CN102152843A - Automatic control roll damping device of planing boat - Google Patents
Automatic control roll damping device of planing boat Download PDFInfo
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- CN102152843A CN102152843A CN2011100632614A CN201110063261A CN102152843A CN 102152843 A CN102152843 A CN 102152843A CN 2011100632614 A CN2011100632614 A CN 2011100632614A CN 201110063261 A CN201110063261 A CN 201110063261A CN 102152843 A CN102152843 A CN 102152843A
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Abstract
The invention aims to provide an automatic control roll damping device of a planing boat. The device comprises an attitude sensor, a speed sensor, a processor, a motor controller, a motor, a hydraulic device, a stern plate, a hydraulic driving rod, a driving rod supporting frame and a driving rod supporting hole, wherein the attitude sensor and the speed sensor are connected with the processor respectively; the motor is connected with the processor through the motor controller; the hydraulic device is connected with the motor; the stern plate is arranged on the planing boat and is connected with the hydraulic driving rod; the hydraulic driving rod is connected with the hydraulic device through the driving rod supporting hole in the planing boat; and the driving rod supporting frame is arranged on the planing boat and is used for supporting the hydraulic driving rod. The automatic control roll damping device has the advantages of clear principle, simple structure and high automation degree; all adopted devices are normal; a part of sensor data and a driving control device can be shared in driving of the planing boat with high automation degree; efficiency of equipment is fully utilized; and safety performance of the planing boat is improved.
Description
Technical field
What the present invention relates to is a kind of antirolling apparatus that boats and ships are swung significantly that reduces.
Background technology
At present ship rolling subtracts the equipment of shaking generally passive, antirolling apparatus initiatively such as bilge keel, stabilizer, antirolling tank, is mainly used in big-and-middle-sized boats and ships.For the microminiature high-performance ship because be subjected to performance, displacement, structural arrangement is isoparametric influences, and seldom adopts roll damping device.But by a lot of post-accident studies, when the researcher found the shipping high speed navigation, the lateral stability forfeiture was the one of the main reasons that causes accident.Thereby the horizontal rolling parameter resonance initiation capsizing case that gets rid of, takes place when wave navigates by water takes place when the forfeiture of the horizontal stability of boats and ships may cause rolling significantly, turning when navigating by water at a high speed.This kind accident happens occasionally in various high-speed boat matches.Therefore, high performance craft roll damping device simple in structure, easy for installation, responding fast becomes the focus that scholars pay close attention to.
Summary of the invention
The object of the present invention is to provide when avoiding glider to navigate by water at a high speed and too acutely cause boat attitude glider automatic guidance roll damping device out of control because lateral attitude changes.
The object of the present invention is achieved like this:
Glider automatic guidance roll damping device of the present invention, comprise attitude sensor, speed sensor, treater, electric machine controller, motor, hydraulic press, it is characterized in that: also comprise stern trimming flag, the hydraulic-driven bar, drive spindle bracing frame and drive spindle supported hole, attitude sensor and speed sensor be the connection processing device respectively, motor links to each other with treater by electric machine controller, hydraulic press links to each other with motor, stern trimming flag is installed on the glider, and link to each other with the hydraulic-driven bar, the drive spindle supported hole that the hydraulic-driven bar passes on the glider connects hydraulic press, and the drive spindle bracing frame is installed on the glider, and support hydraulic pressure drive spindle.
Advantage of the present invention is: principle is clear, simple in structure, degree of automation is high and device that adopted is all more common, driving on the higher glider of degree of automation, can shared portion sensing data and driving control device, make full use of equipment effectiveness, improve the glider safety performance.
