CN100404370C - Controlling means for ship stabilizing gear - Google Patents
Controlling means for ship stabilizing gear Download PDFInfo
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- CN100404370C CN100404370C CNB2003101151814A CN200310115181A CN100404370C CN 100404370 C CN100404370 C CN 100404370C CN B2003101151814 A CNB2003101151814 A CN B2003101151814A CN 200310115181 A CN200310115181 A CN 200310115181A CN 100404370 C CN100404370 C CN 100404370C
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Abstract
To provide a control method for a rocking reducing device in which a buoyancy type rocking reducing device (fin stabilizer or rudder swing reducing device) of automatic control type and a U-pipe passive type swing-reducing water tank device (ART) of automatic control type are installed in line and used, capable of allowing the two devices to work with their merits efficiently, complementing each other's demerits, and performing an automatic control so that the liquid of ART does not ill influence the F/S (fin stabilizer). The buoyancy type rocking reducing device 14 of automatic control type and a passive type swing-reducing water tank 15 of automatic control type are installed in line, and a control part 4 capable of making remote control of the two devices is installed on a bridge or in an apparatus monitoring room. A system is constructed so that the two devices 14 and 15 can be selected through changing-over by an automatic or a manual operation. In the case of automatic selection, priority for use is given to the device meeting the preset conditions on the basis of the vessel information fundamentally, and the automatic control is conducted in such a manner that the other device does not ill influence the selected device. (C)2004,JPO&NCIPI.
Description
Technical field
The present invention relates to a kind of stabilizer, and be provided with and use the lift-type and the subtracting of passive-type of stabilizer or rudder stabilization device etc. to shake the control method of tank when (being limited to U word cast) simultaneously, the ship's speed when especially automatically selecting to be suitable for navigating by water most or the above-mentioned antirolling apparatus of other situation, and to the control method of its ship stabilizer of controlling.
Background technology
In the past, stabilizer (below be also referred to as F/S) or rudder stabilization device, practical application be will be at the FIN (wing plate) that protrudes into the hull outside or the lift that produces on rudder face subtract and shake the antirolling apparatus of tank (below be also referred to as ART) as subtracting the lift-type that shakes moment and the passive-type of U word cast that utilizes liquid to flow to the natural law of lower from eminence as boats and ships.This device if satisfy its condition, can obtain enough subtracting and shake efficient, but under the situation that does not satisfy usage condition under various environments for use, and yes subtracts and shake efficient and fall sharply.Particularly, have well-known shortcoming, the current that ART also has generation to bring adverse effect for the recuperability of ship make roll angle or permanent leaning angle increase thus on the contrary.
At first, the briefing to above-mentioned antirolling apparatus describes.
F/S be a kind of near the substantial middle of hull two sides of a ship of curve respectively be protruding with 1 or 2 FIN, according to inclination information, drive the elevation angle of FIN in the opposite direction at port and starboard, utilize the speed of advance of ship, obtain to subtract the system of shaking moment by the lift that on FIN, produces.Under the ambient condition of the best, for example satisfy the occasion of design value in recuperability of predefined ship's speed and ship etc., subtract that to shake efficient be about 70～90%.
F/S is from way back with regard to practicability, and in fact this technology is well-known.
The rudder stabilization device is a kind of lift that produces on rudder face by coming about repeatedly according to the inclination information in travelling, utilizing dexterously and be the device of the rolling of the tilting moment control hull that produces of the lever at center with the hull center of gravity.Under the suitable environment state, subtract that to shake efficient be about 30～50%.In the prior art document of relevant this rudder stabilization device, have Japanese Patent Application 2000-264284 number etc.
The antirolling apparatus of above-mentioned lift-type has the unexistent following shortcoming of ART:
(1) subtracting the size of shaking moment is determined by ship's speed;
(2) stabilizing efficiency along with ship's speed than the reduction of the ship's speed of setting and reduce, be under 0 the state, can not obtain lift in ship's speed, stabilizing efficiency is 0.
