JP2002068086A - Pod type propeller control device - Google Patents

Abstract

(57) [Problem] To control two pod-type propellers, it takes much time and cost to construct a control system that performs complicated control. Also, when the overall length of the propeller is long, interference may occur depending on the turning direction of the propeller, and it is difficult to mount the propeller on a narrow hull. A mode changeover switch (4) for selecting the direction of a pod type propeller from a standard position (5) for normal navigation, a port position (6), and a starboard position (7) is provided. By providing a control device for determining the direction of the pod-type propeller and controlling the thrust of the two pod-type propellers in accordance with the tilt direction and the tilt angle of the joystick 9, the control of the pod-type propeller is simplified and Avoid interference between pod-type propellers and quays on narrow vessels.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ship steering system equipped with at least two pod-type propellers,
More specifically, the present invention relates to a steering device capable of maneuvering two pod-type propellers side by side as main propulsion units even when the ship is narrow in width.

[0002]

2. Description of the Related Art Pod type propellers have been used as main propulsion devices in tug boats and work boats.
In particular, it is frequently used in ships working in ports and the like. Since this pod type propeller can change the direction of thrust arbitrarily, it becomes a propulsion device that can perform speed control and steering by installing two pod type propellers.

[0003] As a prior art for operating this kind of pod type propeller, there is an invention described in JP-A-54-72895 and an invention described in JP-A-2-80098. In these inventions, the two propulsion units are controlled so as to generate thrust by turning in two directions in the same direction or in opposite directions by a command signal.

[0004]

However, in the control of the pod type propeller as described above, since the thrust is controlled while turning the two pod type propellers, complicated control is required, and the control system is also complicated. Therefore, construction costs a lot of money.

On the other hand, electric pod type propellers have recently been developed. As shown in a side view of the electric pod type propeller shown in FIG. 8, the electric pod type propeller has an electric motor 51 provided therein and a thrust bearing 53 and the like which receive the thrust of a propeller 54 therein. . Therefore, if a generator is provided somewhere inside the ship, other arrangements inside the ship can be designed freely, so that the degree of freedom of design in ferries, passenger ships, etc. is increased, and it is expected to be adopted. But,
Since the electric motor 51 is arranged coaxially, the overall length of the pod-type propeller 55 becomes long, for example, about 6 m.

Therefore, such a pod type propeller 5
When two hulls 5 are to be installed side by side on a narrow boat, there is a possibility that the pod propeller 55 may interfere with the other pod-type propeller 55 depending on the turning direction of the pod-type propeller 55. As shown in the plan view, the pod-type propeller 55 on the quay 56 side may interfere with the quay 56,
It is considered difficult to mount on narrow vessels.

[0007]

In order to solve the above-mentioned problems, the present invention provides two pod-type propellers juxtaposed on a hull, and a joystick for controlling the turning direction and thrust of the pod-type propellers. A mode changeover switch for selecting the orientation of the pod type propeller from a normal navigation position, a port position, and a starboard position, and when selecting the port position or the starboard position of the mode change switch, the quay side is selected. The pod-type propeller is fixed vertically and the pod-type propeller on the opposite quay side is fixed laterally, and the joystick is tilted in accordance with the tilting direction and tilting angle of the joystick.
A control device is provided to control the thrust of the original pod-type propeller. By specifying the orientation of the pod type propeller in accordance with the normal navigation position, the port side position, and the starboard side position, it is possible to simplify the operation control of the pod type propeller and to easily implement the control device. Can be manufactured. Also, even if two pod-type propellers are installed side by side on a narrow vessel, both pod-type propellers will not be turned sideways at the same time, and the pod-side propellers on the quay will be turned sideways when docking. Since there are no pod-type propellers, it is possible to operate without interference between pod-type propellers and the quay.

When the pod-type propeller on the opposite quay side is fixed laterally at an angle of about 90 degrees at the time of selecting the port-side position or the starboard-side position of the mode change switch, the thrust direction of the pod-type propeller at the time of berthing is specified. It is possible to easily configure a steering device that steers a boat.

