WO1988008390A1 - Steering and manoeuvering system for water-borne vessels - Google Patents
Steering and manoeuvering system for water-borne vessels Download PDFInfo
- Publication number
- WO1988008390A1 WO1988008390A1 PCT/SE1988/000213 SE8800213W WO8808390A1 WO 1988008390 A1 WO1988008390 A1 WO 1988008390A1 SE 8800213 W SE8800213 W SE 8800213W WO 8808390 A1 WO8808390 A1 WO 8808390A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering
- manoeuvering
- vessel
- mode
- astern
- Prior art date
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H21/213—Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
Definitions
- the invention relates to a steering and manoeuvering system for water-born vessels with two individually turnable propulsion units arranged at the stern portion of the vessel and mutually spaced athwartships.
- These units may be such as jet units, turnable so-called thrusters or turnable propeller units of the "AQUAMATIC” , "Z-DRIVE” type or the like, (but not propeller units with a stationary propeller shaft and a separate rudder).
- a first type of known steering and manoeuvering system for vessels with such double propulsion units includes an actuating turning device, which is actuable by a steering control, e.g. lever or a wheel, and keeps the propulsion units parallel while being turned, and an actuating drive device, which is actuable by a power control for adjusting the propulsive power ahead or astern of the respective propulsion unit.
- the vessel can thus be steered for sailing ahead or astern in a desired starboard/port direction, as well as for executing a rotating or turning movement (one unit set for propulsion ahead and the other one for propulsion astern) which can be to advantage in manoeuvering in ports, harbours and other cramped situations. It is not possible to achieve pure athwartships movement with such a system, however. Athwartships movement namely requires that both propulsion units can be turned in opposite angular directions with opposing directions of propulsion.
- Such a steering and manoeuvering system can indeed appear to be simple, since only one lever is used, but even so it requires that the steersman of the vessel with this system is given extensive training in order to master different manoeuvres, particularly manoeuvers in harbours and ports.
- this system it is difficult to compensate for external forces, e.g. those coming from wind and current, which act on the vessel in a translatory and/or rotary direction.
- the object of the present invention is to achieve a steering and manoeuvering system of the first type mentioned above, which furthermore enables a person to execute complicated special manoeuvers after only having passed a short training course.
- a control such as a wheel or lever
- the power control is utilized in a way which is easily understood and natural, from the aspect of logical control, in the execution of special manoeuvers.
- the steering and manoeuvering system includes a function selector with the aid of which the system is switchable between a normal steering mode, where the propulsion units are kept parallel during steering, and at least one special manoeuvering mode, where the steering control is disconnected from its normal steering function and said actuating turning device is instead actuated automatically irrespective of the position of the steering control for setting the two propulsion units at symmetrical turning angles in opposite directions so that the two propulsion units achieve a force resultant directed substantially athwartships for athwartships and/or turning movement of the vessel, while said actuating drive device is actuated for setting the two propulsion units in opposing propulsive directions ahead/astern.
- the steersman can concentrate on relatively simple control functions, such as increasing or decreasing the turning or athwartships movement rate, with the aid of the power control. It has been found that such manoeuvering can be carried out extremely simply, but still exactly and effectively, and since normal sailing takes place conventionally with the aid of the steering and power controls, the steersman can quickly learn to master the steering and manoeuvering system in accordance with the invention.
- the special manoeuvering modes can suitably be an athwartships movement mode and a turning mode, as defined in claim 2.
- the steering control is preferably utilized to adjust the turning angle of the propulsion units such that the turning angles are changed symmetrically in opposite directions while retaining symmetry, whereby the point of action of the force resultant is moved along the fore and aft line of the vessel or an extension of this line, cf . claim 3.
- the steersman can thus readily achieve either a compensating torque, if the vessel is acted on by outside forces as a result of wind or current, or a superposed turning movement.
- such displacement of the force resultant point of action achieves an amplification or weakening of the torque.
- Switching between the different modes is preferably achieved with the aid of a manually settable function selector (cf. claim 5), particularly a preselector switch, which does not switch to the set mode until certain operating or manoeuvering conditions have been met (cf. claims 6, 7 and 11).
- a manually settable function selector cf. claim 5
- a preselector switch which does not switch to the set mode until certain operating or manoeuvering conditions have been met
- the power control can consist either of a conventional double lever control or a special control, which achieves synchronous propulsion power setting, when it is moved in a first dimension, and power balancing by changing the propulsive power in the opposite direction (ahead-astern) of the respective propulsion unit, when it is moved in a second dimension.
