CN105966567A - Control system for controllable passive anti-rolling water tank - Google Patents
Control system for controllable passive anti-rolling water tank Download PDFInfo
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- CN105966567A CN105966567A CN201610343849.8A CN201610343849A CN105966567A CN 105966567 A CN105966567 A CN 105966567A CN 201610343849 A CN201610343849 A CN 201610343849A CN 105966567 A CN105966567 A CN 105966567A
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- water tank
- rolling
- ships
- boats
- liquid
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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
- B63B39/02—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses
- B63B39/03—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses by transferring liquids
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention provides a control system for a controllable passive anti-rolling water tank and is applied to ships. The anti-rolling water tank is arranged in a ship and provided with a water tank air valve. The control system comprises a sensor and a water tank controller. The sensor is used for receiving first movement information of the ship and second movement information of liquid in the water tank. The water tank controller is used for processing the received first movement information and the received second movement information. The processed first movement information is used for controlling the water tank air valve to be opened, and the processed second movement information is used for controlling the water tank air valve to be closed. The movement period of the liquid in the water tank is adjusted by controlling opening and closing of the water tank air valve, so that the adjusted movement period of the liquid in the water tank is the same as the movement period of rolling of the ship, and thus movement of the liquid in the water tank lags behind rolling movement of the ship by pi/2 phase.
Description
Technical field
The present invention relates to ship stabilization control field, particularly relate to a kind of controllable passive anti-rolling tank control system.
Background technology
Tank stabilizer is one of device reducing ship rolling, and it has simple in construction, cheap, it is simple to maintenance etc. are excellent
Point, is widely used in more than 500 tonnes all kinds of ships and light boats.Tank stabilizer, according to whether applying control, can be divided into active
Tank stabilizer, passive anti-rolling tank and controllable passive anti-rolling tank.But due to, activated tank stabilizer cost is too high, quilt
Dynamic formula tank stabilizer subtracts that to shake frequency range narrower, so, people typically use controllable passive anti-rolling tank.Passively controlled subtracts
Shake water tank by implementing to control to valve so that the liquid in water tank remains at boats and ships and moves upward that side, to realize
Subtract and shake.
Now, the controlling plan design for controllable passive anti-rolling tank has many, but, the shortcoming of prior art
It is: anti-rolling effect is the best.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of controllable passive anti-rolling tank control system so that in boats and ships
The anti-rolling effect of water tank is close to optimal.
For solving above-mentioned technical problem, the present invention provides a kind of controllable passive anti-rolling tank control system, is applied to ship
In oceangoing ship, being provided with for subtracting the water tank shaken in boats and ships, water tank is provided with water tank air valve, it is characterised in that system includes sensor
With water tank controller, wherein, the second motion of sensor liquid in the first movable information receiving boats and ships and water tank
Information；Water tank controller for the first movable information received and the second movable information are processed, the after process
One movable information is for controlling the unlatching of water tank air valve, and the second movable information after process is used for controlling the closedown of water tank air valve,
By controlling the opening and closing of water tank air valve, regulate the liquid motion cycle in water tank so that liquid in the water tank after regulation
The period of motion is identical with the rolling motion cycle of boats and ships, and make the motion delay rolling motion π in boats and ships of liquid in water tank/
2 phase places.
Further, the first movable information includes: the roll angle of boats and ships, the angular velocity in roll of boats and ships, the roll angle of boats and ships
Acceleration；Wherein, by angular velocity in roll and roll angle acceleration are weighted, to obtain weighted signal, water tank control
Device processed controls water tank air valve according to weighted signal and opens.
Further, the second movable information includes: the liquid motion cycle in water tank liquid level signal and water tank；Wherein, water is worked as
When cabin liquid level signal value reaches set maximum, water tank controller controls water tank air valve and cuts out.
Further, the computing formula of weighted signal is:Wherein, β is weighted signal,For roll angle
Speed,For roll angle acceleration, a, for controlling parameter, is used for regulatingWithBetween weighting degree.
Further, roll angle, angular velocity in roll, the relational expression between roll angle acceleration three is:
Wherein,For roll angle.
