CN106628042A - Stern flow-interceptor system for high-speed ship and control method - Google Patents
Stern flow-interceptor system for high-speed ship and control method Download PDFInfo
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- CN106628042A CN106628042A CN201710059804.2A CN201710059804A CN106628042A CN 106628042 A CN106628042 A CN 106628042A CN 201710059804 A CN201710059804 A CN 201710059804A CN 106628042 A CN106628042 A CN 106628042A
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- control
- ship
- signal
- speed
- attitude
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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
- B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
Abstract
The invention relates to a stern flow-interceptor system for a high-speed ship and a control method. A cab display control unit is used for receiving a control instruction of an operator; a central control unit is used for collecting a posture signal at three degrees of freedom of horizontal shaking, vertical shaking and vertical heaving, a navigation speed signal and a helm order signal of a ship; a core control module is used for resolving and outputting a control instruction; a CAN bus is used for sending a control instruction signal to each servo driving unit set and driving each actuating mechanism set to drive an interceptor plate to move; each servo driving unit set is used for receiving a state feedback signal of the interceptor plate and sending the received state feedback signal to the central control unit for treating; a human-computer interaction interface of the cab display control unit is used for indicating the route state and performing alarm display. The stern flow-interceptor system can realize the longitudinal inclining and horizontal inclining adjustment, the real-time motion posture control, the synergic steering control and the auxiliary steering control for the high-speed ship, has an obvious effect of controlling the motion posture of the high-speed ship and is capable of effectively increasing the airworthiness of the high-speed ship.
Description
Technical field
The present invention relates to a kind of control system, more particularly to a kind of stern guillotine system and control suitable for high-speed ship
Method processed.
Background technology
In recent years, with the high speed of the vehicles, occur in that a series of novel high speed ship type includes that high speed monomer is fast
Ship, wear unrestrained binary high-speed craft etc..The limitation of high-speed ship is it when low speed turns to high speed operation, and vessel draft gradually subtracts
It is few, easily affected by external disturbances such as wind, wave, streams, so as to cause hull swaying by a relatively large margin, especially it is embodied in longitudinal direction
In motion.
To improve the airworthiness of high-speed ship and the comfort level of crewman, study by improving Ship Hull Lines to improve its resistance to ripple
Property produces little effect, and the effect for swaying acquirement for reducing ship by installing attached body additional is more notable.Ship appearance is applied at present
The stabilizer of state control, tank stabilizer and subtracting shake gyro etc. and are mainly used in reducing the rolling motion of ship, and system weight, account for cabin
The limitation such as space, dynamic response time make it to have good application in high-speed ship.The application of current high-speed ship
Field is more and more extensive, and shipbuilding industry is constantly paid attention to airworthiness concept, and also high-speed ship motion attitude control system is proposed
Higher requirement.
The content of the invention
The technical problem such as stall during in order to solve when shipping high speed is navigated by water horizontal and vertical motion control and turn to, the present invention
There is provided a kind of suitable guillotine system loaded on high-speed ship and control method, cut using electrical servo drive system executing agency
Stream plate motion, so as to change the pressure distribution of hull surface, produces lift, to ship shape into the stability force contended with disturbing moment
Square, reaches the effect of control Ship Motion Attitude.
For achieving the above object, the technical scheme is that：A kind of high-speed ship stern guillotine system, including driving
Room display control unit, central control unit, driving consumer unit, servo drive unit group, executing agency's group, driver's cabin shows control
Unit processed receives the control instruction of operating personnel, central control unit collection ship rolling, pitching and heave Three Degree Of Freedom attitude
Signal and speed of a ship or plane signal, helm order signal, Jing kernel control modules resolve output control instruction, and will be controlled by CAN
Command signal is sent to each servo drive unit group, drives each executing agency's group to drive intercepter plate motion, each servo-drive
Unit group receives the status feedback signal of intercepter plate, and the status feedback signal for receiving is sent at central control unit
Reason, and stroke state instruction and alarm indication are carried out by the human-computer interaction interface of driver's cabin display control unit.
