Twin-screw, four-rudder ship

Abstract

To provide a uniaxial two-rudder vessel capable of easily carrying out directional control and speed control and capable of carrying out vessel position retention maneuvering with fixed retention capacity at a low speed range.SOLUTION: A biaxial four-rudder vessel includes a maneuvering controller 201 for controlling an action direction of thrust around a stern working on a hull 110 by controlling a direction of a propeller wake flow of propulsion propellers 101a, 101b. The maneuvering controller 201 has parallel movement maneuvering unit 286 for moving the hull 110 in parallel in an arbitrary direction by combining an action direction of thrust of a starboard propulsion system 100a and an action direction of thrust of a stern propulsion system 100b in low speed range maneuvering.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a two-shaft, four-rudder ship with two propulsion shafts and a pair of high-lift rudders behind each propeller, and relates to technology that enables easy maneuvering. [Background technology]

[0002] Conventionally, for example, a twin-screw, twin-rudder ship as shown in Patent Document 1 has a pair of left and right propellers arranged side by side at the rear of the hull, and a pair of left and right rudders arranged side by side at the rear of the hull behind the pair of left and right propellers and closer to the center of the hull, and the pair of rudders have first guide surfaces on the inner side that face each other and second guide surfaces on the outer side that do not face each other, with the bulge of the second guide surface toward the outboard side protruding further than the bulge of the first guide surface toward the inboard side.

[0003] In addition, the twin-screw ship shown in Patent Document 2 has a pair of left and right skeg sections spaced apart in the width direction of the hull at the stern of the hull, a pair of left and right propellers arranged at the rear ends of the skeg sections, and a pair of left and right rudders arranged behind the propellers at the stern, with the rudders extending along the width direction of the hull and equipped with movable fins that can rotate around an axis. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2010-195302 [Patent Document 2] Patent Publication No. 2012-35786 Summary of the Invention [Problem to be solved by the invention]

[0005] Traditionally, twin-screw, twin-rudder systems have often been adopted for medium- to high-speed vessels such as ferries, passenger ships, naval vessels, and patrol boats, as well as shallow draft or wide cargo ships.The propellers on each of the two shafts rotate in opposite directions on the inboard or outboard side, and the propeller wakes also create swirling flows in opposite directions, so the fluid forces involved in steering a twin-screw, twin-rudder ship are complex, and it is not easy to estimate the ship's motion.

[0006] In turning maneuvering, rotating the propeller on one shaft in the forward direction and the propeller on the other shaft in the reverse direction makes turning easy, but because reversing the main engine and steering are cumbersome, there is a demand for improved maneuvering performance in terms of directional control and speed control.In addition, when one main engine becomes inoperable and the ship is steered only by the other main engine, steering is complicated, so easier maneuverability is required for twin-screw ships.

[0007] Like twin-screw vessels, some vessels use a pair of podded propellers at the stern. While the podded propellers are said to have good maneuverability due to their 360-degree rotation, they do not have a rudder behind the propellers, making them less capable of maintaining course.

[0008] Additionally, the Dynamic Positioning System (DPS) is a system that controls the movement of ships and floating structures in deep waters with high precision to a set position, direction, and course. It uses propellers and side thrusters to provide control force to counteract external forces from disturbances such as wind, waves, and currents.

[0009] The present invention aims to solve the above-mentioned problems and to provide a single-propeller, twin-rudder ship that can easily control direction and speed and can perform position-keeping maneuvers with high stationary position-keeping performance at low speeds. [Means for solving the problem]

[0010] In order to solve the above-mentioned problems, the twin-shaft, four-rudder ship of the present invention is equipped with an integrated thrust system and a steering system that controls the integrated thrust system, and each of the starboard thrust system and port thrust system that make up the integrated thrust system is equipped with a propeller shaft, a propeller mounted on the propeller shaft and located at the stern, a pair of high-lift rudders located behind the propeller propeller, and a plurality of steering gears that drive each high-lift rudders, and both propeller shafts rotate in opposite directions and both propellers have opposite blade angles, and the steering system operates each high-lift rudders independently to various angles with each steering gear while the propellers of the starboard thrust system and port thrust system rotate at a constant speed in the forward direction, and by changing the combination of rudder angles of the pair of high-lift rudders corresponding to each propeller, controls the direction of the propeller wake of each propeller to control the hull. The steering control device is provided with a steering control device that controls the direction of action of the thrust around the stern, and the steering control device has a parallel movement steering unit that combines the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system in low-speed maneuvering, and the parallel movement steering unit controls the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system for each high-lift rudders, and In a state where the turning moment in the direction and the turning moment in the starboard direction are balanced, the thrust of the starboard thrust system and the thrust of the port thrust system are integrated to obtain a propulsive force for parallel movement in any direction, and the port rearward movement function part of the parallel movement steering unit sets the pair of high-lift rudders of the port thrust system to an astern rudder angle, sets the high-lift rudders on the port side of the starboard thrust system to an astern rudder angle, and sets the high-lift rudders on the starboard side to a hover rudder angle for stopping in place. The steering angle is +75° to the right. The thrust of the thrust systems on both sides is integrated to obtain a propulsive force for parallel movement to the rear of the port side.

[0013] In the twin-shaft, four-rudder ship of the present invention, the port rearward moving function unit moves a pair of high-lift rudders of the port thrust system to a hover rudder angle within the astern rudder angle range. The high-lift rudder on the starboard side is at a rudder angle of +75° to the right, and the high-lift rudder on the port side is at a rudder angle of -75° to the left. The high-lift rudder on the port side of the starboard thrust system is shifted to the astern side, and the high-lift rudder on the starboard side is kept at the astern angle, and the hover rudder on the starboard side is shifted to the stationary hover angle. +75° steering angle to the rightThe present invention is characterized by having a translation speed adjustment function section that controls the translation speed by transitioning the steering angle from the forward steering angle to the forward steering angle side.

[0014] The twin-shaft, four-rudder ship of the present invention is equipped with an integrated thrust system and a steering system that controls the integrated thrust system, and each of the starboard thrust system and port thrust system that make up the integrated thrust system is equipped with a propeller shaft, a propeller mounted on the propeller shaft and located at the stern, a pair of high-lift rudders on the left and right sides located behind the propeller, and a plurality of steering gears that drive each high-lift rudders, and both propeller shafts rotate in opposite directions and both propellers have opposite blade angles, and the steering system operates each high-lift rudders independently to various angles with each steering gear while the propellers of the starboard thrust system and port thrust system rotate at a constant speed in the forward direction, and by changing the combination of rudder angles of the pair of high-lift rudders corresponding to each propeller, the direction of the propeller wake of each propeller is controlled to control the stern turning force acting on the hull. The steering control device is provided with a steering control device that controls the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system, and the steering control device has a parallel movement steering unit that combines the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system in low-speed maneuvering, and the parallel movement steering unit controls the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system for each high-lift rudders, and controls the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system acting on the hull With the turning moment and the turning moment to the starboard direction balanced, the thrust of the starboard thrust system and the thrust of the port thrust system are integrated to obtain a propulsive force for parallel movement in any direction, and the starboard rearward movement function unit of the parallel movement steering unit sets the pair of high-lift rudders of the starboard thrust system to an astern rudder angle, sets the high-lift rudders on the starboard side of the port thrust system to an astern rudder angle, and sets the high-lift rudders on the port side to a hover rudder angle for stopping in place. The steering angle is -75° to the left. The thrust of the thrust systems on both sides is integrated to obtain a thrust for parallel movement to the starboard rear.

[0015] In the twin-shaft, four-rudder ship of the present invention, the starboard rearward moving function unit moves a pair of high-lift rudders of the starboard thrust system to a hover rudder angle within the astern rudder angle range. The high-lift rudder on the starboard side is at a rudder angle of +75° to the right, and the high-lift rudder on the port side is at a rudder angle of -75° to the left.The high-lift rudder on the starboard side of the port thrust system is shifted to the left side, the high-lift rudder on the starboard side is maintained at the astern angle, and the high-lift rudder on the port side is shifted to the hover angle where it stops. A steering angle of -75° to the left The present invention is characterized by having a translation speed adjustment function section that controls the translation speed by transitioning the steering angle from the forward steering angle to the forward steering angle side.

