CN112810769A - Active motion suppression device and method for offshore floating type scientific research platform - Google Patents
Active motion suppression device and method for offshore floating type scientific research platform Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
- F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
- F03B13/16—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem"
- F03B13/20—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" wherein both members, i.e. wom and rem are movable relative to the sea bed or shore
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2220/00—Application
- F05B2220/70—Application in combination with
- F05B2220/706—Application in combination with an electrical generator
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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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
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Abstract
The invention relates to an active motion suppression device for an offshore floating type scientific research platform, wherein two ends of a folding canvas are fixed on a pair of rigid movable supports; the wave measuring radar can monitor the wave environment condition far away from the platform in real time and obtain wave data, and the controller controls the rigid movable support to move to a position which blocks the floating platform from generating a heave motion trend under the influence of the waves in advance; the controller can also judge the force application direction of the waves to the folded canvas in real time according to the damping direction of the damping sensor, so that the driving device is controlled to drive the rigid movable support to move along the sliding rail, the middle part of the folded canvas is aligned with the central position of the waves, the folded canvas is unfolded as far as possible, and the purpose of reducing the heaving, rolling and pitching motions of the platform at the same time is achieved. In addition, the device can also effectively utilize ocean wave energy to generate electricity, thereby continuously providing electric energy supply for the offshore floating scientific research platform.
Description
Technical Field
The invention relates to an active motion suppression device and a suppression method for an offshore floating type scientific research platform, and belongs to the technical field of offshore platforms.
Background
Nowadays, understanding the ocean and developing the ocean have become common knowledge of human beings to expand living space, and with the fierce activities of the ocean, a new round of ocean competition around the world is increasingly developed. The development of high-end marine equipment such as an offshore floating platform is a necessary way for accelerating the promotion of marine construction and is a key measure for grasping the competitive leading right of marine development in the future.
The offshore floating type scientific research platform mainly aims at marine scientific research, test and observation, and the precision of test equipment, measuring instruments and the like arranged on the platform is sensitive to the stability of the platform, so that particularly the heave motion of the platform can obviously influence the error of a scientific research test result, and the larger heave motion even causes that the instrument equipment cannot be used. Meanwhile, for a platform positioned in a mooring mode, the large heave motion can increase the force of the anchor chain, so that the anchor chain is broken in a limit state, and the platform is catastrophically damaged. In addition, the scientific research facilities platform operating in deep and open sea for a long time needs continuous electric energy supply to ensure the normal operation of the platform and provide reliable working environment for scientific research personnel. In order to reduce the platform motion, a passive vibration reduction mode mainly based on a vibration absorber principle is mainly adopted at present, and energy generated by the platform motion is transferred to a vibration reduction device of the passive vibration reduction mode, so that the aim of reducing the platform motion response is fulfilled.
However, devices like this that rely on the principle of vibration absorption to reduce platform motion suffer from the following drawbacks:
the effect of suppressing the motion of the platform on the waves is poor. The existing device for reducing the platform motion mostly adopts a vibration reduction mode mainly based on a vibration absorption principle, and belongs to a passive vibration reduction device. On the one hand, such devices can only be used when the platform is moved, i.e. the platform still has a large movement before the device has not been used; on the other hand, the mass block in the vibration absorber increases the whole weight of the platform and reduces the natural frequency, so that the platform is easier to resonate with waves, and the motion of the platform is aggravated. In a word, the passive platform motion suppression effect is poor;
reducing platform motion while producing other negative effects. This is mainly due to the large mass in the motion suppression device changing the overall weight and the position of the center of gravity of the platform. The mass block in the existing device for inhibiting the platform from moving not only increases the integral gravity center of the platform, but also reduces the stability of the platform when the platform moves. In addition, the mass moving with the motion of the platform may even exacerbate the rocking of the platform. Taking the swaying motion as an example, when the platform sways, the mass block moves back and forth between the platform columns, and because the mass block has larger weight, an additional moment is generated at the moment, so that the platform rotates around the gravity center, and the swaying motion of the platform is intensified;
the installation difficulty is large. The mass block of the vibration damper has larger volume, heavier weight and higher transportation and installation cost, thereby providing higher requirements for construction technology and equipment.
The prior comparison patent: an ocean platform vibration damping and energy feedback device-CN 110641639A based on a nonlinear energy trap.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an active vibration damper for inhibiting the motion of an offshore floating type scientific research platform, which mainly comprises a wave environment monitoring and motion forecasting module, an active motion inhibiting module and a power generation module. The device can forecast the motion of the platform in advance by using a wave measuring radar on the platform and a platform motion forecasting system, and obtains the information of the roll, pitch and heave motions of the platform in waves. Before the platform generates oscillation and swaying motion, according to the acquired wave environment information, the stretching length of the canvas on the vibration damping mechanism is adjusted, so that the wave force or moment applied to the canvas is just opposite to the motion direction of the platform to be generated, and the purpose of reducing the oscillation or swaying motion of the platform is achieved. The active motion suppression module mainly comprises a rigid truss, movable folding canvas, a controller, a hinge joint and a connecting rod, is symmetrically arranged about the center of the platform, and can flexibly adjust the shielding area of the folding canvas in each device, so that on one hand, the swaying motion of the platform is reduced on the premise of ensuring the suppression of the heaving motion of the platform; on the other hand, the device is light in weight, so that the gravity center height of the platform cannot be increased, and the overall weight of the platform cannot be obviously increased; simple structure makes things convenient for marine construction installation. In addition, the reciprocating rotation of the rigid truss with the canvas under the action of waves can be utilized to generate electricity, and additional electric energy supply is provided for the offshore floating scientific research platform.
