DD291057A5 - METHOD AND ARRANGEMENT FOR CONTROLLING THE ROWING SYSTEM OF MULTI SCREWS - Google Patents

Abstract

The invention relates to a method and an arrangement for controlling the steering gear of multi-screw ships. It is used aboard multi-screw ships to increase ship safety, especially in dangerous situations. If faults occur on the main drive system, an influence on the control of the manual and self-steering system is taken via a higher-level controller. As a result, in comparison to the control of the ship with the help of the known manual and self-steering system not only improves the maneuverability of the ship, but also increases the safety of the ship at certain disturbances of the main propulsion systems. The requirements for a fast and safe propulsion control and regulation as well as direction control and regulation of the multi-propeller ships are taken into account. Fig. 1 {ship; Remote control system; Main propulsion; Steering gear; Ship safety; Protection system; higher-level control device; Hand and auto control system}

Description

For this 2 pages drawings

Field of application of the invention

The invention relates to a method and an arrangement for the control of the steering gear of multi-screw ships with fixed propellers or variable pitch propellers.

Characteristic of the known state of the art

In known automated main propulsion systems of multi-screw ships with fixed or variable pitch propellers, it is common for each of the propulsion units of the propellers, e.g. Internal combustion engines or electric motors with its own speed controller to equip, which interacts with an automated remote control system or may be part of this remote control system. The speed setpoints are specified as manually set separately adjustable reference values. Another possibility is the simultaneous specification of the reference variables for the subordinate speed control loops by mechanical, pneumatic or electrical coupling of the remote control transmitters of each of the main engines. There are also known technical solutions, where the reference variables for engine speed and propeller pitch are specified depending on the driving stage via a common remote control transmitter. Such automated remote control systems are preprogrammed according to the "combinatorial principle." There are also known methods and circuit arrangements for the joint adaptive control of engine speed and propeller pitch.To monitor the ship's machine system are known Meßwerterfassungsanlagen and complex machine monitoring systems that issue collective alarms of different urgency in limit violations The automated remote control systems are linked so that in a collective alarm with the urgency Dl or 311 (large and medium urgency), after a settable delay time, an automatic control intervention is effected via the automated remote control system with the exception of the emergency maneuver program is after a Di alarm The faulty main machine stopped A Dll alarm leads to an activated maneuver program or free travel program (normal program) Automatic reduction of the load due to propeller pitch and / or speed reduction.

Manual and self-control systems are used to control the rudder position. These systems usually contain PID controllers with manually correctable controller settings. This setting option is usually only used for swap-dependent (ie interference-size-dependent) switching of the setting of this PID controller in the course control loop. There are also manual and self-steering systems with self-acting. (Adaptive) course controllers known.

In the known circuit arrangements, changed control variables in the control of the main propulsion system affect only as disturbance * Mnfiüsse in the price control loop and vice versa the Führungsgrößenkorrekturen on the manual and self-steering system only as Störgrößeneinflüsse de, - control of the main propulsion system from (WP B63H / 317460). If, in multi-engine systems of multi-screw ships, the automatic control actions realized via the remote control systems are only effective after a Dl or Dll alarm in the case of the main engine causing this alarm, then

This leads to a considerable difference in thrust from a previously approximately equal load of the main engines and thus also similar propeller thrust. This thrust difference corresponds to each ship a more or less large torque, which is to counter stabilize the desired course with a corresponding correction of the rudder position. Due to the inertia of the ship and also the course control loop, there may be temporary undesired deviations in the course of compensation of Dl or Dll alarm actuation with the aid of the known manual and self-steering systems and even too dangerous course deviations during maneuvering. Arrangements, as set out in the patents DD 213103 (International Cl.H. 02 J 3/46) and 226117 (International Cl.H 02 J 3/00), do not take into account such circumstances.

Object of the invention

The aim of the invention is the realization of a method and an arrangement for controlling a ship, in which the maneuver behavior is improved and the ship safety is increased.

Presentation of the essence of the invention Depending on the condition, the main engines are stopped, stopped or they continue their work without correction. It can the Course will be lost. The invention is therefore based on the object despite disturbances, i. Disturbance influences, in maneuvering another

to ensure prescribed navigation.

This object is achieved by the inventive solution that simultaneously with the information to the Remote control system information to an assigner arrives, the measured values of the steering gear and of Propeller speed and pitch the pilot sizes of the multi-engine main propulsion system, the ship speed

increases, in the allocator a correction signal determined and this signal is given to the rudder, so that depending on the o.g. Sizes of various ship management systems a uischer rowing maneuver for price stabilization is obtained.

The arrangement or interconnection according to the invention for implementing the method is as follows: The well-known connection from the machine monitoring system to the remote control system became additional and thus

in accordance with the invention an adjuster of the machine monitoring system downstream. At the same time and likewise new this assignment is with the reference quantities and the exits of the remote control system as well as with the output of the

Steering system and a mixing point connected. The mixing point is also connected to the output of the control system and the Entrance of the steering gear interconnected. In a known manner, the connection of the remote control system with the propellers. The main propulsion system is monitored by the machine monitoring system which detects the limit violations Urgency levels and faulty aggregates sorted collective messages of the remote control systems for alarm-related

provides automatic control intervention at the main engine plant. These collective reports, the reference variables of the

Multi-engine main propulsion system, the measured values of propeller speed and pitch of the propeller and the Ship speed and rudder angle are entered into a mapper. The output signal de: Zuordners

corrected via a arranged between the self-steering system and the steering gear mixing point the target value for the

Rowing machine. If there is a fault in the reference variables, the pitch and speed of the propeller and / or a group message, the Mapper using a comparison, the correction signal for the rudder angle determined. This can be done by evaluation

In the case of a ship with 2 propellers, the rudder angle correction shall be such that it is proportional to the propeller thrust difference and inversely proportional to the square of the ship's speed.