[0016] The twin-shaft, four-rudder ship of the present invention is equipped with an integrated thrust system and a steering system that controls the integrated thrust system, and each of the starboard thrust system and port thrust system that make up the integrated thrust system is equipped with a propeller shaft, a propeller mounted on the propeller shaft and located at the stern, a pair of high-lift rudders located behind the propeller, and a plurality of steering gears that drive each high-lift rudders, and both propeller shafts rotate in opposite directions and both propellers have opposite blade angles, and the steering system operates each high-lift rudders independently to various angles with each steering gear while the propellers of the starboard thrust system and port thrust system rotate at a constant speed in the forward direction, and controls the propellers of each propeller by changing the combination of rudder angles of the pair of high-lift rudders corresponding to each propeller. The steering control device controls the direction of the propeller wake to control the direction of thrust acting around the stern on the hull, and the steering control device has a parallel movement steering unit that, in low-speed maneuvering, combines the direction of thrust acting of the starboard thrust system and the direction of thrust acting of the port thrust system to translate the hull in any direction, and the parallel movement steering unit controls the direction of thrust acting of the starboard thrust system and the direction of thrust acting of the port thrust system for each high-lift rudders, and in a state where the turning moment to the port side and the turning moment to the starboard side acting on the hull are balanced, combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction, and the port side forward movement function unit of the parallel movement steering unit controls the pair of high-lift rudders of the port thrust system to a hover rudder angle that stops on the spot. The starboard high-lift rudder is at a rudder angle of +75° to the right, and the port high-lift rudder is at a rudder angle of -75° to the left. , and the high-lift rudder on the port side of the starboard thrust system is set to a forward rudder angle, and the high-lift rudder on the starboard side is set to a hover rudder angle for stopping in place. +75° steering angle to the right The thrust of the thrust systems on both sides is combined to obtain a propulsive force for parallel movement forward on the port side.

[0017] In the twin-shaft, four-rudder ship of the present invention, the port side forward movement function unit moves a pair of high-lift rudders of the port side thrust system to a hover rudder angle of a stationary position. The starboard high-lift rudder is at a rudder angle of +75° to the right, and the port high-lift rudder is at a rudder angle of -75° to the left. The rudder angle of the port-side high-lift rudder of the starboard thrust system is shifted to the inboard side, and the starboard-side high-lift rudder is kept at the hover rudder angle of +75° steering angle to the right The present invention is characterized by having a translation speed adjustment function section that maintains the translation speed at a constant value and controls the translation speed to decelerate.

[0018] The twin-shaft, four-rudder ship of the present invention is equipped with an integrated thrust system and a steering system that controls the integrated thrust system. The starboard thrust system and port thrust system that make up the integrated thrust system each have a propeller shaft, a propeller mounted on the propeller shaft and located at the stern, a pair of high-lift rudders located behind the propeller, and a plurality of steering gears that drive each high-lift rudders. Both propeller shafts rotate in opposite directions, and both propellers have opposite blade angles. The steering system operates each high-lift rudders independently to various angles with each steering gear while the propellers of the starboard thrust system and port thrust system rotate at a constant speed in the forward direction, and by changing the combination of rudder angles of the pair of high-lift rudders corresponding to each propeller, the steering system controls the propeller wake of each propeller. The steering control device has a parallel movement steering unit that combines the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system to translate the hull in any direction during low-speed maneuvering, and the parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction when the turning moment to port and the turning moment to starboard acting on the hull are balanced, and the starboard forward movement function unit of the parallel movement steering unit controls the pair of high-lift rudders of the starboard thrust system to move the hull in any direction by adjusting the hover rudder angle to stop the hull in place. The starboard high-lift rudder is at a rudder angle of +75° to the right, and the port high-lift rudder is at a rudder angle of -75° to the left. , and the high-lift rudder on the starboard side of the port thrust system is set to a forward rudder angle, and the high-lift rudder on the port side is set to a hover rudder angle for stopping in place. A steering angle of -75° to the leftThe thrust of the thrust systems on both sides is combined to obtain a propulsive force for parallel movement forward on the starboard side.

[0019] In the twin-shaft, four-rudder ship of the present invention, the starboard forward moving function unit moves a pair of high-lift rudders of the starboard thrust system to a hover rudder angle of on-the-spot stop. The starboard high-lift rudder is at a rudder angle of +75° to the right, and the port high-lift rudder is at a rudder angle of -75° to the left. The rudder angle of the starboard side high-lift rudder of the port thrust system is shifted to the inboard side, and the port side high-lift rudder is kept at the hover rudder angle A steering angle of -75° to the left The present invention is characterized by having a translation speed adjustment function section that maintains the translation speed at a constant value and controls the translation speed to decelerate.

[0020] The twin-shaft, four-rudder ship of the present invention is equipped with an integrated thrust system and a steering system that controls the integrated thrust system, and each of the starboard thrust system and port thrust system that make up the integrated thrust system is equipped with a propeller shaft, a propeller mounted on the propeller shaft and positioned at the stern, a pair of high-lift rudders on the left and right sides positioned behind the propeller, and a plurality of steering gears that drive each high-lift rudders, and both propeller shafts rotate in opposite directions and both propellers have opposite blade angles, and the steering system operates each high-lift rudders independently to various angles with each steering gear while the propellers of the starboard thrust system and port thrust system rotate at a constant speed in the forward direction, and controls the direction of the propeller wake of each propeller by changing the combination of rudder angles of the pair of high-lift rudders corresponding to each propeller. The steering control device controls the direction of thrust acting around the stern of the hull by controlling the direction of thrust acting on the hull, and the steering control device has a parallel movement steering unit that combines the direction of thrust acting on the starboard thrust system and the direction of thrust acting on the port thrust system in low-speed maneuvering, and the parallel movement steering unit controls the direction of thrust acting on the starboard thrust system and the direction of thrust acting on the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction in a state where the turning moment to the port side and the turning moment to the starboard side acting on the hull are balanced, and the port lateral movement function unit of the parallel movement steering unit sets the high-lift rudders on the port side of the port thrust system to a reverse rudder angle and sets the high-lift rudders on the starboard side to a hover rudder angle to stop the hull in place. +75° steering angle to the right, and the high-lift rudder on the port side of the starboard thrust system is set to a forward rudder angle, and the high-lift rudder on the starboard side is set to a hover rudder angle for stopping in place. +75° steering angle to the right The thrust of the thrust systems on both sides is integrated to obtain a propulsive force for parallel movement to the port side.

[0021] In the twin-shaft, four-rudder ship of the present invention, the port side movement function unit maintains the port side high-lift rudder of the port thrust system at a rearward rudder angle and moves the starboard side high-lift rudder to a hover rudder angle that stops the rudder in place. +75° steering angle to the right The rudder angle of the port-side high-lift rudder of the starboard thrust system is shifted to the inboard side, and the starboard-side high-lift rudder is kept at the hover rudder angle of 0.05°. +75° steering angle to the right The present invention is characterized by having a translation speed adjustment function section that maintains the translation speed at a constant value and controls the translation speed to decelerate.

[0022] The twin-shaft, four-rudder ship of the present invention is equipped with an integrated thrust system and a steering system that controls the integrated thrust system, and each of the starboard thrust system and port thrust system that make up the integrated thrust system is equipped with a propeller shaft, a propeller mounted on the propeller shaft and positioned at the stern, a pair of high-lift rudders on the left and right sides positioned behind the propeller, and a plurality of steering gears that drive each high-lift rudders, and both propeller shafts rotate in opposite directions and both propellers have opposite blade angles, and the steering system operates each high-lift rudders independently to various angles with each steering gear while the propellers of the starboard thrust system and port thrust system rotate at a constant speed in the forward direction, and controls the direction of the propeller wake of each propeller by changing the combination of rudder angles of the pair of high-lift rudders corresponding to each propeller. The steering control device has a parallel movement steering unit that combines the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system to translate the hull in any direction during low-speed maneuvering, and the parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction when the turning moment to port and the turning moment to starboard acting on the hull are balanced, and the starboard lateral movement function unit of the parallel movement steering unit sets the high-lift rudders on the starboard side of the starboard thrust system to an astern rudder angle and sets the high-lift rudders on the port side to a hover rudder angle to stop the hull in place. A steering angle of -75° to the left , and the high-lift rudder on the starboard side of the port thrust system is set to a forward rudder angle, and the high-lift rudder on the port side is set to a hover rudder angle for stopping in place. A steering angle of -75° to the left The thrust of both thrust systems is integrated to obtain a propulsive force for parallel movement to the starboard side.