If the pod-type propeller is an electric pod-type propeller, even if the pod-type propeller has a built-in electric motor and has a long overall length, the pod-type propeller may interfere with the juxtaposed pod-type propellers or may be attached to the quay when berthing. Can be steered to avoid interference.

Further, if the joystick is configured to be portable to the port side of the hull, the ship can be maneuvered while visually confirming the berthing state, so that the ship can be easily maneuvered even when the orientation of the two pod type propellers is fixed. can do.

Further, if a bow thruster is provided on the bow side and the bow thruster is controlled so as to generate a lateral thrust in accordance with the tilting direction of the joystick, the hull can be moved sideways even in the case of a pod type propeller with a fixed turning. It can be easily propelled in the direction.

On the other hand, a joystick for controlling the turning direction and thrust of the pod-type propeller, a mode changeover switch for selecting the direction of the pod-type propeller from a normal navigation position, a port-side position, and a starboard-side position, Port propeller rotation command means for controlling the thrust of the port propeller according to the switching position of the changeover switch; port propeller rotation command means for controlling the port propeller turning angle according to the switching position of the mode change switch; Starboard propeller rotation commanding means for controlling the thrust of the starboard propeller in accordance with the switch position of the switch, starboard propeller turning command means for controlling the turning angle of the starboard propeller in accordance with the switching position of the mode changeover switch, and the mode changeover switch When the normal navigation position is selected, the joystick left / right signal is Output to the turning command means and the starboard propeller turning command means, and when selecting the starboard position of the mode changeover switch, output the left / right direction signal of the joystick to the port propeller rotation command means as the thrust signal of the port propeller. A left / right switching means for outputting a left / right direction signal of the joystick as a thrust signal of the starboard propeller to the starboard propeller rotation command means when selecting the port porting position of the switch; When choosing a location,
The port side pod type propeller is fixed horizontally, and the port side pod type propeller is fixed vertically when selecting the port setting position of the mode changeover switch. When selecting the port-side position of the switch, the pod-type propeller on the starboard side is fixed horizontally, and when selecting the starboard-side position of the mode change switch, a function to fix the pod-type propeller on the starboard side vertically is provided. In addition, since the steering control of the pod type propeller can be simplified according to the navigation state and the berthing state, the control in the steering device can be simplified. In addition, even if two pod-type propellers are arranged side by side on a narrow boat, it is possible to steer while avoiding interference between the pod-type propellers and the quay.

When selecting the starboard position of the mode changeover switch on the port side propeller turning command means, the port side pod type propeller is fixed laterally at an angle of about 90 degrees, and the mode changeover switch selects the starboard position. Sometimes,
The port side pod type propeller is provided with a function of fixing the port side propeller vertically at an angle of substantially 0 degree, and the starboard side propeller turning command means is provided with a port side pod type propeller when the mode switching switch is selected at the port side. Both pod-type propellers can be fixed horizontally by 90 degrees and provided with a function to fix the pod-type propeller on the starboard side vertically at almost 0 degree when selecting the starboard position of the mode changeover switch. Thus, it is possible to easily manufacture a control device in which the thrust direction is specified and the steering control is simplified. Even if two pod-type propellers are arranged side by side on a narrow vessel, there is no interference between the pod-type propellers and the quay.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a layout view of steering devices in a pod-type propeller steering device according to an embodiment of the present invention, and FIG. 2 is a schematic diagram showing a hull plane when the hull is starboarded by the steering device. FIG. 3 is a list showing the direction in which the pod-type propeller is fixed in the steering device, and FIG. 4 is an electric system diagram in the steering device.

As shown in FIG. 2, two pod-type propellers 2, 3 are provided at the stern of the hull 1, and the pod-type propellers 2, 3 control the navigation and direction of the hull 1. Have been done. As shown in FIG. 1, the pod-type propellers 2 and 3 are oriented in a standard position 5 which is a normal navigation position and a porting position 6 where the port is docked.
And a mode changeover switch 4 for selecting from a starboard position 7 for berthing on the starboard side.

