CN114263642B - Device and method for controlling precession speed of anti-rolling gyroscope - Google Patents
Device and method for controlling precession speed of anti-rolling gyroscope Download PDFInfo
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- CN114263642B CN114263642B CN202111589052.3A CN202111589052A CN114263642B CN 114263642 B CN114263642 B CN 114263642B CN 202111589052 A CN202111589052 A CN 202111589052A CN 114263642 B CN114263642 B CN 114263642B
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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
- B63B39/04—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using gyroscopes directly
Abstract
The invention provides a precession speed control device of a stabilizer gyroscope, which is used for controlling the precession angular speed of the stabilizer gyroscope through a hydraulic system and comprises the following components: the connecting rod, the oil cylinder group and the valve block; the oil cylinder groups are identical oil cylinders symmetrically arranged on two sides of the middle point of the connecting rod; the oil cylinder is provided with a piston assembly and an oil cylinder oil way, the oil cylinder oil way is used for containing oil, and the hydraulic damping coefficient of the oil is dynamically changed by matching with the movement of the piston assembly, so that the precession speed of the stabilizer gyroscope is dynamically controlled; the oil cylinder oil path includes: the valve block comprises a rod cavity, a rodless cavity, an oil duct, a damping hole and a valve block connecting hole. The invention also provides a method for controlling the precession speed of the anti-rolling gyroscope. The invention has the advantages of no energy consumption device, no need of a sensor, a proportional valve, a controller and other matched systems, green energy saving, simple structure, strong pollution resistance, high reliability and the like.
Description
Technical Field
The invention relates to the technical field of ship stabilizing, in particular to a stabilizing gyro precession speed control device and a control method.
Background
The stabilizer gyro is one of the first stabilizer devices practically used on ships, and its working principle is that, as shown in fig. 1, the stabilizer gyro 1 is mounted on a base 11 of a ship, and firstly, the rotor of the stabilizer gyro 1 rotates at a high speed, and the rotor rotating at a high speed has a large angular momentum
(the size of the gyroscope is marked as |H|, when the rotation speed of the gyroscope is fixed, the |H| is a constant value and is an intrinsic parameter of the gyroscope), and when the boat is at the external moment M Outer part When the rolling reduction gyro 1 is swung back and forth by the action of the force of the external force, the rolling reduction gyro 1 will spontaneously move back and forth around the precession axis 12 (precession means a phenomenon in which a rotating object is forced to rotate around a certain center, which is the change of the direction of the rotating object rotation axis), and the precession angle of the rolling reduction gyro 1 is set to be β (/ -)>
And vertical axis->
Included angle between them). Moment +.>
Is->
And the precession angular velocity of the stabilizer gyro 1 +.>
(its size is denoted as |w|). />
Component M in the ship's hull direction y-axis y Can resist external moment M Outer part Is effective in reducing the roll of the ship, M y I.e. the moment of roll, the value M y = |h|×|w|×cos β. To obtain the best anti-rolling effect (M y Should be as large as possible), the stabilizer gyro 1 should take the maximum values of both |w| and cos β during precession. The law of variation of cos beta along with beta in the precession process of the stabilizer gyro 1 is determined: cos β increases as the absolute value of the precession angle β decreases, and decreases as the absolute value of the precession angle β increases, and reaches a maximum value when β is 0. Therefore, in order to make both of |w| and cos β maximum at the same time, it is necessary that |w| also increases as the absolute value of the precession angle β decreases, and as the precession angle β decreasesThe absolute increase of the degree beta decreases, and when the precession angle beta is 0, |w| reaches the maximum value, M y The maximum value can be obtained. Specifically, when the stabilizer gyro 1 precesses from the positive angle position to the 0 ° position and then to the negative angle position, the precession speed of the stabilizer gyro 1 increases and decreases, and reaches the maximum at the 0 ° position; similarly, when the stabilizer gyro 1 is precessed from the negative angle position to the 0 ° position and then precessed to the positive angle position, the precession speed of the stabilizer gyro 1 is increased and then decreased, and the maximum is reached at the 0 ° position. cos beta, precession speed magnitude |w| and M y The law of variation of the follow-up angle beta is shown in figure 2.