[0023] In the twin-shaft, four-rudder ship of the present invention, the port side movement function unit maintains the starboard side high-lift rudder of the starboard thrust system at a rearward rudder angle and moves the port side high-lift rudder to a hover rudder angle that stops the rudder in place. A steering angle of -75° to the left The rudder angle of the starboard side high-lift rudder of the port thrust system is shifted to the inboard side, and the port side high-lift rudder is kept at the hover rudder angle of A steering angle of -75° to the leftThe present invention is characterized by having a translation speed adjustment function section that maintains the translation speed at a constant value and controls the translation speed to decelerate. [Effects of the Invention]

[0024] With the above configuration, in the twin-screw, four-rudder ship of the present invention, by changing the combination of rudder angles of a pair of high-lift rudders corresponding to each propeller, the propeller wakes generated from each propeller can be reliably controlled independently by a pair of high-lift rudders, and the direction of thrust acting on the hull around the stern can be controlled, thereby achieving easy and stable maneuverability in a twin-screw ship.

[0025] Conventional dynamic positioning systems use side thrusters or podded propellers, but these are not necessary for the twin-propeller, four-rudder ship of the present invention.

[0026] In other words, the twin-propeller, four-rudder ship of the present invention has a parallel movement steering unit that combines the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system during low-speed maneuvering, and causes the hull to move parallel in any direction.The parallel movement steering unit controls the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction, when the turning moment to port and the turning moment to starboard acting on the hull are balanced.

[0027] Therefore, it is possible to easily perform avoidance maneuvers in ports or congested sea areas, berthing maneuvers to leave or approach a berth, or positioning maneuvers to keep the ship in a specific position. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a schematic diagram showing an integrated thrust system and a maneuvering system for a twin-propeller, four-rudder ship according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing an overview of an integrated thrust system according to the embodiment. [Figure 3] FIG. 2 is a side view showing the configuration of the stern and bow in the embodiment. [Figure 4]FIG. 2 is a schematic diagram showing a steering stand of the steering control device according to the embodiment; [Figure 5] FIG. 2 is a block diagram showing the configuration of a ship steering stand according to the embodiment; [Figure 6] FIG. 4 is a schematic diagram showing the operating range of the high-lift rudder in the embodiment. [Figure 7] 5A and 5B are schematic diagrams showing the combined rudder angle and propulsion direction of the high-lift rudder in (a) forward, (b) hover, and (c) reverse maneuvers in the embodiment; [Figure 8] Schematic diagrams showing the combined rudder angles and propulsion directions of the high-lift rudder in each of the following maneuvers: (d) forward left turn, (e) forward left turn, on-the-spot left turn (+ thruster thrust), (f) on-the-spot right turn (+ thruster thrust), and (g) astern left turn in the same embodiment. [Figure 9] Schematic diagrams showing the combined rudder angles and propulsion directions of the high-lift rudder in each of the following maneuvers: (h) forward right turn, (i) forward right turn, spot right turn (+ thruster thrust), (j) spot left turn (+ thruster thrust), and (k) astern right turn in the same embodiment. [Figure 10] 5 is a schematic diagram showing the combined rudder angle and propulsion direction of the high-lift rudder in each of (n) spot starboard turning and (m) spot port turning in low-speed maneuvers in the embodiment; [Figure 11] FIG. 10 is a schematic diagram showing (o) a parallel movement to the port rear during low-speed maneuvering in the embodiment, and (p) a combined rudder angle and propulsion direction of a high-lift rudder that obtains a propulsive force for deceleration control during the same movement. [Figure 12] 10 is a schematic diagram showing (q) a parallel movement to the starboard rear during low-speed maneuvering in the embodiment, and (r) a combined rudder angle and propulsion direction of the high-lift rudder that obtains the propulsive force for deceleration control during the same movement. [Figure 13] Schematic diagram showing (s) forward parallel movement to the port side during low-speed maneuvering in the embodiment, and (t) the combined rudder angle and propulsion direction of the high-lift rudder that obtains the propulsive force for deceleration control during the same movement. [Figure 14] 10 is a schematic diagram showing (u) forward starboard translation during low-speed ship maneuvering in the embodiment, and (v) the combined rudder angle and propulsion direction of the high-lift rudder that obtains the propulsive force for deceleration control during the translation. [Figure 15]FIG. 10 is a schematic diagram showing (w) a parallel movement to the port side during low-speed maneuvering in the embodiment, and (v) a combined rudder angle and propulsion direction of a high-lift rudder that obtains a propulsive force for deceleration control during the same movement. [Figure 16] FIG. 10 is a schematic diagram showing (y) a parallel movement to the starboard side during low-speed maneuvering in the embodiment, and (z) a combined rudder angle and propulsion direction of the high-lift rudder that obtains a propulsive force for deceleration control during the same movement. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. (Configuration of the Example) The twin-propeller, four-rudder ship of this embodiment includes an integrated thrust system 100 and a ship steering system 200 that controls the integrated thrust system 100, as shown in FIGS.

[0030] The port thrust system 100a and starboard thrust system 100b that make up the integrated thrust system 100 each include propeller shafts 110a and 110b located at the stern of the hull 110, pusher propellers 101a and 101b mounted on the respective propeller shafts 110a and 110b and located at the stern, and high-lift rudders 103a and 103b located aft of the port pusher propeller 101a and high-lift rudders 102a and 102b located aft of the starboard pusher propeller 101b. The two propeller shafts 110a and 110b rotate in opposite directions, and the two pusher propellers 101a and 101b have opposite blade angles.

[0031] Each high-lift rudders 102a, 102b, 103a, 103b is configured to be able to steer 105° outboard (outboard side) and 35° inboard (inboard side). By operating each of the high-lift rudders 102a, 102b, 103a, 103b independently at various angles while keeping both propellers 101a, 101b rotating in the forward direction and changing the combination of the rudder angles of the pairs of high-lift rudders 102a, 102b, 103a, 103b on both sides, it is possible to distribute the propeller wake in a desired direction and freely change the thrust in each direction.

[0032] Therefore, by controlling the propeller wakes of the propellers 101a and 101b on both sides and controlling the thrust around the stern in all directions (360°), the ship can be steered forward and backward, stopped, turned forward, turned backward, etc., and the ship's movement can be freely controlled.

[0033] Furthermore, the integrated thrust system 100 includes rotary vane steering gears 104a, 104b, 105a, and 105b that drive the high-lift rudders 102a, 102b, 103a, and 103b, rudder control devices (servo amplifiers) 106a, 106b, 107a, and 107b that control the rotary vane steering gears 104a, 104b, 105a, and 105b, and main engines 111a and 111b that drive each propeller 101a and 101b.

[0034] Furthermore, pump units 151a, 151b, 152a, 152b, rudder angle transmitters 153a, 153b, 154a, 154b, and feedback units 155a, 155b, 156a, 156b are connected to the rotary vane steering gears 104a, 104b, 105a, 105b, respectively, and the feedback units 155a, 155b, 156a, 156b are connected to the rudder control devices 106a, 106b, 107a, 107b.

[0035] The ship maneuvering system 200 includes a steering control device 201. With the propulsion propeller 101b of the starboard thrust system 100b and the propulsion propeller 101a of the port thrust system 100a rotating at a constant rate in the forward direction, the steering control device 201 controls the direction of the propeller wake of each propulsion propeller 101a, 101b by operating the high-lift rudders 102a, 102b, 103a, 103b independently at various angles using the rotary vane steering gears 104a, 104b, 105a, 105b, and changing the combination of rudder angles of the pair of high-lift rudders 102a, 102b or 103a, 103b corresponding to each propulsion propeller 101a, 101b, thereby controlling the direction of thrust around the stern acting on the hull 110.