Further, when the value of β is from just becoming negative or being become timing from negative, and water tank controller controls water tank air valve and opens
Open.
Further, the span controlling parameter a is 2.5 to 3.
Further, the value controlling parameter a is 2.7.
The controllable passive anti-rolling tank control system that the present invention provides, at boats and ships by after the interference of wave, produces
Raw rolling motion, thus produce the various information relevant with rolling, when receiving rolling boats and ships the first movable information and
After second movable information of the liquid in water tank, by the first received movable information and the second movable information are carried out
Processing, the first movable information after process is for controlling the unlatching of water tank air valve, and the second movable information after process is used for controlling
The closedown of water tank air valve, by controlling the opening and closing of water tank air valve, regulates the liquid motion cycle in water tank so that regulation
After water tank in the liquid motion cycle identical with the rolling motion cycle of boats and ships, and make the motion delay of liquid in water tank in ship
The rolling motion pi/2 phase of oceangoing ship.
Furthermore, it is necessary to explanation, when in water tank, the period of motion of liquid is identical with the rolling motion cycle of boats and ships, and water
In cabin during liquid motion delayed ship rolling motion pi/2 phase, moment and sea wave disturbance moment symbol that water tank produces are contrary, water
The anti-rolling effect in cabin is optimal.
Therefore, the controllable passive anti-rolling tank control system of the present invention, it is possible to make the anti-rolling effect of water tank in boats and ships
Close to optimal.
Accompanying drawing explanation
Fig. 1 is the block diagram of a kind of controllable passive anti-rolling tank control system that the embodiment of the present invention provides.
Detailed description of the invention
The present invention is applied to marine system, and involved parts mainly include, water tank, water tank air valve, sensor 20, and
Water tank controller 10, wherein, sensor 20 is arranged on boats and ships, is used for receiving liquid motion information and boats and ships motion in water tank
Information, the information received is sent in water tank controller 10 and processes by sensor 20；Water tank be placed in boats and ships for
Subtracting the device shaken, water tank air valve is then placed in water tank top for controlling the equipment of liquid flow direction in water tank, water tank control
Device 10 processed controls liquid flow direction in water tank, wherein, when water tank air valve leaves by controlling the opening and closing of water tank air valve
Qi Shi, water tank as passive anti-rolling tank run, now, the liquid in water tank can followed by water tank boats and ships motion and
Freely-movable；When water tank air valve is closed, water tank is in controlled state, and now, the liquid in water tank is only in assigned direction
Move.When boats and ships are by sea wave disturbance, controlled the opening and closing of water tank air valve by water tank controller 10, control
The period of motion of liquid in water tank so that in water tank, the liquid motion cycle is identical with the ship rolling motion cycle, and in making water tank
The motion delay of liquid is in ship rolling motion pi/2 phase, so that the moment of water tank generation and sea wave disturbance moment symbol
On the contrary, the optimal anti-rolling effect of water tank is reached.
The present invention is further illustrated below by specific embodiment, it should be understood, however, that, these embodiments are only
It is used for specifically describing in more detail, and is not to be construed as limiting in any form the present invention.
In conjunction with Fig. 1, the controllable passive anti-rolling tank control system that the present embodiment provides, it is applied in boats and ships, this system
Specifically include that
Sensor 20: the second movable information of the liquid in the first movable information of reception boats and ships and water tank；；
Water tank controller 10: to being received the first movable information and the second movable information processes, water tank controller
10 for processing the first movable information received and the second movable information, and the first movable information after process is used for
Controlling the unlatching of water tank air valve, the second movable information after process is for controlling the closedown of water tank air valve, by controlling water tank gas
The opening and closing of valve, regulate the liquid motion cycle in water tank so that liquid motion cycle and boats and ships in the water tank after regulation
The rolling motion cycle identical, and make the motion delay of liquid in water tank in the rolling motion pi/2 phase of boats and ships.