In order to effectively control the precession speed, a closed hydraulic damping system is adopted in the traditional technical scheme. A pair of hydraulic cylinders are arranged on the precession shaft 12, a precession angle sensor is used for collecting a precession angle beta of a gyroscope, a controller calculates according to the precession angle beta of the gyroscope and the corresponding magnitude of precession speed |w|, and a throttle opening is changed through calculation output, so that damping of a system is changed, and finally, the magnitude of the precession speed is controlled.
The traditional technical scheme has the following defects:
1. the scheme comprises units such as a sensor, a control circuit, an actuating mechanism and the like, the reliability of the whole system is determined by the reliability of each unit, and any unit with a problem affects the whole control system. In order to improve the reliability of the system, it is necessary to simultaneously improve the reliability of each constituent unit, which increases the cost of the system;
2. the proportional valve has higher requirements on the cleanliness of the hydraulic oil, and impurities can be accumulated in the hydraulic oil after the closed hydraulic system is used for a period of time, so that the reliability of the proportional valve is reduced. Meanwhile, in order to reduce the influence of impurities on the proportional valve, the hydraulic system needs to be subjected to regular flushing and oil changing operation, so that the maintenance time is prolonged, and the after-sale cost is increased;
3. when the system works, the current on the throttle valve needs to be regulated in real time, and certain energy needs to be consumed.
In addition, in patent CN106907362, a stabilizer gyro precession control system based on magnetorheological fluid is disclosed, in which magnetorheological fluid is used to replace traditional hydraulic oil, and a magnetorheological throttle valve is used to replace traditional throttle valve, and by adopting the scheme, the pollution resistance and reliability of the system can be improved, but the following disadvantages still exist:
1. the disclosed technical scheme still comprises units such as a sensor, a control circuit, an actuating mechanism and the like, the reliability of the whole system is determined by the reliability of each unit, and any unit with problems affects the whole control system. In order to improve the reliability of the system, it is necessary to simultaneously improve the reliability of each constituent unit, which increases the cost of the system;
2. the magneto-rheological throttle valve has complex design and high manufacturing cost;
3. when the system works, the current on the magneto-rheological throttle valve needs to be regulated in real time, and certain energy needs to be consumed.
In patent CN111469996, a scheme for controlling precession of a stabilizer gyro by a motor is disclosed. According to the scheme, a motor rotor is fixed with a precession axis of the stabilizing gyro, a precession angle sensor is used for collecting a precession angle beta of the stabilizing gyro, a controller calculates according to the precession angle beta of the stabilizing gyro and a corresponding precession speed magnitude |w|, and motor current is changed through calculation output, so that braking torque of a motor is changed, and finally, the magnitude of the precession speed is controlled.
This solution has the following disadvantages:
1. the disclosed technical scheme still comprises units such as a sensor, a control circuit, an actuating mechanism and the like, the reliability of the whole system is determined by the reliability of each unit, and any unit with problems affects the whole control system. In order to improve the reliability of the system, the reliability of each component unit needs to be improved at the same time, and the cost of the system is increased;
2. when the motor braking moment is large, the volume of the motor is correspondingly increased, and the cost is correspondingly increased;
3. when the gyro braking moment is increased, the current required for the motor is correspondingly increased, and the energy consumption is increased.
