JPH027120Y2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a marine steering system configured to operate a hydraulic pump as a load via a variable gain circuit, and in particular improves the variable gain circuit.

<Prior Art> FIG. 1 is a block diagram showing a conventional technology of a marine steering system using a variable gain circuit. Reference numeral 1 denotes an arithmetic circuit which calculates the commanded steering angle signal θ and the fed-back actual steering angle signal μ, and outputs a deviation signal (θ−μ). 2 is a proportional amplifier circuit, which is an operational amplifier.
Q ₁ , gain setting resistor R ₁ , R ₂ , gain setting resistor R ₂
It is installed in parallel with the main hydraulic pump P ₀ (hereinafter referred to as "hydraulic pump P ₀ ") and generates a large amount of pressure oil to improve maneuverability when entering and exiting a port or passing through canyons. A sub-hydraulic pump that is operated in parallel when necessary, such as when it is necessary to increase steering speed.
Gain adjustment resistors R ₃ provided corresponding to P ₁ , P ₂ (hereinafter referred to as “hydraulic pumps P ₁ , P ₂ ”),
R ₄ and gain constant selection relay contacts SW 1 _{and SW 2 that are connected in series to the gain adjustment resistors R 3 and R 4 and turned on and off by external signals r 1 and r 2 , respectively} . Gain circuit 2a and variable gain circuit 2
Subtraction circuit 2b that subtracts the output of a and the displacement f
and a power amplification circuit 2c that amplifies the power of the output of the subtraction circuit 2b. 3 is an actuator that is driven by the deviation signal K (θ-μ) (where K is a constant) amplified by the proportional amplifier circuit 2; The hydraulic pump is driven by the operation output of this actuator 3. 4 is a feedback unit that detects the displacement output of the converter 3a and feeds back the displacement amount f, which is the detection result, to the subtraction circuit 2b. At this time, the hydraulic pumps P _{1 and} P ₂ installed in parallel with the hydraulic pump P 0 are driven redundantly as described above while the hydraulic pump P ₀ is being driven, and a large amount of pressure oil is generated and output. It was installed to improve steering performance and increase steering speed when entering a port or passing through a canyon _.
This will be explained below as two units, _P2 . 5 is a hydraulic pump
It is an operating end driven by P ₀ , P ₁ , and P ₂ and is composed of, for example, a cylinder or a rudder. Reference numeral 6 denotes an operating end detector which detects the displacement of the operating end and feeds back an actual steering angle signal μ to the arithmetic circuit 1. 7 is a hydraulic pump
This is a monitoring circuit that monitors the operating status of P ₁ and P ₂ and outputs signals r ₁ and r _2. When P ₁ is driven, 71 operates to turn on relay contact SW ₁ , and P ₂ is driven. When this happens, the circuit 72 operates to turn on the relay contact SW ₂ to lower the gain of the variable gain circuit 2a, so that the optimum gain value is obtained for the entire loop.

Now, set the resistance values of each of the gain adjustment resistors R ₃ and R ₄ in the relationship such as R ₃ > R ₄ , and the combined low resistance value R ₂ R ₃ with the gain setting resistor R ₂ (however, R ₂ , R ₃ / ( _R2 + _R3 )
shall be. It is assumed that R ₂ R ₃ R ₄ is selected to be the optimal gain value (hereinafter expressed similarly). However, in such a combination, it is good if the hydraulic pump drive order starts from P ₁ , but if it starts from P ₂ , the combined resistance value becomes R ₂ R ₄ , and the optimum gain cannot be obtained with this combined resistance value. It turns out. It is possible to decide the values of the gain adjustment resistors R ₃ and R ₄ after determining the operating order of the hydraulic pumps, but doing so would make the device expensive and require 3 hydraulic pumps installed in parallel.
The circuit becomes even more complex and expensive in the event that one of the hydraulic pumps installed in parallel breaks down.

<Purpose of the present invention> The present invention has been developed in view of the problems of the conventional technology. An object of the present invention is to provide a marine vessel steering device characterized by the following features.

