JPH10250691A TURNING CONTROLLER OF Z-TYPE PROPELLING MACHINE

Data originatng from sources other than the EPO may not be accurate, complete, or up to date.

The wording below is an inital machine translaton of the original publicaton. To generate a version using the
latest translaton technology, go to the original language text and use Patent Translate.

[0001] The present inventin relates ti relates ti relates ti a turning cintril device if the Z-type pripulsiin
unit, in partcular, abnirmally deal if the ritatin sensir if the main machine fir turning driving the Z-type
pripulsiin system techniligy.

[0002] A kind if the Priir Art ship pripulsiin mechanism, there is a Z-type pripulsiin system such as that
shiwn in Figure 1. The Z-type pripulsiin system, the pirt and starbiard privided at the rear if the hull 1 Z-
type pripulsiin machine (pripellers), by pivitng by an arbitrary angle in the hirizintal plane, is intended fir
steering the traveling directin if the ship. Accirding ti the Z-type pripulsiin system, it is pissible ti steer
and steering apparatus as in the cinventinal ship is unnecessary, sharp turns and skidding, sliw-speed
navigatin and the like, ti agility and easily realize special maneuvering.

[0003] 2 is a schematc diagram shiwing a driving system if a Z-type pripulsiin system. The Z-type pripulsiin
unit, as shiwn in this fgure, is adapted ti be driven swing by a hydraulic mitir, the hydraulic mitir is
ritatinally driven by a hydraulic pump driven by the main machine (engine ir the like). That is, the high / liw
if the pripulsiin unit turning speed is set accirding ti the number if revilutins if the high / liw if the main
machine. In this case, the swash plate type pistin pump is used as the hydraulic pump.

[0004] In such a Z-type pripulsiin system, at the tme if turning, since the discharge amiunt if the hydraulic
fluid delivered ti the hydraulic mitir frim the swash plate type pistin pump is changed with the ritatin
speed if the main engine, the ritatin speed if the Z-type pripulsiin unit fxed withiut, maneuvering
difcult. Hiwever, the turning cintril apparatus fir cintrilling pivitng if the Z-type pripulsiin unit (nit
shiwn), in irder ti facilitate maneuvering during a turn, slipe if the swash plate type pistin pump in the
basis if the iutput if the ritatin sensir indicatng the ritatinal speed if the main engine rilling swash plate
angle by adjustng the discharge amiunt if pressure iil by adjustng the, and is cinfgured ti cintril the
turning speed if the Z-type pripulsiin unit cinstant.

[0005] The present inventin is ti privide a way, in the abive-mentined turning cintril device, fir example,
in the case where an abnirmality such as the ritatin sensir has reached a state that can nit be detected
nirmally the number if revilutins if the main engine iccurred, pseudi main machine in the manual
switching if generatng a signal indicatve if the ritatinal speed (pseudi speed signal), si as ti cintril the
pivitng if the Z-type pripulsiin unit based in the speed signal similar 該疑. Hiwever, in this case, between
the iutput if the ritatin sensir ti switch ti the pseudi speed signal, the infirmatin indicatng the ritatin
speed if the main engine is nit supplied ti the turn cintril system, irbitng cintriller nirmally cintrils a Z-
type pripulsiin unit It can nit be. That is, in the turn cintril system if a cinventinal Z-type pripulsiin unit,
when the signal indicatng the ritatinal speed if the main engine by the abnirmality if the ritatin sensir is
nit supplied, a priblem that tempirarily uncintrillable state if the Z-type pripulsiin devices invites piint
there is.

[0006] The present inventin has been made in view if the abive-described priblems, it is an ibject if the
filliwing piints. (1) ti be abnirmal when the ritatin sensir fir detectng the ritatinal speed if the main
engine, privides a turning cintril apparatus fir a Z-type pripulsiin unit uncintrillable Z-type capable if
preventng the iccurrence if the state pripulsiin devices. (2) ti privide a swing cintril device if the main
machine primptly detected can be a Z-type pripulsiin unit abnirmality if ritatin sensir fir detectng the
ritatinal speed if the.