[0036] The steering control device 201 is stored in a steering stand 250, and the stand housing integrally includes the following: a gyro direction display unit 252 that displays the gyro direction of a gyrocompass 251, an auto steering unit 253 that steers the ship in a steering mode by autopilot using a GPS compass, a joystick steering unit 255 that steers the ship in a steering mode by a joystick lever 254, a manual steering unit 257 that steers the ship in a steering mode by a manual steering wheel 256, a non-follow-up steering unit 259 that steers the ship in a steering mode by non-follow-up steering levers 258a, 258b, 258c, 258d, and a mode switching unit 261 that switches between each steering unit using a mode switching switch 260.

[0037] Furthermore, the navigation system is provided with a display device 262 having a touch panel on the screen, an image control unit 263 that controls the image displayed on the display device 262, an emergency stop unit 265 that steers the ship in a steering mode that takes priority over all steering modes and brings the ship to an emergency stop by operating an emergency stop button 264, a rudder angle instruction unit 280 that gives an instruction rudder angle to the rotary vane steering gears 104a, 104b, 105a, 105b via the rudder control devices 106a, 106b, 107c, 107d, an electronic chart display unit 282 that displays an electronic navigation chart on the display device 262, a course line setting unit 283 that sets the planned route of the ship on the electronic navigation chart, a course correction unit 284 that eliminates deviation of the ship's position from the course line, a low speed range steering switch button 285 that switches to steering in the low speed range, and a parallel movement steering unit 286 that performs steering in the low speed range.

[0038] The image control unit 263 selectively displays or simultaneously displays a nautical chart display image 266 that displays an electronic navigational chart, a gyro orientation display image 267 that displays the gyro orientation, an orientation display unit operation image 268 for touch-operating the gyro orientation display unit 252 on the monitor screen, and an auto-ship steering operation image 269 for touch-operating the auto-ship steering unit 253 on the monitor screen.

[0039] The joystick steering unit 255 is configured so that the joystick lever 254 can be operated in either the X or Y direction, and the tilt direction of the joystick lever 254 controls the commanded direction of movement of the hull, and the tilt angle in the tilt direction controls the commanded speed in the bow-stern direction and the commanded speed in the hull turning direction.

[0040] The joystick control unit 255 controls the rudder angles of the pair of high-lift rudders 102a, 102b, 103a, 103b on both sides to rudder angles set according to the tilt direction of the joystick lever 254, and by combining the rudder angles of the high-lift rudders 102a, 102b, 103a, 103b on both sides, the thrust of the propeller wake is turned in the desired direction, and the rotary vane steering gears 104a, 104b, 105a, 105b control the rudder angles of the pair of high-lift rudders 102a, 102b, 103a, 103b on both sides within a range of 105° outboard and 35° inboard (see Figure 6). The basic rudder angle combinations of the high-lift rudders 102a, 102b, 103a, and 103b, the state of the joystick lever 254, their names, propeller wake streamlines, and movement directions will be explained with reference to FIGS.

[0041] In Figures 7 to 9, the rudders are shown in horizontal cross section, with the rudder angles of each rudder shown to the side or below. Rudder angles are shown as positive (+) to the right and negative (-) to the left, and names for combinations of these rudder angles are listed. The propeller wake is shown with a thin arrow, and the resulting direction of propulsion of the ship is shown with a thick hollow arrow.

[0042] The rudder angles shown below are examples in this embodiment and do not limit the invention. In the following, the pair of high-lift rudders 102a, 102b on both sides and the pair of high-lift rudders 103a, 103b have the same pattern, and the port rudders and starboard rudders described below mean the port rudders and starboard rudders of the pair of high-lift rudders 102a, 102b, 103a, 103b on both sides, respectively.

[0043] 7, (a) "Forward" is when the port rudder is 0° and the starboard rudder is 0° for the pair of high-lift rudders 102a, 102b, 103a, 103b on both sides. Similarly, (b) "Hover" (the ship stops in place) is when the port rudder is -75° and the starboard rudder is +75°, and (c) "Astern" is when the port rudder is -105° and the starboard rudder is +105°.

[0044] As shown in Figure 8, (d) "forward left turn" is port rudder -35° and starboard rudder -35°, (e) "forward left turn" is port rudder -70° and starboard rudder -35°, (f) "astern left shift" is port rudder -105° and starboard rudder +45° to +75°, and (g) "astern left turn" is port rudder -105° and starboard rudder +75° to +105°.

[0045] As shown in Figure 9, (h) "forward right turn" is port rudder +35° and starboard rudder +35°, (i) "forward right turn" is port rudder +35° and starboard rudder +70°, (j) "reverse right shift" is port rudder -45° to -75° and starboard rudder +105°, and (k) "reverse right turn" is port rudder -75° to -105° and starboard rudder +105°.

[0046] In this way, a twin-screw, four-rudder ship having a pair of high-lift rudders 102a, 102b and 103a, 103b on both sides and equipped with a bow thruster 108 can reliably control the propeller wakes generated from each propeller 101a, 101b independently with the pair of high-lift rudders 102a, 102b and 103a, 103b by varying the rudder angle combinations of the pair of high-lift rudders 102a, 102b and 103a, 103b on both sides corresponding to each propeller propeller 101a, 101bb, and thereby control the direction of thrust acting around the stern on the hull, thereby achieving easy and stable maneuverability in a twin-screw ship.

[0047] In addition, when maneuvering at low speeds, pressing the low speed maneuvering switch button 285 activates the parallel movement maneuvering unit 286 for maneuvering at low speeds, and the rudder angle control by the joystick lever 254 enters low speed maneuvering mode.

[0048] The parallel movement steering unit 286 has a low-speed forward movement function unit 287a, a low-speed reverse movement function unit 287b, a port rearward movement function unit 287c, a starboard rearward movement function unit 287d, a port forward movement function unit 287e, a starboard forward movement function unit 287f, a port lateral movement function unit 287g, and a starboard lateral movement function unit 287h.

[0049] During low-speed maneuvering, the parallel movement steering unit 286 controls the direction of thrust of the starboard thrust system 100b and the direction of thrust of the port thrust system 100a using the high-lift rudders 102a, 102b, 103a, and 103b, respectively, and combines the direction of thrust of the starboard thrust system 100b with the direction of thrust of the port thrust system 100a. Then, when the turning moment to the port side and the turning moment to the starboard side acting on the hull 110 are balanced, the thrust of the starboard thrust system and the thrust of the port thrust system are combined to obtain a propulsive force that translates the hull 110 in any direction.

[0050] The auto-pilot unit 253 controls and guides the ship to a predetermined course based on the ship's current position information, guidance route information, and anchorage holding position information obtained from a GPS compass and an electronic chart system.

[0051] When the emergency stop button 264 is pressed in an emergency, the emergency stop unit 265 cancels the rudder angle related to the current maneuvering, regardless of the maneuvering state indicated by the joystick lever 254 or whether the ship is being maneuvered in another maneuvering mode, and turns the port rudder 103 to the starboard direction (clockwise as seen from above) and the starboard rudder 102 to the starboard direction (counterclockwise as seen from above) until they are hard over (fully turned), thereby applying braking force to the ship and stopping it.

[0052] The manual steering unit 257 controls the rudder angles of the two high-lift rudders 102 and 103 by rotating the manual steering wheel 256 to steer the ship.

[0053] The non-follow-up steering unit 259 steers the ship to starboard or port depending on the time that the non-follow-up steering levers 258a, 258b are operated left or right.

[0054] The operation of the above configuration will now be described.

[0055] Joystick control mode A joystick operation mode is selected by operating the mode selector switch 260. The joystick operation unit 255 uses a joystick lever 254 to issue commands for the command direction of the hull movement, the command thrust in the bow and stern directions, and the command thrust in the width direction.

[0056] In this maneuvering, a twin-screw, four-rudder ship equipped with a pair of high-lift rudders 102a, 102b and 103a, 103b on both sides can reliably control the propeller wakes generated from each propeller 101a, 101b independently with the pair of high-lift rudders 103a, 103b and the pair of high-lift rudders 102a, 102b by variously changing the rudder angle combinations of the pair of high-lift rudders 103a, 103b on both sides corresponding to each propeller propeller 101a, 101bb, and the pair of high-lift rudders 102a, 102b, and the direction of thrust acting around the stern on the hull can be controlled in all directions of 360°, thereby achieving easy and stable maneuverability in a twin-screw ship.