ART utilizes liquid to flow to the natural law of lower from eminence, and is corresponding with the roll frequency of ship, moves (phase delay) when state is followed the tracks of with the liquid of about 90 degree, can obtain actv. and subtract and shake moment.Particularly, be under 0 the situation, to have the highest subtracting and shake efficient in ship's speed.And, subtract that to shake efficient and ship's speed irrelevant, be about 50～65%, but have the inevitable shortcoming of the ART of the following stated:
(1) because the cataclysm of sea situation, the roll frequency of ship constantly changes, if the liquid phase delay severe disorder of ART, then subtracts and shakes needed liquid and become out of contior current, and apparent center of gravity is risen, and therefore, brings adverse influence to recuperability;
(2) owing to avoid colliding or other reason when significantly changing the quick steering etc. of ship's head,, produce current, further encourage the inclination of hull along with the inclination of the hull that causes by rudder.
Owing to these reasons, people have invented many devices of the shortcoming that solves ART, look-ahead technique document as an example has Japanese patent gazette No. 3048865 (hereinafter referred to as quoting example-1), Japanese patent gazette No. 3125141 (hereinafter referred to as quoting example-2), Japanese patent gazette No. 3377782 (hereinafter referred to as quoting example-3) and Japanese Patent Application 2002-176393 number (hereinafter referred to as quoting example-4) etc.
Quote example-the 1st, set control combination that obtains best liquid phase delay and the method for controlling according to the average roll frequency of ship.
Quote example-the 2nd, the control method that tackles quick steering of the current that produce during braking ship quick steering.
Quote example-the 3rd, analyze information such as ship's speed, rudder angle instruction, wind direction and wind velocity, solve the comprehensive control method of the inevitable shortcoming of ART.
Quoting example-the 4th, quote the improving technology of example-2, is the method for controlling quick steering simply.And quoting contriver and the present inventor of example-1 to 4 is same people.
As previously discussed, the antirolling apparatus of boats and ships has lift-type and passive-type, generally speaking, use etc. the consideration of aspect for cost, the shipowner of these two kinds of antirolling apparatuss almost is not set simultaneously, though equip F/S separately, the rudder stabilization device, or any one of ART, ship as government bodies' use, the boats and ships and the guard boat of lift-launch autogyro etc., or research vessel etc., though a kind of means as the stabilizing efficiency that obtains to match with its construction purpose, also have F/S and ART are set simultaneously, or the situation of rudder stabilization device and ART stream oriented device, but in fact only limit to the minority special vessel.
The F/S that claps the lift-type that produces lift with shaking of relative ship fast is corresponding, and on the one hand, similarly, slow one ART that claps the passive-type of following the tracks of liquid does opposite action, obtains to subtract to shake moment.Therefore, if simultaneously the F/S of active and the ART of passive-type be set, and use simultaneously, the subtracting of both sides shakes moment and cancels out each other, and in fact reduced to subtract and shaken efficient.Particularly, when quick steering,, the inclination of hull is increased because the liquid in the ART forms current, so, the operation that ART is failure to actuate be done.
Yet, most prior aries all do not have the remote equipment that drives, whenever this moment, by the crewman with manually operating, therefore, subtracting the auxiliary usage of shaking the high F/S of efficient and using as the low dead slow speed state of ship's speed or when bringing to state with ART, but owing to the equal reason of the enterprise that makes, sells F/S and ART, practical operation is pretty troublesome, thereby does not find the control linkage example together with stream oriented device.
Summary of the invention
In view of situation as described above, the purpose of the present application is to provide a kind of control method of antirolling apparatus of boats and ships, it is provided with at the same time and uses the lift-type antirolling apparatus of automatic guidance form and equal passive-type to subtract when shaking water tank device, by connecting the control of two antirolling apparatuss, can bring into play both sides' advantage effectively, remedy shortcoming mutually, automatically select to be suitable for most the control of situation at this moment.
The control method of ship stabilizer of the present invention, possessing utilization at the same time is to subtract the passive-type that shakes moment to subtract in the boats and ships that shake water tank device by the lift that moving of boats and ships produced as subtracting the lift-type antirolling apparatus that shakes moment and utilizing the masterpiece that liquid produced in the water layer that moves along with shaking of boats and ships, obtain the ship's speed information of boats and ships, above-mentioned lift-type antirolling apparatus of automatic guidance and above-mentioned passive-type subtract and shake water tank device, the feature of the control method of this ship stabilizer is: according to predefined ship's speed condition, the above-mentioned ship's speed information of obtaining than the fast situation of above-mentioned ship's speed condition under, the preferential lift-type antirolling apparatus that uses, that is, optionally only make the action of lift-type antirolling apparatus by control.