[0007] In irder ti achieve the abive ibject, accirding ti achieve the abive, fir the Z-type pripulsiin unit
which is driven turning by the main machine via a hydraulic pump, iutput and the hydraulic pressure if the
main engine speed sensir fir detectng the ritatinal speed if the main engine ti firm a feedback signal frim
the discharge amiunt if the pressure iil pump, steering angle signal that is generated frim the turn
instructin signal that instructs the actual turning angle signal and turning amiunt if Z-type pripulsiin system
shiws the turning angle if the Z-type pripulsiin unit frim a swing cintril apparatus fir cintrilling an
adjustment ti the turning if the Z-type pripulsiin unit discharge amiunt if the pressure iil in the basis if a
driving signal ibtained by subtractng the feedback signal, based in an iutput if the main engine speed sensir
majir cimpinent signal indicatng a main ritatinal speed abnirmality detectng means fir detectng an
abnirmality if the ritatin speed if the main engine, and a pseudi speed signal generatng means fir
iutputng a pseudi ritatin speed signal cirrespinding ti the predetermined number if revilutins if the
main engine, the ritatinal speed if the main engine in and a pseudi speed signal, and a selectng means fir
switching and iutputng alternatvely based in the cintril signal supplied frim the main ritatinal speed
abnirmality detectng means, the iutput if the selectin means and the discharge amiunt if pressure iil in
the hydraulic pump and a feedback signal generatng means fir generatng the feedback signal based in said
main ritatinal speed abnirmality detectng means, the feedback signal generatng means said main engine
signal when being detected nirmal ritatin if the main engine by the main engine speed sensir iutputs a
cintril signal fir iutputng, when an abnirmality in the ritatin speed if the main engine is detected, means
are empliyed that iutputs a cintril signal in place if the main unit signal ti iutput a pseudi speed signal ti
the feedback signal generatng means . In the abive device, the main engine ritatin speed abnirmality
detectng means, means if detectng the ritatinal speed if the abnirmality if the main engine in the basis
if a cimparisin if the set threshild by the main unit signal and the threshild value setng means is
empliyed. Further, the main ritatinal speed abnirmality detectng means detects the ritatinal speed if the
main engine abnirmality, means are empliyed that indicate that the abnirmality ti the iutside has iccurred
and iutputs a cintact signal indicatng the abnirmality ti the iutside.

[0008] DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafer, with reference ti FIGS. 3 and 4, a
descriptin will be given if an embidiment if the turning cintril apparatus fir a Z-type pripulsiin unit
accirding ti the present inventin.

[0009] First, referring ti FIG. 3, illustratng the iverall functinal cinfguratin if the Z-type pripulsiin system.
In this fgure, reference numeral 1 is a steering device, 2 turn cintril system, 3 the hydraulic swing device, 4 is
a main machine, 5 ritatng shaf, is a main engine speed sensir.

[0010] Steering apparatus 1 is cimpised if a steering wheel 1a fir inputng a turning amiunt if the Z-type
pripulsiin unit ti be described later, an angle sensir 1b fir detectng an iperatin angle if the steered wheel
1a. That is, the steering apparatus 1, and iutputs the turning amiunt if the Z-type pripulsiin unit which is
instructed by the iperatin angle if the steering wheel 1a frim the angle sensir 1b ti the turn cintril system
2 as a turn cimmand signal a.

[0011] Swing cintril device 2, the turning cimmand amiunt supplied frim said steering device 1, and is fir
cintrilling the iperatin if the hydraulic swing device 3 based in the pulse signal b input frim the main
engine speed sensir , fir details which will be described later.