The central control unit inside receives ship attitude-measuring sensor signal by RS232, and outside passes through respectively
RS485 receives gps signal or receives log signal by DI, and by AI steering signal is received, and is controlled by LAN and driver's cabin
Display unit network interface communicates.
A kind of control method of high-speed ship stern guillotine system, including MANUAL CONTROL mode and automatic control mode,
Central control unit receives the operator scheme of driver's cabin control display unit and instructs, collection ship attitude-measuring sensor signal,
Speed of a ship or plane signal and steering command signal, the movement travel to each guillotine executing agency intercepter plate is resolved, from control manually
During molding formula, by the heel in driver's cabin control display unit, trim angle control button, output corresponding site is horizontally mounted
Intercepter plate Stroke Control command signal, drive corresponding executing agency's group to drive the intercepter plate motion being horizontally mounted respectively；Choosing
When using automatic control mode, then be divided into the control of automatic trim, the control of automatic heel, real-time attitude control, collaboration course changing control and
Auxiliary steering control model：Under automatic trim, automatic heel pattern, kernel control module is according to pitch angle control target and currently
Attitude of ship and speed of a ship or plane signal, intercepter plate travel parameters under experts database corresponding modes in calling system, real-time resolving simultaneously exports phase
Position is answered to be horizontally mounted intercepter plate Stroke Control command signal；Under real-time attitude control model, kernel control module according to work as
Front attitude of ship and speed of a ship or plane signal, resolve the stroke needed for the rolling for reducing ship and control the vertical row of longitudinal optimum attitude
Journey, in real time distributes control instruction to the servo drive unit for being respectively horizontally mounted intercepter plate executing agency after summation process；In association
With under steering control mode, kernel control module is horizontally mounted intercepter plate stroke according to ship helm signal, output corresponding site
Control instruction model, reduces ship heel when turning to；In the case where auxiliary comes about pattern, kernel control module is according to current ship appearance
State, speed of a ship or plane signal and steering instruction, kernel control module resolves the Stroke Control instruction of vertical installation intercepter plate, reduces ship and turns
To radius, mitigate the harmful effect that stall brings when ship is turned.
Under orderly sea, using automatic trim control model, and can be with reference to collaboration course changing control；Under violent sea situation,
Using real-time attitude control model, the optimum athletic posture of ship is adjusted；The auxiliary pattern of coming about is suitable for use with hydraulic jet propulsion
High-speed ship, can be used in combination with the control of automatic trim, real-time attitude control isotype.
The invention has the beneficial effects as follows：
The high-speed ship stern guillotine system and control method of the present invention, can realize that the trim to high-speed ship and heel are adjusted
Section, real time kinematics gesture stability, collaboration course changing control and auxiliary steering control, system reliability height, simple structure, installation are just
Victory, it is obvious to the motion attitude control effect of high-speed ship, effectively increase the seakeeping characteristics of high-speed ship.
Description of the drawings
Fig. 1 is the high-speed ship stern guillotine System Working Principle schematic diagram of the present invention；
Fig. 2 is the high-speed ship stern guillotine system architecture diagram of the present invention；
Fig. 3 is the stern guillotine of the present invention in high-speed tape driving stern scheme of installation；
Fig. 4 is that the stern guillotine of the present invention is wearing unrestrained binary high-speed craft stern scheme of installation；
Fig. 5 is the high-speed ship stern guillotine system control sytsem theory diagram of the present invention；
Fig. 6 is the high-speed ship stern guillotine system actuator schematic diagram of the present invention；
Fig. 7 is the high-speed ship stern guillotine system control function module map of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described with embodiment.
As shown in figure 1, guillotine executing agency is arranged on high-speed ship stern, it can change flow field and hull around hull
Stress.Around guillotine, the particularly front of guillotine, the speed and pressure of fluid are compared with having in the case of without guillotine
Very big change.Although guillotine also generates resistance on hull, but as long as height stroke chooses suitable, the work of this resistance
With can ignore.The motion of intercepter plate changes the pressure distribution of hull surface, and Trimming Moment is produced on hull, reduces trim
Angle.Intercepter plate so as to change the pressure distribution of hull surface, produces lift in movement in vertical direction, to ship shape into perturbed force
The stabilizing moment that square contends with.Intercepter plate is moved in the horizontal direction, can produce the torque that auxiliary ship station is come about.
