CN110194249A - Carrying speedboat hull autobalance systems stabilisation - Google Patents
Carrying speedboat hull autobalance systems stabilisation Download PDFInfo
- Publication number
- CN110194249A CN110194249A CN201910492411.XA CN201910492411A CN110194249A CN 110194249 A CN110194249 A CN 110194249A CN 201910492411 A CN201910492411 A CN 201910492411A CN 110194249 A CN110194249 A CN 110194249A
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- China
- Prior art keywords
- hull
- hydroplane
- control unit
- array
- autobalance
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention proposes carrying speedboat hull autobalance systems stabilisation, including hull attitude transducer, data acquisition unit, control unit, servo control unit and steering engine mechanism；Steering engine mechanism is connected with hydroplane array；Hydroplane array includes hydroplane behind several left front hydroplanes, several left back hydroplanes, several right forward hydroplanes, several right sides；Data acquisition unit acquires the tilt data of hull in real time；Control unit analyzes tilt data, generates the control instruction of hydroplane array and is sent to servo control unit, servo control unit is by each rudder posture of control instruction controlled level rudder array so that hull balance and stability；The rocking when present invention can reduce speedboat high speed operation as far as possible, and the generation for avoiding resonance to rock to the maximum extent；It is readily applicable to be mounted with stability contorting of the ship for the cargo can not excessively rock, tilt, sliding in navigation；It can also be to provide stable operating condition to the demanding scientific investigation of hull attitude stabilization, surveying vessel.
Description
Technical field
The present invention relates to technical field of ships, especially carrying speedboat hull autobalance systems stabilisation.
Background technique
The speedboat of high speed operation, due to being not sufficiently stable for center of gravity, easily cause it is spontaneous roll, be also easy to by
Cause rocking for hull or so and front and back in the collision of wave.When extraneous wind-force, wave force variation are rocked with hull itself
Intrinsic frequency it is close or when at multiple proportion, often cause significantly resonance and rock, passenger on board is generated very bad
Influence, or even cause danger.
Summary of the invention
The present invention proposes carrying speedboat hull autobalance systems stabilisation, shaking when can reduce speedboat high speed operation as far as possible
It shakes, and the generation for avoiding resonance to rock to the maximum extent；Being readily applicable to be mounted with can not excessively rock, tilt, sliding
Cargo ship navigation when stability contorting；It can also be to provide the demanding scientific investigation of hull attitude stabilization, surveying vessel
Stable operating condition.
The present invention uses following technical scheme.
Carrying speedboat hull autobalance systems stabilisation, the autobalance systems stabilisation include hull attitude transducer,
Data acquisition unit, control unit, servo control unit and steering engine mechanism；The steering engine mechanism and underwater hydroplane array phase
Even；The hydroplane array includes multiple hydroplanes, the multiple hydroplane include positioned at the left front portion of hull several are left front
Hydroplane, several right forward hydroplanes positioned at hull right front portion, is located at several left back hydroplanes positioned at the left back portion of hull
Hydroplane behind several right sides at the right rear portion of hull；The data acquisition unit acquires inclining for hull through hull attitude transducer in real time
Oblique data；Described control unit analyzes the tilt data of data acquisition unit acquisition, generates the control instruction of hydroplane array simultaneously
Be sent to the servo control unit, the servo control unit by each rudder posture of control instruction controlled level rudder array so that
Hull balance and stability.
The tilt data includes be swung left and right angle-data and pitch angle number evidence.
The process that described control unit generates the control instruction of hydroplane array includes the following steps；
A1, control unit are calculated according to the angle-data that is swung left and right, and obtain the total life number that all left side steering engines need to provide
According to Y, total potentiality data Y that all right side steering engines need to provide comparably is obtained；
A2, control unit, according to being calculated, obtain the lift provided needed for all preceding array steering engines according to pitch angle number
With the difference 2X of the lift of offer needed for all rear array steering engines；
A3, control unit assign all hydroplanes on the left of hull the half X of the difference 2X, thus calculate left front
The lift size that the lift size that hydroplane need to provide is (Y/2+X/2), left back hydroplane need to provide is (Y/2-X/2)；Control
Unit assigns all hydroplanes on the right side of hull the other half X of the difference 2X, and thus calculating right forward hydroplane needs
The lift size that hydroplane need to provide after the lift size of offer is (- Y/2+X/2), is right is (- Y/2-X/2).