- Figure 1A schematically illustrates a control unit included in a steering and manoeuvering system according to a first embodiment
- Figure 1B is a heavily simplified block diagram of the steering and manoeuvering system in its entirety
- FIGS. 2A and 2B illustrate in a corresponding way a control unit and a steering and manoeuvering system in accordance with a second embodiment
- FIG. 3 schematically illustrates how the steering and manoeuvering system in accordance with the invention functions when sailing in two different special manoeuvering modes (turning and athwartships movement);
- Figure 4 schematically illustrates how the propulsion power is distributed in the steering and manoeuvering system according to Figures 2A and 2B .
- FIG. 1A and 1B A steering and manoeuvering system built up around two conventional components is illustrated in Figures 1A and 1B, namely a steering control 1 in the form of a lever for steering a vessel to starboard or port and a double lever control 2 for controling propulsion power (engine power) and propulsion direction (ahead/astern) of the starboard and port propulsion units.
- the steering and manoeuvering system can thus be installed by connection to an existing equipment.
- a function selector is fitted, this being in the form of a preselection switch with three buttons 3, 4, 5 for selecting a normal steering mode, a turning mode or an athwartships movement mode
- Position sensing means a, b, c, d are arranged for sensing ahead or astern positions of each control lever 2a, 2b.
- the steering control 1, the preselection switch 3, 4, 5 and the control lever position sensing means a, b, c, d are connected to an electronic steering unit 6 provided with logical circuits, and which on its output side gives control signals to actuating turning units 7 , 8 for angular control of the starboard and port propulsion units, respectively.
- These turning units 7 , 8 are preferably servo controlled units of electromechanical, electrohydraulic or electropneumatic type.
- the power control 2 is conventionally connected to actuating drive units 9, 10, e.g. mechanical or hydraulic transmission for acting on the propulsion power (or engine power) and propulsion direction (ahead/astern) of the respective propulsion unit.
- the logical circuits of the steering unit 6 decode the incoming signals and actuate both turning units 7, 8 so that the turning angle of the propulsion units correspond to a desired sailing mode and the setting of the steering and power controls.
- the vessel is steered and manoeuvered conventionally, the steering control functioning such that the propulsion units are kept parallel as they are turned, while the propulsion power and direction of the respective propulsion unit can be set individually with the aid of the power control levers 2a, 2b.
- This steering mode is generally used for movement ahead, astern or simple manoeuvers.
- the preselection buttons 4 and 5 are used for switching onto the turning mode or the athwartships mode, respectively.
- the parallel relationship of the propulsion units caused by the steering control 1 is disengaged in these special manoeuvering modes, and the steering unit 6 then sets the propulsion units in symmetrical turning angles in opposite directions.
- a necessary prerequisite for the effectiveness of these special manoeuvering modes is that the propulsive directions of the propulsion units are mutually opposite, i.e. one power lever, e.g. 2a, is set ASTERN and the other, e.g. 2b, at AHEAD.
- both propulsion units are directed towards a point astern the vessel on the extension of its fore and aft line.
- these turning angles are predetermined by being programmed into the steering unit 6 and result in that the vessel turns to port (position B) or to starboard (position H) about its centre of gravity in the lateral plane.
- the steersman can increase or decrease the rate of turn during the course of manoeuvering by using the levers 2a, 2b or adjust the angles of the propulsion units (while maintaining symmetry) and thereby displace the point of action in the fore and aft direction with the aid of the steering control 1, see positions A, C, G and I.
- both propulsion units are directed towards the centre of gravity of the vessel in the lateral plane, when the steering control 1 is set in the neutral position, see positions E and K.
- the vessel will be moved exclusively ahtwartships to port or starboard, provided that wind and current do not cause any torque. If this should be the case, the steersman can apply a compensating torque by a corresponding setting of the steering control 1, the point of action of the force resultant then being displaced fore or aft, see positions D, F, J and L in Figure 3.
- the NORMAL mode is kept engaged, even if one of the buttons 4 or 5 has been depressed. Preselection of the desired special manoeuver mode can thus take place before the intended manoeuver, the mode in question being engaged automatically when the force directions are shifted with the aid of the levers 2a, 2b. However, changing between the turning and athwartships modes can take place without delay by depressing the respective button 4 and 5 during the manoeuver in progress. Similarly, the NORMAL mode is reengaged as soon as the button 3 is depressed.
- the power control is formed differently and comprises a first lever 2'a for synchronous setting of the propulsive power (or engine power) ahead/neutral/astern of the propulsion units, and a second lever 2'b for differential balancing of the propulsive powers/directions (starboard/neutral/port) such that, when the lever 2'a is in a neutral position and the lever 2'b is being swung to port, the propulsive power of the port propulsion unit astern is increased and to a corresponding degree that of the starboard propulsion unit is increased ahead, and when swinging the lever 2'b to starboard, the propulsive power of the starboard propulsive unit is increased astern and that of the port propulsive unit is increased to a corresponding degree ahead.