The control method of another ship stabilizer of the present invention, possessing utilization at the same time is to subtract the passive-type that shakes moment to subtract in the boats and ships that shake water tank device by the lift that moving of boats and ships produced as subtracting the lift-type antirolling apparatus that shakes moment and utilizing the masterpiece that liquid produced in the water layer that moves along with shaking of boats and ships, obtain the ship's speed information of boats and ships, above-mentioned lift-type antirolling apparatus of automatic guidance and above-mentioned passive-type subtract and shake water tank device, the feature of the control method of this ship stabilizer is: according to predefined ship's speed condition, the above-mentioned ship's speed information of obtaining than the fast situation of above-mentioned ship's speed condition under, the preferential lift-type antirolling apparatus that uses, promptly, by control, when making lift-type antirolling apparatus action, make the above-mentioned passive-type of the efficient that is used to improve above-mentioned lift-type antirolling apparatus subtract to shake water tank device to move with the natural period of the returing cycle that departs from above-mentioned lift-type antirolling apparatus significantly.
Ship stabilizer of the present invention, be that a kind of to possess utilization simultaneously be to subtract the antirolling apparatus that the passive-type that shakes moment subtracts the boats and ships that shake water tank device by the lift that moving of boats and ships produced as subtracting the lift-type antirolling apparatus that shakes moment and utilizing the masterpiece that liquid produced in the water layer that moves along with shaking of boats and ships, it is characterized in that: ship's speed information acquisition mechanism with ship's speed information of obtaining boats and ships, and the above-mentioned lift-type antirolling apparatus of automatic guidance and above-mentioned passive-type subtract the control mechanism that shakes water tank device, above-mentioned control setup is controlled in the following manner, promptly, preestablish the ship's speed condition, the above-mentioned ship's speed information of obtaining than the fast situation of above-mentioned ship's speed condition under, the preferential lift-type antirolling apparatus that uses, that is, optionally only make the action of lift-type antirolling apparatus by control.
Another ship stabilizer of the present invention, be that a kind of to possess utilization simultaneously be to subtract the antirolling apparatus that the passive-type that shakes moment subtracts the boats and ships that shake water tank device by the lift that moving of boats and ships produced as subtracting the lift-type antirolling apparatus that shakes moment and utilizing the masterpiece that liquid produced in the water layer that moves along with shaking of boats and ships, it is characterized in that: ship's speed information acquisition mechanism with ship's speed information of obtaining boats and ships, and the above-mentioned lift-type antirolling apparatus of automatic guidance and above-mentioned passive-type subtract the control mechanism that shakes water tank device, above-mentioned control setup is controlled in the following manner, promptly, control according to predefined ship's speed condition, make the above-mentioned ship's speed information of obtaining than the fast situation of above-mentioned ship's speed condition under, the preferential lift-type antirolling apparatus that uses, promptly, when making lift-type antirolling apparatus action, make the above-mentioned passive-type of the efficient that is used to improve above-mentioned lift-type antirolling apparatus subtract to shake water tank device to move with the natural period of the returing cycle that departs from above-mentioned lift-type antirolling apparatus significantly.
As previously discussed, be provided with at the same time and use under the situation of antirolling apparatus of opposite lift-type of the principle of work that can obtain stabilizing efficiency and passive-type, make it bring into play separately function to greatest extent, obtain stabilizing efficiency efficiently with not being subjected to the ship's speed restriction, in addition, can automatically control, passive-type be subtracted shake water tank device bring adverse influence can not for the lift-type antirolling apparatus.
Therefore, because following reason can reduce installation cost (initial cost):
(1) when using the lift-type antirolling apparatus, the Free Surface (the cross section second moment of liquid) that utilizes passive-type to subtract dexterously to shake water tank device can improve thus to subtract and shake efficient, thereby make the miniaturization of lift-type antirolling apparatus;
(2) be provided with simultaneously and use lift-type antirolling apparatus and passive-type to subtract and shake water tank device, when ship's speed is slow or well-regulated wave such as bring to when waving, passive-type is subtracted shake the water tank device action, under the state that well-regulated wave is waved, can obtain the highest stabilizing efficiency.Therefore, also to not deal with random sea the prior art owing to do not need to resemble, so, can reduce passive-type and subtract each size of shaking water tank device.