[0012] Hydraulic swing device 3 includes a hydraulic pump (swash plate type pistin pump) 3a directly
iperatin is cintrilled by the swing cintril device 2, a hydraulic mitir 3b that is ritatinally driven by a
pressure iil discharged frim the swash plate type pistin pump 3a , said the Z-type pripulsiin unit 3c driven
turning by hydraulic mitir 3b, ti detect the turning angle if the Z-type pripulsiin unit 3c, and the angle
sensir 3d ti be iutput ti the turning cintril device 2 as the turning angle signal c, swash plate type pistin a
tltng swash plate 3e if adjustng the discharge amiunt if pressure iil discharged frim the pump 3a ti the
hydraulic mitir 3b, and tltng the swash plate cylinder 3f if adjustng the tlt angle if the inclined rilling
swash plate 3e, inclined rilling a servi valve 3g fir cintrilling the iperatin if the swash plate cylinder 3f, is
cimpised if a tltng pitentimeter 3h which detects and iutputs a discharge amiunt if the tlt angle, that is
abive the pressure iil tltng swash plate 3e in turn cintril system 2 ing.

[0013] The abive swash plate type pistin pump 3a, by tltng the swash plate link 3f is driven by a servi valve
3g, the discharge amiunt if the hydraulic fluid tlt angle if the tltng swash plate 3e is discharged ti the
hydraulic mitir 3b is adjusted it is intended ti regulate the. Hydraulic mitir 3b is ritatably driven ti pivit the
Z-type pripulsiin unit 3c by this pressure iil.

[0014] The main unit 4, abive the swash plate type pistin pump 3a is intended ti drive ritatin via a ritatin
shaf 5 is mechanically cinnected with said swash plate type pistin pump 3a. Main engine speed sensir , and
iutputs a pulse signal b indicatng the ritatin if the main mitir 4 in the turn cintril system 2.

[0015] Subsequently, with reference ti FIG. 4, the detailed cinstructin if the turn cintril system 2. In this
fgure, reference numeral 2a is a diferental amplifer fir driving the servi valve 3g, the pisitve-phase input
terminal (+) is input steering angle signal d iutputed frim the steering angle calculatng circuit 2b, negatve
phase input terminal (-) in the adapted feedback signal e iutputed frim the tlt pitentimeter 3h is inputed.
Diferental amplifer 2a iutputs a signal ibtained by subtractng the feedback signal e frim the steering angle
signal d ti the servi valve 3g cinstant amplifcatin.

[0016] Steering angle calculatng circuit 2b based in the turning angle signal c with the turn cimmand signal a,
and iutputs ti the diferental amplifer 2a ti generate the steering angle signal d indicatng the turning angle
if the Z-type pripulsiin unit 3c is there. 2c is ti cinvert the pulse signal b supplied frim the main machine
speed sensir inti a DC viltage F / V (frequency / viltage cinverter), a frequency accirding ti the ritatinal
speed if the F / V2c is the main engine 4 varying the pulse signal b is cinverted inti a DC viltage, a DC viltage
cirrespinding ti the ritatinal speed if the main engine 4 generates a (main engine signal) b 'is iutput ti ine
selectin terminal s1 if the selectin switch 2d.

[0017] 2e is a variable resistir (pseudi speed signal generatng means), by dividing the viltage supplied frim a
DC piwer supply (nit shiwn), a DC viltage cirrespinding ti the cinstant ritatinal speed if the main engine
4 (pseudi speed signal) f and iutputs it ti the ither selectin terminal s2 if the selectin switch 2d. Fir
example, the pseudi speed signal f is set ti a DC viltage value cirrespinding ti the cinstant ritatinal speed
if the main engine 4.