As shown in Figure 2 high-speed ship stern guillotine system architecture diagram, its composition have driver's cabin display control unit, in
Centre control unit, driving consumer unit, servo drive unit group, executing agency's group（Containing intercepter plate, be divided into left side be horizontally mounted group,
Right side is horizontally mounted group, left vertical installation group, Right vertical installation group）.High-speed ship occurs in the presence of wave torque
Sway, be especially embodied in lengthwise movement, central control unit is by the solution to signals such as attitude of ship, the speed of a ship or plane and steering instructions
Calculate, the intercepter plate Stroke Control instruction of output each group executing agency, then each intercepter plate carries out vertical and horizontal balance according to signal,
Realize that motion attitude control and auxiliary are come about function.Stern guillotine system can be respectively suitable for high-speed tape driving and wear unrestrained binary
High-speed craft, system is distinguished as shown in Figure 3 and Figure 4 in the scheme of installation of both ship type sterns.
It is illustrated in figure 5 high-speed ship stern guillotine system control sytsem theory diagram.Central control unit leads to respectively
Cross LAN to communicate with driver's cabin control display unit network interface, by serial ports（COM2）Receive gps signal（Or had the records of distance by the log by DI receptions
Instrument signal）, steering instruction is received by 1 road AI, by CAN to each servo drive unit group output executing mechanism stroke control
System instruction, and reception state feedback signal and alarm signal.
Servo drive unit group drives executing agency to cut according to the command signal of central control module output in control system
Stream plate action, is system core control unit, as shown in Figure 6.When in real time automatically motion attitude control and auxiliary steering are controlled, control
System processed is realized stretching out intercepter plate 10 regulation of stroke by control drive mechanism 20, changes flow field and hull around hull and receives
Power, so as to reach the purpose of Attitude regulation.
Fig. 7 show high-speed ship stern guillotine system control function module map, and systemic-function pattern is broadly divided into base
This pattern（Manual trim control, the control of manual heel）And automatic control mode（Automatically trim is controlled, automatic heel is controlled, real
When gesture stability, collaboration course changing control, auxiliary steering control）.Steering control model is wherein aided in by vertically arranged execution machine
The action of structure intercepter plate realizes that remaining control model is realized by the executing agency's intercepter plate action being horizontally mounted, and aids in steering mould
Formula and other automatic control modes are used in combination.Each mode control method is illustrated individually below：
1. basic model（Manual heel control/manual trim control）：By the man-machine interface pair of driver's cabin control display unit
The current heel of ship/Angle of Trim desired value is adjusted, and central control module is solved by solving target value and the comparison of currency
The stabilizing moment that calculation system need to be provided, is converted into executing agency's group I 1 and executing agency's group2 Stroke Control instruction output is extremely
Servo drive unit groupWith servo drive unit group, drive corresponding executing agency to move respectively；
2. automatic trim control model：When shipping high speed is navigated by water, the Trimming Moment that under water lamellar body is produced changes the longitudinal attitude of ship.