Have again, when the operation antirolling apparatus, the switch of the control mechanism that only closes, navigation situation according to this moment, can carry out best machine choice and control all the time, not can be appreciated that the self shortcoming of the each several part in this machine, can obtain stable good stabilizing efficiency all the time.
According to the present invention, the passive-type that the lift-type antirolling apparatus of automatic guidance form and equal passive automatic guidance form are set simultaneously subtracts and shakes water tank device, by connecting the control of two antirolling apparatuss, make it bring into play both sides' advantage effectively, remedy mutual shortcoming, in the whole navigation process of entering a port from leaving the port to, can obtain to eliminate significantly the effect of shaking, therefore, at sea Jing Jie guard boat or research vessel, weather ships etc. and civilian ship can prevent that goods from collapsing when navigating by water on rough waters, improve the passenger, environment in crewman's the ship, improve the safety of navigation, have again, logistics for China, especially concerning the sea-freight industry, help lend some impetus to major issue---the conversion (conversion of transport structure) of Transportation Model, have the work effect of the unexistent excellence of prior art, be that an effect is well invented.
Description of drawings
Fig. 1 is the flow diagram of basic structure formation, representation program of the expression control mechanism relevant with control of the present invention.
Fig. 2 be illustrated under the situation of selecting the M/C (branch-1) among Fig. 1, flow diagram that this machine is carried out the embodiment of control.
Fig. 3 be illustrated under the situation of selecting among Fig. 1 of automatically using (branch-2) simultaneously, flow diagram that this machine is carried out the embodiment of control.
Fig. 4 be illustrated in the FIN/ART that selects among Fig. 1 automatically under the situation of (branch-3), this machine carries out the flow diagram of the embodiment of control.
Fig. 5 be expression antirolling apparatus related to the present invention brief configuration, represent integrally-built figure.
The specific embodiment
In conjunction with the embodiments and with reference to accompanying drawing embodiments of the present invention are described.
And, as previously discussed, because the principle of work of lift-type antirolling apparatus F/S12 and rudder stabilization device 13 is identical, so, this specification sheets following be that example describes with F/S12, even but be fit to too for the embodiment that F/S12 is replaced into rudder stabilization device 13.
The present invention is to provide a kind of control method, this control method can be provided with under the situation of F/S12 and ART9, in use at the same time, according to predetermined conditions,, preferentially use among F/S12 and the ART9 by automatically switching, so, structure and control method separately thereof are shaken in subtracting of F/S12 and ART9, directly do not concern in the present invention, therefore, the problem of relevant this respect, ART9 particularly utilizes and quotes example-1～quote the example of example-4, omits its explanation.
Fig. 1 is the program flow diagram of basic structure formation, representation program of the expression control mechanism relevant with control of the present invention.
Fig. 5 is the brief configuration figure of expression antirolling apparatus related to the present invention.
The brief configuration of antirolling apparatus related to the present invention, as shown in Figure 5, by big classification, subtract by lift-type antirolling apparatus 14 and passive-type and to shake water tank device 15 and constitute, F/S operation board 1 and ART operation board 3 with this device 12,9 of independent control, and select F/S12 or ART9 and control the controller portion 4 of switching.
F/S operation board 1 is provided with receiving device again and constitutes on original automatic control device, this receiving device is according to from the control information of F/S12 etc. being sent to the device of controller portion 4 and the control signal of controller portion 4 is controlled F/S12.
Calculation is separated reading circuit 5 except above-mentioned ship's speed information, understand the information of the rudder angle command signal of only when pilot wheel portion is switched to M/C, exporting, judge whether it is quick steering according to this information and ship's speed information, as required to control executive circuit 7 transmission information.
Obtain the device of ship's speed information, though the navigational speed measuring instrument that can equip for ship etc. generally speaking, but control owing to will obtain ship's speed information in the control of F/S12 that formerly carries out or ART9, though establish taffrail log that native system uses etc. so needn't change, only need be provided with as required, in addition, adopt there not being the water navigational speed measuring instrument under the occasion of the measurement speed of a ship or plane such as GPS, the device that can grasp the speed of a ship or plane of relative water can be set.