The invention adopts the following technical scheme:
an active motion suppression device for an offshore floating scientific research platform is characterized in that a buoy is arranged at the lower part of the offshore floating scientific research platform, and 4 upright posts 4 for supporting four corners of the floating platform are arranged above the buoy; in a virtual XYZ coordinate system, the longitudinal direction of a platform is set as the X direction, and the broadside direction is set as the Y direction; each upright post 4 is hinged with an active motion suppression module along the X direction and the Y direction respectively, and the swinging angle of the active motion suppression module along the hinged part is limited by a limiting part; the active motion suppression module is connected with a generator through a bidirectional ratchet transmission mechanism; the active motion suppression module comprises a rigid truss 5, a sliding rail 12 is arranged in the rigid truss 5 along the extending direction of the active motion suppression module relative to the upright post 4, a pair of rigid moving supports 10 is arranged on the sliding rail 12, and two ends of the folded canvas 9 are fixed on the pair of rigid moving supports 10; the bidirectional ratchet transmission mechanism is provided with a damping sensor, the pair of rigid movable supports 10 are respectively provided with a driving device which enables the rigid movable supports to move along a sliding rail 12, and the controllers 7 of the driving devices are respectively in signal connection with the damping sensor; the active motion suppression device further comprises a wave environment monitoring and motion forecasting module, the wave environment monitoring and motion forecasting module is composed of a wave measuring radar 2 and a platform motion forecasting system 3, the wave measuring radar 2 is positioned on a deck 1 of the floating platform, wave environment conditions far away from the platform can be monitored in real time, wave data of wave height, wave length and wave period are obtained, the platform motion forecasting system 3 forecasts motion response to be generated at the next time period of the floating platform according to the wave data measured in real time, and the controller 7 controls the rigid moving support 10 to move to a position where the floating platform is prevented from generating heave motion tendency under the influence of the waves in advance; the controller 7 can also judge the force application direction of the waves to the folded canvas 9 in real time according to the damping direction of the damping sensor, so as to control the driving device to drive the rigid movable support 10 to move along the sliding rail 12, so that the middle part of the folded canvas 9 is aligned with the central position of the waves, and the folded canvas 9 is unfolded as much as possible, so that the wave force applied to the folded canvas can generate a pair of anti-rolling moment opposite to the shaking motion direction of the platform, and the aim of reducing the floating platform shaking, rolling and pitching motions at the same time can be achieved.
Furthermore, the active motion suppression modules are respectively positioned on the four upright posts 4 of the platform, and the rigid truss 5 is hinged with the surfaces of the upright posts 4 through the hinged joints 8, so that the rigid truss 5 can rotate around the hinged joints on the surfaces of the upright posts 4 under the action of waves; the active motion suppression modules are arranged symmetrically about the center of the platform.
Further, the active motion suppression module further comprises a connecting rod 14, one end of the rigid truss 5, which is far away from the upright post 4, is similar to the surface of the upright post 4 in appearance, a groove is formed in the inner side of the rigid truss 5, the sliding rail 12 is installed in the groove parallel to the two sides, and a metal baffle 13 is additionally installed at the tail of the sliding rail 12; the two rigid movable supports 10 are respectively positioned at two ends of the folded canvas 9 and are used for supporting, stretching or contracting the canvas and are always kept parallel; under the action of the controller 7, the rail wheel 11 under the rigid movable support 10 is driven by a servo motor inside the controller to freely move on the slide rail 12, and the metal blocking piece 13 ensures that the rail wheel 11 cannot be separated from the slide rail 12 due to excessive movement; the articulations 8 are located at both ends of the links 14 so that the rigid girder 5 can freely rotate around the articulation point at the upright 4.
Furthermore, the connecting rod 14 is rigidly connected with the rigid truss 5, and two first and second ratchet gears 15 and 16 in opposite directions are fixedly connected thereon; the inner sides of the first ratchet gear 15 and the second ratchet gear 16 are ratchet wheels, the outer sides are gear wheels, a wheel disc fixedly connected with the connecting rod 14 is provided with a pawl 24 and a spring 25, and the pawl 24 is always contacted with the inner ratchet wheel through the spring 25; when the rigid truss 5 rotates upwards under the action of wave force, the first ratchet wheel 15 acts, the second ratchet wheel 16 only rotates on the inner wheel disc, and the outer gear does not move; the opposite is true when the rigid truss 5 is rotated upward under wave forces.
