EP0519791B1 - Apparatus for controlling the position of a steering gear, in particular of a ship - Google Patents

Apparatus for controlling the position of a steering gear, in particular of a ship Download PDF

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Publication number
EP0519791B1
EP0519791B1 EP19920401639 EP92401639A EP0519791B1 EP 0519791 B1 EP0519791 B1 EP 0519791B1 EP 19920401639 EP19920401639 EP 19920401639 EP 92401639 A EP92401639 A EP 92401639A EP 0519791 B1 EP0519791 B1 EP 0519791B1
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EP
European Patent Office
Prior art keywords
jacks
manoeuvring
controlling
equilibrating
ship
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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.)
Expired - Lifetime
Application number
EP19920401639
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German (de)
French (fr)
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EP0519791A1 (en
Inventor
Rémy Plantadis
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.)
Neyrpic Framatome Mecanique
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Neyrpic Framatome Mecanique
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Publication of EP0519791A1 publication Critical patent/EP0519791A1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B18/00—Parallel arrangements of independent servomotor systems
    • 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
    • B63H25/26—Steering engines
    • B63H25/28—Steering engines of fluid type
    • B63H25/30—Steering engines of fluid type hydraulic

Definitions

  • the present invention relates to a device for controlling the position of a steering gear, in particular of a ship.
  • control devices which comprise two double-acting actuating cylinders, connected to the ends of a rod or wick cross member of the apparatus and connected to means for supplying fluid under pressure, the operation of which is controlled by means for controlling the position of the device at a set position.
  • the means for supplying fluid to the actuating cylinders comprise one or more fluid pumps and it is necessary to increase the fluid switching in the supply circuits of the cylinders for reasons of rapid reconfiguration of the together for example after a breakdown.
  • this increases the complexity of the circuits and the risk of leaks.
  • this type of steering gear is increasingly involved in stabilizing and damping the movements, for example of the ship which is subjected to wave movements, for example from the sea.
  • documents FR-A-2 058 953 and US-A-3 741 073 are known, devices for controlling the position of any device such as an aircraft control surface, comprising actuating jacks connected to means for supplying pressurized fluid, the operation of which is controlled by means of slaving to a set position.
  • the object of the invention is therefore to solve these problems by proposing a device for controlling the position of a steering gear which is simple, reliable and which makes it possible to ensure optimal stabilization of the position of this gear.
  • the subject of the invention is a device for controlling the position of a steering device of a ship according to claim 1.
  • a device according to the invention for controlling the position of a steering gear for example of a ship, comprises two actuating cylinders 1 and 2 double effect whose piston rods are connected to the ends of a bar or wick cross member of the apparatus, designated by the general reference 3 in these figures.
  • This steering device has a conventional structure with a bar or wick crosspiece to orient the rudder (not shown) in a desired position.
  • the actuating cylinders 1 and 2 are connected to means for supplying pressurized fluid designated under the general reference 4 in FIG. 1, the operation of which is controlled by means 5 for controlling the position of the apparatus at a setpoint position.
  • These control means have a structure of known type and include, for example, a conventional PID type regulator.
  • the means 4 for supplying the cylinders with pressurized fluid comprise a supply group associated with each actuating cylinder 1 and 2, these groups being designated by the references 6 and 7, respectively.
  • These groups have known structures and include, for example, hydraulic pumps whose operation is controlled by the output of the servo means 5.
  • control device also comprises means 8 for balancing the pressures of the fluid supplying the actuating cylinders at the outlet of these groups in order to balance the control of the actuating cylinders and stabilize the device in position. .
  • these balancing means 8 advantageously comprise two jacks with double balancing effect, designated by the general references 9 and 10, mounted in opposition and whose piston rods are integral in translation.
  • Each of these balancing cylinders 9 and 10 is connected in parallel to one of the operating cylinders 1 and 2 respectively, so as to be supplied with pressurized fluid at the same time as these.
  • the device according to the invention also comprises a linear sensor 11 for positioning the rods of the balancing jacks, the output of which is connected to means 12 for regulating the operation of at least one of the supply groups.
  • cylinder and in the particular case, group 6, to balance the control of the actuating cylinders and stabilize the position of the steering gear by acting on the outlet pressure of this group.
  • cylinders 1 and 2 are supplied by groups 6 and 7 depending on the value position setpoint entered in the regulator and the actual position of the drill bit. Note that these positions are entered and measured respectively by any means known per se.
  • the supply of the cylinders 1 and 2 being done by means of separate and separate pumps, it is necessary to provide means for balancing the pressures and output flows of these groups to obtain good stabilization in position of the device. to govern.
  • This is achieved by means of the balancing means comprising the balancing jacks 9 and 10 connected in parallel on the jacks 1 and 2.
  • the balancing means comprising the balancing jacks 9 and 10 connected in parallel on the jacks 1 and 2.
  • the displacement of these pistons causes a displacement of the rods thereof and the displacement of these rods is measured by the position sensor 11.
  • the output thereof is used to regulate the operation of one of the supply groups through regulator 12.
  • the device according to the invention makes it possible to compensate for any imbalance in addition to the pressures of supply fluid to the actuating cylinders of the bar or wick cross member to obtain optimal stabilization of the steering gear.
  • the drive member 14 is movably mounted on a guide rod 16.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Actuator (AREA)