Shown below is the condition that is judged to be quick steering.The structure that can carry out this quick steering is with reference to quoting example-4.
Though meet the following conditions in the information and the ship's speed information of the rudder angle command signal of only when pilot wheel portion is switched to M/C, exporting part or all the time, can be judged to be quick steering, even but in the corresponding form process of carrying out this quick steering, when not satisfying condition, also can remove quick steering control.Decision condition is:
(1) when detecting predefined ordered rudder angle value;
(2) when detecting decidable and be the ordered rudder angle value of quick steering, when this state has been kept predefined required time;
(3) when detecting predefined ship's speed value.
Because predefined each numerical value is to determine according to the mechanism of rudder area or rudder and ship's speed, so, can set according to its situation.
The automatic switching control device of F/S12 and ART9 satisfies under the situation of predetermined conditions in foundation ship's speed information basically, automatically switches.Use the numerical value understood easily to manually or the control when selecting automatically describe.And, at present embodiment, though predefined ship's speed value supposes that fast ship's speed X1 is more than 10 joints, slow ship's speed X2 is below 6 joints, but it is well known fact that the subtracting of the fast more F/S of ship's speed shakes moment big more, in fact, because the difference of the F/S of equipment, the ship's speed value is different, so this numerical value should not suffer restraints.
When wanting consciously to use F/S12 or ART9 separately, if the M/C (branch-1) among selection Fig. 1, program flow diagram then shown in Figure 2 is as the control of embodiment.This machine of selecting is carried out the predefined control forms that can obtain best stabilizing efficiency that this device has.The feature of this technology is to shake one of water tank device 15 with manually selecting lift-type antirolling apparatus 14 or passive-type to subtract consciously, can use separately, and this also is the basis of technical scheme 1.
When using F/S12 and ART9 at the same time, if automatic (branch-2) among selection Fig. 1 then is shown in the program flow diagram shown in Figure 3 as the embodiment that can automatically carry out following control forms.
(1) in ship's speed from low speed during to the acceleration mode that changes at a high speed:
Detecting ship's speed is that it is OFF that execution makes F/S12, make ART9 is the control of ON before predefined fast ship's speed X110 saves.But ART carries out the common control of average roll frequency value according to this moment, the control of for example quoting example-1 or quoting example-3 etc.
Reach under the above situation of 10 joints detecting ship's speed, it is ON that execution makes ART, make F/S is the control of ON.Here, carry out predefined special control, promptly select with F/S the toggle frequency value of wing plate action to be compared and depart from bigger ART natural frequency, for example, the liquid that forms ART can not be followed the tracks of the state of the toggle frequency of F/S.In other words, because the current that produce under the mobile hardly situation of liquid rise apparent center of gravity GGo, so, when only using at the same time, carry out the recuperability GoM that reduces ship consciously, be used to improve the control that subtracting of F/S shakes efficient.
(2) in ship's speed from a high speed to deceleration regime that low speed changes the time:
Detecting ship's speed is that it is ON that execution makes ART, make F/S is the control of ON before predefined slow ship's speed X26 saves.Here, ART carries out the control identical with (1).Detecting ship's speed is the following occasions of 6 joints, and it is ON that execution makes ART, make F/S is the control of OFF.Here, ART carries out the common control of average roll frequency value according to this moment, for example, and the control of quoting example-1 or quoting example-3 etc.
(3) in the process of carrying out above-mentioned control, when detecting quick steering information:
According to the quick steering control forms, only making ART is OFF, when removing quick steering control, returns to and carries out the control before of quick steering form.This technology is that a kind of lift-type antirolling apparatus 14 and passive-type of using at the same time subtracts under the situation of shaking water tank device 15, especially, utilize the current of ART dexterously, the control method of the effect of the stabilizing efficiency of acquisition raising lift-type antirolling apparatus 14, this point is the basis of technical scheme 2.
When selecting F/S12 and ART9 automatically, if automatic (branch-3) among selection Fig. 1 then as the embodiment that automatically carries out following control forms, is shown in the program flow diagram of Fig. 4.