The controllable passive anti-rolling tank control system that the present invention provides, at boats and ships by after the interference of wave, produces
Raw rolling motion, thus produce the various information relevant with rolling, when receiving rolling boats and ships the first movable information and
After second movable information of the liquid in water tank, by the first received movable information and the second movable information are carried out
Processing, the first movable information after process is for controlling the unlatching of water tank air valve, and the second movable information after process is used for controlling
The closedown of water tank air valve, by controlling the opening and closing of water tank air valve, regulates the liquid motion cycle in water tank so that regulation
After water tank in the liquid motion cycle identical with the rolling motion cycle of boats and ships, and make the motion delay of liquid in water tank in ship
The rolling motion pi/2 phase of oceangoing ship.
Furthermore, it is necessary to explanation, when in water tank, the period of motion of liquid is identical with the rolling motion cycle of boats and ships, and water
In cabin during liquid motion delayed ship rolling motion pi/2 phase, moment and sea wave disturbance moment symbol that water tank produces are contrary, water
The anti-rolling effect in cabin is optimal.
Therefore, the controllable passive anti-rolling tank control system of the present invention, it is possible to make the anti-rolling effect of water tank in boats and ships
Close to optimal.
Preferably, the first movable information includes: the roll angle of boats and ships, the angular velocity in roll of boats and ships, and the roll angle of boats and ships adds
Speed；Wherein, by being weighted angular velocity in roll and roll angle acceleration, to obtain weighted signal, water tank controls
Device 10 controls water tank air valve according to weighted signal and opens.
Preferably, the second movable information includes: the liquid motion cycle in water tank liquid level signal and water tank；Wherein, water tank is worked as
When liquid level signal value reaches set maximum, water tank controller 10 controls water tank air valve and cuts out.
It is further preferred that the computing formula of weighted signal is:Wherein, β is weighted signal,Horizontal for boats and ships
Cradle angle,For ship rolling angular velocity,For ship rolling angular acceleration, a, for controlling parameter, is used for regulatingWithBetween weighting
Degree.Additionally, roll angle, angular velocity in roll, the relational expression between roll angle acceleration three is:
Wherein,For roll angle.
Due to the interference of the factors such as inertia, in water tank, liquid motion just cannot lag behind in the case of being not added with any control
Ship rolling motion pi/2 phase, the weighted signal using ship rolling angular velocity and ship rolling angular acceleration is single as input
Control signal in unit, thus realize the prediction propagating rolling motion, and then comprehensive boats and ships move and liquid motion in water tank
Water tank air valve is controlled by situation.It is to say, the effect of weighted signal is to control liquid motion and ship rolling in water tank
The phase relation of motion.
It is further preferred that when the value of β is from just becoming negative or being become timing from negative, and water tank controller 10 controls water tank gas
Valve is opened.That is, when β sign modification, water tank controller 10 controls water tank air valve and opens.Wherein, the control rule of air valve is: when
During β > 0, it is allowed in water tank, liquid flows from starboard (larboard) wing tank the most aport (starboard) wing tank；When β < when 0, permits
In being permitted cabin, liquid freely flows from larboard (starboard) wing tank astarboard (larboard) wing tank.When β sign modification, water tank controller
10 output control signals control air valve and open.Specifically, during realizing, take the positive direction determining motion, such as, take boats and ships to
Right motion is positive direction.First regulation parameter a, makes water tank air valve by opening initial moment β=0 closed.Afterwards, as β > 0 time,
I.e. boats and ships move right, and in now the system of the present embodiment only allows water tank, liquid flows from starboard wing tank aport wing tank
Dynamic；As β, < when 0, in a permission water tank, liquid flows from larboard wing tank astarboard wing tank.When β sign modification, water tank controller
10 output control signals control water tank air valve and open.
Specifically, it is assumed that boats and ships are acted on by rule ripple, then ship rolling angle can represent:
Wherein,Rolling amplitude for boats and ships.
Formula (1) is substituted intoCan obtain:
Wherein, εβFor the phase contrast between Air Valve Control signal switching instant and ship rolling motion.
So it is represented by using-β as liquid motion in the water tank control input
δ (t)=δ0sin(-ωt+εβ+φ0)=δ0sin(ωt-εβ-φ0+π) (4)
Wherein, δ0For liquid motion angle amplitude, φ in water tank0For due to liquid inertia and the delayed phase that causes in water tank
Position.