In this embodiment, as shown in FIG. 3, the mode changeover switch 4 turns the two pod type propellers 2 and 3 at an angle of substantially 0 degrees in the longitudinal direction (longitudinal direction) of the hull at the standard position 5. So that it can be turned in the range of 0 degree in the vertical direction and 35 degrees each in the left and right directions. As a result, maneuvering during normal navigation is possible.

When the porting position 6 is selected, the pod type propeller 2 on the quay side is fixed in a vertical direction of almost 0 degrees,
The pod type propeller 3 on the opposite quay side is fixed toward the quay side at an angle of about 90 degrees, and when the starboard position 7 is selected, the pod type propeller 3 on the quay side is fixed in a vertical direction of almost 0 degrees. Pod type propeller 2 on the opposite quay side
It is fixed to the quay side at an angle of degrees (see Fig. 2).

As described above, by determining the directions of the pod type propellers 2 and 3 according to the selected position of the mode changeover switch 4, the direction and magnitude of the thrust can be obtained without performing the turning control of the pod type propellers 2 and 3 at the time of berthing. Since the shore can be pierced only by the control of the height, it is possible to configure a control device in which the control of the pod type propellers 2 and 3 is easy. Further, even if the pod-type propellers 2 and 3 are arranged side by side, since both are not turned sideways at the same time, the interference can be avoided. Moreover, the pod-type propeller 2 (3) on the quay side can be prevented from interfering with the quay 8 because the pod-type propeller 2 (3) on the quay side does not turn sideways when berthing. This makes it possible to mount two pod-type propellers side by side on a narrow boat.

On the other hand, as shown in FIG. 1, a joystick 9 for controlling the turning direction and thrust of the pod type propellers 2 and 3 is provided. When the joystick 9 is in the standard position 5, the turning direction and thrust of the pod-type propellers 2, 3 whose directions are determined by the mode changeover switch 4 are controlled. The thrust direction and the magnitude of the thrust of the two pod-type propellers 2 and 3 are controlled between the port position 6 and the starboard position 7 according to the tilt direction and the tilt angle. In this embodiment, the component of the joystick 9 in the front-back direction and
An example is shown in which two pod-type propellers 2 and 3 are controlled by components in the left-right direction.

As shown in FIG. 2, in this embodiment, a bow thruster 10 is provided on the bow side, and the bow thruster 10 is moved to the hull 1 by cooperating with the two pod type propellers 2 and 3. A lateral thrust can be generated. A control device for controlling these is provided in the ship.

As a specific configuration of such a pod-type propeller steering device, as shown in the electric system diagram of FIG.
A joystick 9 for controlling the turning direction and thrust of the pod type propeller, and a mode changeover switch 4 for selecting the direction of the pod type propeller from a standard position 5, which is a normal navigation position, a port side position 6, and a starboard side position 7. And the port propeller 2 according to the switching position of the mode changeover switch 4.
Port propeller rotation command means 11 for controlling the thrust of the port, and port propeller rotation command means 12 for controlling the turning angle of the port propeller in accordance with the switching position of the mode changeover switch 4.
A starboard propeller rotation command means 13 for controlling the thrust of the starboard propeller according to the switching position of the mode changeover switch 4
A starboard propeller turning command means 14 for controlling the turning angle of the starboard propeller in accordance with the switching position of the mode changeover switch 4; It outputs to the commanding means 12 and the starboard propeller turning commanding means 14, and when selecting the starboard position of the mode changeover switch 4, outputs the left / right direction signal of the joystick 9 to the porting propeller rotation commanding means 11 as the thrust signal of the porting propeller. When the mode changeover switch 4 selects the porting position, a left / right switching means 15 is provided which outputs a left / right direction signal of the joystick 9 to the starboard propeller rotation command means 13 as a thrust signal of the starboard propeller.

The port side propeller turning command means 12 includes:
At the time of selecting the starboard position of the mode changeover switch 4, the pod-type propeller on the port side is fixed sideways (in this embodiment, approximately 90 degrees to the left side).
When the porting position is selected, a function is provided for fixing the pod-type propeller on the port side in a vertical direction (in this embodiment, a vertical direction of almost 0 degrees).