The servo control unit is included the following steps by the method for control instruction controlled level rudder array；
C1, servo control unit receive and parse through control instruction；
C2, servo control unit will instruct the data of documented required lift or required potentiality to be converted into conjunction with the current speed of a ship or plane
The control angle of each hydroplane of hydroplane array, to generate the lift or potentiality at fixed required each hydroplane；
C3, servo control unit adjust and reach the control angle of each hydroplane by the steering engine dynamical system of hydroplane array,
Realization generates respective lift or potentiality under the current speed of a ship or plane.
The lift or potentiality are hull stability force；Described control unit can manually change to be recorded in control instruction
The data of required hull stability force, it may be assumed that
It B1, can be original k artificially changing the total stability force in hull side1Times while, change the hull other side in proportion
Reversed total stability force be original k1Times；
B2, the difference 2X can be zoomed in or out with artificially controlling as original k2Times, that is, realize that artificial adjustment zooms in or out
Total stability force for there is provided needed for all preceding array steering engines and it is all after the difference 2X of total stability force of offer needed for array steering engines be
K originally2Times；
B3, after the change, before left front, left back, right, it is right after the lift size that need to provide of hydroplane change respectively are as follows: k1*
Y/2+ k2* X/2, k1*Y/2- k2* X/2 ,-k1*Y/2+ k2* X/2 ,-k1*Y/2- k2*X/2。
Described control unit can artificially adjust separately the correction degree that hull is swung left and right with pitch, i.e., artificially
Adjust separately the depth k waved with elevation servo feedback1、k2。
The hydroplane is located at the water surface or less and positioned at outer surface of hull or in the outer surface structure of shell.
To be driven by electricity, being driven by electricity can be realized the steering engine dynamical system by stepper motor, and ship can also be used
Current control turns to the power mode and method of rudder.
Described control unit is right respectively first according to the vibration frequency waved with pitching when handling acquisition data
Data carry out look-ahead processing, and data is made to distinguish advanced 90 ° of phase only pupil filters processing, to reach most timely, effectively reduce ship
Body rocks the effect of oscillation.
When hull be catamaran when, each hydroplane can also set on catamaran body inside and each hydroplane it is opposite
Layout remains unchanged.
The present invention can make generally to run now it is various in, short distance speedboat passenger traffic ship provide it is more steady, comfortable
Transportation service allows passenger to obtain more friendly, satisfied travelling experience, and reduces in navigation boat damage to a certain degree even
The danger overturned.
Detailed description of the invention
The present invention is described in more detail with reference to the accompanying drawings and detailed description:
Attached drawing 1 is schematic diagram of the invention；
In figure: 1- shell；2- hull attitude transducer；3- control unit；4- servo control unit；5- steering engine mechanism；6- is left back
Hydroplane；The left front hydroplane of 7-；The right forward hydroplane of 8-；Hydroplane after 9- is right.
Specific embodiment
As shown in Figure 1, carrying speedboat hull autobalance systems stabilisation, the autobalance systems stabilisation includes hull appearance
State sensor 2, data acquisition unit, control unit 3, servo control unit 4 and steering engine mechanism 5；The steering engine mechanism and underwater
Hydroplane array be connected；The hydroplane array includes multiple hydroplanes, and the multiple hydroplane includes left front positioned at hull
Several left front hydroplanes 7 in portion, positioned at several left back hydroplanes 6 in the left back portion of hull, positioned at the several of hull right front portion
A right forward hydroplane 8, the hydroplane 9 behind several right sides at the right rear portion of hull；The data acquisition unit is passed through hull posture
Sensor acquires the tilt data of hull in real time；Described control unit analyzes the tilt data of data acquisition unit acquisition, generates water
The control instruction of flat rudder array is simultaneously sent to the servo control unit, and the servo control unit presses control instruction controlled level
Each rudder posture of rudder array is so that hull balance and stability.
The tilt data includes be swung left and right angle-data and pitch angle number evidence.
The process that described control unit generates the control instruction of hydroplane array includes the following steps；
A1, control unit are calculated according to the angle-data that is swung left and right, and obtain the total life number that all left side steering engines need to provide
According to Y, total potentiality data Y that all right side steering engines need to provide comparably is obtained；
A2, control unit, according to being calculated, obtain the lift provided needed for all preceding array steering engines according to pitch angle number
With the difference 2X of the lift of offer needed for all rear array steering engines；
A3, control unit assign all hydroplanes on the left of hull the half X of the difference 2X, thus calculate left front
The lift size that the lift size that hydroplane need to provide is (Y/2+X/2), left back hydroplane need to provide is (Y/2-X/2)；Control
Unit assigns all hydroplanes on the right side of hull the other half X of the difference 2X, and thus calculating right forward hydroplane needs
The lift size that hydroplane need to provide after the lift size of offer is (- Y/2+X/2), is right is (- Y/2-X/2).