- the lever 2'a is then used to adjust the amount of power while maintaining the vectorial difference between the propulsive powers, ahead or astern, for compensating exterior forces acting in the fore and aft line of the vessel.
- Co-action between the levers 2'a and 2'b and their vectorial effect on power is illustrated in Figure 4.
- the vessel In the NORMAL mode the vessel is steered by the steering control 1, and the propulsive power lever 2'a functions as a parallelconnected double lever control, the power balancing lever 2'b achieving increase/decrease of the power of the respective propulsion unit.
- the power balancing lever 2'b When the lever 2'b is set in the neutral position, the power on both units is in mutual balance over the entire domain ahead-neutral-astern for the lever 2'a. Consequently, the NORMAL mode is retained engaged, even when one of the buttons 4, 5 is depressed.
- the preselected special manoeuvering mode is enabled as soon as the lever 2'b is moved to port or starboard sufficiently far for one propulsion unit to propell ahead and the other astern, see the positions (H) in Figure 4, which corresponds to a double lever control being set with one propulsion unit in the propulsive direction ahead and the other one astern. Both propulsion units are now acted on symmetrically, but with different force directions, when the power is changed by the lever 2'b towards the desired side for athwartships or turning movement.
- the steering and manoeuvering system can be modified by one skilled in the art in many ways within the scope of the following claims.
- the levers 2'a and 2'b may be replaced by a single lever of the joystick type, which is movable in two dimensions.
- it may be sufficient with only one special manoeuvering mode, e.g. TURNING, ATHWARTSHIPS or a combined TURNING/ATHWARTSHIPS mode.
- three or more special manoeuvering modes can be used.
- the steering control 1 can be replaced by a wheel.
- the conditions for initiating a preselected sailing mode can be varied as desired.
- preadjusting means can be arranged, suitably placed near the control unit for individually adjusting the ATHWARTSHIPS and TURNING modes, so that the presetting of the turning angles of the propulsion units give the desired effect in the respective special mode (when the steering control is in a neutral position).
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Mechanical Control Devices (AREA)
- Toys (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Catching Or Destruction (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019880701751A KR970006575B1 (en) | 1987-04-30 | 1988-04-27 | Steering & manoeuvering system for water-born vessels |
DE3872520T DE3872520T2 (en) | 1987-04-30 | 1988-04-27 | CONTROL AND MANEUVERING OF WATER VEHICLES. |
EP88904281A EP0358686B2 (en) | 1987-04-30 | 1988-04-27 | Steering and manoeuvering system for water-borne vessels |
NO885785A NO163605C (en) | 1987-04-30 | 1988-12-28 | STEERING AND MANUAL SYSTEM FOR WATERING VESSELS. |
FI895148A FI97353C (en) | 1987-04-30 | 1989-10-30 | Navigation control and control system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8701810A SE457873C (en) | 1987-04-30 | 1987-04-30 | MANUAL SYSTEM FOR MARKETING COSTS |
SE8701810-7 | 1987-04-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1988008390A1 true WO1988008390A1 (en) | 1988-11-03 |
Family
ID=20368386
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE1988/000213 WO1988008390A1 (en) | 1987-04-30 | 1988-04-27 | Steering and manoeuvering system for water-borne vessels |
Country Status (11)
Country | Link |
---|---|
US (1) | US5031561A (en) |
EP (1) | EP0358686B2 (en) |
JP (1) | JP2824072B2 (en) |
KR (1) | KR970006575B1 (en) |
AU (1) | AU606953B2 (en) |
CA (1) | CA1312791C (en) |
DE (1) | DE3872520T2 (en) |
FI (1) | FI97353C (en) |
NO (1) | NO163605C (en) |
SE (1) | SE457873C (en) |