Still further, the generator is positioned inside the upright post 4 and comprises a transmission part and a power generation part; the transmission part consists of a transmission shaft 20, a large gear 19 and a small gear 20 on the transmission shaft and an auxiliary gear 18, wherein the first ratchet gear 15 is meshed with the large gear 19 to form a reduction gear set; the second ratchet gear 16 is meshed with a pinion 20 on the transmission shaft through an auxiliary gear 18 in the middle to form a speed-increasing gear set; the module of the auxiliary gear 18 and the pinion 20 in the middle is smaller than that of the second ratchet gear; the power generation part consists of a speed-up gear box 22 and a permanent magnet direct current generator, a transmission shaft 20 is connected with an input shaft of the speed-up gear box 22 through a coupler 21, and an output shaft of the speed-up gear box 22 is used as a rotor of the generator to drive the generator to work.
An active motion suppression method for an offshore floating type scientific research platform adopts the active motion suppression device of the offshore floating type scientific research platform, a wave measuring radar 2 carries out real-time observation on incoming waves far away from the platform, and wave data of wave height, wave length and wave period are obtained and then transmitted to a motion forecasting system 3 on the platform; the platform motion forecasting system 3 forecasts the motion response of the floating platform in the next time period through the comprehensive analysis of the wave data and the related wave spectral density; after the controller 7 receives the forecasted motion response information, the controller combines with wave data measured in real time, and a servo motor in the controller enables the center position of the movable type folding canvas 6 to move to a position on the rigid truss 5, which hinders the floating platform from generating a heave motion trend under the influence of the waves, before the platform moves, and the folding canvas 9 is unfolded as far as possible; when the platform moves, the opposite acting force or moment is generated and is applied to the platform through the power generation module fixed in the upright post 4, so that the heave, roll and pitch motions of the platform are reduced.
Preferably, the rigid truss 5 of the active platform restraining module drives the corresponding gear set to rotate through the first and second ratchet gears 15 and 16 on the connecting rod 14, and the rotation of the gears 17 and 19 on the transmission shaft 20 causes the speed-increasing gearbox 22 to operate through the coupling 21, and finally drives the rotor of the generator to rotate.
The invention has the beneficial effects that:
1. the active platform motion inhibiting design enables the platform to be subjected to opposite actions while moving to weaken or offset the motion trend, thereby achieving the purpose of reducing or completely eliminating the violent motion of the platform under the action of waves. The active motion suppression mode can not only ensure that the platform has smaller heave motion response under the action of waves, but also effectively reduce the shaking (rolling and pitching) motion of the platform, and simultaneously can not cause negative influence on other motions of the platform. In a word, the motion suppression mode can effectively suppress the heave, roll and pitch motions of the platform, and meanwhile, other performances of the platform cannot be affected, and the suppression effect is obvious.
2. The platform motion suppression module comprises a rigid truss, a movable folding canvas, a controller, a hinge joint and a connecting rod. The interior of the rigid truss is replaced by a movable light material, so that on one hand, the whole weight of the structure is reduced, the gravity center and stability of the platform are not affected, the installation is convenient, and the offshore construction difficulty is reduced; on the other hand, under the action of the controller, the folded canvas can be automatically stretched to a proper length in real time and moved to an optimal position according to needs, and the heaving, rolling and pitching motions of the platform in the waves are guaranteed to be reduced to the maximum extent. In addition, the whole mechanism is simple in structure and flexible in arrangement, the total weight of the platform and the incoming wave direction can be reasonably arranged, and the device is not necessarily arranged symmetrically about the center of the platform.
3. The active platform motion suppression device can effectively reduce the motion of the platform and efficiently utilize wave energy at the same time, and continuously provides electric energy for the offshore floating scientific research platform. On one hand, the two ratchet gears in opposite directions on the connecting rod and the increasing and reducing gear set formed by the ratchet gears and the gears on the transmission shaft ensure that the generator can work when the connecting rod rotates clockwise or anticlockwise, so that electric energy is continuously generated; and on the other hand, the generated power of the permanent magnet direct current generator is more stable. The auxiliary gear plays a role in changing the steering of the ratchet gear, so that in the reciprocating rotation process of the connecting rod, the gear on the transmission shaft always rotates along one direction, the rigid truss is guaranteed to be upwards or downwards rotated by wave force to drive the permanent magnet direct current generator to work, and the wave energy is efficiently converted into electric energy.
4. The design of the gear-driven power generation module comprises a coupler, a speed-increasing gear box and a permanent magnet direct current generator. The speed-increasing gear box can increase the rotating speed of the rotor of the engine, on one hand, the generator is guaranteed not to be damaged due to overhigh load under severe sea conditions, on the other hand, the rotating resistance of the gear is adjusted in real time, and the maximum generating power under different wave conditions is realized by utilizing the transmission of the gear set.
Drawings
FIG. 1 is a force analysis diagram of a platform with an active motion suppression device.
Fig. 2 is a motion state diagram of an active motion suppression device.