Description

La présente invention concerne un dispositif de commande de la position d'un appareil à gouverner notamment d'un navire.The present invention relates to a device for controlling the position of a steering gear, in particular of a ship.

Plus particulièrement, l'invention se rapporte à de tels dispositifs de commande qui comportent deux vérins de manoeuvre à double effet, reliés aux extrémités d'une barre ou traverse de mèche de l'appareil et raccordés à des moyens d'alimentation en fluide sous pression dont le fonctionnement est piloté par des moyens d'asservissement de la position de l'appareil à une position de consigne.More particularly, the invention relates to such control devices which comprise two double-acting actuating cylinders, connected to the ends of a rod or wick cross member of the apparatus and connected to means for supplying fluid under pressure, the operation of which is controlled by means for controlling the position of the device at a set position.

Ces dispositifs de l'état de la technique présentent un certain nombre d'inconvénients au niveau d'une part de leur structure et d'autre part des nouvelles fonctions que l'appareil à gouverner doit remplir.These devices of the state of the art have a certain number of drawbacks on the one hand in their structure and on the other hand in the new functions which the steering gear must fulfill.

En effet, les moyens d'alimentation en fluide des vérins de manoeuvre comprennent une ou plusieurs pompes de fluide et l'on est obligé de multiplier les commutations de fluide dans les circuits d'alimentation des vérins pour des raisons de rapidité de reconfiguration de l'ensemble par exemple après une panne. Or, ceci augmente la complexité des circuits et les risques de fuite.Indeed, the means for supplying fluid to the actuating cylinders comprise one or more fluid pumps and it is necessary to increase the fluid switching in the supply circuits of the cylinders for reasons of rapid reconfiguration of the together for example after a breakdown. However, this increases the complexity of the circuits and the risk of leaks.

Par ailleurs, ce type d'appareils à gouverner est amené de plus en plus à participer à la stabilisation et à l'amortissement des mouvements par exemple du navire qui est soumis à des mouvements ondulatoires, par exemple de la mer.Furthermore, this type of steering gear is increasingly involved in stabilizing and damping the movements, for example of the ship which is subjected to wave movements, for example from the sea.

En conséquence, ces appareils fonctionnent constamment en dynamique à des vitesses angulaires élevées et aucun moyen particulier n'a été prévu sur les appareils à gouverner de l'état de la technique pour permettre un fonctionnement optimal de ces appareils, dans de telles conditions.Consequently, these devices operate constantly in dynamics at high angular speeds and no particular means has been provided on the steering gear of the state of the art to allow optimal operation of these devices, under such conditions.

On connaît par exemple des documents FR-A-2 058 953 et US-A-3 741 073, des dispositifs de commande de la position d'un appareil quelconque tel qu'une gouverne d'avion, comportant des vérins de manoeuvre raccordés à des moyens d'alimentation en fluide sous pression dont le fonctionnement est piloté par des moyens d'asservissement à une position de consigne.For example, documents FR-A-2 058 953 and US-A-3 741 073 are known, devices for controlling the position of any device such as an aircraft control surface, comprising actuating jacks connected to means for supplying pressurized fluid, the operation of which is controlled by means of slaving to a set position.

Cependant, les structures de ces dispositifs sont relativement complexes et ils présentent des temps de réponse très longs.However, the structures of these devices are relatively complex and they have very long response times.

Le but de l'invention est donc de résoudre ces problèmes en proposant un dispositif de commande de la position d'un appareil à gouverner qui soit simple, fiable et qui permette d'assurer une stabilisation optimale de la position de cet appareil.The object of the invention is therefore to solve these problems by proposing a device for controlling the position of a steering gear which is simple, reliable and which makes it possible to ensure optimal stabilization of the position of this gear.