<Configuration of the present invention> In order to achieve this purpose, the configuration of the present invention is as follows.
A sub-hydraulic pump that is installed alongside the main hydraulic pump and operated in parallel as necessary, an operating end that is operated by pressure oil discharged from the main or the main and sub-hydraulic pumps, and an operating end detector that detects the displacement of the operating end and outputs an actual steering angle signal; an arithmetic circuit that outputs a deviation signal from the actual steering angle signal that is fed back to the commanded steering angle signal; and an operating status of the hydraulic pump. a proportional amplification circuit that proportionally amplifies and outputs the deviation signal through a variable gain circuit whose gain can be varied according to; and an actuator that drives the hydraulic pump with a signal from the proportional amplification circuit. In a marine steering device, the variable gain circuit is connected to a first gain setting resistor to which a deviation signal from the arithmetic circuit is guided, the first gain setting resistor is connected to an input terminal, and a second gain setting resistor is connected between the input and output terminals.
an operational amplifier provided with a gain setting resistor, and a plurality of switch elements connected in series.
A plurality of gain setting resistors are provided in parallel, and each low resistance value is adjusted to a value corresponding to a combination of the operating state input of the hydraulic pump and the oil temperature state input of the hydraulic pump, and the operating state of the hydraulic pump is adjusted. One of the switch elements is controlled in response to changes in the input or the oil temperature state input of the hydraulic pump, and the circuit gain is set to the optimum value for the loop of the device based on the combined resistance value with the second gain setting resistor. a load condition detection circuit configured to include gain adjustment resistance elements, and to receive inputs of the hydraulic pump operation status input and oil temperature status input and selectively control one of the switch elements; The present invention is characterized by further comprising an oil temperature state determination circuit that detects the oil temperature state and outputs the oil temperature state input to the load state detection circuit.

<Example of the present invention> A specific example of the present invention will be described below with reference to FIG. The same parts as in FIG. 1 are given the same numbers and their explanations will be omitted.

21a is a variable gain circuit, which is an operational amplifier Q ₁
and a first gain setting resistor to which the deviation signal from the arithmetic circuit Q ₁ is guided (hereinafter simply referred to as a gain setting resistor, this gain setting resistor R ₁ is connected to the inverting terminal that is the input terminal of the arithmetic circuit Q ₁ ). R ₁ and arithmetic circuit
A second gain setting resistor (hereinafter simply referred to as gain setting resistor) R ₂ provided between the input and output terminals of Q ₁ (between the inverting terminal and the output terminal) and each resistor provided in parallel with gain setting resistor R ₂ The value is load situation e.g. hydraulic pump
A plurality of gain adjustment resistance elements R ₆ to _{R 8} that are adjusted in response to a combination of inputs such as the operating state inputs P ₁ and P ₂ of P ₁ and P ₂ and the oil temperature state input T of the hydraulic pump; Switch element SW ₁ ~ connected in series with R ₆ ~ R ₈
It consists of SW ₃ circuit. That is, to explain R ₆ to R ₈ specifically, R ₆ is used when there is only one load status input, R ₇ is used when there are two inputs, and R ₈
It is only necessary that the combined resistance value with R ₂ is adjusted to a value such that the gain of the variable gain circuit 21a becomes the optimum value of the loop when all inputs are applied. 8 is a load condition detection circuit that controls the switch elements SW ₁ to _{SW 3} , and includes, for example, four AND gates.
A ₁ ~ _{A 4} and one NOT gate NO ₁ and four NOR
It is a logic circuit composed of gates _N1 to _N4 , and its outputs _r11 to _r13 are connected to switch elements _SW1 to
It is designed to control one of SW ₃ . That is, hydraulic pump operation status inputs p ₁ and p ₂ and oil temperature status input T are connected to A ₁ and N ₃ respectively, and A ₂ to _{A 4} are connected to two of these inputs p ₁ , p ₂ and T (p ₁ +p ₂ ,...p ₂ +
T) are connected respectively, the outputs of A ₂ to _{A 4} are connected to N ₁ , the output r ₁₃ of A ₁ controls the switch element SW ₃ and becomes one input of N ₂ , and the output of N ₁
It becomes the other input of N ₂ and becomes the other input of N ₄ via NO ₁ , and the output r ₁₂ of N ₂ is the switch element.
The output _r11 of _N3 becomes one input of _N4 , and the _{output r11} of _N4 controls the switch element _SW1 . Therefore, if there is one input, it becomes a switch element.
Only SW ₁ becomes a switch element when 2 inputs are received.
Only SW ₂ becomes a switch element when 3 inputs are received.
Only SW ₃ is turned on. Because of the relationship between the load condition detection circuit 8 and the variable gain circuit 21a, the load condition detection circuit 8 can output one of the switch elements in response to changes in the operating condition input of the hydraulic pump or the input of the oil temperature condition of the hydraulic pump. One is controlled, and the circuit gain determined by the combined resistance value of the gain adjustment resistor of the selected line and the gain setting resistor _R2 becomes the optimum value for the loop of the device. By the way, the oil temperature status determination circuit 9
is provided to detect and input the oil temperature of the hydraulic pump to resolve an unstable situation immediately after the hydraulic pump starts operating. In other words, immediately after the start of operation, the oil temperature has not risen sufficiently and the viscosity of the oil is high.
There is a time delay in the flow of pressure oil with respect to the movement of the pump regulator (not shown), which may reduce the stability of the loop. To prevent this, the gain of the variable gain circuit 21a is adjusted to obtain a more optimal loop response. The oil temperature state determination circuit 9 may be of a conventionally known circuit configuration; for example, an oil temperature signal s measured by a resistance temperature detector is inputted, and a reference value is determined by a comparator _Q2 .
It is sufficient that the signal output T is outputted below this reference value e ₁ when compared with e ₁ .

