CN109911100A - A kind of high-speed craft having additional spin characteristics and its control method - Google Patents
A kind of high-speed craft having additional spin characteristics and its control method Download PDFInfo
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- CN109911100A CN109911100A CN201910307128.5A CN201910307128A CN109911100A CN 109911100 A CN109911100 A CN 109911100A CN 201910307128 A CN201910307128 A CN 201910307128A CN 109911100 A CN109911100 A CN 109911100A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Abstract
The present invention discloses a kind of high-speed craft for having additional spin characteristics and its control method, stem is provided with fixed duck tongue type hydrofoil and is on the quarter provided with active controllable type spin characteristics, duck tongue type hydrofoil is fixedly connected with stem lower part, spin characteristics are arranged symmetrically in hull middle line two sides, two boards are identical, it is all cuboid plate, spin characteristics both ends and support frame are hinged, support frame is fixedly mounted on stern transom plate, support frame plays the role of stable spin characteristics, the angle of the adjustment spin characteristics rotates within the scope of 0 °~10 °, duck tongue type hydrofoil and spin characteristics can increase catenary motion damping and obtain the torque for inhibiting pitching, spin characteristics can also improve tail portion flow field, reduce Ship Resistance, duck tongue type hydrofoil is combined with spin characteristics can be improved seaworthiness, sea-keeping and rapidity.
Description
Technical field
The present invention in order to improve ship resistance and performance and sea-keeping, specially stem be provided with fixed duck tongue type hydrofoil and
Stern is provided with active controllable type spin characteristics.
Background technique
Naval vessel must have excellent rapidity and sea-keeping as the Important Platform of naval warfare, it is related to naval vessel
Vitality and fighting capacity.The mechanical wear of dirty the bottom phenomenon and propeller on naval vessel can all increase host consumption power, by ship
Tail installs spin characteristics, can improve the flow field of ship tail portion, reduces overtaking wave, increases " virtual length ", so that Ship Resistance is reduced,
Rapidity improves.Since naval vessel navigates by water in wave, it may occur that sway movement, wherein pitching, rolling and heaving relax to crewman
Adaptive and the fight capability on naval vessel have a significant impact, by the quarter installing active controllable type spin characteristics and installing in stem solid
Fixed pattern duck tongue type hydrofoil increases catenary motion damping and obtains the torque contrary with pitching, inhibits the generation of oscillation of ship.
Duck tongue type hydrofoil is combined with the installation of spin characteristics, improves the rapidity and sea-keeping on naval vessel.
Chinese Patent Application No. is 201520226617.5, entitled " a kind of drag reduction tailgate for pleasure-boat ", tailgate
The side of horizontal profile is a line segment, and the other side is circular minor arc, and the both ends connection of minor arc and line segment, the longitudinal direction of tailgate is cutd open
The one end in face is tip, and the other end is a line segment, and the both ends of tip and line segment pass through two symmetrical minor arc transition, horizontal section
Both ends be tip, centre by two symmetrical minor arc transition.Although increasing " virtual length " by installation tailgate and improving tail portion pressure
Power distribution, reduces resistance, but the inverted diherdral of tailgate must could obtain the best effective under each speed of a ship or plane with ship attitude close fit
Fruit, this cooperation are particularly sensitive in high speed.
Chinese Patent Application No. 201310169272.X, entitled " a kind of T-type of hydraulic drive type variable area, which subtracts, shakes water
The wing ", the area and aspect ratio of T-type hydrofoil can change, including column, horizontal main wing and telescopic aileron.Aileron is by liquid
Compressing cylinder is released out of horizontal main wing aileron cabin, to obtain bigger wing area and aspect ratio, improves lift coefficient, enhancing
Inhibit the effect of pitching and heaving.Above-mentioned patent performance is single, and application range is small, is suitable only for specific ship, and increased
Equipment is larger to hull change amplitude or is affected to original performance, and for this patent compared with above-mentioned patent, design is simple, installation
Aspect, improvement ship performance is obvious, feasibility with higher.
Summary of the invention
The present invention by installing fixed duck tongue type hydrofoil 10 in stem and stern installs active controllable type spin characteristics 1,
To inhibit oscillation of ship and reduction Ship Resistance, improvement ship seakeeping and rapidity.