From formula (4), if εβ+φ0=pi/2, then in water tank, liquid motion phase place falls relative to ship rolling motion
Rear pi/2 phase, at this moment water tank can reach optimal control effect.
Additionally, due in water tank liquid from side wing tank flow to time of opposite side can be approximately equal to water tank in fluid have resistance
The half of Buddhist nun cycle of oscillation, has a following relation:
φ0=ω π/(2 ωtd) (5)
Wherein,For in tank stabilizer liquid oscilaltion have damped oscillation frequency；For
Tank stabilizer liquid oscilaltion damping ratio.
IfThen to formula under zero initial conditionCarry out Laplace transform can obtain:
The phase-frequency characteristic of formula (6) is
According to the phase relation being previously obtained, when ∠ σ (j ω)=pi/2, in water tank, liquid motion meets with boats and ships motion
Optimal phase relationship.It is to say, control parameter a so that water tank reaches Optimal Control effect by regulation
Specifically, ship rolling had both depended on the size of Wave energy, also depend on spectrum density curve and rolling amplify because of
The relation of number curve.According to theory of random processes, the spectrum density of roll angle is:
Sφ(ω)=| Wφ(ω)|2Sw(ω) (8)
Wherein, Wφ(ω) it is the ship rolling angle amplitude-frequency characteristic for wave rolling moment, Sw(ω) it is that wave acts on
The rolling moment spectrum density of boats and ships.
Rolling moment KwThe white noise that can utilize a Gauss distribution is produced by a formed filter.Wave molding
Wave filter GwS () is typically chosen as rational expression form, in the present embodiment, GwS () is elected as:
Wherein, coefficient a1, a2And b1Relevant with wave height, ship course and the speed of a ship or plane, w (t) is white noise.
According to theory of random processes, the interference of random seaway moment is represented by as the spectrum density of coloured noise:
Sw(ω)=| Gw(jω)|2So(ω) (10)
Wherein, So(ω) it is the spectral density function of white noise, is a constant.
N sampled point ω is selected in ship rolling frequency range1,ω2,…ωn, with Sφ(ωi) as each sample frequency
The weight function that some phase place is approached, then optimizing index is:
By variable optimizing, calculate parameter a, make object function J minimum.
Preferably, the optimum span controlling parameter a is [2.5,3].
It is further preferred that the optimum value controlling parameter a is 2.7.When controlling parameter a value and being 2.7, the present embodiment
In system can obtain Optimal Control effect, i.e. so that the anti-rolling effect of water tank reaches optimal.It should be noted that control
The optimum value of parameter a processed needs to be adjusted according to practical situation, and the present embodiment is not specifically limited.
Although present invention has been a certain degree of description, it will be apparent that, without departing from the spirit and scope of the present invention
Under the conditions of, the suitable change of each condition can be carried out.It is appreciated that and the invention is not restricted to described embodiment, and be attributed to right
The scope required, it includes the equivalent of described each factor.
Claims (8)
1. a controllable passive anti-rolling tank control system, is applied in boats and ships, is provided with and shakes for subtracting in described boats and ships
Water tank, described water tank is provided with water tank air valve, it is characterised in that described system includes sensor and water tank controller, wherein,
Second motion letter of described sensor liquid in the first movable information receiving described boats and ships and described water tank
Breath；
Described water tank controller is used for processing described first movable information received and described second movable information,
Described first movable information after process is for controlling the unlatching of described water tank air valve, and described second movable information after process is used
In the closedown of the described water tank air valve of control, by controlling the opening and closing of described water tank air valve, regulate liquid in described water tank
The body period of motion so that in the water tank after described regulation, the liquid motion cycle is identical with the rolling motion cycle of described boats and ships, and
Make the motion delay of liquid in described water tank in the rolling motion pi/2 phase of described boats and ships.
Controllable passive anti-rolling tank control system the most according to claim 1, it is characterised in that
Described first movable information includes: the roll angle of boats and ships, the angular velocity in roll of boats and ships, the roll angle acceleration of boats and ships；
Wherein, by described angular velocity in roll and described roll angle acceleration are weighted, to obtain weighted signal, institute
State water tank controller and control the unlatching of described water tank air valve according to described weighted signal.