[0057] In this type of maneuvering, there is no need to reverse the thrust of the propeller (reverse propeller rotation), and all maneuvering control can be performed with the main engine always rotating forward.By adjusting the rudder angle of both rudders, the ship's speed can be controlled precisely and steplessly from the maximum forward speed corresponding to the propeller rotation speed at that time, to the maximum astern speed, without adjusting the main engine rotation speed.

[0058] Generally, rudder effectiveness is poor at low speeds, so the output of the main engine is temporarily increased to strengthen the propeller wake, but this is not necessary with the twin-propeller, four-rudder ship of this embodiment.

[0059] When performing low-speed maneuvering in the twin-propeller, four-rudder ship of this embodiment for avoidance maneuvering in a harbor or congested waters, for berthing or leaving the berth, or for positioning maneuvering to hold the hull at a specific position, the parallel movement maneuvering unit 286, which performs maneuvering in the low-speed range, is activated by pressing the low-speed maneuvering switch button 285. Activating the parallel movement maneuvering unit 286 switches the rudder angle control by the joystick lever 254 to low-speed maneuvering mode.

[0060] In the low-speed range maneuvering mode, the direction of parallel movement is instructed to the parallel movement steering unit 286 by tilting the joystick lever 254. The parallel movement steering unit 286 sets the rudder angles of the pair of high-lift rudders 102a, 102b, 103a, 103b on both sides while the left and right propulsion propellers 101a, 101b rotate at a constant speed in the forward direction. The tilt angle of the joystick lever 254 also controls the speed of parallel movement.

[0061] For example, the low-speed forward movement function unit 287a performs "low-speed forward movement" as shown in Fig. 10(n). In "low-speed forward movement," a pair of high-lift rudders 102a, 102b, 103a, 103b on both sides are set to a forward rudder angle, here 0°, 0°, so that forward thrust acts on both sides of the stern.

[0062] The low-speed forward function unit 287a has a parallel movement speed adjustment function unit 288a, which controls deceleration by transitioning the high-lift rudders 102a, 102b, 103a, and 103b toward the hover rudder angle as the tilt angle of the joystick lever 254 becomes smaller.

[0063] The low-speed reverse function unit 287b also performs "low-speed reverse" maneuvering as shown in Fig. 10(m). In "low-speed reverse," the pair of high-lift rudders 102a, 102b, 103a, 103b on both sides are set to reverse rudder angles, in this case -105° and +105°, so that reverse thrust acts on both sides of the stern.

[0064] The low-speed reverse function unit 287b has a parallel movement speed adjustment function unit 288b, which controls deceleration by transitioning the high-lift rudders 102a, 102b, 103a, and 103b toward the hover rudder angle as the tilt angle of the joystick lever 254 becomes smaller.

[0065] The port rearward movement function unit 287c also performs the "port rearward movement" maneuver shown in FIG. 11(o). For "port rearward movement," the pair of high-lift rudders 103a, 103b of the port thrust system 100a are set to astern rudder angles of -105° and +105°, the port-side high-lift rudders 102a of the starboard thrust system 100b are set to astern rudder angles of -105°, and the starboard-side high-lift rudders 102b are set to hover rudder angles of +75°. The thrust of both thrust systems is combined to generate propulsion for parallel movement toward the port rearward. In other words, parallel movement toward the port rearward can be achieved at low speeds without the need to reverse the rotation of the main engines 111a, 111b or increase their power output. Conventional thrusters are not required for this maneuver.

[0066] Here, the astern thrust generated by the pair of high-lift rudders 103a, 103b of the port thrust system 100a acts as a turning moment to the port side around the stern. The astern thrust generated by the port-side high-lift rudders 102b of the starboard thrust system 100b acts as a turning moment to the starboard side around the stern. The port-side thrust generated by the starboard-side high-lift rudders 102a of the starboard thrust system 100b acts as a turning moment to the starboard side around the stern.

[0067] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull 110 parallel in the port rear direction. (Adjustment) If the astern thrust of the port thrust system 100a is strong and the turning moment to port is too large, the high-lift rudder 103b on the starboard side of the port thrust system 100a is shifted toward the hover rudder angle side, thereby increasing the portward thrust around the stern to increase the turning moment to starboard, and reducing the astern thrust to reduce the turning moment to port, thereby adjusting the balance of the turning moment.

[0068] The port rearward movement function unit 287c also has a translation speed adjustment function unit 288c. As shown in Fig. 11(p), the translation speed adjustment function unit 288c shifts the pair of high-lift rudders 103a, 103b of the port thrust system 100a to the hover rudder angle side within the astern steering angle range, thereby reducing the turning moment to the port side by reducing the astern steering thrust.

[0069] Furthermore, the port-side high-lift rudder 102a of the starboard thrust system 100b is maintained at an astern steering angle, and the starboard-side high-lift rudder 102b is shifted from a hover rudder angle of 75° to a forward steering angle, here +35°. As a result, the portward thrust around the stern is reduced, and a forward thrust component is generated, reducing the turning moment to starboard, and the speed of translation is controlled to decelerate when the turning moments to port and starboard are balanced.

[0070] The starboard rearward movement function unit 286d also performs the "starboard rearward movement" maneuver shown in FIG. 12(q). For "starboard rearward movement," the pair of high-lift rudders 102a, 102b of the starboard thrust system 100b are set to astern rudder angles of -105° and +105°, the starboard high-lift rudders 103b of the port thrust system 100a are set to astern rudder angles of -105°, and the port high-lift rudders 103a are set to hover rudder angles of +75°. The thrust of both thrust systems is combined to generate propulsion for parallel movement toward the starboard rearward. In other words, parallel movement toward the starboard rearward can be achieved at low speeds without the need to reverse the rotation of the main engines 111a, 111b or increase their power output. This maneuver does not require conventional thruster thrust.

[0071] Here, the astern thrust generated by the pair of high-lift rudders 102a, 102b of the starboard thrust system 100b acts as a turning moment to starboard around the stern. The astern thrust generated by the starboard-side high-lift rudders 103b of the port thrust system 100a acts as a turning moment to port around the stern. The starboard thrust generated by the port-side high-lift rudders 103a of the port thrust system 100a acts as a turning moment to port around the stern.

[0072] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull 110 in a parallel direction toward the starboard rear. (Adjustment) If the astern thrust of the starboard thrust system 100b is strong and the turning moment to the starboard side is too large, the high-lift rudder 102a on the port side of the starboard thrust system 100b is shifted to the hover rudder angle side, thereby increasing the starboard thrust around the stern to increase the turning moment to the port side, and reducing the astern thrust to reduce the turning moment to the starboard side, thereby adjusting the balance of the turning moment.

[0073] The starboard rearward movement function unit 287d also has a translation speed adjustment function unit 288d. As shown in Fig. 12(r), the translation speed adjustment function unit 288d reduces the astern thrust by shifting the pair of high-lift rudders 102a, 102b of the starboard thrust system 100b to the hover rudder angle side within the astern rudder angle range, thereby reducing the turning moment to the starboard direction.

[0074] Furthermore, the starboard-side high-lift rudder 103b of the port thrust system 100a is maintained at an astern rudder angle, and the port-side high-lift rudder 103a is shifted from a hover rudder angle of -75° to a forward rudder angle, here -35°. As a result, the starboard thrust around the stern is reduced and a forward thrust component is generated, reducing the turning moment to port, and the speed of parallel movement is controlled to decelerate when the turning moments to port and starboard are balanced.

[0075] The port forward movement function unit 287e also performs the "port forward movement" maneuver shown in Figure 13(s). For "port forward movement," the pair of high-lift rudders 103a, 103b of the port thrust system 100a are set to hover rudder angles of -75° and +75°, the port-side high-lift rudders 102a of the starboard thrust system 100b are set to a forward rudder angle of 0°, and the starboard-side high-lift rudders 102b are set to a hover rudder angle of +75°. The thrust of both thrust systems is combined to generate propulsion for parallel movement toward the port forward. In other words, parallel movement toward the port forward can be achieved at low speeds without the need to reverse the rotation or increase the power output of the main engines 111a, 111b. Conventional thrusters are not required for this maneuver.

[0076] Here, the forward thrust generated by the high-lift rudder 102a on the port side of the starboard thrust system 100b acts as a turning moment to the port side around the stern, and the portward thrust generated by the high-lift rudder 102b on the starboard side of the starboard thrust system 100b acts as a turning moment to the starboard side around the stern.