The invention provides the following technical scheme:
A kind of high-speed craft having additional spin characteristics, including hull 13, which is characterized in that be provided in the stem of hull 13
Fixed duck tongue type hydrofoil 10, stern are provided with spin characteristics 1, and the center of gravity of ship is provided with gyroscope 11, close to the gyro
Controller 12 is provided at instrument 11；Wherein,
The vertical section of the fixed duck tongue type hydrofoil 10 is streamline type profile；
The spin characteristics 1 are 2, are arranged symmetrically in the two sides of 13 middle line of hull, and spin characteristics 1 and hydraulic cylinder 5
It connects, the hydraulic push rod 7 in the hydraulic cylinder 5 can push spin characteristics 1 to rotate, and then adjust the angle of spin characteristics 1；
The controller 12 controls the movement of hydraulic push rod 7 in hydraulic cylinder 5 according to ship pitching angle information, and then adjusts tail
The angle of wave suppression plate 1 rotates it within the scope of 0 °~10 °；
The gyroscope 11 is used to monitor the size of pitch angle, and monitoring information is fed back to the controller 12.
Further, the streamline type profile of the fixed duck tongue type hydrofoil 10 is NACA type profile, and the NACA type cuts open
The maximum gauge in face is located at the place from 30% section chord length of leading edge, and thickness ratio is 12%；Fixed duck tongue type hydrofoil 10
Vertical section and 13 middle line of hull bilateral symmetry, maximum chord length are 4.5m, and the left and right sides most weakness chord length is 3.2m.
Further, the shape of the spin characteristics 1 be cuboid, longitudinal length 3.66m, width 10m, with a thickness of
0.01m。
Further, 1 both ends of spin characteristics and support frame 3 are hinged, and support frame as described above 3 is fixedly mounted on stern transom plate 9
On, support frame as described above 3 is used to stablize the effect of spin characteristics 1.
Further, the hydraulic cylinder 5 is mounted on hull 13 by firm banking 4, hydraulic push rod in the hydraulic cylinder 5
7 is hinged with 8 upper end of right angle connecting rod, and the middle part of the right angle connecting rod 8 is fixedly mounted on stern transom plate 9 by fixed hinge seat 6, institute
It is hinged to state 8 lower end of right angle connecting rod and 2 upper end of connecting rod, 2 lower end of connecting rod and 1 middle part of spin characteristics are hinged.
Further, the controller 12 is ARM series monolithic, and specific structure is set as,
When ship accelerates to navigate by water, controller 12 adjusts the angle of spin characteristics 1 by the hydraulic push rod 7 in control hydraulic cylinder 5
It spends within the scope of 8 °~10 °, so that 13 tail portion fluid beneath of hull slows down, tail portion pressure increase, generation is acted on rear body
Thrust, ship resistance and performance improve.
When ship steady steaming, controller 12 adjusts the angle of spin characteristics 1 by the hydraulic push rod 7 in control hydraulic cylinder 5
It spends within the scope of 0 °~3 °, spin characteristics 1, which are equivalent to, increases ship virtual length, reduces overtaking wave and breaker, makes coda wave energy consumption
Wave making resistance is reduced and reduced, ship drag overall is reduced, host is saved and consumes power.
A kind of control method of high-speed craft having additional spin characteristics of the invention, comprising the following steps:
S1, when ship accelerates to navigate by water, controller 12 adjusts spin characteristics 1 by the hydraulic push rod 7 in control hydraulic cylinder 5
Angle is within the scope of 8 °~10 °, so that 13 tail portion fluid beneath of hull slows down, tail portion pressure increase, generation is acted on rear body
Thrust, ship resistance and performance improve；
S2, when ship steady steaming, controller 12 adjusts spin characteristics 1 by the hydraulic push rod 7 in control hydraulic cylinder 5
Angle increases ship virtual length within the scope of 0 °~3 °, the installation of spin characteristics 1 is equivalent to, and advantageously reduces wave making resistance and subtracts
Small overtaking wave and breaker reduce coda wave energy consumption；
S3, when ship navigates by water in wave, can generate and sway movement, wherein pitching has larger impact, top to ship performance
Information is fed back to controller 12, controller 12 passes through the liquid in control hydraulic cylinder 5 by the size of monitoring pitch angle by spiral shell instrument 11
It presses push rod 7 to adjust the angle of spin characteristics 1, obtain the larger torque for inhibiting pitching and increases catenary motion damping, reduce ship
Amplitude and acceleration are swayed, ship pitching, rolling and heave are improved；
S4, fixed duck tongue type hydrofoil 10 is installed in stem, increases catenary motion damping and obtains and pitching direction
Opposite torque, mutual cooperation of 1 inverted diherdral of spin characteristics from fixed duck tongue type hydrofoil 10 under different boat states, improves ship
Oceangoing ship sea-keeping and improve ship resistance and performance.