Disclosure of Invention
The invention aims to provide a precession speed control device and a control method of a stabilizer gyro, wherein the precession speed of the stabilizer gyro can be controlled through a hydraulic system, and the device has no energy consumption device, does not need a sensor, a proportional valve, a controller and other matched systems and has the advantages of green energy conservation, simple structure, strong pollution resistance, high reliability and the like.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
a precession speed control device of a stabilizer gyroscope, which is used for controlling the precession angular speed of the stabilizer gyroscope through a hydraulic system; the ship stabilizing device comprises a ship stabilizing device, a ship stabilizing gyro, a ship stabilizing device and a ship stabilizing device, wherein the ship stabilizing device is arranged on a mounting base; the stabilizer gyro precession speed control device includes:
the connecting rod is a rod body with a middle point fixedly connected with one side end part of the precession shaft and is mutually perpendicular to the precession shaft, and the connecting rod synchronously rotates around the middle point along with precession of the stabilizer gyroscope;
the oil cylinder groups are identical oil cylinders symmetrically arranged on two sides of the middle point of the connecting rod;
the oil cylinder comprises: the cylinder body is a closed columnar body provided with an inner cavity, and the bottom end of the cylinder body is rotationally connected with the mounting base; the piston assembly is provided with a piston connecting rod which is rotationally connected with the connecting rod at the top end, a piston head which is inserted into the inner cavity of the cylinder body is arranged at the bottom end, the shape and the size of the piston head are matched with those of the inner cavity of the cylinder body, and the piston head can reciprocate in the inner cavity of the cylinder body; the piston head divides the inner cavity of the cylinder body into a rod cavity and a rodless cavity; an oil cylinder oil way is arranged in the inner cavity of the cylinder body and used for containing oil; the oil cylinder oil way comprises a rod cavity and a rodless cavity, and further comprises: the oil duct is an axial hole arranged in the side wall of the cylinder body; the damping hole is a radial hole arranged in the side wall of the cylinder body, one end of the damping hole is communicated with the inner cavity of the cylinder body, and the other end of the damping hole is communicated with the oil duct; the valve block connecting hole is a radial hole arranged in the side wall of the cylinder body, one end of the valve block connecting hole is communicated with the oil duct, and the other end of the valve block connecting hole is communicated with the outside of the cylinder body; when the piston head reciprocates in the inner cavity of the cylinder body, the damping of the oil in the oil cylinder oil way passing through the damping hole can be dynamically changed, so that the rotating angular speed of the connecting rod is dynamically controlled;
the valve block is a component with a main oil way arranged inside, the main oil way is communicated with oil cylinder oil ways of all the oil cylinders of the oil cylinder group through the valve block connecting hole, the main oil way and all the oil cylinder oil ways jointly form a hydraulic system, and the valve block is used for balancing system pressure, radiating heat and adding supplementary oil liquid of the hydraulic system.
Preferably, when the precession angle of the stabilizer gyroscope is 0 °, the middle section of the piston head coincides with the middle section of the cylinder body.
Preferably, the oil cylinder further comprises:
the upper end cover is a sealing cover fixedly arranged at the upper end part of the cylinder body, a piston connecting rod hole sleeved outside the piston connecting rod is formed in the center of the cover body, and a sealing device is arranged between the piston connecting rod and the piston connecting rod hole;
the lower end cover is a sealing cover fixedly arranged at the lower end part of the cylinder body, and the bottom of the cover body is rotationally connected with the mounting base.
Preferably, each damping hole is arranged at intervals along the axial direction of the cylinder body and is symmetrical relative to the middle section of the cylinder body.
Preferably, the damping holes at the top and bottom ends are provided with liquid check valves, so that the oil in the hydraulic system can only flow from the oil duct to the inner cavity of the cylinder body, and the hydraulic system is used for stopping the movement of the piston head when the piston head approaches to the top or bottom end limit position in the cylinder body.
Preferably, an upper air release channel which is communicated with the inner cavity of the cylinder body and the outside is arranged in the upper end cover, and an upper one-way air release valve is arranged at the end part of the upper air release channel which is communicated with the outside, so that the air in the inner cavity of the cylinder body can be discharged from the upper one-way air release valve;
the lower end cover is internally provided with a lower air discharge channel which is communicated with the inner cavity of the cylinder body and the outside, and the end part of the outer part of the lower air discharge channel is provided with a lower one-way air discharge valve, so that the air in the inner cavity of the cylinder body can be discharged from the lower one-way air discharge valve.