[0077] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern of the hull 110 balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull 110 parallel in a forward port direction. (Adjustment) If the turning moment to port is too large, the port-side high-lift rudder 102a of the starboard thrust system 100b is shifted to the outboard side, thereby increasing the turning moment to starboard by increasing the thrust to port around the stern, and decreasing the turning moment to port by decreasing the forward thrust, thereby adjusting the balance of the turning moment.

[0078] The port front movement function unit 287e also has a translation speed adjustment function unit 288e. As shown in Fig. 13(t), the translation speed adjustment function unit 288e maintains the pair of high-lift rudders of the port thrust system 100a at a hover rudder angle. Then, it shifts the port-side high-lift rudder 102a of the starboard thrust system 100b to the inboard side, here -35°, and maintains the starboard-side high-lift rudder 102b at a hover rudder angle of +75°.

[0079] As a result, in the starboard thrust system 100b, the forward thrust is reduced by the port-side high-lift rudder 102a, reducing the turning moment to port. Furthermore, the port-side high-lift rudder 102a generates a starboard thrust component that counters the port-side thrust by the starboard-side high-lift rudder 102b, reducing the starboard turning moment. Therefore, the speed of translation is controlled to decelerate when the port and starboard turning moments are balanced.

[0080] The starboard forward movement function unit 286f also performs the "starboard forward movement" maneuver shown in FIG. 14(u). For "starboard forward movement," the pair of high-lift rudders 102a, 102b of the starboard thrust system 100b are set to hover rudder angles of -75° and +75°, the starboard high-lift rudder 103b of the port thrust system 100a is set to a forward rudder angle of 0°, and the port high-lift rudder 103a is set to a hover rudder angle of -75°. The thrust of both thrust systems is combined to generate propulsion for translation to the starboard forward direction. In other words, translation to the starboard forward direction can be achieved at low speeds without the need to reverse the rotation of the main engines 111a, 111b or increase their power output. Conventional thrusters are not required for this maneuver.

[0081] Here, the forward thrust generated by the high-lift rudder 103b on the starboard side of the port thrust system 100a acts as a turning moment to the starboard direction around the stern. The starboard thrust generated by the high-lift rudder 103a on the port side of the port thrust system 100a acts as a turning moment to the port direction around the stern.

[0082] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern of the hull 110 balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull 110 parallel in a forward starboard direction.

[0083] (Adjustment) If the turning moment to the starboard side is too large, the high-lift rudder 103b on the starboard side of the port thrust system 100a is shifted to the outboard side, thereby increasing the turning moment to the port side by increasing the starboard thrust around the stern, and decreasing the turning moment to the starboard side by decreasing the forward thrust, thereby adjusting the balance of the turning moment.

[0084] In addition, the starboard forward movement function unit 287f has a translation speed adjustment function unit 288f. As shown in Fig. 14(v), the translation speed adjustment function unit 288f maintains the pair of high-lift rudders 102a, 102b of the starboard thrust system 100b at the hover rudder angle, shifts the starboard-side high-lift rudder 103b of the port thrust system 100a to the inboard side, here +35°, and maintains the port-side high-lift rudder 103a at the hover rudder angle +75°.

[0085] As a result, in the port thrust system 100a, the forward thrust is reduced by the starboard high-lift rudder 103b, reducing the turning moment to starboard. Furthermore, a thrust component to port is generated by the starboard high-lift rudder 103b, which counters the starboard thrust by the port high-lift rudder 103a and reduces the turning moment to port. Therefore, the speed of translation is controlled to decelerate when the turning moments to port and starboard are balanced.

[0086] 15(w) 。 In addition, the port side movement function unit 287g performs the "port side movement" maneuver shown in Fig. 15(w). In "port side movement", the port side high-lift rudder 103a of the port thrust system 100a is set to a reverse rudder angle of -105°, the starboard side high-lift rudder 103b is set to a hover rudder angle of +75°, the port side high-lift rudder 102a of the starboard thrust system 100b is set to a forward rudder angle of 0°, and the starboard side high-lift rudder 102b is set to a hover rudder angle of +75°, and the thrust of both thrust systems is combined to obtain a propulsive force for parallel movement to the port side.

[0087] That is, the ship can be moved forward on the starboard side in parallel at low speeds without the need to reverse the rotation of the main engines 111a and 111b or increase their output. This maneuvering does not require conventional thrusters.

[0088] Here, the astern thrust generated by the port-side high-lift rudder 103a of the port thrust system 100a acts as a turning moment to port around the stern, and the port-side thrust generated by the starboard-side high-lift rudder 103b acts as a turning moment to starboard around the stern. The forward thrust generated by the port-side high-lift rudder 102a of the starboard thrust system 100b acts as a turning moment to port around the stern, and the port-side thrust generated by the starboard-side high-lift rudder 102b acts as a turning moment to starboard around the stern.

[0089] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern of the hull 110 balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull 110 parallel in a port lateral direction. (Adjustment) If the turning moment to port is too large, the port-side high-lift rudder 102a of the starboard thrust system 100b is shifted outboard to increase the thrust to port and increase the turning moment to starboard, and the forward thrust is reduced to reduce the turning moment to port, thereby adjusting the balance of the turning moment.

[0090] 15(x), the parallel movement speed adjustment function unit 288g maintains the port-side high-lift rudder 103a of the port thrust system 100 at an astern rudder angle of -105°, maintains the starboard-side high-lift rudder 103b at a hover rudder angle of +75°, shifts the port-side high-lift rudder 102a of the starboard thrust system 100b to the inboard side, and maintains the starboard-side high-lift rudder 102b at a hover rudder angle of +75°.

[0091] As a result, in the starboard thrust system 100b, the forward thrust is reduced by the port-side high-lift rudder 102a, reducing the turning moment to port. Furthermore, the port-side high-lift rudder 102a generates a thrust component to starboard, which counters the port-side thrust by the port-side high-lift rudder 102b and reduces the turning moment to starboard. Therefore, the speed of translation is controlled to decelerate when the turning moments to port and starboard are balanced.

[0092] Furthermore, the starboard lateral movement function unit 287h performs maneuvering for "starboard lateral movement" shown in Fig. 16(y). For "starboard lateral movement," the starboard high-lift rudder 102b of the starboard thrust system 100b is set to a reverse rudder angle of +105°, the starboard high-lift rudder 102a is set to a hover rudder angle of -75°, the starboard high-lift rudder 103b of the port thrust system 100a is set to a forward rudder angle of 0°, and the port high-lift rudder 103a is set to a hover rudder angle of -75°, and the thrust of both thrust systems is combined to obtain propulsive force for parallel movement to the starboard side. (Adjustment) If the turning moment to the starboard side is too large, the high-lift rudder 103b on the starboard side of the port thrust system 100a is shifted to the outboard side to increase the starboard thrust and increase the turning moment to the starboard side, and the forward thrust is reduced to reduce the turning moment to the starboard side, thereby adjusting the balance of the turning moment.

[0093] The port lateral movement function unit 287h also has a translation speed adjustment function unit 288h. As shown in Fig. 16(z), the translation speed adjustment function unit 288h maintains the starboard-side high-lift rudder 102b of the starboard thrust system 100b at an astern rudder angle of +105°, maintains the port-side high-lift rudder 102a at a hover rudder angle of -75°, shifts the starboard-side high-lift rudder 103b of the port thrust system 100a to the inboard side, and maintains the port-side high-lift rudder 103a at a hover rudder angle of -75°, thereby decelerating and controlling the translation movement speed.

[0094] As a result, in the port thrust system 100a, the forward thrust is reduced by the starboard high-lift rudder 103b, reducing the turning moment to starboard. Furthermore, a thrust component to port is generated by the starboard high-lift rudder 103b, which counters the starboard thrust by the starboard high-lift rudder 103a and reduces the turning moment to port. Therefore, the speed of translation is controlled to decelerate when the turning moments to port and starboard are balanced.

[0095] Emergency stop operation mode With a single action of pressing the emergency stop button 264, the emergency stop unit 265 is activated, and the ship can be stopped urgently, taking priority over all operation modes. That is, regardless of the steering mode of the joystick lever 254 or other operation modes, the emergency stop unit 265 switches to crash astern mode ("ASTERN" in which the port rudder is steered to 105° port and the starboard rudder is steered to 105° starboard of the pair of high-lift rudders 102a, 102b, 103a, 103b on both sides), and generates extremely large braking force and astern force, so that the ship can be stopped in a much shorter time and over a shorter distance than by maneuvering the ship by reversing the propellers.