Compared with prior art, the beneficial effects of the present invention are:
1, by installing fixed duck tongue type hydrofoil 10 in stem, increasing catenary motion damping and obtaining and pitching direction
Opposite torque reduces fore body motion amplitude and fore body acceleration, inhibits pitching, rolling and heave, improves its sea-keeping performance.
2, controller 12 adjusts the plate angle degree of tail pressure wave 1 by the hydraulic push rod 7 in control hydraulic cylinder 5, changes ship tail
Portion flow field makes 13 tail portion fluid beneath of hull slow down, and pressure increase generates the thrust after acting on ship on body, and ship is quick
Property improve.
3, it by the quarter installing spin characteristics 1, is equivalent to and increases ship virtual length, reduce overtaking wave and breaker, make coda wave
Energy consumption reduces and reduces wave making resistance, reduces ship drag overall, saves host and consumes power.
4, then information is fed back to controller 12, controller 12 passes through by the size of monitoring pitch angle by gyroscope 11
Hydraulic push rod 7 in control hydraulic cylinder 5 has certain flexibility come the angle for adjusting spin characteristics 1, obtains trim by head torque, adjusts
Whole ship's navigation posture, improves resistance to pool.
5, on the quarter install active controllable type spin characteristics 1, by adjust spin characteristics 1 inverted diherdral can with it is fixed
Both duck tongue type hydrofoils 10 cooperate, so that rapidity and sea-keeping are promoted and combined.
Detailed description of the invention
Fig. 1 is inverted V type ship top view；
Fig. 2 is inverted V type shipowner's view；
Fig. 3 is inverted V type ship left view；
Fig. 4 is I partial enlarged view in Fig. 1；
Fig. 5 is II partial enlarged view in Fig. 1；
In figure: 1 spin characteristics；2 connecting rods；3 support frames；4 firm bankings；5 hydraulic cylinders；6 fixed hinge seats；7 hydraulic push rods；
8 right angle connecting rods；9 stern transom plates；10 duck tongue type hydrofoils；11 gyroscopes；12 controllers；13 hulls.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, fixed duck tongue type hydrofoil 10 is installed in stem and stern installs active controllable type spin characteristics
1, to inhibit oscillation of ship and reduce Ship Resistance, improve ship seakeeping and rapidity.
The high-speed craft has following parameter:
As shown in Figure 1, Figure 2, Figure 3 shows, the high-speed craft is inverted V type bow, also known as introversion formula bow or inverse bow, is different from tradition
The stem of the stem that ship turns forward, inverted V type bow is tilted to hull inside.Inverted V type bow shape point is thin, fore body displacement of volume
It is small, be conducive to reduce pitching when navigating by water in wave making resistance and wave.Studies have shown that resistance of the inverted V type bow in wave
It is smaller than common ship type with Added Resistance；And pitching response amplitude is also significantly less than common ship type.Its reflecting surface simultaneously
Product is small, without biggish vertical plane, advantageously reduces the probability found by radar.Therefore inverted V type bow is generally used for warship, trip
Ship and certain special boats.
As shown in figure 5, by the quarter install spin characteristics 1, after changing ship pressure distribution, Ship Resistance reduce and
Hull efficiency is increased, rapidity improves, while spin characteristics 1 can provide trim by head torque, adjusts ship's navigation posture, improves
Trim.Spin characteristics 1 are arranged symmetrically in the two sides of 13 middle line of hull or so, and two boards are identical, are all cuboid plate, longitudinal length
For 3.66m, width 10m, with a thickness of 0.01m.