A cet effet, l'invention a pour objet un dispositif de commande de la position d'un appareil à gouverner d'un navire selon la revendication 1.To this end, the subject of the invention is a device for controlling the position of a steering device of a ship according to claim 1.

L'invention sera mieux comprise à l'aide de la description qui va suivre, donnée uniquement à titre d'exemple, et faite en se référant aux dessins annexés sur lesquels :

  • la figure 1 représente un schéma synoptique d'un dispositif de commande selon l'invention ;
  • la figure 2 représente un schéma illustrant le fonctionnement d'un dispositif de commande selon l'invention ; et
  • la figure 3 représente une vue partiellement en coupe de la partie mécanique d'un dispositif de commande selon l'invention.
The invention will be better understood with the aid of the description which follows, given solely by way of example, and made with reference to the appended drawings in which:
  • FIG. 1 represents a block diagram of a control device according to the invention;
  • FIG. 2 represents a diagram illustrating the operation of a control device according to the invention; and
  • Figure 3 shows a partially sectional view of the mechanical part of a control device according to the invention.

Ainsi qu'on peut le voir sur les figures 1 et 2, un dispositif selon l'invention pour la commande de la position d'un appareil à gouverner, par exemple d'un navire, comporte deux vérins de manoeuvre 1 et 2 à double effet dont les tiges de piston sont reliées aux extrémités d'une barre ou traverse de mèche de l'appareil, désignée par la référence générale 3 sur ces figures. Cet appareil à gouverner présente une structure classique avec une barre ou traverse de mèche permettant d'orienter le gouvernail (non représenté) dans une position souhaitée.As can be seen in Figures 1 and 2, a device according to the invention for controlling the position of a steering gear, for example of a ship, comprises two actuating cylinders 1 and 2 double effect whose piston rods are connected to the ends of a bar or wick cross member of the apparatus, designated by the general reference 3 in these figures. This steering device has a conventional structure with a bar or wick crosspiece to orient the rudder (not shown) in a desired position.

Les vérins de manoeuvre 1 et 2 sont raccordés à des moyens d'alimentation en fluide sous pression désignés sous la référence générale 4 sur la figure 1, dont le fonctionnement est piloté par des moyens 5 d'asservissement de la position de l'appareil à une position de consigne. Ces moyens d'asservissement présentent une structure de type connu et comprennent, par exemple, un régulateur classique de type PID.The actuating cylinders 1 and 2 are connected to means for supplying pressurized fluid designated under the general reference 4 in FIG. 1, the operation of which is controlled by means 5 for controlling the position of the apparatus at a setpoint position. These control means have a structure of known type and include, for example, a conventional PID type regulator.

Selon l'invention, les moyens d'alimentation 4 des vérins en fluide sous pression comprennent un groupe d'alimentation associé à chaque vérin de manoeuvre 1 et 2, ces groupes étant désignés par les références 6 et 7, respectivement. Ces groupes présentent des structures connues et comprennent, par exemple, des pompes hydrauliques dont le fonctionnement est contrôlé par la sortie des moyens d'asservissement 5.According to the invention, the means 4 for supplying the cylinders with pressurized fluid comprise a supply group associated with each actuating cylinder 1 and 2, these groups being designated by the references 6 and 7, respectively. These groups have known structures and include, for example, hydraulic pumps whose operation is controlled by the output of the servo means 5.

Par ailleurs, le dispositif de commande selon l'invention comporte également des moyens 8 d'équilibrage des pressions de fluide d'alimentation des vérins de manoeuvre en sortie de ces groupes pour équilibrer la commande des vérins de manoeuvre et stabiliser l'appareil en position.Furthermore, the control device according to the invention also comprises means 8 for balancing the pressures of the fluid supplying the actuating cylinders at the outlet of these groups in order to balance the control of the actuating cylinders and stabilize the device in position. .

Comme on peut le voir plus particulièrement sur la figure 2, ces moyens d'équilibrage 8 comprennent avantageusement deux vérins à double effet d'équilibrage, désignés par les références générales 9 et 10, montés en opposition et dont les tiges de piston sont solidaires en translation. Chacun de ces vérins d'équilibrage 9 et 10 est connecté en parallèle sur l'un des vérins de manoeuvre 1 et 2 respectivement, de manière à être alimenté en fluide sous pression en même temps que ceux-ci.As can be seen more particularly in FIG. 2, these balancing means 8 advantageously comprise two jacks with double balancing effect, designated by the general references 9 and 10, mounted in opposition and whose piston rods are integral in translation. Each of these balancing cylinders 9 and 10 is connected in parallel to one of the operating cylinders 1 and 2 respectively, so as to be supplied with pressurized fluid at the same time as these.