[0096] Furthermore, even in the crash astern mode, there is no need to stop the main engines 111a, 111b and restart them in reverse, so there is no risk of an uncontrolled state during maneuvering, making it possible to respond quickly to emergencies during navigation.

[0097] Furthermore, if the ship needs to turn due to ship characteristics or external disturbances while maneuvering using the emergency stopping unit 265, or if it is necessary to change the direction of travel, including the bow heading, by simply operating the joystick lever 254, the ship can be steered freely using the joystick lever 254 to navigate around the obstacle, just like operating a normal joystick.

[0098] Autopilot mode In normal navigation maneuvering, the mode selector switch 260 is operated to select the autopilot maneuvering mode.

[0099] An auto-piloting operation image 269 is displayed on the monitor screen of the display device 262, and the position of the ship, the direction to go, the position to be reached or the bow and stern direction are input to the auto-pilot unit 253 by touching the monitor screen, and the ship is automatically guided and steered along the set course.

[0100] Furthermore, the electronic nautical chart display unit 282 displays the electronic nautical chart as a nautical chart display image 266 on the monitor screen of the display device 262, and the course line setting unit 283 sets the planned route of the ship on the electronic nautical chart.

[0101] The autopilot 253 controls the rudder angle appropriately based on the ship's current position information, guidance route information, and anchorage holding position information. The autopilot maintains the course indicated by the gyrocompass as the desired heading or bow and stern heading set in the autopilot operation image 269.

[0102] Manual steering mode The mode selector switch 260 is operated to select a steering mode using the manual steering wheel 256. In this steering mode, the rudder angles of the pairs of high-lift rudders 102a, 102b, 103a, 103b on both sides are instructed to the manual steering unit 257 by rotating the manual steering wheel 256, and the rudder angles of the two high-lift rudders 102a, 102b, 103a, 103b are controlled to steer the ship.

[0103] Non-follow-up maneuvering mode A steering mode using the non-follow-up steering levers 258a, 258b is selected by operating the mode selector switch 260. In this steering mode, the non-follow-up steering unit 259 steers the rotary vane steering gears 104a, 104b, 105a, 105b corresponding to the non-follow-up steering levers 258a, 258b to the starboard or port side depending on the time for which the non-follow-up steering levers 258a, 258b are operated to the left or right. [Explanation of symbols]

[0104] 100 Integrated Thrust System 100a port thrust system 100b starboard thrust system 101a, 101b propeller 102a, 102b, 103a, 103b High-lift rudders 104a, 104b, 105a, 105b Rotary vane steering gear 106a, 106b, 107a, 107b Rudder control devices 110 Hull 110a, 110b propeller shaft 151a, 151b, 152a, 152b pump units 153a, 153b, 154a, 154b Rudder angle transmitter 155a, 155b, 156a, 156b Feedback Unit 200 Ship steering system 201 Steering control device 250 steering stand 251 Gyrocompass 252 Gyro direction display unit 253 Auto Steering Unit 254 Joystick Lever 255 Joystick Control Unit 256 Manual steering wheel 256 257 Manual steering unit 257 258a, 258b Non-follow-up steering lever 259 Non-follow-up navigation section 260 Mode Switch 261 Mode switching section 262 Display Device 263 Image Control Unit 264 Emergency stop button 265 Emergency Stopping Department 266 Nautical Chart Display Images 267 Gyro direction display image 268 Direction display section operation image 269 ​​Autopilot Operation Image 280 Rudder angle indicator 282 Electronic Chart Display Unit 283 Course Line Setting Section 285 Low speed range steering switch button 286 Parallel Movement Steering Unit 287a-287h Each movement function part 288a-288h Parallel movement speed adjustment function section

Claims

1. Equipped with an integrated thrust system and a maneuvering system that controls the integrated thrust system, The starboard thrust system and the port thrust system that make up the integrated thrust system each include a propeller shaft, a propeller mounted on the propeller shaft and arranged at the stern, a pair of high-lift rudders arranged behind the propellers, and a plurality of steering gears that respectively drive each high-lift rudders, and both propeller shafts rotate in opposite directions, and both propellers have opposite blade angles, The ship maneuvering system comprises a steering control device that, while the propulsion propellers of the starboard thrust system and the port thrust system are rotating at a constant rate in the forward direction, operates each of the high-lift rudders independently at various angles using each steering gear, and changes the combination of rudder angles of the pair of high-lift rudders corresponding to each propulsion propeller, thereby controlling the direction of the propeller wake of each propulsion propeller and controlling the direction of thrust acting around the stern on the hull; The steering control device has a parallel movement steering unit that translates the hull in any direction by combining the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system during low-speed maneuvering, The parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction, while keeping the turning moment to port and the turning moment to starboard acting on the hull in balance. A two-shaft, four-rudder ship characterized in that the port rearward movement function section of the parallel movement steering section sets the pair of high-lift rudders of the port thrust system to an astern steering angle, sets the port-side high-lift rudders of the starboard thrust system to an astern steering angle, and sets the starboard-side high-lift rudders to a +75° steering angle to the right, which is a hover rudder angle for stopping in place, thereby integrating the thrust of both thrust systems to obtain propulsion for parallel movement to the port rearward.

2. The two-propeller, four-rudder ship described in claim 1, characterized in that the port rearward movement function unit shifts the pair of high-lift rudders of the port thrust system within the astern steering angle range to a rudder angle of +75° to the right for the starboard side high-lift rudders and -75° to the left for the port side high-lift rudders, which are hover rudder angles for stopping on the spot, while maintaining the port side high-lift rudders of the starboard thrust system at an astern steering angle and shifting the starboard side high-lift rudders from a rudder angle of +75° to the right, which is a hover rudder angle for stopping on the spot, to a forward steering angle, thereby having a parallel movement speed adjustment function unit that decelerates and controls the speed of parallel movement.

3. Equipped with an integrated thrust system and a maneuvering system that controls the integrated thrust system, The starboard thrust system and the port thrust system that make up the integrated thrust system each include a propeller shaft, a propeller mounted on the propeller shaft and arranged at the stern, a pair of high-lift rudders arranged behind the propellers, and a plurality of steering gears that respectively drive each high-lift rudders, and both propeller shafts rotate in opposite directions, and both propellers have opposite blade angles, The ship maneuvering system comprises a steering control device that, while the propulsion propellers of the starboard thrust system and the port thrust system are rotating at a constant rate in the forward direction, operates each of the high-lift rudders independently at various angles using each steering gear, and changes the combination of rudder angles of the pair of high-lift rudders corresponding to each propulsion propeller, thereby controlling the direction of the propeller wake of each propulsion propeller and controlling the direction of thrust acting around the stern on the hull; The steering control device has a parallel movement steering unit that translates the hull in any direction by combining the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system during low-speed maneuvering, The parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction, while keeping the turning moment to port and the turning moment to starboard acting on the hull in balance. A two-shaft, four-rudder ship characterized in that the starboard rearward movement function section of the parallel movement steering section sets the pair of high-lift rudders of the starboard thrust system to an astern steering angle, sets the starboard high-lift rudders of the port thrust system to an astern steering angle, and sets the port high-lift rudders to a -75° rudder angle to the left, which is a hover rudder angle for stopping in place, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the starboard rearward.

4. The two-propeller four-rudder ship described in claim 3, characterized in that the starboard rearward movement function unit shifts the pair of high-lift rudders of the starboard thrust system within the astern steering angle range to a rudder angle of +75° to the right for the starboard high-lift rudders and -75° to the left for the port high-lift rudders, which are hover rudder angles for stopping on the spot, while maintaining the starboard high-lift rudders of the port thrust system at an astern steering angle and shifting the port high-lift rudders from a rudder angle of -75° to the left, which is a hover rudder angle for stopping on the spot, to a forward steering angle, thereby having a parallel movement speed adjustment function unit that decelerates and controls the speed of parallel movement.