The starboard propeller turning command means 14 includes:
When selecting the porting position of the mode changeover switch 4, the pod-type propeller on the starboard side is fixed in a horizontal direction (in this embodiment, approximately 90 degrees to the right side).
When the starboard position is selected, a function is provided for fixing the pod-type propeller on the starboard side in a vertical direction (in this embodiment, a vertical direction of almost 0 degrees).

In the standard position 16, which is the normal navigation position of the left / right switching means 15, the left / right directional signals of the joystick 9 are used to turn the left and right pod-type propellers within an angle range of 0 to ± 35 degrees in the vertical direction. A turning angle signal is output to the port side propeller turning commanding means 12 and the starboard side propeller turning commanding means 14 via the turning angle commanding means 17.

Further, since the left / right direction signal of the joystick 9 is configured to output a ± signal corresponding to the tilting direction with the neutral state being “0”, the starboard propeller rotation command means 13 is switched to the left / right switching means 15. Porting position 1
8 is provided with a signal reversing means 19 for converting the output signal into an output signal in the opposite direction when the signal is switched to 8.

Reference numeral 20 denotes a position on the starboard of the left / right switching means 15. These means are generally provided in the same control device.

As described above, the directions of the two pod type propellers 2 and 3 are determined by the signal of the mode changeover switch 4, and thereafter, the thrust of the two pod type propellers 2 and 3 according to the tilting direction and the tilting angle of the joystick 9. And its direction is controlled.

The joystick 9 is mounted on the hull 1
It is constructed so that it can be carried to the port side of the ship, and the ship can be maneuvered while visually confirming the berthing position, so that even if the two pod-type propellers 2 and 3 are fixed in orientation, they can be easily operated. The ship can be maneuvered.

The state shown in FIG. 4 is a normal navigation state, and the port side propeller turning command means 12 and the starboard propeller turning command means 14 are controlled by the signal from the turning angle command means 17 in response to the left / right tilt signal of the joystick 9. 35
Can be turned within degrees. Further, the port side propeller rotation commanding means 11 and the starboard side propeller rotation commanding means 13 are rotated at a number of rotations according to the forward / backward tilt signal of the joystick 9 to obtain a desired thrust.

FIG. 5 is an electric system diagram at the time of starboard in the electric system diagram shown in FIG. When starboard is selected by the mode changeover switch 4, the left / right switching means 15 is switched to the starboard side 20 by the signal, and
The port-side propeller rotation commanding means 11, the port-side propeller turning commanding means 12, the starboard-side propeller rotation commanding means 13, and the starboard-side propeller turning commanding means 14 are switched to the starboard side. In this state, the starboard pod type propeller 3 is fixed at 0 ° in the vertical direction by the starboard propeller turning command means 14, and the port pod type propeller 2 is fixed at 90 ° in the left side direction by the port propeller turning command means 12.

Then, the left / right direction signal of the joystick 9 is inputted to the port side propeller rotation command means 11, and the forward / backward direction signal of the joystick 9 is inputted to the starboard propeller rotation command means 13. As a result, the port side pod type propeller 2 laterally fixed at approximately 90 degrees produces a forward thrust in the left lateral direction or a reverse thrust in the right lateral direction, and the port side pod type propeller fixed in the vertical direction at approximately 0 degree. The propeller 3 is controlled so as to generate only a thrust in the front-rear direction. Therefore, it is possible to configure a steering device that can be easily controlled.