Preferably, the valve block further comprises:
the energy accumulator is communicated with the main oil way and used for balancing the pressure of the hydraulic system;
and the oiling interface is communicated with the main oil way and is provided with a liquid one-way valve for oiling the hydraulic system.
Preferably, in the stabilizer gyroscope precession speed control device, the number of the oil cylinders at two ends of the connecting rod is symmetrically increased according to the magnitude of the precession moment to be controlled.
The method for controlling the precession speed of the anti-rolling gyroscope is realized by adopting the device for controlling the precession speed of the anti-rolling gyroscope; wherein, the liquid crystal display device comprises a liquid crystal display device,
when the anti-rolling gyroscope precesses, the precession shaft drives the piston assembly to reciprocate in the inner cavity of the cylinder body through the connecting rod, the volumes of the rod cavity and the rodless cavity are dynamically changed along with the precession shaft, and oil liquid of the hydraulic system is extruded and pushed to flow between the rod cavity and the rodless cavity; meanwhile, the movement speed of the piston head is dynamically controlled due to the restriction of the hydraulic damping coefficient of the oil in the hydraulic system, and the hydraulic damping coefficient in the hydraulic system is mainly determined by the minimum sectional area of the oil flowing path; the method comprises the following steps:
s1, retracting the piston head;
in the process of retracting the piston head towards the lower end cover, the volume of the rodless cavity is gradually reduced, the volume of the rod cavity is correspondingly increased, oil in the rodless cavity is gradually transferred to the rod cavity, and the oil flowing path is as follows: the rodless cavity, the effective damping holes in the rodless cavity, the oil duct, the effective damping holes in the rodless cavity and the rodless cavity; the number of each effective damping hole in the rodless cavity is Kb, the damping hole at the bottommost end in the rodless cavity is closed because a liquid one-way valve from the oil duct to the rodless cavity is arranged, and Kb does not comprise the damping hole at the bottommost end; the number of each effective damping hole in the rod cavity is Ka, wherein Ka comprises all damping holes in the rod cavity; the hydraulic damping coefficient is determined by the minimum value k in Ka or Kb; the hydraulic damping coefficient dynamically changes and is maximum when k=0; when k=0, the piston head is retracted to a position in the rodless cavity, wherein the position only comprises the bottommost damping hole, and at the moment, the retained oil in the rodless cavity prevents the piston head from being retracted continuously;
s2, the piston head stretches out;
in the process that the piston head stretches out towards the upper end cover, the volume of the rod cavity is gradually reduced, the volume of the rod-free cavity is correspondingly increased, oil in the rod cavity is gradually transferred to the rod-free cavity, and the oil flowing path is as follows: the effective damping holes in the rod cavity, the oil ducts in the rod cavity, the effective damping holes in the rodless cavity and the rodless cavity; wherein, the damping hole at the topmost end in the rod cavity is closed because of being provided with a liquid one-way valve from the oil duct to the rod cavity, ka does not comprise the damping hole at the topmost end; kb comprises all damping holes in the rodless cavity; the hydraulic damping coefficient is determined by the minimum value k in Ka or Kb; the hydraulic damping coefficient dynamically changes and is maximum when k=0; when k=0, the piston head extends to a position in the rod cavity, wherein the position only comprises the topmost damping hole, and the retained oil in the rod cavity prevents the piston head from continuously extending;
s3, the piston head stretches out and retracts back and forth so as to control the precession angular velocity of the anti-shake gyroscope;
the piston head extends out and retracts back and forth in the inner cavity of the cylinder body, the speed of the relative movement of the piston head and the inner cavity of the cylinder body is controlled step by step under the influence of the hydraulic damping coefficient, and the piston head is transmitted to the precession shaft through the piston connecting rod and the connecting rod so as to control the precession angular speed of the anti-rolling gyroscope.