FIG. 3 is a perspective view of an offshore floating research platform with an active motion suppression device.
FIG. 4 is a front view of an offshore floating research platform with an active motion suppression device.
FIG. 5 is a side view of an offshore floating research platform with an active motion suppression device.
FIG. 6 is a top view of an offshore floating research platform with an active motion suppression device.
Fig. 7 is a three-dimensional structure diagram of the active motion suppression device according to the present invention.
Figure 8 is a side view of an active motion suppression device according to the present invention.
Fig. 9 is a top view of an active motion suppression device according to the present invention.
Fig. 10 is one of three-dimensional structural views of the power generation mechanism according to the present invention.
Fig. 11 is a second three-dimensional configuration diagram of the power generation mechanism according to the present invention.
Fig. 12 is a schematic view illustrating the operation principle of the active platform motion suppressing device according to the present invention.
In the figure, 1-floating platform deck; 2-a wave-measuring radar; 3-platform motion forecast system; 4-upright post; 5-a rigid truss; 6-movable folding canvas; 7-a controller; 8-a hinge joint; 9-folding canvas; 10-a rigid mobile support; 11-rail wheels; 12-a slide rail; 13-a metal baffle; 14-a connecting rod; 15-a first ratchet-toothed wheel; 16-a second ratchet gear; 17-a bull gear; 18-an auxiliary gear; 19-pinion gear; 20-a drive shaft; 21-a coupler; 22-a step-up gear box; 23-permanent magnet dc generator; 24-a pawl; 25-spring.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
First, an active motion suppression device for an offshore floating research platform is generally described as follows:
the system mainly comprises a wave environment monitoring and motion forecasting module, an active motion suppression module and a power generation module.
The wave environment monitoring and motion forecasting module consists of a wave measuring radar and a platform motion forecasting system, and the wave measuring radar and the motion forecasting system are both positioned on the upper part of a platform deck. The wave measuring radar is used for monitoring the wave environment conditions around the platform in real time, observing incoming flow waves far away from the platform and acquiring relevant wave elements (wave height, wavelength, wave steepness, wave period and the like) so as to obtain the wave spectral density; and the motion forecasting system comprehensively analyzes the acquired wave elements and the acquired wave spectral density, forecasts the motion to be generated by the platform in the next period and outputs platform motion information.
The active motion suppression module mainly comprises a rigid truss, a movable folding canvas, a controller, a hinge joint and a connecting rod. One end of the rigid truss, which is far away from the upright post, is arc-shaped and is parallel to the outer surface of the upright post, two sides in the truss are provided with parallel grooves, and the upper side and the lower side in each groove are provided with slide rails; both ends of the movable folding canvas are rigid supports, the supports are designed to be in profile modeling with the outer surfaces of the upright columns, the canvas can completely cover the whole rigid truss when being completely stretched, and rail wheels are arranged at the contact positions of both sides of the supports and the rigid truss; the controller is positioned at the positions, close to the upright columns, of the two sides of the rigid truss and used for receiving platform motion information output by the motion forecasting system and realizing real-time control over the movable folding canvas, and the rail wheels can move along the sliding rails under the action of the controller, so that the extending length of the folding canvas and the position of the folding canvas on the rigid truss can be freely controlled. In addition, in order to prevent the rail wheel from derailing from the tail end of the sliding rail due to the excessive movement of the bracket, a metal baffle plate is also arranged at the tail end of the sliding rail. The hinged joints are positioned on two sides of the platform upright post and used for hinging the rigid truss and the upright post, so that the rigid truss can rotate up and down around the hinged joint. The connecting rod is arranged in the upright post, spans the hinged part of the rigid trusses on the two sides and the upright post and is rigidly connected with the trusses, and the outer side trusses rotate to drive the connecting rod to rotate. Two unidirectional ratchet gears with opposite directions are fixedly connected to the middle part of the connecting rod, a spring on the ratchet gear disc enables the pawl to be always in contact with the internal ratchet wheel, and when the connecting rod rotates clockwise or anticlockwise, only one ratchet gear can rotate, so that the corresponding gear on the transmission shaft of the generator is driven to rotate, and the permanent magnet direct current generator can continuously work.
The whole power generation module is fixed inside the platform upright post and below the side of the connecting rod and comprises a transmission part and a power generation part. The transmission part consists of a transmission shaft for driving the generator to rotate, and a large gear and a small gear on the transmission shaft, wherein the first ratchet gear is meshed with the large gear on the transmission shaft to form a reduction gear set; the second ratchet gear is meshed with the pinion on the transmission shaft through the auxiliary gear in the middle to form a speed-increasing gear set. The module of the auxiliary gear in the middle is less than that of the second ratchet gear, so that on one hand, the auxiliary gear is used for increasing the rotating speed of the second ratchet gear, and the generated power is more stable; on the other hand, the gear steering is changed, so that the gear on the transmission shaft always rotates along one direction in the reciprocating rotation process of the connecting rod, and the rigid truss is ensured to rotate upwards or downwards under the action of wave force to drive the permanent magnet direct current generator to work and continuously generate electric energy. Considering that the angular speed of the rigid truss rotating upwards around the hinge point is slightly greater than the angular speed of the rigid truss rotating downwards around the hinge point by means of self gravity when the folding canvas is acted by wave force, when the rigid truss rotates upwards, the first ratchet gear plays a role and drives the large gear on the transmission shaft to rotate in order to enable the power generation power to be relatively stable; when the rigid truss rotates upwards, the second ratchet gear plays a role and drives the pinion on the transmission shaft to rotate. The power generation part consists of a speed-up gear box and a permanent magnet direct current generator, a transmission shaft is connected with an input shaft of the speed-up gear box through a coupler, and an output shaft of the speed-up gear box is used as a rotor of the permanent magnet direct current generator to drive the generator to work, so that a complete power generation module is formed.