FIG. 6 is a list showing the propeller driving state of the two pod-type propellers 2 and 3 fixed in the state of being starboard. For example, when the joystick 9 is tilted to the right, the port side propeller 2 rotates forward, the starboard side propeller is stopped, and only lateral thrust is output. When the joystick 9 is tilted forward and obliquely to the right, the propeller 2 on the port side rotates forward and the propeller on the starboard side also rotates forward, and a thrust is generated diagonally forward. When the joystick 9 is tilted in another direction, the propeller is rotated so as to generate a thrust in the tilting direction of the joystick 9 by a combination of forward rotation and reverse rotation of the two pod type propellers 2 and 3 as illustrated. Can be In the case where the hull does not move in the tilting direction due to the position of the center of gravity of the hull or the like even when rotated in this combination, the horizontal thrust is combined with the lateral thrust by the bow thruster 10 (FIG. 2) provided on the bow side. What is necessary is just to make it move.

FIG. 7 is an electrical diagram at the time of porting in the electrical diagram shown in FIG. When the port selection is selected by the mode changeover switch 4, the left / right switching means 15 is switched to the porting side 18 by the signal, and the starboard propeller rotation command means 13 and the starboard propeller turning command means 14 are switched.
The port propeller rotation command means 11 and the port propeller turning command means 12 are switched to the port side. In this state, the port side pod type propeller 2 is fixed at 0 ° in the vertical direction by the port side propeller turning command means 12, and the starboard pod type propeller 3 is fixed at 90 ° in the right side direction by the starboard propeller turning command means 14.

Then, the left / right direction signal of the joystick 9 is inputted to the starboard propeller rotation command means 13 via the signal reversing means 19, and the forward / backward direction signal of the joystick 9 is inputted to the port propeller rotation command means 11. The signal reversing means 19 causes the left and right direction signals of the joystick 9 to become ± reversed signals as starboard propeller rotation commanding means 1.
3, the pod type propeller 3 fixed in the opposite direction to the starboard state can be controlled by the same joystick signal. In addition, bow thruster 1
0 may be provided so as to move laterally.

As described above, the starboard pod type propeller 3 fixed horizontally at 90 degrees outputs forward thrust in the right and left directions or reverse thrust in the left side, and is fixed vertically at almost 0 degrees. Since the port side pod type propeller 2 is controlled so as to output only the thrust in the front-rear direction, it is possible to configure a control device that is easily controlled.

In the above-described embodiment, the pod type propellers 2 and 3 of the fixed pitch type have been described as examples. However, the pod type propellers 2 and 3 may be of the fixed pitch type or of the variable pitch type. You may. In the case of the fixed pitch type, the direction of thrust may be changed by forward or reverse rotation, and in the case of the variable pitch type, the direction of thrust may be changed by changing the pitch. When an electric pod type propeller is adopted as the pod type propeller, the rotation speed control by an inverter may be performed.

Even when the electric pod type propellers are used for the pod type propellers 2, 3, the two pod type propellers 2, 3 do not lie sideways at the same time, so that interference can be avoided and, furthermore, the shore side can be avoided. Since the pod type propeller does not turn sideways, two vessels can be mounted side by side even on a narrow vessel.

Furthermore, the above-described embodiment is one embodiment, and various changes can be made without departing from the gist of the present invention, and the present invention is not limited to the above-described embodiment.

[0039]

The present invention is embodied in the form described above and has the following effects.

Since the direction of the pod type propeller is specified according to the normal navigation position, the port side position, and the starboard side position, the operation control of the pod type propeller is simplified, and the control device can be manufactured at low cost. Becomes possible. In addition, even with a pod-type propeller having a long overall length, such as an electric pod-type propeller, two units can be arranged side by side on a narrow boat.

[Brief description of the drawings]

FIG. 1 is a layout view of a control device in a control device of a pod type propeller according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a hull plane when the hull is starboarded by the control device shown in FIG. 1;

FIG. 3 is a list showing directions in which a pod type propeller is fixed in the steering device of FIG. 1;

FIG. 4 is an electric system diagram of the steering device in FIG. 1;

FIG. 5 is an electrical system diagram at the time of starboard in the electrical system diagram shown in FIG. 4;

FIG. 6 is a list showing a propeller driving state at the time of starboard attachment shown in FIG. 5;

FIG. 7 is an electrical system diagram at the time of porting in the electrical system diagram shown in FIG. 4;

FIG. 8 is a side view showing an example of an electric pod type propeller.