Description of drawings
Fig. 1 is the principle schematic of embodiment of the present invention 1;
Lateral plan when Fig. 2 is embodiment of the present invention 1 practical application;
Fig. 3 is embodiment of the present invention 1 stern trimming flag structure and drive motor composition;
Fig. 4 is embodiment of the present invention 1 a roll damping mechanics principle scheme drawing.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Embodiment 1:
In conjunction with Fig. 1～4, glider automatic guidance roll damping device comprises attitude sensor 1, speed sensor 2, treater 4, monitoring device 3, electric machine controller 5, motor 6, hydraulic press 7, stern trimming flag 8, hydraulic-driven bar 9, drive spindle bracing frame 11 and drive spindle supported hole 10, attitude sensor 1, speed sensor 2 and monitoring device 3 be connection processing device 4 respectively, motor 6 links to each other with treater 4 by electric machine controller 5, hydraulic press 7 links to each other with motor 6, stern trimming flag 8 is installed on the glider 12, and link to each other with hydraulic-driven bar 9, the drive spindle supported hole 10 that hydraulic-driven bar 9 passes on the glider 12 connects hydraulic press 7, drive spindle bracing frame 11 is installed on the glider 12, and support hydraulic pressure drive spindle 9, stern trimming flag 8 has two, symmetry is installed in glider 12 stern transom plate lower edge.
When package unit is started working, utilize attitude sensor 1 (as compass) and speed sensor 2 (as Doppler anemometer) to gather glider 12 navigation attitude datas in real time and be transferred in the treater 4 (as PC104), treater 4 calculates suitable drive signal according to algorithm routine and gives electric machine controller 5, control motor 6 drives left and right sides stern trimming flag 8 different entry angles, the asymmetric lift that utilizes left and right sides stern trimming flag 8 to produce, reduce the rolling amplitude and the cycle of glider 12, improve safety performance.
The principle analysis explanation:
Attitude sensor 1: attitude sensor 1 is used to gather the navigation attitude of glider 12, as rolling, pitching, yawing angle and cireular frequency, needs according to actual acquisition and precision, can select the sensor of different degree of freedom and precision, general magnetic compass or the gyro compass of using, this device only need to use the sensor of gathering horizontal degree of freedom to get final product;
Speed sensor 2: speed sensor 2 is used to gather the speed made good of glider 12.This device is relatively more responsive to actual speed data correctness, adopts the high precision velocity sensor can guarantee the effect of device.In the time of also can designing according to glider 12, the relation of engine speed and speed, approximate definite glider 12 speed made good are saved cost.For the ship type of excellent in design, the method can roughly satisfy accuracy requirement;
Monitoring device 3: the sail information and the antirolling apparatus actual effect that dynamically show glider 12;
Treater 4: one of core of this device, for real-time control, treater 4 processing speeds have certain influence to the device effect, the program that main influence is carried out for treater 4.The program that treater 4 is carried out mainly is the real-time control algorithms of glider 12 rolling motions.Be analyzed according to real-time navigation attitude image data and safety performance goal-setting value, dynamically adjust output parameter, the entry angle of control left and right sides stern trimming flag 8, the restoring force that the change of stern trimming flag 8 entry angles produces real-time dynamic change reacts on hull again, change the navigation attitude, so circulation reduces glider 12 rolling amplitudes at short notice;
Electric machine controller 5: accept and carry out the signal that treater 4 sends, control motor 6 drives hydraulic press 7;
Motor 6: drive hydraulic press 7;
Hydraulic press 7: drive hydraulic-driven bar 9, regulate the angle of stern trimming flag 8 and stern transom plate;
Stern trimming flag 8: the entry adjustable angle, left and right sides angle is asymmetric, utilizes fluid pressure, produces the rolling restoring force.
The rolling motion differential equation is:
Wherein
Represent force of inertia (or moment) coefficient, damping (or moment) coefficient, restoring force (or moment) coefficient, wave exciting force (or moment) respectively.
Generally provided by buoyancy, the extra lift that this device utilizes stern trimming flag 8 to produce has just increased restoring force (or moment), reduces period of rolling and rolling amplitude.