(1) in ship's speed from low speed during to the acceleration mode that changes at a high speed:
Detecting ship's speed is that it is OFF that execution makes F/S, make ART is the control of ON before predefined fast ship's speed X110 saves.Here, ART carries out the control of average roll frequency value according to this moment, the control of for example quoting example-1 or quoting example-3 etc.
Reach under the above situation of 10 joints detecting ship's speed, it is OFF that execution makes ART, make F/S is the control of ON.
(2) in ship's speed from a high speed to deceleration regime that low speed changes the time:
Detecting ship's speed is that it is ON that execution makes F/S, make ART is the control of OFF before predefined slow ship's speed X26 saves.
Detecting ship's speed is the following occasions of 6 joints, and it is ON that execution makes ART, make F/S is the control of OFF.Here, ART carries out the common control of average roll frequency value according to this moment, for example, and the control of quoting example-1 or quoting example-3 etc.
This technology is a kind ofly automatically to select lift-type antirolling apparatus 14 and passive-type to subtract under the situation of shaking water tank device 15, bring into play function separately to greatest extent, acquisition is not subjected to the control method of the stabilizing efficiency efficiently of ship's speed restriction, and this point is the basis of technical scheme 5.
Because each numerical value such as above-mentioned predefined ship's speed is to determine according to FIN or rudder area, the mechanism that also has control or maker, so, can suitably set according to its situation.
In addition, though F/S, rudder stabilization device and ART can subtract structure and each control method thereof of shaking, omitted its explanation in the present invention, this device in, by specific control method can obtain the best stabilizing efficiency.
Carry out predefined special control, i.e. selection departs from bigger ART natural frequency with the toggle frequency of the wing plate of F/S action, its reason is: for the F/S of equipment, in the predefined ship's speed of hypothesis is under certain situation, the recuperability GoM of ship more little (lacking), stabilizing efficiency is good more, when only using at the same time, carry out the recuperability GoM that reduces ship consciously, be used to improve the control that subtracting of F/S shakes efficient.
For example, because the liquid of ART can not be followed the tracks of the toggle frequency of F/S, in other words, because the current that produce under the mobile hardly situation of liquid rise apparent center of gravity GGo, therefore obtained to reduce the recuperability GoM of (lacking) ship, the effect that improves the stabilizing efficiency of F/S.
Though separating reading circuit 5, control circuit 6, control executive circuit and information-processing circuit 8 by calculation, controller portion 4 constitutes, if but active antirolling apparatus 14 or passive-type subtract and shake water tank device and have the device of understanding each information that ship ran into, as long as can be beneficial to this data smoothly, can not be subjected to constituting the restriction of the circuit of controller portion 4.
According to the present invention, by connecting the control of two antirolling apparatuss, the F/S of automatic control mode and the ART of equal passive automatic control mode are set simultaneously, bring into play both sides' advantage effectively, remedy shortcoming mutually, in the whole navigation process of entering a port from leaving the port to, can obtain to eliminate significantly the effect of shaking, therefore, guard boat or research vessel when warning at sea, weather ships etc. and civilian ship can prevent that goods from collapsing when navigating by water on rough waters, improve the passenger, environment in crewman's the ship, improve the safety of navigation, have again, for the logistics of China, especially concerning the sea-freight industry, help lend some impetus to major issue---the conversion (conversion of transport structure) of Transportation Model, action effect with the unexistent excellence of prior art, even from the angle in the world, whole voyage (from the common navigation that brings to) also do not have can actv. the antirolling apparatus of boats and ships, thereby the possibility that is applied on the industry is very big.
Claims (12)
1. the control method of a ship stabilizer; These boats and ships possess simultaneously lift-type stabilizer and passive-type and subtract and shake water tank device; The utilization of described lift-type stabilizer is shaken moment by the lift that the movement of boats and ships produces as subtracting; And described passive-type subtracts and shakes the masterpiece that the liquid in the water layer that the water tank device utilization moves along with shaking of boats and ships produces and shake moment for subtracting; In such boats and ships; Obtain the ship's speed information of boats and ships; Automatically the above-mentioned lift-type stabilizer of control and above-mentioned passive-type subtract and shake water tank device
The feature of the control method of this ship stabilizer is: according to predefined ship's speed condition, the above-mentioned ship's speed information of obtaining than the fast situation of above-mentioned ship's speed condition under, the preferential lift-type antirolling apparatus that uses promptly, optionally only makes the action of lift-type antirolling apparatus by control.