Par ailleurs, le dispositif selon l'invention comporte également un capteur linéaire 11 de position des tiges des vérins d'équilibrage, dont la sortie est reliée à des moyens de régulation 12 du fonctionnement d'au moins l'un des groupes d'alimentation de vérin, et dans le cas particulier, le groupe 6, pour équilibrer la commande des vérins de manoeuvre et stabiliser la position de l'appareil à gouverner en agissant sur la pression de sortie de ce groupe.Furthermore, the device according to the invention also comprises a linear sensor 11 for positioning the rods of the balancing jacks, the output of which is connected to means 12 for regulating the operation of at least one of the supply groups. cylinder, and in the particular case, group 6, to balance the control of the actuating cylinders and stabilize the position of the steering gear by acting on the outlet pressure of this group.

On conçoit en effet que les vérins 1 et 2 sont alimentés par les groupes 6 et 7 en fonction de la valeur de consigne de position entrée dans le régulateur et de la position réelle de la traverse de mèche. On notera que ces positions sont entrées et mesurées respectivement par tout moyen connu en soi.We can see that cylinders 1 and 2 are supplied by groups 6 and 7 depending on the value position setpoint entered in the regulator and the actual position of the drill bit. Note that these positions are entered and measured respectively by any means known per se.

L'alimentation des vérins 1 et 2 se faisant à l'aide de pompes distinctes et séparées, il est nécessaire de prévoir des moyens d'équilibrage des pressions et débits de sortie de ces groupes pour obtenir une bonne stabilisation en position de l'appareil à gouverner. Ceci est réalisé par l'intermédiaire des moyens d'équilibrage comprenant les vérins d'équilibrage 9 et 10 connectés en parallèle sur les vérins 1 et 2. En cas de déséquilibre entre les pressions P1 et P2 de sortie respectivement des groupes 6 et 7, il se produit un déséquilibre entre les forces exercées sur les pistons des vérins d'équilibrage 9 et 10 de sorte que ceux-ci se déplacent pour compenser automatiquement ce déséquilibre. Le déplacement de ces pistons entraîne un déplacement des tiges de ceux-ci et le déplacement de ces tiges est mesuré par le capteur de position 11. La sortie de celui-ci est utilisée pour réguler le fonctionnement de l'un des groupes d'alimentation à travers le régulateur 12.The supply of the cylinders 1 and 2 being done by means of separate and separate pumps, it is necessary to provide means for balancing the pressures and output flows of these groups to obtain good stabilization in position of the device. to govern. This is achieved by means of the balancing means comprising the balancing jacks 9 and 10 connected in parallel on the jacks 1 and 2. In the event of an imbalance between the outlet pressures P1 and P2 of groups 6 and 7 respectively, there is an imbalance between the forces exerted on the pistons of the balancing cylinders 9 and 10 so that they move to automatically compensate for this imbalance. The displacement of these pistons causes a displacement of the rods thereof and the displacement of these rods is measured by the position sensor 11. The output thereof is used to regulate the operation of one of the supply groups through regulator 12.

On conçoit donc que le dispositif selon l'invention permet de compenser tout déséquilibre outre les pressions de fluide d'alimentation des vérins de manoeuvre de la barre ou traverse de mèche pour obtenir une stabilisation optimale de l'appareil à gouverner.It is therefore understandable that the device according to the invention makes it possible to compensate for any imbalance in addition to the pressures of supply fluid to the actuating cylinders of the bar or wick cross member to obtain optimal stabilization of the steering gear.

Par ailleurs, ceci permet d'obtenir un temps de réponse très faible et indépendant du temps de réponse de la boucle d'asservissement en position de l'ensemble.Furthermore, this makes it possible to obtain a very low response time independent of the response time of the control loop in the position of the assembly.

De plus, une telle structure permet d'utiliser de manière optimale l'appareil à gouverner, dans des fonctions de stabilisation du navire.In addition, such a structure makes it possible to optimally use the steering gear, in stabilization functions of the ship.

Sur la figure 3, on a représenté un mode de réalisation de la partie mécanique d'un dispositif selon l'invention.In Figure 3, there is shown an embodiment of the mechanical part of a device according to the invention.

