EP2193076B1 - Procédé pour faire fonctionner une unité de direction pour un système de commande de navire tout électrique - Google Patents

Procédé pour faire fonctionner une unité de direction pour un système de commande de navire tout électrique Download PDF

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Publication number
EP2193076B1
EP2193076B1 EP08804777.4A EP08804777A EP2193076B1 EP 2193076 B1 EP2193076 B1 EP 2193076B1 EP 08804777 A EP08804777 A EP 08804777A EP 2193076 B1 EP2193076 B1 EP 2193076B1
Authority
EP
European Patent Office
Prior art keywords
steering
rudder
mechanical resistance
control system
steering wheel
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.)
Active
Application number
EP08804777.4A
Other languages
German (de)
English (en)
Other versions
EP2193076A2 (fr
Inventor
Adriano Zanfei
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
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Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP2193076A2 publication Critical patent/EP2193076A2/fr
Application granted granted Critical
Publication of EP2193076B1 publication Critical patent/EP2193076B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • 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
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass

Definitions

  • the present invention relates to a method of operating a steering unit for a steer-by-wire ship control system, comprising a rudder, a controller connected to the electronic control of the ship control system (ECU), a sensor for detecting the angular position of the rudder and a device for Generating a mechanical resistance on the rudder according to the preamble of patent claim 1.
  • steer-by-wire systems which are also used in the ship control technology.
  • the steering commands are detected by a sensor and forwarded via a control unit to an actuator which executes the steering command.
  • a control unit to an actuator which executes the steering command.
  • a steer-by-wire ship control system is for example from the US Pat. No. 6,431,928 B1 known.
  • an electric motor for rotating the entire propeller drive unit via a mechanical power transmission chain is provided, wherein the electric motor is controlled by a control unit which includes the steering device for obtaining steering command information and the sensor for detecting the steering position information connected is.
  • a steering unit for a steer-by-wire ship control system which includes a mechanically rotatable steering device, such as a rudder, a sensor for detecting the rotational movement the rudder and a stop mechanism to block further rotation of the rudder to starboard or port when the rudder of the ship has reached an extreme starboard position.
  • a steer-by-wire ship control system known which comprises at least two steering units.
  • the rudder is actuated by means of a hydraulically actuatable actuator based on the steering signals which are generated by that steering device which requires the faster movement of the rudder.
  • the steering units each comprise a rudder, which is connected to a respective control device, which in turn is connected to the control network.
  • the steering devices in the event of actuation or rotation of the rudder in response to signals of a sensor for detecting the rudder position by means of couplings produce a mechanical resistance, the resistance is the greater, the closer the rudder to an end position approaches.
  • the mechanical resistance on the rudder is set such that further rotation of the same in the same direction is not possible. This is made possible by a coupling which, when fully closed, does not allow any rotation of the rudder.
  • the present invention has for its object to provide a method for operating the steering unit for a steer-by-wire ship control system, through its implementation, the comfort and safety are increased.
  • a method of operating a steering unit for a steer-by-wire ship control system comprising a rudder, a control preferably connected via a CAN bus to the electronic control of the ship control system (ECU), a sensor for detecting the angular position of the rudder and a Suggested means for generating a mechanical resistance on the rudder, in the event that no auto-pilot device is activated, the mechanical resistance at the rudder generated by the user when the rudder is actuated is a function of the ship's speed, wherein the resistance is increased with increasing speed up to a predetermined limit, wherein in the event that an auto-pilot device is activated, the mechanical resistance at each speed assumes a constant (high) value.
  • the concept according to the invention increases safety Because very fast maneuvers at high speeds are largely avoided.
  • a speed is defined, which is preferably 10kn, below which no mechanical resistance is generated during a movement of the rudder, above which speed the mechanical resistance generated by the device for generating a mechanical resistance on the rudder up to a predetermined limit value as a function of the speed, preferably increased linearly.
  • the predetermined value may be 15Nm.
  • the method according to the invention can be used in steer-by-wire ship control systems, irrespective of the type of rudder-linked steering actuator.
  • the actuator may be designed as a hydraulic or electromechanical actuator.
  • the ECU processes the signals of the user-operated steering unit or an auto-pilot device and forwards them to the steering actuator.
  • the steering actuator is operated according to the specifications of the steering unit and the ECU with respect to the steering angle and the rotational speed of the rudder.
  • an auto-pilot device is activated, the control unit of the steering unit continuously updates the rudder position.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (2)

  1. Procédé pour faire fonctionner une unité de direction pour un système de commande de navire tout électrique, comprenant un gouvernail, une commande connectée à la commande électronique du système de commande de navire (UCE), un capteur pour détecter la position angulaire du gouvernail et un dispositif pour générer une résistance mécanique au niveau du gouvernail, caractérisé en ce que la résistance mécanique au niveau du gouvernail, générée par le dispositif pour générer une résistance mécanique au niveau du gouvernail lors d'un actionnement du gouvernail par l'utilisateur, est une fonction de la vitesse du navire, la résistance étant augmentée avec l'augmentation de la vitesse jusqu'à une valeur limite prédéfinie, et dans le cas où un dispositif d'autopilote est activé, la résistance mécanique adoptant une valeur constante pour chaque vitesse.
  2. Procédé pour faire fonctionner une unité de direction pour un système de commande de navire tout électrique selon la revendication 1, caractérisé en ce qu'une vitesse est définie en dessous de laquelle aucune résistance mécanique n'est générée lors d'un mouvement du gouvernail, et au-dessus de cette vitesse, la résistance mécanique générée par le dispositif pour générer une résistance mécanique au niveau du gouvernail étant augmentée jusqu'à une valeur limite prédéfinie en fonction de la vitesse.
EP08804777.4A 2007-10-05 2008-09-26 Procédé pour faire fonctionner une unité de direction pour un système de commande de navire tout électrique Active EP2193076B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007048055A DE102007048055A1 (de) 2007-10-05 2007-10-05 Verfahren zum Betreiben einer Lenkeinheit für ein Steer-by-wire Schiffsteuersystem
PCT/EP2008/062898 WO2009047135A2 (fr) 2007-10-05 2008-09-26 Procédé pour faire fonctionner une unité de direction pour un système de commande de navire tout électrique

Publications (2)

Publication Number Publication Date
EP2193076A2 EP2193076A2 (fr) 2010-06-09
EP2193076B1 true EP2193076B1 (fr) 2016-03-16

Family

ID=40385499

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08804777.4A Active EP2193076B1 (fr) 2007-10-05 2008-09-26 Procédé pour faire fonctionner une unité de direction pour un système de commande de navire tout électrique

Country Status (4)

Country Link
US (1) US20100241315A1 (fr)
EP (1) EP2193076B1 (fr)
DE (1) DE102007048055A1 (fr)
WO (1) WO2009047135A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010029696A1 (de) * 2010-06-04 2011-12-08 Raytheon Anschütz Gmbh Wasserfahrzeug-Steuerung mit aktiver Rückkopplung

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FR2705943B1 (fr) * 1993-06-04 1995-08-25 Bezzi Paul Georges Dispositif de propulsion et de gouvernail de bateau du type à hélice de surface.
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Also Published As

Publication number Publication date
EP2193076A2 (fr) 2010-06-09
WO2009047135A2 (fr) 2009-04-16
WO2009047135A3 (fr) 2009-06-18
DE102007048055A1 (de) 2009-04-09
US20100241315A1 (en) 2010-09-23

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