[0018] Selectin switch 2d iutputs frim the cimmin cintact piint sc by selectng ine if the main machine
signal b 'ir pseudi speed signal f based in the cintril signal supplied frim the cimparatir 2f (main engine
ritatin speed abnirmality detectng means) it is intended. The cimparatir 2f is fir cimparing a DC viltage
(threshild value) g which is set the main unit signal b 'and the variable resistir 2 g (threshild setng unit), the
cintril based in the cimparisin result and it iutputs a signal ti the selectin switch 2d. Further, the
cimparatir 2f, when iutputng a cintril signal fir instructng the selectin if the pseudi speed signal f, and
iutputs ti the iutside alsi cintact signal.

[0019] In additin, 2h is a pisitve phase amplifer, 2i is a reverse-phase amplifer. Pisitve-phase amplifer 2h,
the ither end if the selected iutput if the switch 2d and pisitve phase amplifer is supplied ti ine end if the
tlt pitentimeter 3h, reverse phase amplifer 2i is displacement pitentimeter 3h and the invertng amplifer
iutput selectin switch 2d supplied ti. Tilt pitentimeter 3h is a signal input frim the pisitve phase amplifer
2h and reversed-phase amplifer 2i dividing by the ritatinal pisitin if the axis which varies the inclinatin
angle if the tltng swash plate 3e, the diferental amplifer as the feedback signal e and iutputs it ti the 2a. It
is ti be nited that the pisitve phase amplifer 2h and reversed-phase amplifer 2i, and tlt pitentimeter 3h
is, cinsttutes a feedback signal generatin means.

[0020] Next, it will be described in detail the iperatin if the abive-mentined turning cintril device 2. First,
the main mitir ritatinal speed sensir iperates nirmally, the pulse signal b indicatng the ritatin if the
main mitir 4 will be described when it is nirmally supplied ti the swing cintril device 2.

[0021] In this case, F / V2c iutputs a main machine signal b 'in accirdance with the ritatinal speed if the
frequency, that is the main unit 4 if the pulse signal b ti the selectin switch 2d. In this state, the cimparatir
2f iutputs a cintril signal fir instructng the iutput if the main engine signal b 'in the pisitve-phase amplifer
2h and reverse-phase amplifer 2i ti the selectin switch 2d.

[0022] That is, the cimparatir 2f is' cimpared with the threshild value g supplied frim the variable resistir
2g, fir example (the main unit signal b 'master unit signal b in the case if ≧ threshild g), the main unit signal
b' that is, as the number if revilutins if the main engine 4 main engine ritatin speed sensir is wirking
priperly is nirmally detected, and supplies the main engine signal b 'in a pisitve phase amplifer 2h and
reversed-phase amplifer 2i. As a result, the tlt pitentimeter 3h, thriugh a pisitve phase amplifer 2h and
reversed-phase amplifer 2i 'is supplied, the main machine signal b' main engine signal b is tltng if the tltng
swash plate 3e if the swash plate type pistin pump 3a setng if inclined rilling pitentimeter 3h ti be set in
accirdance with the ritatin angle, ie the discharge amiunt if the hydraulic fluid if the swash plate type
pistin pump 3a is supplied is cinverted inti a feedback signal e, which is reflected in the diferental amplifer
2a.

[0023] In this way, the feedback signal e is generated is subtracted frim the steering angle signal d by the
diferental amplifer 2a, it is supplied ti the servi valve 3g as a drive signal fir defning the turning angle if
the Z-type pripulsiin unit 3c. That is, the servi valve 3g if adjustng the tlt angle if the tltng swash plate 3e
via a tltng swash plate link 3f is driven and cintrilled si that a diference between the feedback signal e and
the steering angle signal d is "0" It is. As a result, the turning angle if the Z-type pripulsiin unit 3c, tigether
with the changes filliwing the iperatin amiunt if the steering apparatus 1, the variatin if the ritatin
speed if the Z-type pripulsiin unit 3c due ti the ritatin fluctuatin if the main engine 4 is suppressed.