Controllable passive anti-rolling tank control system the most according to claim 1, it is characterised in that described second motion letter
Breath includes: the liquid motion cycle in water tank liquid level signal and water tank；
Wherein, when described water tank liquid level signal value reaches set maximum, described water tank controller controls described water tank
Air valve is closed.
4. according to the controllable passive anti-rolling tank control system described in Claims 2 or 3, it is characterised in that described weighting is believed
Number computing formula be:
Wherein, β is described weighted signal,For described angular velocity in roll,For described roll angle acceleration, a is control parameter,
For regulatingWithBetween weighting degree.
Controllable passive anti-rolling tank control system the most according to claim 4, it is characterised in that described roll angle, institute
The relational expression stated between angular velocity in roll, and described roll angle acceleration three is:
Wherein,For described roll angle.
Controllable passive anti-rolling tank control system the most according to claim 5, it is characterised in that when the value of β is by just
Becoming negative or become timing from negative, described water tank controller controls water tank air valve and opens.
Controllable passive anti-rolling tank control system the most according to claim 6, it is characterised in that described control parameter a
Span be 2.5 to 3.
Controllable passive anti-rolling tank control system the most according to claim 7, it is characterised in that described control parameter a
Value be 2.7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610343849.8A CN105966567A (en) | 2016-05-23 | 2016-05-23 | Control system for controllable passive anti-rolling water tank |
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| CN201610343849.8A CN105966567A (en) | 2016-05-23 | 2016-05-23 | Control system for controllable passive anti-rolling water tank |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114237314A (en) * | 2021-12-13 | 2022-03-25 | 西北工业大学 | Ocean internal wave eliminating method based on active control vibration wing plate |
Citations (5)
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|---|---|---|---|---|
| JPH11139386A (en) * | 1997-11-06 | 1999-05-25 | Nkk Sogo Sekkei Kk | Variable period type anti-rolling water tank device of ship and method for controlling the same |
| JP2004216917A (en) * | 2002-06-18 | 2004-08-05 | Noritaka Matsumura | Rolling reduction water tank of vessel and its control method |
| JP2007038780A (en) * | 2005-08-02 | 2007-02-15 | Jfe Soldec Corp | Control method for anti-rolling water tank device |
| CN101780834A (en) * | 2009-12-23 | 2010-07-21 | 中国船舶重工集团公司第七○四研究所 | Pneumatic control device for roll-reducing water tanks |
| CN104925234A (en) * | 2015-06-30 | 2015-09-23 | 中国船舶重工集团公司第七0四研究所 | Combined-control controllable passive anti-rolling tank device and control method |
-
2016
- 2016-05-23 CN CN201610343849.8A patent/CN105966567A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11139386A (en) * | 1997-11-06 | 1999-05-25 | Nkk Sogo Sekkei Kk | Variable period type anti-rolling water tank device of ship and method for controlling the same |
| JP2004216917A (en) * | 2002-06-18 | 2004-08-05 | Noritaka Matsumura | Rolling reduction water tank of vessel and its control method |
| JP2007038780A (en) * | 2005-08-02 | 2007-02-15 | Jfe Soldec Corp | Control method for anti-rolling water tank device |
| CN101780834A (en) * | 2009-12-23 | 2010-07-21 | 中国船舶重工集团公司第七○四研究所 | Pneumatic control device for roll-reducing water tanks |
| CN104925234A (en) * | 2015-06-30 | 2015-09-23 | 中国船舶重工集团公司第七0四研究所 | Combined-control controllable passive anti-rolling tank device and control method |
Non-Patent Citations (1)
| Title |
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| 张宏瀚: "高性能U型减摇水舱系统设计与控制方法研究", 《中国博士学位论文全文数据库（电子期刊） 工程科技Ⅱ辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114237314A (en) * | 2021-12-13 | 2022-03-25 | 西北工业大学 | Ocean internal wave eliminating method based on active control vibration wing plate |
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