The servo control unit is included the following steps by the method for control instruction controlled level rudder array；
C1, servo control unit receive and parse through control instruction；
C2, servo control unit will instruct the data of documented required lift or required potentiality to be converted into conjunction with the current speed of a ship or plane
The control angle of each hydroplane of hydroplane array, to generate the lift or potentiality at fixed required each hydroplane；
C3, servo control unit adjust and reach the control angle of each hydroplane by the steering engine dynamical system of hydroplane array,
Realization generates respective lift or potentiality under the current speed of a ship or plane.
The lift or potentiality are hull stability force；Described control unit can manually change to be recorded in control instruction
The data of required hull stability force, it may be assumed that
It B1, can be original k artificially changing the total stability force in hull side1Times while, change the hull other side in proportion
Reversed total stability force be original k1Times；
B2, the difference 2X can be zoomed in or out with artificially controlling as original k2Times, that is, realize that artificial adjustment zooms in or out
Total stability force for there is provided needed for all preceding array steering engines and it is all after the difference 2X of total stability force of offer needed for array steering engines be
K originally2Times；
B3, after the change, before left front, left back, right, it is right after the lift size that need to provide of hydroplane change respectively are as follows: k1*
Y/2+ k2* X/2, k1*Y/2- k2* X/2 ,-k1*Y/2+ k2* X/2 ,-k1*Y/2- k2*X/2。
Described control unit can artificially adjust separately the correction degree that hull is swung left and right with pitch, i.e., artificially
Adjust separately the depth k waved with elevation servo feedback1、k2。
The hydroplane is located at the water surface or less and positioned at 1 outer surface of shell or in the outer surface structure of shell.
To be driven by electricity, being driven by electricity can be realized the steering engine dynamical system by stepper motor, and ship can also be used
Current control turns to the power mode and method of rudder.
Described control unit is right respectively first according to the vibration frequency waved with pitching when handling acquisition data
Data carry out look-ahead processing, and data is made to distinguish advanced 90 ° of phase only pupil filters processing, to reach most timely, effectively reduce ship
Body rocks the effect of oscillation.
When hull be catamaran when, each hydroplane can also set on catamaran body inside and each hydroplane it is opposite
Layout remains unchanged.
When hull is catamaran, each hydroplane is set to the inside of catamaran body will not be by code with level of protection rudder
Head bank or water-bed reef touch damage.
Embodiment:
Speedboat high speed row carry out, if hull because wave jolt generation tilt angle be greater than threshold value, automatically starting (can also
Artificial starting) this balance control system, described control unit analyzes the tilt data of data acquisition unit acquisition, gives birth to incessantly
At hydroplane array control instruction and be sent to the servo control unit, servo control unit press control instruction controlled level
Each hydroplane posture of rudder array is so that hull balance and stability.
Claims (10)
1. carrying speedboat hull autobalance systems stabilisation, it is characterised in that: the autobalance systems stabilisation includes hull appearance
State sensor, data acquisition unit, control unit, servo control unit and steering engine mechanism；The steering engine mechanism and underwater water
Flat rudder array is connected；The hydroplane array includes multiple hydroplanes, and the multiple hydroplane includes being located at the left front portion of hull
Several left front hydroplanes, positioned at several left back hydroplanes in the left back portion of hull, before several right sides of hull right front portion
Hydroplane, the hydroplane behind several right sides at the right rear portion of hull；The data acquisition unit is real-time through hull attitude transducer
Acquire the tilt data of hull；Described control unit analyzes the tilt data of data acquisition unit acquisition, generates hydroplane array
Control instruction and be sent to the servo control unit, the servo control unit is by control instruction controlled level rudder array
Each rudder posture is so that hull balance and stability.
2. carrying speedboat hull autobalance systems stabilisation according to claim 1, it is characterised in that: the tilt data
Including angle-data and the pitch angle number evidence of being swung left and right.
3. carrying speedboat hull autobalance systems stabilisation according to claim 2, it is characterised in that: described control unit
The process for generating the control instruction of hydroplane array includes the following steps；
A1, control unit are calculated according to the angle-data that is swung left and right, and obtain the total life number that all left side steering engines need to provide
According to Y, total potentiality data Y that all right side steering engines need to provide comparably is obtained；
A2, control unit, according to being calculated, obtain the lift provided needed for all preceding array steering engines according to pitch angle number
With the difference 2X of the lift of offer needed for all rear array steering engines；
A3, control unit assign all hydroplanes on the left of hull the half X of the difference 2X, thus calculate left front
The lift size that the lift size that hydroplane need to provide is (Y/2+X/2), left back hydroplane need to provide is (Y/2-X/2)；Control
Unit assigns all hydroplanes on the right side of hull the other half X of the difference 2X, and thus calculating right forward hydroplane needs
The lift size that hydroplane need to provide after the lift size of offer is (- Y/2+X/2), is right is (- Y/2-X/2).