As shown in figure 4, installing fixed duck tongue type hydrofoil 10 in stem, vertical section is streamline type profile NACA type,
The maximum gauge of NACA type profile is located at the place from 30% section chord length of leading edge, and thickness ratio is 12%, longitudinal profile and hull
13 middle lines bilateral symmetry, maximum chord length are 4.5m, and the left and right sides most weakness chord length is 3.2m.
Wherein: b is that the wing is wide, and λ is aspect ratio, and h is chord, ARFor wing area, CyFor lift coefficient, V=2.99m/s.By ship
Mould test measures My=78NM, Fy=0.63N.Lift coefficient C can be obtained according to limited aspect ratio airfoil lift line theoretical formula 5y
=0.237,10 area A of duck tongue type hydrofoil can be finally acquired by above formulaR=13.65m2。
As shown in Figure 1, Figure 4, Figure 5, a kind of high-speed craft having additional spin characteristics of the invention, is mounted on the fixation of stem
Formula duck tongue type hydrofoil 10, vertical section are streamline type profile NACA type, and the maximum gauge of NACA type profile is located at from leading edge
The place of 30% section chord length, thickness ratio are 12%, and vertical section and 13 middle line of hull bilateral symmetry, maximum chord length is 4.5m,
The left and right sides most weakness chord length is 3.2m.Spin characteristics 1 are arranged symmetrically in the two sides of 13 middle line of hull, and two boards are identical, all for
Cuboid plate, longitudinal length 3.66m, width 10m, with a thickness of 0.01m, 1 both ends of spin characteristics and support frame 3 are hinged, branch
Support 3 is fixedly mounted on stern transom plate 9, and support frame 3 plays the role of stable spin characteristics 1.Hydraulic cylinder 5 is pacified with firm banking 4
On hull 13, hydraulic push rod 7 and 8 upper end of right angle connecting rod are carried out hinged in hydraulic cylinder 5, and the middle part of right angle connecting rod 8 passes through solid
Determine hinge seat 6 to be fixedly mounted on stern transom plate 9,8 lower end of right angle connecting rod and 2 upper end of connecting rod carry out hinged, 2 lower end of connecting rod and tail pressure
The middle part of wave plate 1 is hinged, and gyroscope 11, which is screwed, is mounted on ship center of gravity, by monitoring the size of pitch angle, then
Information feeds back to the controller 12 for being fixedly mounted on 11 rear of gyroscope, and controller 12 controls the hydraulic push rod 7 in hydraulic cylinder 5 and moves
It is dynamic, and then the angle of spin characteristics 1 is adjusted, it rotates it within the scope of 0 °~10 °, improves ship resistance and performance and sea-keeping.
As shown in Figure 1, shown in Figure 5, in the present embodiment, controller 12 is ARM series monolithic, and specific structure is set as, when ship plus
When speed navigation, controller 12 adjusts the angle of spin characteristics 1 to 8 °~10 ° ranges by the hydraulic push rod 7 in control hydraulic cylinder 5
Interior, so that 13 tail portion fluid beneath of hull slows down, tail portion pressure increase generates the thrust acted on rear body, and ship rapidity mentions
It is high.
When ship steady steaming, controller 12 adjusts the angle of spin characteristics 1 by the hydraulic push rod 7 in control hydraulic cylinder 5
It spends within the scope of 0 °~3 °, spin characteristics 1, which are equivalent to, increases ship virtual length, reduces overtaking wave and breaker, makes coda wave energy consumption
Wave making resistance is reduced and reduced, ship drag overall is reduced, host is saved and consumes power.
A kind of control method of high-speed craft having additional spin characteristics of the invention, the technical solution of use have following step
It is rapid:
1, when ship accelerates to navigate by water, controller 12 adjusts spin characteristics 1 by the hydraulic push rod 7 in control hydraulic cylinder 5
Angle is within the scope of 8 °~10 °, so that 13 tail portion fluid beneath of hull slows down, tail portion pressure increase, generation is acted on rear body
Thrust, ship rapidity improve.
2, when ship steady steaming, controller 12 adjusts spin characteristics 1 by the hydraulic push rod 7 in control hydraulic cylinder 5
Angle increases ship virtual length within the scope of 0 °~3 °, the installation of spin characteristics 1 is equivalent to, and advantageously reduces wave making resistance and subtracts
Small overtaking wave and breaker reduce coda wave energy consumption.