Depending on the variant, the allocator is designed. In the first mentioned variant is worked on a computer as an allocator. The allocator for the 2nd named variant consists of the following circuit arrangement. Two squarers are connected after each 1 multiplier, on whose other input each 1 function generator is prefixed. The inputs of the squarer and function generator are those with the measured values of the propeller speed Function generators also connected to the ship's speed. The output of one multiplier is applied to the input of one amplifier, the output of the other to the input of one amplifier

another amplifier. Both amplifiers are connected on the input side to a logic part. About a mixing point are both

Outputs connected to a changeover switch. To the mixing point also get the information of another squarer, which has the information. From the logic part continues to connect directly to the switch. The output of the mixing point is also with the Logic part connected via a filter. The two outputs of the switch are connected to the input of a limiting amplifier

connected, the 2nd output is connected via an inverter. The output of the limiter amplifier is applied once to the logic part and at the same time to the mixing point in front of the rudder system, ie. H. this forms the beginning of the allocator. As another input information, the input of the logic part is switched to the output of the rudder system. The inputs and outputs of the remote control system and the outputs of the machine monitoring system are routed to the logic section.

By the method according to the invention and the AO is achieved that with the help of the rudder stabilizing the Ship guidance occurs depending on the self-steering system, the remote control system, the machine monitoring system

and the main propulsion system.

Fig. 1: Circuit structure in a multi-engine main propulsion system with variable pitch propellers Fig. 2: Circuit structure of the allocators

Reference to an embodiment, the invention will be explained. According to Figure 1, the at the

automated remote control systems 1 of the multi-motor main propulsion system of a twin-screw ship with

Variable pitch propellers 2 input guide sizes W1 and W2 and the output variables of this Remote control systems 1 evaluated by an assigner β. The main propulsion system is powered by a Machine monitoring system 3 monitors, which in Grenzwertverlefeungen after urgency levels and disturbed Aggregates arranged Sammolmeldungen the remote control systems 1 for alarm-related automatic control interventions in the Main propulsion system provides. These collective messages and the measured values of propeller speed and pitch of both variable pitch propellers and the Ship speed ν and the rudder angle are also entered into the mapper 6. The output signal of this Zuordners 6 korigiert via a between the manual and self-steering system 4 and the steering gear

arranged mixing point 7 the target value for the steering machine.

A circuit arrangement for the allocator 6 is shown in FIG 2. The measured values of propeller speed η 1 and η 2 and Vessel speed v, with propeller systems also the propeller pitch, are in the squarer 6.2.6.5 and 6.6

as well as the function generators 6.3 and 6.4 entered.

At the function generators, the coefficients for the simulation of the replacement polyname for the thrust coefficient KT1 and KT2

both propellers adjustable. For fixed pitch propeller systems, the entry of the propeller pitch into the corresponding

Diagram of these propeller set function generators. In the multipliers 6.7 and 6.8, the squarers 6.2 and 6.5 and the function generators 6.3 and 6.4 downstream

the product of the thrust coefficient of propeller 1 or 2 and the associated speed square formed. The amplifiers and 6.10 which are connected to the multipliers 6.7 and 6.8 with adjustable gain factors are preset so that after a mixing with downstream divider 6.11 calculated difference of the output signals of the modules and 6.10 divided by the output signal of the squarer 6.6, the propeller thrust difference proportional to the multi-screw ship. This output signal of the divider 6.11 is entered via a filter 6.15 in the logic part 6.1 of the allocator and evaluated to control the switch 6.12.

The mixing point 7 at the rudder actuator (including amplifier) 5 applied rudder angle target value is of the Output signals of the limiter amplifier 6.14 and the course controller 4 dependent. The sign of the output signal of the Limiter amplifier 6.14 can be switched by means of the inverter 6.13 and the switch 6.12.

Claims (4)

1. A method for controlling the rudder system of Moor screw ships with fixed propellers or the control of speed and / or propeller pitch of Mehrschraubenschiffen with variable pitch propellers, characterized in that the rudder angle corrections via an assigner (6), which links the control of the main drive and rudder, so take place that each alarm-related automatic control intervention in the main propulsion system (2) is also assigned an associated speed-dependent correction value for the rudder angle. 2. The method according to claim 1, characterized in that the size of the rudder angle correction in a ship with 2 propellers is proportional to the propeller thrust difference and inversely proportional to the square of the ship's speed. 3. The method according to claim 2, characterized qekennzelchnet that the size is derived over a recorded trace. 4. Circuitry for controlling the steering gear of multi-propeller ships with fixed propellers of the Steueruno of speed and / or propeller pitch of Mehrschraubenschiffen with variable pitch propellers, characterized in that for the Gesamta ⁿ .! Age an assigner (6) is installed, which is connected on the input side with the Machine monitoring system (3) and the outputs of the remote control systems (1) for detecting the setpoints of the systems and the alarm situation and the output signal is switched to a mixing point (7) whose output signal from the setpoint of the self-steering system (4) from the output signal of the allocator ( 6), and is switched to the rudder system (5) as a new desired value, the actual values of the rudder system (5) and the main drive system (2) and the remote control system being fed to the allocator.