On reconnaît sur cette figure les vérins d'équilibrage 9 et 10 dont les tiges de sortie 9a et 10a sont reliées par une structure de liaison 13 comportant, dans sa partie supérieure, un organe d'entraînement 14 de la partie mobile 15 du capteur de position 11 des tiges de vérin.We recognize in this figure the balancing cylinders 9 and 10 whose output rods 9a and 10a are connected by a connecting structure 13 comprising, in its upper part, a drive member 14 of the movable part 15 of the sensor position 11 of the cylinder rods.

L'organe d'entraînement 14 est monté déplaçable sur une tige de guidage 16.The drive member 14 is movably mounted on a guide rod 16.

Bien entendu, d'autres modes de réalisation de cette partie mécanique peuvent être envisagés.Of course, other embodiments of this mechanical part can be envisaged.

Par ailleurs, bien que dans le mode de réalisation on ait représenté un régulateur 12 permettant de contrôler le fonctionnement du groupe 6 d'alimentation du vérin 1, il va de soi bien que ce régulateur peut être intégré dans la ligne de commande du groupe 7 d'alimentation du vérin 2.Furthermore, although in the embodiment there is shown a regulator 12 making it possible to control the operation of the group 6 supplying the jack 1, it goes without saying that this regulator can be integrated in the command line of group 7 cylinder supply 2.

Enfin, d'autres moyens d'équilibrage tels que des comparateurs des pressions de sortie des groupes 6 et 7 peuvent être utilisés, la sortie de ces comparateurs étant utilisée pour piloter le régulateur 12.Finally, other balancing means such as comparators of the outlet pressures of groups 6 and 7 can be used, the output of these comparators being used to control the regulator 12.

Claims (2)

  1. Apparatus for controlling the position of the steering mechanism of a ship of the type comprising two double-action manoeuvring jacks (1, 2) connected to the ends of a core bar (3) of the mechanism and connected to means (4) for supplying pressurised fluid, the operation of which is controlled by means (5) for enslaving the position of the mechanism to a set position, characterised in that the means for supplying pressurised fluid to the manoeuvring jacks comprise a supply assembly (6, 7) associated with each manoeuvring jack (1, 2) and in that it comprises means (8) for equilibrating the pressures of the fluid supplying the manoeuvring jacks (1, 2), at the exit from these assemblies, in order to equilibrate the control of the manoeuvring jacks (1, 2) and stabilise the mechanism in position, and in that these equilibrating means comprise two double-action equilibrating jacks (9, 10), opposed to each other, the rods (9a, 10a) of which are integral in translation and each of which is connected in parallel to one of the manoeuvring jacks (1, 2), and a sensor (11) for detecting the position of the rods of the equilibrating jacks (9, 10) the outlet from which is connected to means (12) for regulating the operation of at least one of the supply assemblies (6, 7) in order to equilibrate the control of the manoeuvring jacks.
  2. Apparatus according to claim 1, characterised in that the position sensor is a linear sensor.
EP19920401639 1991-06-19 1992-06-12 Apparatus for controlling the position of a steering gear, in particular of a ship Expired - Lifetime EP0519791B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9107538 1991-06-19
FR9107538A FR2677948B1 (en) 1991-06-19 1991-06-19 DEVICE FOR CONTROLLING THE POSITION OF AN APPARATUS FOR GOVERNING IN PARTICULAR OF A VESSEL.

Publications (2)

Publication Number Publication Date
EP0519791A1 EP0519791A1 (en) 1992-12-23
EP0519791B1 true EP0519791B1 (en) 1995-09-20

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Application Number Title Priority Date Filing Date
EP19920401639 Expired - Lifetime EP0519791B1 (en) 1991-06-19 1992-06-12 Apparatus for controlling the position of a steering gear, in particular of a ship

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EP (1) EP0519791B1 (en)
DE (1) DE69204919T2 (en)
FR (1) FR2677948B1 (en)
TW (1) TW199880B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10123947A1 (en) * 2001-05-17 2002-12-05 Zf Luftfahrttechnik Gmbh Actuator arrangement actuatable by pressure medium

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1940946A1 (en) * 1969-08-12 1971-02-25 Dornier Ag Device for pressure compensation for multiple adjusting cylinders
US3741073A (en) * 1971-01-29 1973-06-26 Moog Inc Hysteretic equalization in redundant electrically operated fluid powered servopositioning apparatus

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DE69204919T2 (en) 1996-04-04
FR2677948B1 (en) 1997-05-30
DE69204919D1 (en) 1995-10-26
FR2677948A1 (en) 1992-12-24
EP0519791A1 (en) 1992-12-23
TW199880B (en) 1993-02-11

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