3, when ship navigates by water in wave, it can generate and sway movement, wherein pitching has larger impact, gyro to ship performance
Then information is fed back to controller 12 by the size of monitoring ship pitch angle by instrument 11, controller 12 passes through control hydraulic cylinder 5
In hydraulic push rod 7 adjust spin characteristics 1 angle, make its obtain it is larger inhibit pitching torque and increase catenary motion resistance
Buddhist nun, it is identical as the effect of fixed duck tongue type hydrofoil 1 at this time, catenary motion acceleration is reduced, ship pitching, rolling and liter are inhibited
It is heavy, improve ship seakeeping.
4, fixed duck tongue type hydrofoil 10 is installed in stem, increases catenary motion damping and obtains and pitching direction phase
Anti- torque, it is suppressed that the generation of pitching, rolling and heaving.1 inverted diherdral of spin characteristics and fixed duck tongue type hydrofoil 10 be not
With the mutual cooperation under boat state, improves ship seakeeping and improve ship resistance and performance.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of high-speed craft for having additional spin characteristics, including hull (13), which is characterized in that be arranged in the stem of hull (13)
There is fixed duck tongue type hydrofoil (10), stern is provided with spin characteristics (1), and the center of gravity of ship is provided with gyroscope (11), close
Controller (12) are provided at the gyroscope (11)；Wherein,
The vertical section of the fixed duck tongue type hydrofoil (10) is streamline type profile；
The spin characteristics (1) are 2, are arranged symmetrically in the two sides of hull (13) middle line, and spin characteristics (1) and hydraulic cylinder
(5) it connects, the hydraulic push rod (7) in the hydraulic cylinder (5) can push spin characteristics (1) to rotate, and then adjust spin characteristics
(1) angle；
The controller (12) controls hydraulic push rod (7) movement in hydraulic cylinder (5) according to ship pitching angle information, and then adjusts
The angle of spin characteristics (1) rotates it within the scope of 0 °~10 °；
The gyroscope (11) is used to monitor the size of pitch angle, and monitoring information is fed back to the controller (12).
2. a kind of high-speed craft for having additional spin characteristics according to claim 1, which is characterized in that the fixed duck tongue
The streamline type profile of type hydrofoil (10) is NACA type profile, and the maximum gauge of the NACA type profile is located at from 30% section of leading edge
The place of chord length, thickness ratio are 12%；The vertical section of fixed duck tongue type hydrofoil (10) and hull (13) middle line bilateral symmetry,
Maximum chord length is 4.5m, and the left and right sides most weakness chord length is 3.2m.
3. a kind of high-speed craft for having additional spin characteristics according to claim 1, which is characterized in that the spin characteristics
(1) shape is cuboid, longitudinal length 3.66m, width 10m, with a thickness of 0.01m.
4. a kind of high-speed craft for having additional spin characteristics according to claim 1, which is characterized in that the spin characteristics
(1) hingedly, support frame as described above (3) is fixedly mounted on stern transom plate (9), and support frame as described above (3) is used at both ends and support frame (3)
Stablize the effect of spin characteristics (1).
5. a kind of high-speed craft for having additional spin characteristics according to claim 1, which is characterized in that the hydraulic cylinder (5)
It is mounted on hull (13) by firm banking (4), the hydraulic push rod (7) in the hydraulic cylinder (5) and right angle connecting rod (8) upper end
Hingedly, the middle part of the right angle connecting rod (8) is fixedly mounted on stern transom plate (9) by fixed hinge seat (6), the right angle connecting rod
(8) lower end and connecting rod (2) upper end are hinged, hinged in the middle part of connecting rod (2) lower end and spin characteristics (1).
6. a kind of high-speed craft for having additional spin characteristics according to claim 1, which is characterized in that the controller (12)
For ARM series monolithic, specific structure is set as,
When ship accelerates to navigate by water, the controller (12) adjusts spin characteristics by the hydraulic push rod (7) in control hydraulic cylinder (5)
(1) angle is within the scope of 8 °~10 °, so that hull (13) tail portion fluid beneath slows down, tail portion pressure increase, generation is acted on
Thrust on body afterwards, ship resistance and performance improve；
When ship steady steaming, the controller (12) adjusts spin characteristics by the hydraulic push rod (7) in control hydraulic cylinder (5)
(1) angle increases ship virtual length within the scope of 0 °~3 °, spin characteristics (1) are equivalent to, and reduces overtaking wave and breaker, makes coda wave
Energy consumption reduces and reduces wave making resistance, reduces ship drag overall, saves host and consumes power.