In addition, in the above explanation, the operating state input p ₁ ,
p ₂ is input from the hydraulic pumps P ₁ and P ₂ installed together, and is driven when the hydraulic pump P ₀ is in operation. For example, as _shown in FIG. When the hydraulic pumps are in operation, the operating state input _p2 may be set to the time when three hydraulic pumps are in operation, so that the initial drive of the hydraulic pumps does not have to be limited to _P0 .

Although fixed resistors R ₆ to _{R 8} are used in the figure, the present invention is not limited to this. For example, semi-fixed resistors may be used, as long as they can be adjusted to a value that corresponds to the load situation. Further, the load condition detection circuit 8 is not limited to the circuit shown in the figure.

<Effects of the present invention> According to the marine steering system of the present invention as described above, it is possible to easily obtain a loop gain corresponding to load conditions such as the number of operating hydraulic pumps and the oil temperature state with a simple circuit configuration. can.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a conventional technique of a marine steering system, FIG. 2 is a circuit diagram showing a specific embodiment of the present invention, and FIG. 3 is a circuit diagram showing another embodiment of the present invention. 1... Arithmetic circuit, 2... Proportional amplifier circuit, P ₀ ,
P ₁ , P ₂ ...Load (main and auxiliary hydraulic pump), 2
a, 21a...variable gain circuit, 8...load condition detection circuit.

Claims (1)

[Scope of Claim for Utility Model Registration] Sub-hydraulic pumps installed alongside the main hydraulic pump and operated in parallel as necessary, and pressurized oil discharged from the main or main and sub-hydraulic pumps. An operating end to be operated, an operating end detector that detects the displacement of the operating end and outputs an actual steering angle signal, and an arithmetic circuit that outputs a deviation signal from the actual steering angle signal that is fed back to the command steering angle signal. and,
a proportional amplifier circuit that proportionally amplifies and outputs the deviation signal via a variable gain circuit whose gain can be varied according to the operating status of the hydraulic pump; and an actuator that drives the hydraulic pump with the signal from the proportional amplifier circuit. A marine steering device comprising: a first gain setting resistor to which a deviation signal from the arithmetic circuit is guided to the variable gain circuit; the first gain setting resistor is connected to an input terminal and an input/output terminal; 2nd in between
an operational amplifier provided with a gain setting resistor, and a plurality of switch elements connected in series.
A plurality of gain setting resistors are provided in parallel, and each resistance value is adjusted to a value corresponding to a combination of the hydraulic pump operating state input and the hydraulic pump oil temperature state input, and the hydraulic pump operating state input One of the switch elements is controlled in response to a change in the oil temperature state input of the hydraulic pump, and the combined resistance value with the second gain setting resistor causes the circuit gain to be the optimum value for the loop of the device. an oil temperature state determination circuit configured with a gain adjustment resistance element and outputting the oil temperature state input based on oil temperature detection of the hydraulic pump in order to selectively control one of the switch elements; and a load condition detection circuit that inputs the oil temperature status input and the hydraulic pump operation status input from the oil temperature status determination circuit and outputs a control signal for selectively controlling one of the switch elements. A marine steering device characterized by the following.