4. carrying speedboat hull autobalance systems stabilisation according to claim 3, it is characterised in that: the lift is latent
Power is hull stability force；Described control unit can manually change the number for the required hull stability force recorded in control instruction
According to, it may be assumed that
It B1, can be original k artificially changing the total stability force in hull side1Times while, change the hull other side in proportion
Reversed total stability force is original k1Times；
B2, the difference 2X can be zoomed in or out with artificially controlling as original k2Times, that is, realize that artificial adjustment zooms in or out institute
Having the difference 2X of the total stability force provided needed for the total stability force provided needed for preceding array steering engine and all rear array steering engines is original
The k come2Times；
B3, after the change, before left front, left back, right, it is right after the lift size that need to provide of hydroplane change respectively are as follows: k1*
Y/2+ k2* X/2, k1*Y/2- k2* X/2 ,-k1*Y/2+ k2* X/2 ,-k1*Y/2- k2*X/2。
5. carrying speedboat hull autobalance systems stabilisation according to claim 4, it is characterised in that: described control unit
The correction degree that hull is swung left and right with pitch can be artificially adjusted separately, i.e., artificially adjusts separately to wave and be watched with pitching
Take the depth k of feedback1、k2。
6. according to carrying speedboat hull autobalance systems stabilisation described in claim 3,4 or 5, it is characterised in that: described to watch
Control unit is taken to include the following steps by the method for control instruction controlled level rudder array；
C1, servo control unit receive and parse through control instruction；
C2, servo control unit will instruct the data of documented required lift or required potentiality to be converted into conjunction with the current speed of a ship or plane
The control angle of each hydroplane of hydroplane array, to generate the lift or potentiality at fixed required each hydroplane；
C3, servo control unit adjust and reach the control angle of each hydroplane by the steering engine dynamical system of hydroplane array,
Realization generates respective lift or potentiality under the current speed of a ship or plane.
7. carrying speedboat hull autobalance systems stabilisation according to claim 6, it is characterised in that: the hydroplane position
Below the water surface and positioned at outer surface of hull or in the outer surface structure of shell.
8. carrying speedboat hull autobalance systems stabilisation according to claim 6, it is characterised in that: the steering engine power
To be driven by electricity, being driven by electricity can be realized system by stepper motor, and ship can also be used and currently control the power for turning to rudder
Ways and means.
9. according to carrying speedboat hull autobalance systems stabilisation described in claim 3,4,5 or 6, it is characterised in that: described
Control unit, first according to the vibration frequency waved with pitching, respectively shifts to an earlier date data when handling acquisition data
Prediction processing makes data distinguish advanced 90 ° of phase only pupil filters processing, rocks oscillation to reach most timely, effectively reduce hull
Effect.
10. carrying speedboat hull autobalance systems stabilisation according to claim 6, it is characterised in that: when hull is double
Body ship time, each hydroplane can also be set to the inside of catamaran body and the relative placement of each hydroplane remains unchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910492411.XA CN110194249A (en) | 2019-06-06 | 2019-06-06 | Carrying speedboat hull autobalance systems stabilisation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910492411.XA CN110194249A (en) | 2019-06-06 | 2019-06-06 | Carrying speedboat hull autobalance systems stabilisation |
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| CN110194249A true CN110194249A (en) | 2019-09-03 |
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ID=67754103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910492411.XA Pending CN110194249A (en) | 2019-06-06 | 2019-06-06 | Carrying speedboat hull autobalance systems stabilisation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112309172A (en) * | 2020-10-27 | 2021-02-02 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for monitoring and balancing operation state of hydrofoil ship |
| CN115437387A (en) * | 2022-11-08 | 2022-12-06 | 中国船舶重工集团公司第七一九研究所 | Ship attitude control system based on human-machine engineering |
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| CN109466718A (en) * | 2018-11-21 | 2019-03-15 | 广西南宁胜祺安科技开发有限公司 | A kind of lifting ship balance system and its working method |
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| CN105121272A (en) * | 2013-04-18 | 2015-12-02 | 罗尼·斯考恩 | Stabilizer fin and active stabilizer system for a watercraft |
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Application publication date: 20190903 |