FIG. 9 is a plan view showing a conventional berthing state of a ship.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Hull 2, 3 ... Pod type propeller 4 ... Mode changeover switch 5 ... Standard position 6 ... Port position 7 ... Starboard position 8 ... Wharf 9 ... Joystick 10 ... Bow thruster 11 ... Port propeller rotation command means 12 ... Port propeller turning Command means 13: starboard propeller rotation command means 14: starboard propeller turning command means 15 ... left / right switching means 16 ... standard position 17 ... turning angle command means 18 ... porting position 19 ... signal reversing means 20 ... starboard position

Claims (7)

[Claims] 1. A pod-type propeller arranged side by side on a hull, a joystick for controlling a turning direction and a thrust of the pod-type propeller, and a direction of the pod-type propeller in a normal navigation position and a porting position. And a mode changeover switch for selecting from the starboard position, and when the mode changeover switch selects the port position or the starboard position, the pod type propeller on the quay side is fixed vertically and the pod type on the opposite quay side. A pod-type propeller control device, comprising: a propeller fixed laterally; and a control device for controlling the thrust of the two pod-type propellers according to the tilt direction and the tilt angle of the joystick. 2. The pod type propeller according to claim 1, wherein the pod-type propeller on the opposite quay side is fixed laterally at an angle of substantially 90 degrees when the mode changeover switch selects the port setting position or the starboard setting position. Propeller control device. 3. The control device for a pod type propeller according to claim 1, wherein the pod type propeller is an electric pod type propeller. 4. The joystick according to claim 1, wherein the joystick is configured to be portable to the port side of the hull.
The control device for a pod-type propeller according to any one of claims 1 to 3. 5. A bow thruster is provided on a bow side, and the bow thruster is controlled so as to generate a lateral thrust according to a tilting direction of a joystick.
The control device for a pod type propeller according to any one of the above items. 6. A joystick for controlling the turning direction and thrust of the pod-type propeller, a mode changeover switch for selecting the direction of the pod-type propeller from a normal navigation position, a port-side position, and a starboard-side position; Port propeller rotation command means for controlling the thrust of the port propeller according to the switching position of the changeover switch; port propeller rotation command means for controlling the port propeller turning angle according to the switching position of the mode change switch; Starboard propeller rotation commanding means for controlling the thrust of the starboard propeller in accordance with the switch position of the switch, starboard propeller turning command means for controlling the turning angle of the starboard propeller in accordance with the switching position of the mode changeover switch, and the mode changeover switch When selecting the normal navigation position, turn the joystick left / right direction signal to the port propeller Command mode and the starboard propeller turning command mode, and when selecting the starboard position of the mode changeover switch, outputs the left / right direction signal of the joystick to the port propeller rotation command mode as a port propeller thrust signal. And a left / right switching means for outputting a left / right direction signal of the joystick as a thrust signal of the starboard propeller to the starboard propeller rotation command means at the time of selecting the porting position of the port. When choosing
The port side pod type propeller is fixed horizontally, and the port side pod type propeller is fixed vertically when selecting the port setting position of the mode changeover switch. A pod equipped with a function to fix the pod-type propeller on the starboard side horizontally when selecting the port-side position of the switch, and to fix the pod-type propeller on the starboard side vertically when selecting the starboard-side position of the mode changeover switch. Control device for a model propeller. 7. When the port position of the mode changeover switch is selected by the port side propeller turning command means, the port side pod-type propeller is fixed laterally at an angle of about 90 degrees, and the port position of the mode changeover switch is selected. Occasionally, the port side pod type propeller is provided with a function of fixing it vertically at an angle of almost 0 degrees, and the starboard side propeller turning command means is provided with:
When selecting the port position of the mode change switch, the pod type propeller on the starboard side is fixed horizontally at an angle of about 90 degrees, and when selecting the port position of the mode change switch, the pod type propeller on the starboard side is almost 0 degrees. The pod-type propeller control device according to claim 6, further comprising a function of fixing the pod-type propeller vertically at an angle of (?).