CS central control unit is stored with the experts database of ship trim control strategy, when shipping high speed is navigated by water, according to current sea situation
Corresponding control strategy, central control unit is selected to carry out place's understanding according to current ship longitudinal attitude signal and navigational speed information
Calculate and obtain current ship trim angle, real-time output executing mechanism group I 1 and executing agency's group2 vertical Stroke Control instruction,
Corresponding Trimming Moment is produced, the Angle of Trim of ship is decreased to into setting value, realize that the automatic trim to ship is controlled；
3. automatic heel control model：When ship occurs load-carrying imbalance, navigates by water in beam wind, hull produces horizontal
Incline.Central control unit can be carried out processing resolving and obtain current ship horizontal stroke according to current ship lateral attitude signal and navigational speed information
Degree of tilt, real-time regulation executing agency group I 1 and executing agency's groupThe different vertical stroke of 2 intercepter plates, produces corresponding heel
Torque, ship is adjusted to the angle of heel of default（Usually 0 °）, realize that the automatic heel to ship is controlled.Work as ship
When turning to, control system automatic pause heel regulatory function improves the turning efficiency of ship；
4. real-time attitude control model：Ship Three Degree Of Freedom attitude signal and boat that CS central control unit passes through Real-time Collection
Fast signal, to executing agency's group I 1 and executing agency's group2 carry out real-time control, can by high-speed ship any sea situation, each
Adjust to optimum attitude under the speed of a ship or plane, so as to reduce the pitch angular and heave acceleration of ship；By to executing agency's group I 1 and holding
Row mechanism groupThe Differential Control of 2 intercepter plates, effectively reduces the roll angle of ship；Simultaneously control system is to Longitudinal Movement of Ship control
System and transverse movement Con trolling index carry out dynamically distributes, realize that synthetic attitude control performance is optimum under the high speed of a ship or plane of ship；
5. steering control mode is cooperateed with：In most of the cases, Angle of Heel contributes to the higher steering of ship acquisition when turning
Speed simultaneously increases the comfort level of passenger.Rudder position signalling when CS central control unit Real-time Collection ship is turned, uses
To automatically control executing agency's group I 1 and executing agency's group2 are moved accordingly with rudder position, for example, when turning to the left, are held
The intercepter plate of row mechanism group I stretches out, and effectively reduces turning diameter, obtains more preferable turning velocity；
6. steering pattern is aided in：For the high-speed ship using hydraulic jet propulsion mode, can produce substantially when being turned to using spray pump
Stall event, increase the energy consumption.CS central control unit Real-time Collection steering command signal, is adjusted vertically arranged
Executing agency's group3 and executing agency's groupIt is larger without causing that 4 intercepter plate horizontal throws can produce corresponding steering force
Stall event.When ship only needs less direction to adjust, directly can be realized using auxiliary steering function；And direction is adjusted
When whole instruction is larger, can mutually aid in increasing steering force with guillotine system using pump is sprayed, and reduce the radius of gyration of ship；
Under normal circumstances, under orderly sea, high-speed ship stern guillotine system is controlled using automatic trim（Automatically heel control
System）Pattern, and can be with reference to collaboration course changing control；Under violent sea situation, using real-time attitude control model, real-time regulation ship is most
Excellent athletic posture.Simultaneity factor auxiliary operation function can join vertically arranged executing agency under ship difference steering demand
With direction adjustment, reduce stall problem during ship turning, it is energy-efficient, meet the direction of current energy-saving and emission-reduction shipbuilding.
Claims (4)
1. a kind of high-speed ship stern guillotine system, including driver's cabin display control unit, central control unit, driving power supply
Case, servo drive unit group, executing agency's group, it is characterised in that：The driver's cabin display control unit receives operating personnel's
Control instruction, central control unit collection ship rolling, pitching and heave Three Degree Of Freedom attitude signal and speed of a ship or plane signal, helm order
Signal, Jing kernel control modules resolve output control instruction, and control instruction signal are sent to the drive of each servo by CAN
Moving cell group, drives each executing agency's group to drive intercepter plate motion, each servo drive unit group to receive the state of intercepter plate
Feedback signal, is sent to the status feedback signal for receiving central control unit and is processed, and shows control by driver's cabin
The human-computer interaction interface of unit processed carries out stroke state instruction and alarm indication.
2. high-speed ship stern guillotine system according to claim 1, it is characterised in that：In the central control unit
Portion receives ship attitude-measuring sensor signal by RS232, outside to receive gps signal by RS485 respectively or connect by DI
Log signal is received, steering signal is received by AI, communicated with driver's cabin control display unit network interface by LAN.