During the glider real navigation, meet with external environmental interference, glider 12 produces heel significantly, attitude sensor 1 and speed sensor 2 real-time image data are transferred to treater 3, treater 3 calculates prediction rolling amplitude and cycle according to data of accepting and control algorithm, contrast predefined rolling amplitude, cycle safety limit value, if satisfy condition, output motor control signal not then, keep stern trimming flag 8 standing states, if do not satisfy condition, then treater 4 programs are according to the existing transient data interpolation stern trimming flag 8 stressed prediction rolling amplitudes that recomputate, iterative loop like this is until satisfying qualifications.When the inner interpolation calculation of program satisfied condition, stern trimming flag 8 stress values and existing velocity amplitude according to iteration draws calculated required left and right sides stern trimming flag 8 entry angle value θ
1, θ
2For the stern trimming flag 8 that shape is determined, the stressed size of stern trimming flag 8 and speed of incoming flow and entry angular relationship are fixed, and utilize fluid mechanics can determine relation between them.Again according to the θ that obtains
1, θ
2Value and electric machine controller 5, motor 6, hydraulic press 7 control protocols, the output control signal corresponding, modulated pressure device 7 flexible values, the angle value of adjusting stern trimming flag 8 is to right value θ
1, θ
2The asymmetric stern trimming flag 8 entry angles in the left and right sides produce different lift (stern trimming flag distribution of pressure 13, right stern trimming flag lift 16, left stern trimming flag lift 17), can calculate in conjunction with glider gravity 15, glider buoyancy 14 and determine glider 12 actual time safety performances.All calculating all are to finish instantaneous, and preprocessor 4 is finished in this circulation will enter the next stage cycle calculations.Treater 4 computed informations can pass through monitoring device 3 Real time dynamic display as required.
Drive spindle bracing frame 11 requires not essential according to structural strength, be determined on a case-by-case basis, and form is changeable, satisfies the fixed pedestal requirement and gets final product.
The shape of stern trimming flag 8, size need to require to decide according to hydrodynamic performance and roll damping, can adopt rectangular flat, also can use aerofoil profile.
Claims (3)
1. glider automatic guidance roll damping device, comprise attitude sensor, speed sensor, treater, electric machine controller, motor, hydraulic press, it is characterized in that: also comprise stern trimming flag, the hydraulic-driven bar, drive spindle bracing frame and drive spindle supported hole, attitude sensor and speed sensor be the connection processing device respectively, motor links to each other with treater by electric machine controller, hydraulic press links to each other with motor, stern trimming flag is installed on the glider, and link to each other with the hydraulic-driven bar, the drive spindle supported hole that the hydraulic-driven bar passes on the glider connects hydraulic press, and the drive spindle bracing frame is installed on the glider, and support hydraulic pressure drive spindle.
2. glider automatic guidance roll damping device according to claim 1 is characterized in that: described stern trimming flag has two, symmetry to be installed in glider stern transom plate lower edge.