Specifically, as shown in fig. 3 to 6, an active motion suppression device for an offshore floating scientific research platform includes a wave environment monitoring and motion forecasting module, an active motion suppression module, and a power generation module. The wave environment monitoring and motion forecasting module is composed of a wave measuring radar 2 and a platform motion forecasting system 3, wherein the wave measuring radar 2 is positioned on a deck 1 of the floating platform, the wave measuring radar 2 can monitor wave environment conditions far away from the platform in real time and obtain wave data related to wave height, wave length, wave period and the like, and the platform motion forecasting system 3 accurately forecasts the motion response to be generated at the next time period of the floating platform according to the wave data measured in real time. It should be noted that the wave radar 2 and the platform motion prediction system 3 are themselves prior art, and therefore the basic principles thereof will not be described in detail herein. The active motion suppression modules are respectively positioned on the four upright posts 4 of the platform, and the rigid truss 5 is hinged with the surfaces of the upright posts 4 through the hinged joints 8, namely, the rigid truss 5 can rotate around the hinged joints on the surfaces of the upright posts 4 under the action of waves. The motion suppression modules are symmetrically arranged around the center of the platform, and can be flexibly arranged according to the motion suppression requirement and by combining the overall weight distribution of the floating platform, and the symmetric arrangement is not necessarily ensured.
As shown in fig. 7 to 9, the active motion suppression module according to the present invention mainly includes a rigid truss 5, a movable folded canvas 6, a controller 7, a joint 8, and a link 14. One end of the rigid truss 5, which is far away from the upright post 4, is similar to the appearance of the surface of the upright post 4, the inner side of the truss is provided with a groove, a sliding rail 12 is arranged in the groove with two parallel sides, and the tail part of the sliding rail 12 is additionally provided with a metal baffle 13. The movable folding canvas 6 is composed of a folding canvas 9, two rigid movable supports 10 and a rail wheel 11, wherein the two rigid movable supports 10 are respectively arranged at two ends of the folding canvas 9 and are used for supporting, extending or contracting the canvas and are always kept parallel. Under the action of the controller 7, the rail wheel 11 under the rigid movable support 10 is driven by a servo motor inside the controller to freely move on the slide rail 12, and the metal blocking piece 13 ensures that the rail wheel 11 cannot be separated from the slide rail 12 due to excessive movement. The hinges 8 are located at both ends of the links 14 so that the rigid truss 5 can rotate freely about the hinge point at the platform upright 4. The connecting rod 14 is rigidly connected to the rigid girder 5 and has two ratchet gears 15, 16 secured thereto in opposite directions. Referring to fig. 10 and 11, the ratchet gears 15 and 16 are provided with ratchet wheels on the inner side and gear wheels on the outer side, and a pawl 24 and a spring 25 are provided on a wheel disc fixedly connected with the connecting rod 14, wherein the spring 25 enables the pawl 24 to be always in contact with the ratchet wheels on the inner side. When the rigid truss 5 rotates upwards under the action of wave force, the first ratchet wheel 15 acts, the second ratchet wheel 16 only rotates on the inner wheel disc, and the outer gear does not move; the opposite is true when the rigid truss 5 is rotated upward under the wave force.
Referring to fig. 10 and 11, the power generation module of the present invention is fixed inside the platform column 4, and includes a transmission part and a power generation part. The transmission part consists of a transmission shaft 20, a large gear 19 and a small gear 20 on the shaft and an auxiliary gear 18, wherein the first ratchet gear 15 is meshed with the large gear 19 on the transmission shaft 20 to form a reduction gear set; the second ratchet-toothed wheel 16 meshes with a pinion 20 on the drive shaft via an intermediate auxiliary gear 18, constituting a speed-increasing gear set. The module of the intermediate auxiliary gear 18 and the pinion 20 is smaller than that of the second ratchet gear. The power generation part consists of a speed-up gear box 22 and a permanent magnet direct current generator 23, a transmission shaft 20 is connected with an input shaft of the speed-up gear box 22 through a coupler 21, and an output shaft of the speed-up gear box 22 is used as a rotor of the permanent magnet direct current generator 23 to drive the generator to work, so that a complete power generation module is formed. By adopting the structure, the rigid truss 5 connected with the power generation module generates power in the same direction at the rotor end of the generator no matter the rigid truss rotates clockwise or anticlockwise. The speed of the speed increasing gear set, the speed reducing gear set and the speed increasing gear box can be adjusted, and the generated power of the permanent magnet direct current generator 23 tends to be stable no matter how the rotating speed of the input end is.