3. a kind of control method of the high-speed ship stern guillotine system described in claim 1 or 2, including MANUAL CONTROL mode
And automatic control mode, the operator scheme instruction of central control unit reception driver's cabin control display unit, gather attitude of ship
Measurement sensor signal, speed of a ship or plane signal and steering command signal, the movement travel to each guillotine executing agency intercepter plate is carried out
Resolve, during from MANUAL CONTROL mode, by the heel in driver's cabin control display unit, trim angle control button, output
The intercepter plate Stroke Control command signal that corresponding site is horizontally mounted, drives respectively corresponding executing agency's group to drive and is horizontally mounted
Intercepter plate motion；During from automatic control mode, then be divided into the control of automatic trim, the control of automatic heel, real-time attitude control,
Collaboration course changing control and auxiliary steering control model：Under automatic trim, automatic heel pattern, kernel control module is according to inclination angle
Control targe and current attitude of ship and speed of a ship or plane signal, intercepter plate travel parameters under experts database corresponding modes in calling system are real
When resolve and export corresponding site and be horizontally mounted intercepter plate Stroke Control command signal；Under real-time attitude control model, core
Control module resolves the stroke needed for the rolling for reducing ship and controls longitudinal optimum according to current attitude of ship and speed of a ship or plane signal
The vertical stroke of attitude, control instruction is distributed in real time to the servo for being respectively horizontally mounted intercepter plate executing agency drive after summation process
Moving cell；Under collaboration steering control mode, kernel control module is horizontally mounted according to ship helm signal, output corresponding site
Intercepter plate Stroke Control instructs model, reduces ship heel when turning to；In the case where auxiliary comes about pattern, kernel control module according to work as
Front attitude of ship, speed of a ship or plane signal and steering instruction, kernel control module resolves the Stroke Control instruction of vertical installation intercepter plate, subtracts
Craft turning radius, mitigates the harmful effect that stall brings when ship is turned.
4. control method according to claim 3, it is characterised in that：Under orderly sea, using automatic trim mould is controlled
Formula, and can be with reference to collaboration course changing control；Under violent sea situation, using real-time attitude control model, the optimum motion of ship is adjusted
Attitude；The auxiliary pattern of coming about is suitable for use with the high-speed ship of hydraulic jet propulsion, can be with the control of automatic trim, real-time attitude control etc.
Pattern is used in combination.
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| CN201710059804.2A CN106628042B (en) | 2017-01-24 | 2017-01-24 | High-speed ship stern guillotine system and control method |
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| CN201710059804.2A CN106628042B (en) | 2017-01-24 | 2017-01-24 | High-speed ship stern guillotine system and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278176A (en) * | 2020-11-05 | 2021-01-29 | 中国船舶工业集团公司第七0八研究所 | Ship attitude control topological structure and control system |
| CN113428312A (en) * | 2021-06-28 | 2021-09-24 | 中舟海洋科技(上海)有限公司 | Ship intercepting actuating mechanism and intercepting plate thereof |
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| CN201140776Y (en) * | 2007-08-31 | 2008-10-29 | 中国舰船研究设计中心 | Catamarans with disturbed flow type boat stern structure |
| CN203005731U (en) * | 2012-12-11 | 2013-06-19 | 南宁睿洋自动化科技有限公司 | Automatic steering control system used for ships |
| CN104816782A (en) * | 2015-05-05 | 2015-08-05 | 哈尔滨工程大学 | Device for energy-saving, drag-reducing, and automatic optimal control of navigation state of high speed craft |
| 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 |
| CN206537463U (en) * | 2017-01-24 | 2017-10-03 | 上海衡拓船舶设备有限公司 | High-speed ship stern guillotine device |
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- 2017-01-24 CN CN201710059804.2A patent/CN106628042B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06340289A (en) * | 1993-05-31 | 1994-12-13 | Mitsubishi Heavy Ind Ltd | Hull posture control gain scheduling apparatus |
| CN201002710Y (en) * | 2007-01-30 | 2008-01-09 | 中国船舶重工集团公司第七○四研究所 | Fin stabilizer control device with GPS |
| CN201140776Y (en) * | 2007-08-31 | 2008-10-29 | 中国舰船研究设计中心 | Catamarans with disturbed flow type boat stern structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278176A (en) * | 2020-11-05 | 2021-01-29 | 中国船舶工业集团公司第七0八研究所 | Ship attitude control topological structure and control system |
| CN113428312A (en) * | 2021-06-28 | 2021-09-24 | 中舟海洋科技(上海)有限公司 | Ship intercepting actuating mechanism and intercepting plate thereof |
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|---|---|
| CN106628042B (en) | 2018-08-24 |
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