5. Equipped with an integrated thrust system and a maneuvering system that controls the integrated thrust system, The starboard thrust system and the port thrust system that make up the integrated thrust system each include a propeller shaft, a propeller mounted on the propeller shaft and arranged at the stern, a pair of high-lift rudders arranged behind the propellers, and a plurality of steering gears that respectively drive each high-lift rudders, and both propeller shafts rotate in opposite directions, and both propellers have opposite blade angles, The ship maneuvering system comprises a steering control device that, while the propulsion propellers of the starboard thrust system and the port thrust system are rotating at a constant rate in the forward direction, operates each of the high-lift rudders independently at various angles using each steering gear, and changes the combination of rudder angles of the pair of high-lift rudders corresponding to each propulsion propeller, thereby controlling the direction of the propeller wake of each propulsion propeller and controlling the direction of thrust acting around the stern on the hull; The steering control device has a parallel movement steering unit that translates the hull in any direction by combining the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system during low-speed maneuvering, The parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction, while keeping the turning moment to port and the turning moment to starboard acting on the hull in balance. The port side forward movement function section of the parallel movement steering section sets the pair of high-lift rudders of the port thrust system to a hover rudder angle of +75° to the starboard side for the high-lift rudders on the starboard side and -75° to the left for the high-lift rudders on the port side, which are hover rudder angles for stopping in place, sets the port side high-lift rudders of the starboard thrust system to a forward rudder angle, and sets the starboard side high-lift rudders to a hover rudder angle of +75° to the starboard side, which is a hover rudder angle for stopping in place, and combines the thrust of both thrust systems to obtain propulsion force for parallel movement to the port side.

6. The two-propeller, four-rudder ship described in claim 5, characterized in that the port side forward movement function unit maintains the pair of high-lift rudders of the port side thrust system at a rudder angle of +75° to the right for the starboard side high-lift rudders and -75° to the left for the port side high-lift rudders, which are hover rudder angles for stopping on the spot, transitions the rudder angle of the port side high-lift rudders of the starboard side thrust system to the inboard side, and maintains the starboard side high-lift rudders at a rudder angle of +75° to the right, which is a hover rudder angle for stopping on the spot, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

7. Equipped with an integrated thrust system and a maneuvering system that controls the integrated thrust system, The starboard thrust system and the port thrust system that make up the integrated thrust system each include a propeller shaft, a propeller mounted on the propeller shaft and arranged at the stern, a pair of high-lift rudders arranged behind the propellers, and a plurality of steering gears that respectively drive each high-lift rudders, and both propeller shafts rotate in opposite directions, and both propellers have opposite blade angles, The ship maneuvering system comprises a steering control device that, while the propulsion propellers of the starboard thrust system and the port thrust system are rotating at a constant rate in the forward direction, operates each of the high-lift rudders independently at various angles using each steering gear, and changes the combination of rudder angles of the pair of high-lift rudders corresponding to each propulsion propeller, thereby controlling the direction of the propeller wake of each propulsion propeller and controlling the direction of thrust acting around the stern on the hull; The steering control device has a parallel movement steering unit that translates the hull in any direction by combining the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system during low-speed maneuvering, The parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction, while keeping the turning moment to port and the turning moment to starboard acting on the hull in balance. A two-shaft, four-rudder ship characterized in that the starboard forward movement function section of the parallel movement steering unit sets the pair of high-lift rudders of the starboard thrust system to a rudder angle of +75° to the right for the starboard high-lift rudders and -75° to the left for the port high-lift rudders, which are hover rudder angles for stopping in place, sets the starboard high-lift rudders of the port thrust system to a forward rudder angle, and sets the port high-lift rudders to a rudder angle of -75° to the left, which is a hover rudder angle for stopping in place, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the starboard front.

8. The two-propeller, four-rudder ship described in claim 7, characterized in that the starboard forward movement function unit maintains the pair of high-lift rudders of the starboard thrust system at a rudder angle of +75° to the right for the starboard high-lift rudders and -75° to the left for the port high-lift rudders, which are hover rudder angles for stopping on the spot, transitions the rudder angle of the starboard high-lift rudders of the port thrust system to the inboard side, and maintains the port high-lift rudders at a rudder angle of -75° to the left, which is a hover rudder angle for stopping on the spot, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

9. Equipped with an integrated thrust system and a maneuvering system that controls the integrated thrust system, The starboard thrust system and the port thrust system that make up the integrated thrust system each include a propeller shaft, a propeller mounted on the propeller shaft and arranged at the stern, a pair of high-lift rudders arranged behind the propellers, and a plurality of steering gears that respectively drive each high-lift rudders, and both propeller shafts rotate in opposite directions, and both propellers have opposite blade angles, The ship maneuvering system comprises a steering control device that, while the propulsion propellers of the starboard thrust system and the port thrust system are rotating at a constant rate in the forward direction, operates each of the high-lift rudders independently at various angles using each steering gear, and changes the combination of rudder angles of the pair of high-lift rudders corresponding to each propulsion propeller, thereby controlling the direction of the propeller wake of each propulsion propeller and controlling the direction of thrust acting around the stern on the hull; The steering control device has a parallel movement steering unit that translates the hull in any direction by combining the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system during low-speed maneuvering, The parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction, while keeping the turning moment to port and the turning moment to starboard acting on the hull in balance. A two-shaft, four-rudder ship characterized in that the port lateral movement function section of the parallel movement steering section sets the port side high-lift rudder of the port thrust system to an astern rudder angle, sets the starboard side high-lift rudder to a +75° rudder angle to the right, which is a hover rudder angle for stopping in place, sets the port side high-lift rudder of the starboard thrust system to a forward rudder angle, and sets the starboard side high-lift rudder to a +75° rudder angle to the right, which is a hover rudder angle for stopping in place, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the port side.

10. The two-propeller, four-rudder ship described in claim 9, characterized in that the port lateral movement function unit maintains the port-side high-lift rudder of the port thrust system at an astern rudder angle, maintains the starboard-side high-lift rudder at a rudder angle of +75° to the right, which is a hover rudder angle for stopping on the spot, transitions the rudder angle of the port-side high-lift rudder of the starboard thrust system to the inboard side, and maintains the starboard-side high-lift rudder at a rudder angle of +75° to the right, which is a hover rudder angle for stopping on the spot, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

11. Equipped with an integrated thrust system and a maneuvering system that controls the integrated thrust system, The starboard thrust system and the port thrust system that make up the integrated thrust system each include a propeller shaft, a propeller mounted on the propeller shaft and arranged at the stern, a pair of high-lift rudders arranged behind the propellers, and a plurality of steering gears that respectively drive each high-lift rudders, and both propeller shafts rotate in opposite directions, and both propellers have opposite blade angles, The ship maneuvering system comprises a steering control device that, while the propulsion propellers of the starboard thrust system and the port thrust system are rotating at a constant rate in the forward direction, operates each of the high-lift rudders independently at various angles using each steering gear, and changes the combination of rudder angles of the pair of high-lift rudders corresponding to each propulsion propeller, thereby controlling the direction of the propeller wake of each propulsion propeller and controlling the direction of thrust acting around the stern on the hull; The steering control device has a parallel movement steering unit that translates the hull in any direction by combining the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system during low-speed maneuvering, The parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction, while keeping the turning moment to port and the turning moment to starboard acting on the hull in balance. A two-shaft, four-rudder ship characterized in that the starboard lateral movement function section of the parallel movement steering section sets the high-lift rudder on the starboard side of the starboard thrust system to an astern rudder angle, sets the high-lift rudder on the port side to a rudder angle of -75° to the left, which is the rudder angle for hovering on the spot, sets the high-lift rudder on the starboard side of the port thrust system to a forward rudder angle, and sets the high-lift rudder on the port side to a rudder angle of -75° to the left, which is the rudder angle for hovering on the spot, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the starboard side.

12. The two-propeller, four-rudder ship described in claim 11, characterized in that the port lateral movement function unit maintains the starboard high-lift rudder of the starboard thrust system at an astern rudder angle, maintains the port side high-lift rudder at a rudder angle of -75° to the left, which is a hover rudder angle for stopping on the spot, transitions the rudder angle of the starboard side high-lift rudder of the port thrust system to the inboard side, and maintains the port side high-lift rudder at a rudder angle of -75° to the left, which is a hover rudder angle for stopping on the spot, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

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