate adjusting means so as to return the fin angle to the neutral position, and control oil for controlling the fin angle is pressed against the spring biasing force. In order to control the finned angle and the spring-loaded hydraulic cylinder that operates the flow rate adjusting means so as to adjust the discharge amount of the variable discharge pump according to the amount of the control oil that has been press-fitted. A control hydraulic circuit for a fin stabilizer, comprising: a control valve for sending the control oil of 1. to the spring-loaded hydraulic cylinder against the spring biasing force. 2. The control hydraulic circuit for a fin stabilizer according to claim 1, wherein the flow rate adjusting means neutralizes the spring biasing force corresponding to the neutral position of the fin angle in the cylinder chamber of the spring-loaded hydraulic cylinder at all times. It is connected to a piston that is spring-biased so as to return to the position via an interlocking mechanism, and the drain oil discharged from each cylinder chamber on both sides of the piston is discharged via a throttle valve. A fin stabilizer control hydraulic circuit. 3. The fin hydraulic stabilizer control hydraulic circuit according to claim 2, wherein the control valve is a pressure control valve provided corresponding to each cylinder chamber on both sides of the piston. The control hydraulic circuit for the fin stabilizer. 4. The control hydraulic circuit for a fin stabilizer according to claim 2, wherein when the control valve selectively supplies control oil to one of the cylinder chambers on both sides of the piston, A control hydraulic circuit for a fin stabilizer, which is a direction switching control valve that operates to discharge control oil in the other cylinder chamber to the outside through the throttle valve.