WO (1) | WO1988008390A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1991016235A2 (en) * | 1990-04-14 | 1991-10-31 | Zahnradfabrik Friedrichshafen Ag | Control system for operating a ship's motive installation |
Families Citing this family (35)
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DE4125432A1 (en) * | 1991-08-01 | 1993-02-04 | Zahnradfabrik Friedrichshafen | CONTROL SYSTEM FOR OPERATING A DRIVE SYSTEM FOR A SHIP |
DE19640481C1 (en) * | 1996-09-30 | 1998-05-28 | Lux Werft Und Schiffahrt Gmbh | Ship's control device |
US6234100B1 (en) | 1998-09-03 | 2001-05-22 | The Talaria Company, Llc | Stick control system for waterjet boats |
US6230642B1 (en) | 1999-08-19 | 2001-05-15 | The Talaria Company, Llc | Autopilot-based steering and maneuvering system for boats |
NZ513559A (en) * | 1999-11-09 | 2002-10-25 | Cwf Hamilton & Co Ltd | Directional control for twin jet powered water vessel |
US6201483B1 (en) * | 2000-01-07 | 2001-03-13 | Fritz Ziehm | Boat steering centered indicator |
WO2001076938A2 (en) * | 2000-04-07 | 2001-10-18 | The Talaria Company, Llc | Differential bucket control system for waterjet boats |
DE10027863C2 (en) * | 2000-06-06 | 2003-07-03 | Eads Deutschland Gmbh | Railway regulator for vehicles with a path influenced by a flow |
WO2003013955A2 (en) * | 2001-08-06 | 2003-02-20 | Vector Controls, Inc | Integral reversing and trim deflector and control mechanism |
US7037150B2 (en) | 2001-09-28 | 2006-05-02 | Morvillo Robert A | Method and apparatus for controlling a waterjet-driven marine vessel |
US7222577B2 (en) | 2001-09-28 | 2007-05-29 | Robert A. Morvillo | Method and apparatus for controlling a waterjet-driven marine vessel |
FI20030556A0 (en) * | 2003-04-11 | 2003-04-11 | Abb Oy | Method and equipment for steering the ship |
US11472531B2 (en) | 2003-07-15 | 2022-10-18 | Robert A. Morvillo | Method and apparatus for controlling a waterjet-driven marine vessel |
AU2005309486A1 (en) * | 2004-11-24 | 2006-06-01 | Robert A. Morvillo | System and method for controlling a waterjet driven vessel |
WO2007016805A1 (en) * | 2005-08-08 | 2007-02-15 | Mueller Peter A | Watercraft steering mechanism and trimmer |
EP1963175B1 (en) | 2005-12-05 | 2015-07-29 | Robert A. Morvillo | Method and apparatus for controlling a marine vessel |
US8126602B2 (en) | 2006-12-19 | 2012-02-28 | Morvillo Robert A | Method and apparatus for controlling a water-jet driven marine vessel |
JP5243978B2 (en) * | 2009-01-27 | 2013-07-24 | ヤマハ発動機株式会社 | Marine propulsion system and ship maneuvering method |
JP5351785B2 (en) * | 2009-01-27 | 2013-11-27 | ヤマハ発動機株式会社 | Ship propulsion system and ship equipped with the same |
DE102009027322A1 (en) * | 2009-06-30 | 2011-01-05 | Robert Bosch Gmbh | Method for controlling a drive system in a motorboat |
US8478464B2 (en) | 2009-12-23 | 2013-07-02 | Brunswick Corporation | Systems and methods for orienting a marine vessel to enhance available thrust |
US8417399B2 (en) * | 2009-12-23 | 2013-04-09 | Brunswick Corporation | Systems and methods for orienting a marine vessel to minimize pitch or roll |
US8631753B2 (en) | 2010-02-18 | 2014-01-21 | Robert A. Morvillo | Variable trim deflector system and method for controlling a marine vessel |
JP5449510B2 (en) * | 2012-11-14 | 2014-03-19 | ヤマハ発動機株式会社 | Maneuvering support device |
US9233740B2 (en) | 2013-02-08 | 2016-01-12 | Robert A. Morvillo | Variable trim deflector system with protruding foil and method for controlling a marine vessel |
US8924054B1 (en) | 2013-03-14 | 2014-12-30 | Brunswick Corporation | Systems and methods for positioning a marine vessel |
EP3414156A4 (en) | 2016-02-10 | 2019-10-16 | Marine Canada Acquisition Inc. | System and method for positioning a marine vessel |
US10322787B2 (en) | 2016-03-01 | 2019-06-18 | Brunswick Corporation | Marine vessel station keeping systems and methods |
US10259555B2 (en) | 2016-08-25 | 2019-04-16 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
JP2018079742A (en) * | 2016-11-14 | 2018-05-24 | ヤマハ発動機株式会社 | Ship propulsion unit and ship with the same |