Referring to fig. 12, the working principle of the active platform motion suppression device for the offshore floating scientific research platform is that the wave radar 2 on the floating platform observes incoming waves far away from the platform in real time, and obtains relevant wave data and transmits the relevant wave data to the motion prediction system 3 on the platform. The platform motion forecasting system 3 forecasts the motion response of the floating platform in the next time period through the comprehensive analysis of the wave elements and the related wave spectral density. After the controller 7 receives the predicted motion response information, the controller combines with wave data measured in real time, the servo motor in the controller enables the movable folding canvas 6 to be adjusted to a proper length (canvas coverage area) and moved to a proper position on the rigid truss 5 before the platform moves, and when the platform moves, an acting force or moment opposite to the acting force or moment is generated and is applied to the platform through the power generation module fixed in the platform upright post 4, so that the heaving, rolling and pitching motions of the platform are reduced. In addition, the rigid truss 5 of the active platform inhibition module drives the corresponding gear set to rotate through the ratchet gears 15 and 16 on the connecting rod 14, the gears 17 and 19 on the transmission shaft 20 rotate through the coupler 21, so that the speed-increasing gear box 22 works, and finally the rotor of the permanent magnet direct current generator 23 is driven to rotate, so that the motion inhibition device can continuously generate electric energy with stable output power while reducing the motion of the platform, and the power consumption requirement of the floating scientific research platform is effectively met.
The following is an analysis of the main points of innovation in this example:
1) an active motion suppression design for effectively reducing platform motion:
unlike conventional passive damping devices, the active damping device includes a wave environment monitoring and platform motion forecast module, an active motion suppression module, and a power generation module. By using the wave measuring radar and the motion forecasting system which are arranged on the platform, the wave conditions (wave factors such as wave height, period, wavelength, wave steepness and the like) in a period of time can be obtained in advance, and the motion condition of the platform is forecasted according to the wave conditions. According to the predicted heave, roll and pitch motion information of the platform and the observed wave environment conditions, the device adjusts the extending length (shielding area) of the folded canvas and the position of the folded canvas on the truss in advance through the controller, so that the total force or the total moment applied to the canvas on the two sides of the platform under the action of waves is just opposite to the heave or swing motion direction of the platform, and the effect of actively and effectively inhibiting the heave motion of the platform is achieved. In addition, the installation direction of the device can be flexibly arranged according to the specific wave coming direction, and the device can be not necessarily symmetrically arranged by combining the weight distribution of the whole platform, so that the optimal motion suppression effect is achieved.
The force analysis of the platform with the active motion suppression device and the motion state of the corresponding device are respectively shown in fig. 1 and 2, and the working principle of the active platform motion suppression device is illustrated by taking the heave motion and the pitch motion of the platform as examples and combining the upper figure. When the platform is in a static balance state on the sea surface, the wave force (buoyancy) borne by the platform is balanced with the self gravity, the wave moment is zero, neither heaving nor pitching motion is generated at the moment, and the rigid truss of the device is in an initial state of a position 0 in the figure 2; when the wave force applied to the platform is larger or smaller than the self gravity, a clockwise or anticlockwise wave moment is generated, so that the platform generates pitching motion while the platform generates heave motion. If the wave force borne by the platform is smaller than the self gravity and the platform wants to move downwards, the device leads the canvas at the two sides of the platform to simultaneously bear upward wave force by adjusting the sheltering area of the folding canvas in the rigid truss, see the wave force 1 and 2 in the figure 1(a), the wave force is larger than the self gravity of the rigid truss, the two sides of the platform respectively generate an upward resultant force, and simultaneously adjust the sheltering position of the folding canvas according to the shaking motion condition of the platform, so that the total wave force borne by the canvases on the two sides just forms a stabilizing moment opposite to the wave moment direction borne by the platform, and finally the moment is transmitted to the platform through the power generation modules in the upright posts, as shown by the stabilizing force and the stabilizing moment represented by dotted lines in figure 1, the goal of reducing platform heave and pitch motions is thus achieved when the rigid truss moves from position 0 to position 1 in fig. 2. In the same way, under the other condition, when the wave force borne by the platform is larger than the self gravity to generate upward movement, as shown in figure 1(b), the device enables the sailcloth at the two sides of the platform to simultaneously bear downward wave force by adjusting the shielding area of the folded sailcloth in the rigid truss, as shown in the wave forces 1 and 2 in figure 1(b), or the upward wave force smaller than the gravity of the rigid truss is applied to the foldable canvas, in a word, a downward resultant force is respectively generated on the two sides of the platform, the shielding position of the foldable canvas is simultaneously adjusted according to the shaking motion condition of the platform, so that the total wave force borne by the canvases on the two sides just forms a stabilizing moment opposite to the wave moment direction borne by the platform, and finally the moment is transmitted to the platform through the power generation modules in the upright posts, as shown by the stabilizing force and the stabilizing moment represented by dotted lines in figure 1, thus achieving the goal of reducing platform heave and pitch motions when the rigid truss moves from position 0 to position 2 in fig. 2.