2. the control method of a ship stabilizer; These boats and ships possess simultaneously lift-type stabilizer and passive-type and subtract and shake water tank device; The utilization of described lift-type stabilizer is shaken moment by the lift that the movement of boats and ships produces as subtracting; And described passive-type subtracts and shakes the masterpiece that the liquid in the water layer that the water tank device utilization moves along with shaking of boats and ships produces and shake moment for subtracting; In such boats and ships; Obtain the ship's speed information of boats and ships; Automatically the above-mentioned lift-type stabilizer of control and above-mentioned passive-type subtract and shake water tank device
The feature of the control method of this ship stabilizer is: according to predefined ship's speed condition, the above-mentioned ship's speed information of obtaining than the fast situation of above-mentioned ship's speed condition under, the preferential lift-type antirolling apparatus that uses, promptly, when making lift-type antirolling apparatus action, make the above-mentioned passive-type of the efficient that is used to improve above-mentioned lift-type antirolling apparatus subtract to shake water tank device to move with the natural period of the returing cycle that departs from above-mentioned lift-type antirolling apparatus significantly.
3. according to the control method of the ship stabilizer of claim 1 or 2, it is characterized in that: preestablish the ship's speed condition, under the above-mentioned ship's speed information of the obtaining situation slower, above-mentioned passive-type is subtracted shake the water tank device action than above-mentioned ship's speed condition.
4. according to the control method of the ship stabilizer of claim 1 or 2, it is characterized in that: very fast ship's speed and slow ship's speed are set as above-mentioned ship's speed condition, under boats and ships are in acceleration mode, adopt above-mentioned very fast ship's speed as above-mentioned ship's speed condition, and be under the fast state that slows down at boats and ships, adopt above-mentioned slow ship's speed as above-mentioned ship's speed condition.
5. according to the control method of the ship stabilizer of claim 3, it is characterized in that: very fast ship's speed and slow ship's speed are set as above-mentioned ship's speed condition, under boats and ships are in acceleration mode, adopt above-mentioned very fast ship's speed as above-mentioned ship's speed condition, and be under the fast state that slows down at boats and ships, adopt above-mentioned slow ship's speed as above-mentioned ship's speed condition.
6. according to the control method of the ship stabilizer of claim 1 or 2, it is characterized in that: subtract in the course of action that shakes water tank device at above-mentioned passive-type, when detecting quick steering information, make above-mentioned passive-type subtract to shake water tank device and be failure to actuate.
7. according to the control method of the ship stabilizer of claim 3, it is characterized in that: subtract in the course of action that shakes water tank device at above-mentioned passive-type, when detecting quick steering information, make above-mentioned passive-type subtract to shake water tank device and be failure to actuate.
8. according to the control method of the ship stabilizer of claim 4, it is characterized in that: subtract in the course of action that shakes water tank device at above-mentioned passive-type, when detecting quick steering information, make above-mentioned passive-type subtract to shake water tank device and be failure to actuate.
9. according to the control method of the ship stabilizer of claim 5, it is characterized in that: subtract in the course of action that shakes water tank device at above-mentioned passive-type, when detecting quick steering information, make above-mentioned passive-type subtract to shake water tank device and be failure to actuate.
10. ship stabilizer, these boats and ships possess lift-type antirolling apparatus and passive-type simultaneously and subtract and shake water tank device, the utilization of described lift-type antirolling apparatus is shaken moment by the lift that moving of boats and ships produced as subtracting, shake moment and described passive-type subtracts the masterpiece that liquid produced that shakes in the water layer that the water tank device utilization moves along with shaking of boats and ships for subtracting, it is characterized in that:
Have the ship's speed information acquisition mechanism of the ship's speed information of obtaining boats and ships and the above-mentioned lift-type antirolling apparatus of automatic guidance and above-mentioned passive-type and subtract the control mechanism that shakes water tank device,
Above-mentioned control setup is controlled in the following manner, that is, and and according to predefined ship's speed condition, the above-mentioned ship's speed information of obtaining than the fast situation of above-mentioned ship's speed condition under, the preferential lift-type antirolling apparatus that uses promptly, optionally only makes the action of lift-type antirolling apparatus by control.