3. glider automatic guidance roll damping device according to claim 1 and 2 is characterized in that: described stern trimming flag be shaped as rectangular flat or aerofoil profile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100632614A CN102152843A (en) | 2011-03-16 | 2011-03-16 | Automatic control roll damping device of planing boat |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100632614A CN102152843A (en) | 2011-03-16 | 2011-03-16 | Automatic control roll damping device of planing boat |
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| CN102152843A true CN102152843A (en) | 2011-08-17 |
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| CN2011100632614A Pending CN102152843A (en) | 2011-03-16 | 2011-03-16 | Automatic control roll damping device of planing boat |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501942A (en) * | 2011-11-01 | 2012-06-20 | 大连理工大学 | Spoiler of ship |
| CN103661841A (en) * | 2013-12-20 | 2014-03-26 | 陈洪灿 | Self-starting anti-rollover safety device of ship |
| CN103661838A (en) * | 2013-12-20 | 2014-03-26 | 陈洪灿 | Lifting type ship side turn preventing mechanism |
| CN105172995A (en) * | 2015-08-06 | 2015-12-23 | 哈尔滨工程大学 | High-speed boat angle-variable wave suppression device combined with surface propeller |
| CN105539759A (en) * | 2015-12-22 | 2016-05-04 | 天津大学 | Control method of frog mouth type bilge keel |
| CN106741704A (en) * | 2015-11-25 | 2017-05-31 | 中国舰船研究设计中心 | A kind of warship opens up string stabilizer with change |
| CN111290416A (en) * | 2020-01-20 | 2020-06-16 | 郑州宇通重工有限公司 | Ship attitude control method, system, computer storage medium and ship |
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| JP2006297999A (en) * | 2005-04-15 | 2006-11-02 | Mitsubishi Heavy Ind Ltd | Fin stabilizer for vessel, its controlling method and controlling program |
| CN101234663A (en) * | 2007-01-30 | 2008-08-06 | 中国船舶重工集团公司第七○四研究所 | Fin stabilizer control device with 'GPS' |
| TW201008830A (en) * | 2008-08-22 | 2010-03-01 | United Ship Design & Dev Ct | Hydraulic control system of a ship and a method of ship stabilizing fin control using the same |
| CN202038436U (en) * | 2011-03-16 | 2011-11-16 | 哈尔滨工程大学 | Automatic control rolling reducing device for displacement boat |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006297999A (en) * | 2005-04-15 | 2006-11-02 | Mitsubishi Heavy Ind Ltd | Fin stabilizer for vessel, its controlling method and controlling program |
| CN101234663A (en) * | 2007-01-30 | 2008-08-06 | 中国船舶重工集团公司第七○四研究所 | Fin stabilizer control device with 'GPS' |
| TW201008830A (en) * | 2008-08-22 | 2010-03-01 | United Ship Design & Dev Ct | Hydraulic control system of a ship and a method of ship stabilizing fin control using the same |
| CN202038436U (en) * | 2011-03-16 | 2011-11-16 | 哈尔滨工程大学 | Automatic control rolling reducing device for displacement boat |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501942B (en) * | 2011-11-01 | 2014-06-25 | 大连理工大学 | Spoiler of ship |
| CN102501942A (en) * | 2011-11-01 | 2012-06-20 | 大连理工大学 | Spoiler of ship |
| CN103661838B (en) * | 2013-12-20 | 2016-04-20 | 陈洪灿 | Lifting mode ship rollover-resistant mechanism |
| CN103661838A (en) * | 2013-12-20 | 2014-03-26 | 陈洪灿 | Lifting type ship side turn preventing mechanism |
| CN103661841B (en) * | 2013-12-20 | 2016-03-02 | 陈洪灿 | Self set-up type ship anti-rollover safety device |
| CN103661841A (en) * | 2013-12-20 | 2014-03-26 | 陈洪灿 | Self-starting anti-rollover safety device of ship |
| CN105172995A (en) * | 2015-08-06 | 2015-12-23 | 哈尔滨工程大学 | High-speed boat angle-variable wave suppression device combined with surface propeller |
| CN106741704A (en) * | 2015-11-25 | 2017-05-31 | 中国舰船研究设计中心 | A kind of warship opens up string stabilizer with change |
| CN106741704B (en) * | 2015-11-25 | 2021-02-09 | 中国舰船研究设计中心 | Variable-chord anti-rolling fin for warships |
| CN105539759A (en) * | 2015-12-22 | 2016-05-04 | 天津大学 | Control method of frog mouth type bilge keel |
| CN105539759B (en) * | 2015-12-22 | 2018-01-16 | 天津大学 | A kind of control method of frog mouth formula bilge keelson |
| CN111290416A (en) * | 2020-01-20 | 2020-06-16 | 郑州宇通重工有限公司 | Ship attitude control method, system, computer storage medium and ship |
| CN111290416B (en) * | 2020-01-20 | 2020-11-20 | 郑州宇通重工有限公司 | Ship attitude control method, system, computer storage medium and ship |
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Application publication date: 20110817 |