The wave measuring radar on the platform can observe waves far away from the platform in advance to obtain related wave parameters, meanwhile, the motion forecasting system forecasts the motion response of the platform in the near term by analyzing the obtained wave parameters, then the active motion restraining device combines the observed wave environment conditions with the platform motion response, and the length (shielding area) of the folding canvas on the rigid truss is adjusted in advance through the controller.
2) The design of the power generation module with high wave energy utilization rate comprises the following steps:
the platform motion suppression module is hinged to the platform upright post, the rigid truss with the folding canvas rotates around the hinged joints in a reciprocating mode after being acted by wave force, the connecting rod fixedly connected with the truss between the two hinged joints rotates in a reciprocating mode at the moment, and the ratchet gear on the connecting rod drives the gear of the generator to rotate, so that the permanent magnet direct current generator can work no matter which direction the rigid truss rotates, and electric energy is continuously generated. Two pairs of gear sets with different sizes matched with the permanent magnet generators are respectively designed on the connecting rod in the stand column, so that on one hand, when the connecting rod rotates in two directions, the gear of the generator is driven to always rotate in one direction, and the generator can continuously generate electricity when the rigid truss rotates around the hinged point in a reciprocating manner; on the other hand, after the folding canvas is acted by wave force, the angular speeds of the upward or downward rotation of the rigid truss are different, and the generated power can be more stable by designing a large pinion set. The power generation module drives the permanent magnet direct current generator in the stand column to generate power continuously by utilizing the reciprocating rotation of the rigid truss after the action of wave force, so that the efficient utilization of wave energy is realized, and long-term electric energy supply is provided for the offshore floating scientific research platform.
3) Simple structure, light in weight's structural design:
the active motion suppression device for the offshore floating type scientific research platform is simple in structure and mainly comprises a wave environment monitoring and motion forecasting module, an active motion suppression module and a power generation module. The internal design of the rigid truss in the active motion suppression module is provided with folding canvas which can move along the slide rails, the design of adopting light materials to replace the solid structure described in the background art greatly reduces the mass of the device, and meanwhile, the device is flexible in position arrangement, convenient to install and detachable.
While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An active motion suppression device for an offshore floating research platform, comprising:
the lower part of the offshore floating scientific research platform is a floating body, and 4 upright posts (4) for supporting four corners of the floating scientific research platform are arranged above the floating body; in a virtual XYZ coordinate system, the longitudinal direction of a platform is set as the X direction, and the broadside direction is set as the Y direction;
each upright post (4) is hinged with an active motion suppression module along the X direction and the Y direction respectively, and the swinging angle of the active motion suppression module along the hinged part is limited by a limiting component; the active motion suppression module is connected with a generator through a bidirectional ratchet transmission mechanism;
the active motion suppression module comprises a rigid truss (5), a sliding rail (12) is arranged in the rigid truss (5) along the extending direction of the active motion suppression module relative to the upright post (4), a pair of rigid moving supports (10) is arranged on the sliding rail (12), and two ends of the folded canvas (9) are fixed on the pair of rigid moving supports (10);
the bidirectional ratchet transmission mechanism is provided with a damping sensor, the pair of rigid moving supports (10) are respectively provided with a driving device which enables the rigid moving supports to move along a sliding rail (12), and respective controllers (7) of the driving devices are respectively in signal connection with the damping sensor;
the active motion suppression device also comprises a wave environment monitoring and motion forecasting module, wherein the wave environment monitoring and motion forecasting module is composed of a wave measuring radar (2) and a platform motion forecasting system (3) which are positioned on a deck (1) of the floating platform, the wave measuring radar (2) can monitor the wave environment condition far away from the platform in real time and obtain wave data of wave height, wave length and wave period, the platform motion forecasting system (3) forecasts the motion response to be generated at the next time period of the floating platform according to the wave data measured in real time, and the controller (7) controls the rigid movable support (10) to move to a part which prevents the floating platform from generating heave motion trend under the influence of the waves in advance;
the controller (7) can also judge the force application direction of the folded canvas (9) by the waves in real time according to the damping direction of the damping sensor, so that the driving device is controlled to drive the rigid moving support (10) to move along the sliding rail (12), the middle part of the folded canvas (9) is aligned to the central position of the waves, and the folded canvas (9) is unfolded as far as possible. To produce a pair of roll moments in a direction opposite to the direction of the platform sway motion.