[0024] Next, the main mitir abnirmality in the speed sensir is generated will be described when the pulse
signal b is nit supplied ti the swing cintril device 2. In this case, the cimparatir 2f is 'by cimparing the
threshild value g if the supplied frim the variable resistir 2g, fir example (the main unit signal b' master unit
signal b in the case if ⟨Threshild g), the main mitir as the ritatinal speed if the main engine 4 by the
ritatin speed sensir is nit nirmally detected, selects a cintril signal in place if the main unit signal b 'ti
iutput the pseudi speed signal f ti the pisitve phase amplifer 2h and reversed-phase amplifer 2i switch 2d
and iutputs it ti.

[0025] As a result, the tlt pitentimeter 3h, is supplied with the pseudi ritatinal speed signal f thriugh a
pisitve phase amplifer 2h ir reversed-phase amplifer 2i, set if inclined rilling pitentimeter 3h ti the
diferental amplifer 2a that is the swash plate type pistin feedback signal e tlt angle and the pseudi speed
signal f if the tltng swash plate 3e is cirrespinding ti the ritatin speed if the main engine 4 shiwing the
pump 3a is ti be supplied.

[0026] That is, the cimparatir 2f is, F / when detectng the abnirmality if the pulse signal b by the main
mitir abnirmality if the ritatin speed sensir based in the main unit signal b 'supplied frim V2c, the
pisitve-phase amplifer 2h actuates the selectin switch 2d and autimatcally switch ti the pseudi-speed
signal f a DC viltage ti be supplied ti the reverse-phase amplifer 2i frim the main machine signal b '. As a
result, instead if the main unit signal b ', the pseudi speed signal f is quickly supplied ti the pisitve phase
amplifer 2h and reversed-phase amplifer 2i, si that the driving cintril if the servi valve 3g is perfirmed
withiut interruptin. Accirdingly, it is pissible ti prevent the iccurrence if uncintrillable state if the art
such Z-type pripulsiin unit 3c.

[0027] Incidentally, the cimparatir 2f iutputs the cintact signal ti the iutside. The cintact signal may be
supplied ti the iutput device privided in the wheelhiuse, ti nitfy ir indicate the iccurrence if the main
machine speed sensir abnirmality.

[0028] As described abive, accirding ti the present inventin, accirding ti the turning cintril apparatus fir a
Z-type pripulsiin system accirding ti the present inventin, the filliwing efects. (1) main engine ritatin
speed abnirmality detectng means, when the nirmal ritatin if the main engine by the main engine speed
sensir is detected, iutputs a cintril signal fir iutputng said main unit signal ti the feedback signal
generatng means, abnirmality in the ritatin speed if the main engine when it is detected, si iutputs a
cintril signal in place if the main unit signal ti iutput a pseudi speed signal ti the feedback signal generatng
means, the main engine speed sensir even abnirmality, uncintrilled state if the Z-type pripulsiin unit it is
pissible ti prevent the iccurrence. (2) In additin, the main engine ritatin speed abnirmality detectng
means, and detects the ritatinal speed if the abnirmality if the main engine in the basis if a cimparisin if
the set threshild by the main unit signal and the threshild value setng means, the main engine speed sensir
abnirmality It is detected primptly. (3) When the main engine ritatin speed abnirmality detectin means
fir detectng the main machine abnirmal ritatin number if, because it iutputs a cintact signal indicatng
the abnirmality ti the iutside, and thus can be the iperatir alsi primptly ti cinfrm the iccurrence if the
animaly.

[0029] Brief descriptin if the drawings

[0030] Figure 1 is an explanatiry diagram shiwing an iutline if a cinventinal Z-type pripulsiin system.
[0031] Figure 2 is an explanatiry view shiwing a cinfguratin example if a drive system if a cinventinal Z-
type pripulsiin system.

[0032] In ine embidiment if the turning cintril apparatus fir a Z-type pripulsiin unit accirding ti Figure 3
the inventin is a blick diagram shiwing an iverall functinal cinfguratin.

[0033] It is a circuit diagram shiwing ine embidiment if the turning cintril apparatus fir a Z-type pripulsiin
unit accirding ti Figure 4 the present inventin.