7. a kind of a kind of control method of high-speed craft for having additional spin characteristics as claimed in any one of claims 1 to 6,
It is characterized in that, comprising the following steps:
S1, when ship accelerate navigate by water when, controller (12) by control hydraulic cylinder (5) in hydraulic push rod (7) adjust spin characteristics
(1) angle is within the scope of 8 °~10 °, so that hull (13) tail portion fluid beneath slows down, tail portion pressure increase, generation is acted on
Thrust on body afterwards, ship resistance and performance improve；
S2, when ship steady steaming, controller (12) by control hydraulic cylinder (5) in hydraulic push rod (7) adjust spin characteristics
(1) angle increases ship virtual length within the scope of 0 °~3 °, the installation of spin characteristics (1) is equivalent to, and advantageously reduces wave making
Resistance and reduction overtaking wave and breaker, reduce coda wave energy consumption；
S3, when ship navigates by water in wave, can generate and sway movement, wherein pitching has larger impact, gyroscope to ship performance
(11) by the size of monitoring pitch angle, information is fed back to controller (12), controller (12) passes through in control hydraulic cylinder (5)
Hydraulic push rod (7) adjustment spin characteristics (1) angle, obtain it is larger inhibit pitching torque and increase catenary motion damping,
Oscillation of ship amplitude and acceleration are reduced, ship pitching, rolling and heave are improved；
S4, fixed duck tongue type hydrofoil (10) is installed in stem, increases catenary motion damping and obtains and pitching direction phase
Anti- torque, mutual cooperation of spin characteristics (1) inverted diherdral from fixed duck tongue type hydrofoil (10) under different boat states, improves
Ship seakeeping and improve ship resistance and performance.
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| CN110434865A (en) * | 2019-07-31 | 2019-11-12 | 广州大学 | A kind of amphibious Detecting Robot |
| CN110541390A (en) * | 2019-09-18 | 2019-12-06 | 哈尔滨工程大学 | Device for reducing hydrodynamic load and motion response of marine structure |
| CN110641612A (en) * | 2019-09-27 | 2020-01-03 | 唐旭明 | Self-made hull structure |
| CN113501099A (en) * | 2021-08-26 | 2021-10-15 | 哈尔滨工程大学 | Pitching-reducing channel propeller |
| CN113978640A (en) * | 2021-11-05 | 2022-01-28 | 哈尔滨工程大学 | Ship with adjustable rolling wave pressing plate |
| CN115230863A (en) * | 2022-07-04 | 2022-10-25 | 武汉理工大学 | Intelligent self-adaptive stern energy-saving device |
| CN115871864A (en) * | 2022-12-07 | 2023-03-31 | 华南理工大学 | Stern drag reduction and pitching device |
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| CN110434865A (en) * | 2019-07-31 | 2019-11-12 | 广州大学 | A kind of amphibious Detecting Robot |
| CN110541390A (en) * | 2019-09-18 | 2019-12-06 | 哈尔滨工程大学 | Device for reducing hydrodynamic load and motion response of marine structure |
| CN110641612A (en) * | 2019-09-27 | 2020-01-03 | 唐旭明 | Self-made hull structure |
| CN113501099A (en) * | 2021-08-26 | 2021-10-15 | 哈尔滨工程大学 | Pitching-reducing channel propeller |
| CN113501099B (en) * | 2021-08-26 | 2022-12-02 | 哈尔滨工程大学 | Pitching-reducing channel propeller |
| CN113978640A (en) * | 2021-11-05 | 2022-01-28 | 哈尔滨工程大学 | Ship with adjustable rolling wave pressing plate |
| CN115230863A (en) * | 2022-07-04 | 2022-10-25 | 武汉理工大学 | Intelligent self-adaptive stern energy-saving device |
| CN115871864A (en) * | 2022-12-07 | 2023-03-31 | 华南理工大学 | Stern drag reduction and pitching device |
| CN115871864B (en) * | 2022-12-07 | 2024-04-19 | 华南理工大学 | Stern drag reduction and pitching reduction device |
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