2. The active motion suppression apparatus for an offshore floating research platform, according to claim 1, wherein: the wave environment monitoring and motion forecasting system comprises a wave environment monitoring and motion forecasting module, the wave environment monitoring and motion forecasting module is composed of a wave measuring radar (2) and a platform motion forecasting system (3), the wave measuring radar (2) can monitor the wave environment conditions far away from a platform in real time and obtain wave data of wave height, wave length and wave period, the platform motion forecasting system (3) forecasts the motion response to be generated at the next time period of the floating platform according to the wave data measured in real time, and the controller (7) controls the rigid movable support (10) to move to a position where the floating platform is prevented from being influenced by the waves to generate a heave motion trend.
3. The active motion suppression apparatus for an offshore floating research platform, according to claim 1, wherein: the active motion suppression modules are respectively positioned on four upright posts (4) of the platform, and the rigid truss (5) is hinged with the surfaces of the upright posts (4) through hinge joints (8), namely the rigid truss (5) can rotate around the hinge joints on the surfaces of the upright posts (4) under the action of waves; the active motion suppression modules are arranged symmetrically about the center of the platform.
4. The active motion suppression apparatus for an offshore floating research platform, according to claim 1, wherein: the active motion suppression module further comprises a connecting rod (14), one end, far away from the upright post (4), of the rigid truss (5) is similar to the surface of the upright post (4) in appearance, a groove is formed in the inner side of the rigid truss (5), the sliding rail (12) is installed in the groove parallel to the two sides of the rigid truss, and a metal blocking piece (13) is additionally installed at the tail of the sliding rail (12); the two rigid movable supports (10) are respectively positioned at two ends of the folding canvas (9) and are used for supporting, extending or contracting the canvas and always keep parallel; under the action of the controller (7), a servo motor inside the controller drives a rail wheel (11) under the rigid moving support (10) to freely move on the sliding rail (12), and the metal blocking piece (13) ensures that the rail wheel (11) cannot be separated from the sliding rail (12) due to excessive movement; the hinges (8) are located at both ends of the connecting rod (14) so that the rigid truss (5) can rotate freely around the hinge point at the upright (4).
5. The active motion suppression apparatus for an offshore floating research platform of claim 3, wherein: the connecting rod (14) is rigidly connected with the rigid truss (5), and is fixedly connected with two first ratchet gears (15) and two second ratchet gears (16) in opposite directions; the inner sides of the first ratchet gear (15) and the second ratchet gear (16) are ratchet wheels, the outer sides of the first ratchet gear and the second ratchet gear are gear wheels, a pawl (24) and a spring (25) are arranged on a wheel disc fixedly connected with the connecting rod (14), and the pawl (24) is always contacted with the ratchet wheels on the inner sides by the spring (25); when the rigid truss (5) rotates upwards under the action of wave force, the first ratchet gear (15) acts, the second ratchet gear (16) only rotates on the inner wheel disc, and the outer gear does not move; when the rigid truss (5) rotates upwards under the action of wave force, the situation is opposite.
6. The active motion suppression apparatus for an offshore floating research platform of claim 5, wherein:
the generator is positioned inside the upright post (4) and comprises a transmission part and a power generation part;
the transmission part consists of a transmission shaft (20), a large gear (19) and a small gear (20) on the transmission shaft and an auxiliary gear (18), wherein the first ratchet gear (15) is meshed with the large gear (19) to form a reduction gear set; the second ratchet gear (16) is meshed with a pinion (20) on the transmission shaft through an auxiliary gear (18) in the middle to form a speed-increasing gear set; the modulus of the auxiliary gear (18) and the pinion (20) in the middle is less than that of the second ratchet gear;
the power generation part consists of a speed-up gear box (22) and a permanent magnet direct current generator, a transmission shaft (20) is connected with an input shaft of the speed-up gear box (22) through a coupler (21), and an output shaft of the speed-up gear box (22) is used as a rotor of the generator to drive the generator to work.
7. An active motion suppression method for an offshore floating research platform, characterized by using the active motion suppression device for an offshore floating research platform as claimed in claim 5,
the wave measuring radar (2) observes incoming waves far away from the platform in real time, obtains wave data of wave height, wave length and wave period and transmits the wave data to the motion forecasting system (3) on the platform;
the platform motion forecasting system (3) forecasts the motion response of the floating platform in the next time period through the comprehensive analysis of the wave data and the related wave spectral density;
after the controller (7) receives the forecasted motion response information, the controller combines with wave data measured in real time, and a servo motor in the controller enables the center position of the movable folding canvas (6) to move to a position on the rigid truss (5) for preventing the floating platform from generating a heave motion trend under the influence of the waves before the platform moves, and the folding canvas (9) is unfolded as much as possible;
when the platform moves, the counter acting force or moment is generated and is applied to the platform through the power generation module fixed in the upright post (4), so that the heave, roll and pitch motions of the platform are reduced.
8. An active motion suppression method for an offshore floating research platform according to claim 6, wherein the rigid truss (5) of the active platform suppression module drives the corresponding gear set to rotate through the first and second ratchet gears (15, 16) on the connecting rod (14), and the rotation of the gears (17, 19) on the transmission shaft (20) causes the speed increasing gearbox (22) to work through the coupling (21), and finally drives the rotor of the generator to rotate.
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