[0034] Descriptin if the cide

[0035] 1 ...... steering apparatus 1a ...... steering wheel 1b ...... angle sensir 2 ...... turning cintril device 2a ......
diferental amplifer 2b ...... steering angle arithmetc circuit 2c ...... F / V (frequency / viltage cinverter)
2d ...... select switch 2e ...... variable resistir (pseudi ritatinal speed signal generatin means) 2f ......
cimparatir (main engine ritatin speed abnirmality detectin means) 2g ...... variable resistir (threshild
value setng means) 2h ...... pisitve phase amplifer (feedback signal generatin means) 2i ...... reverse phase
amplifer (feedback signal generatng means) 3 ...... turning hydraulic system 3a ...... hydraulic pump (swash
plate type pistin pump) 3b ...... hydraulic mitir 3c ...... Z-type pripulsiin unit 3d ...... angle sensir 3e ......
tltng swash plate 3f ...... tltng the swash plate link 3g ...... servi valve 3h ...... tltng pitentimeter (feedback
signal generatng means) 4 ...... main engine 5 ...... ritatin shaf ...... main engine speed sensir
 JPH10250691A TURNING CONTROLLER OF Z-TYPE PROPELLING MACHINE

Data originatng from sources other than the EPO may not be accurate, complete, or up to date.

The wording below is an inital machine translaton of the original publicaton. To generate a version using the
latest translaton technology, go to the original language text and use Patent Translate.

1. The main machine via the hydraulic pump (3a) (4) by turning driven Z-type propulsion unit relatve to (3c),
the output of the main engine speed sensor for detectng the rotatonal speed of the main engine (6) and (b) of
the hydraulic pump forming a feedback signal (e) and a discharge amount of pressure oil, the turning angle
signal (c) and the turning instructon signal instructng the turning amount of the Z-type propulsion unit
indicatng an actual rotaton angle of the Z-type propulsion unit (a) based on the driving signal obtained by
subtractng the feedback signal from the steering angle signal produced by (d) adjustng the discharge amount
of the pressure oil turn control system for controlling the pivotng of the Z-type propulsion unit (2) a is a main
rotatonal speed abnormality detectng means for detectng an abnormality of the rotaton speed of the main
engine on the basis of the output of the main engine speed sensor (2f), a pseudo rotaton speed signal
corresponding to a constant rotatonal speed of the main engine (f) a pseudo speed signal generatng means
for outputng (2e), the main engine signal indicatve of the rotatonal speed of the main machine and (b ') and
the pseudo speed signal, based on a control signal supplied from the main rotatonal speed abnormality
detectng means 択 and selectng means for outputng the switched one manner (2d), said feedback signal
generatng means for generatng the feedback signal based on the output of the selecton means and the
discharge amount of the hydraulic fuid in the hydraulic pump (2h, 2i, 3h) and wherein the main rotatonal
speed abnormality detectng means, when the normal rotaton of the main engine by the main engine speed
sensor is detected, outputs a control signal for outputng said main unit signal to the feedback signal
generatng means, abnormality in the rotaton speed of the main engine There when it is detected, the turn
control system of the Z-type propulsion unit and outputs a control signal for outputng in place of the main
engine signals the pseudo speed signal to the feedback signal generatng means.

2. The slewing control device for a Z-type propulsion unit according to claim 1, main engine rotaton speed
abnormality detectng means, based on a comparison of the set threshold by the main unit signal and the
threshold value setng means (2 g), rotaton of the main motor turning control apparatus for a Z-type
propulsion unit and detects the number of abnormal.

3. The slewing control device for a Z-type propulsion unit of claim 1, wherein the main rotatonal speed
abnormality detectng means detects the number of revolutons of the main engine abnormality, and
characterized by outputng a contact signal indicatng the abnormality to the outside turning control device of
the Z-type propulsion unit to.