US10324468B2 (en) | 2017-11-20 | 2019-06-18 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
US10429845B2 (en) | 2017-11-20 | 2019-10-01 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
US10845812B2 (en) | 2018-05-22 | 2020-11-24 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
US10633072B1 (en) | 2018-07-05 | 2020-04-28 | Brunswick Corporation | Methods for positioning marine vessels |
KR20220055947A (en) * | 2020-10-27 | 2022-05-04 | 현대자동차주식회사 | Control method and system for controlling the in-situ rotation mode of four-wheel independent steering type vehicles |
Citations (1)
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US3976023A (en) * | 1975-01-29 | 1976-08-24 | Niigata Engineering Co., Ltd. | Apparatus for maneuvering a ship |
Family Cites Families (6)
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DE2718831C2 (en) * | 1977-04-28 | 1984-06-20 | Schottel-Werft Josef Becker Gmbh & Co Kg, 5401 Spay | Drive and control device for water vehicles |
JPS56146494A (en) * | 1980-03-10 | 1981-11-13 | Ishikawajima Zosen Kakoki Kk | Steering equipment for ship |
DE3013654C2 (en) * | 1980-04-09 | 1984-12-06 | Schottel-Werft Josef Becker Gmbh & Co Kg, 5401 Spay | Device for propelling and steering a watercraft |
DE3222054A1 (en) * | 1982-06-11 | 1983-12-15 | Schottel-Werft Josef Becker Gmbh & Co Kg, 5401 Spay | DEVICE FOR DETERMINING THE DIRECTION OF MOTION AND FORCE OF A WATER VEHICLE |
JPS6192997A (en) * | 1984-10-09 | 1986-05-10 | Kawasaki Heavy Ind Ltd | Control device of rotary thruster |
JPS628900A (en) * | 1985-07-06 | 1987-01-16 | Tokyo Keiki Co Ltd | Ship control device |
-
1987
- 1987-04-30 SE SE8701810A patent/SE457873C/en not_active IP Right Cessation
-
1988
- 1988-04-27 KR KR1019880701751A patent/KR970006575B1/en not_active IP Right Cessation
- 1988-04-27 JP JP63503944A patent/JP2824072B2/en not_active Expired - Lifetime
- 1988-04-27 WO PCT/SE1988/000213 patent/WO1988008390A1/en active IP Right Grant
- 1988-04-27 EP EP88904281A patent/EP0358686B2/en not_active Expired - Lifetime
- 1988-04-27 DE DE3872520T patent/DE3872520T2/en not_active Expired - Fee Related
- 1988-04-27 US US07/435,411 patent/US5031561A/en not_active Expired - Lifetime
- 1988-04-27 AU AU17147/88A patent/AU606953B2/en not_active Expired
- 1988-04-29 CA CA000565520A patent/CA1312791C/en not_active Expired - Fee Related
- 1988-12-28 NO NO885785A patent/NO163605C/en not_active IP Right Cessation
-
1989
- 1989-10-30 FI FI895148A patent/FI97353C/en not_active IP Right Cessation
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3976023A (en) * | 1975-01-29 | 1976-08-24 | Niigata Engineering Co., Ltd. | Apparatus for maneuvering a ship |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1991016235A2 (en) * | 1990-04-14 | 1991-10-31 | Zahnradfabrik Friedrichshafen Ag | Control system for operating a ship's motive installation |
WO1991016235A3 (en) * | 1990-04-14 | 1992-01-09 | Zahnradfabrik Friedrichshafen | Control system for operating a ship's motive installation |
US5336120A (en) * | 1990-04-14 | 1994-08-09 | Zahnradfabrik Friedrichshafen Ag | Control system for operating a ship's motive installation |
Also Published As
Publication number | Publication date |
---|---|
AU1714788A (en) | 1988-12-02 |
FI97353B (en) | 1996-08-30 |
NO163605C (en) | 1990-06-27 |
EP0358686B2 (en) | 1995-11-15 |
NO885785D0 (en) | 1988-12-28 |
JP2824072B2 (en) | 1998-11-11 |
NO163605B (en) | 1990-03-19 |
KR970006575B1 (en) | 1997-04-29 |
DE3872520T2 (en) | 1996-06-20 |
FI895148A0 (en) | 1989-10-30 |
AU606953B2 (en) | 1991-02-21 |
EP0358686B1 (en) | 1992-07-01 |
SE457873B (en) | 1989-02-06 |
DE3872520D1 (en) | 1992-08-06 |
CA1312791C (en) | 1993-01-19 |
SE8701810D0 (en) | 1987-04-30 |
JPH02503300A (en) | 1990-10-11 |
SE457873C (en) | 1993-08-16 |
NO885785L (en) | 1989-02-23 |
EP0358686A1 (en) | 1990-03-21 |
SE8701810L (en) | 1988-10-31 |
KR890700515A (en) | 1989-04-25 |
FI97353C (en) | 1996-12-10 |
US5031561A (en) | 1991-07-16 |
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