11. ship stabilizer, these boats and ships possess lift-type antirolling apparatus and passive-type simultaneously and subtract and shake water tank device, the utilization of described lift-type antirolling apparatus is shaken moment by the lift that moving of boats and ships produced as subtracting, shake moment and described passive-type subtracts the masterpiece that liquid produced that shakes in the water layer that the water tank device utilization moves along with shaking of boats and ships for subtracting, it is characterized in that:
Have the ship's speed information acquisition mechanism of the ship's speed information of obtaining boats and ships and the above-mentioned lift-type antirolling apparatus of automatic guidance and above-mentioned passive-type and subtract the control mechanism that shakes water tank device,
Above-mentioned control setup is controlled in the following manner, promptly, control according to predefined ship's speed condition, make the above-mentioned ship's speed information of obtaining than the fast situation of above-mentioned ship's speed condition under, the preferential lift-type antirolling apparatus that uses, that is, when making lift-type antirolling apparatus action, make the above-mentioned passive-type of the efficient that is used to improve above-mentioned lift-type antirolling apparatus subtract to shake water tank device to move with the natural period of the returing cycle that departs from above-mentioned lift-type antirolling apparatus significantly.
12. ship stabilizer according to claim 10 or 11, it is characterized in that: above-mentioned control mechanism is also controlled in the following manner, that is, under the above-mentioned ship's speed information of the obtaining situation slower, above-mentioned passive-type is subtracted shake the water tank device action than above-mentioned ship's speed condition.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP033295/2003 | 2003-02-12 | ||
| JP2003033295 | 2003-02-12 | ||
| JP2003321542A JP3616778B2 (en) | 2003-02-12 | 2003-09-12 | Control method of ship sway reduction device |
| JP321542/2003 | 2003-09-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1521083A CN1521083A (en) | 2004-08-18 |
| CN100404370C true CN100404370C (en) | 2008-07-23 |
Family
ID=33133863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003101151814A Expired - Lifetime CN100404370C (en) | 2003-02-12 | 2003-11-25 | Controlling means for ship stabilizing gear |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3616778B2 (en) |
| CN (1) | CN100404370C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101519117B (en) * | 2009-04-17 | 2012-01-04 | 哈尔滨工程大学 | Ship rudder/wing rudder-fin/wing fin combined control method |
| CN101934465B (en) * | 2009-07-01 | 2012-01-11 | 中国长江航运集团南京金陵船厂 | Installing process for fin stabilizer |
| EP2536998B1 (en) * | 2010-02-17 | 2018-07-25 | Veem Ltd | Active adaptive gyrostabiliser control system |
| CN102336254A (en) * | 2010-07-26 | 2012-02-01 | 上海派恩科技有限公司 | Electro-hydraulic control method of anti-rolling fin |
| CN102951272B (en) * | 2012-10-30 | 2015-03-11 | 哈尔滨工程大学 | Comprehensive re-setting control method for ship rudder stabilization |
| CN102910265B (en) * | 2012-10-31 | 2014-12-03 | 哈尔滨工程大学 | Rudder and fin combination stabilization method based on dual-control H to infinite design |
| CN103895814B (en) * | 2014-03-28 | 2016-09-14 | 哈尔滨工程大学 | A kind of control method of rudder rollstabilization |
| CN103935480B (en) * | 2014-05-26 | 2016-08-17 | 哈尔滨工程大学 | A kind of rudder stabilization method based on analytic modell analytical model Predictive control design |
| JP6253205B2 (en) * | 2015-02-04 | 2017-12-27 | 三菱重工業株式会社 | Control device, ship and control method |
| CN106842910B (en) * | 2016-11-17 | 2019-11-26 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of Ship Steering Autopilot sliding-mode control based on interference observer |
| JP7203633B2 (en) * | 2019-02-22 | 2023-01-13 | 三菱重工マリンマシナリ株式会社 | Control device, ship equipped with the same and control method of ship |
| CN113553741B (en) * | 2021-07-29 | 2022-02-11 | 哈尔滨理工大学 | Roughness optimization system for marine Magnus anti-rolling device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN1521083A (en) | 2004-08-18 |
| JP2004262431A (en) | 2004-09-24 |
| JP3616778B2 (en) | 2005-02-02 |
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