In summary, compared with the prior art, the device and the method for controlling the precession speed of the anti-rolling gyroscope have the following beneficial effects:
1. the technical scheme of the invention does not need a plurality of units such as a sensor, a control circuit and the like, has simple structure, greatly improves the reliability of the system and reduces the cost of the system;
2. according to the technical scheme, a proportional valve is not needed, and the requirement on the cleanliness of an oil way is low;
3. the technical scheme of the invention does not need power supply in the use process, and is green and energy-saving;
4. the technical scheme of the invention can be applied to various speed control scenes and has wide applicability.
Drawings
FIG. 1 is a schematic diagram of a prior art stabilizer gyroscope;
FIG. 2 is a schematic diagram of a control law of the precession speed of a stabilizer gyroscope according to the prior art;
FIG. 3 is a schematic illustration of a prior art closed hydraulic damping system;
FIG. 4 is a schematic diagram of a prior art technique for controlling precession of a stabilizer gyroscope using a motor;
FIG. 5 is a schematic diagram of the general structure of the precession speed control device of the anti-rolling gyroscope of the present invention;
FIG. 6 is a schematic diagram showing a precession speed control apparatus for a stabilizer gyroscope according to the present invention;
FIG. 7 is a schematic perspective view of a cylinder barrel according to the present invention;
FIG. 8 is a schematic view of a cross-sectional structure of a cylinder barrel according to the present invention;
FIG. 9 is a schematic view of a bottom orifice structure of the cylinder according to the present invention;
FIG. 10 is a schematic illustration of the operational principle of the piston head retraction process of the present invention;
fig. 11 is a schematic illustration of the piston head extension process operation of the present invention.
Detailed Description
The invention provides a device and a method for controlling the precession speed of a stabilizer gyroscope, which are further described in detail below with reference to the accompanying drawings and detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that, the drawings are in very simplified form and all use non-precise proportions, which are only used for the purpose of conveniently and clearly assisting in describing the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any modification of structure, change of proportion or adjustment of size, without affecting the efficacy and achievement of the present invention, should still fall within the scope covered by the technical content disclosed by the present invention.
It is noted that in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1 and fig. 5 to 11, the present embodiment provides a precession rate control device for a stabilizer gyro, which is used for controlling a precession angular rate of the stabilizer gyro 1 through a hydraulic system; the anti-rolling gyroscope 1 is a device which is arranged on a mounting base 11 of a ship and used for stabilizing the ship, a precession shaft 12 which is fixedly connected with the anti-rolling gyroscope 1 is arranged on the anti-rolling gyroscope 1, and when the ship shakes, the anti-rolling gyroscope 1 drives the precession shaft 12 to precess around the axis of the precession shaft 12 due to the gyroscopic effect; the stabilizer gyro precession speed control device includes: the connecting rod 2, the oil cylinder group and the valve block 4; wherein, the liquid crystal display device comprises a liquid crystal display device,
the connecting rod 2 is a rod body with a midpoint fixedly connected with one side end part of the precession axis 12, is mutually perpendicular to the precession axis 12, and synchronously rotates around the midpoint along with the precession of the anti-rolling gyroscope 1, wherein the rotation angular speed is consistent with the precession angular speed;
the oil cylinder groups are two identical oil cylinders 3 symmetrically arranged on two sides of the middle point of the connecting rod 2, the top end of each oil cylinder 3 is respectively and rotatably connected with the connecting rod 2, the bottom end of each oil cylinder is respectively and rotatably connected with the mounting base 11, and the oil cylinder groups are used for controlling the rotational angular speed of the connecting rod 2 so as to control the precession angular speed of the stabilizing gyro 1; according to the tonnage of the ship and the magnitude of the precession moment to be controlled, the number of the oil cylinders 3 at the two ends of the connecting rod 2 can be symmetrically increased; each cylinder 3 includes:
a piston assembly 31 comprising a piston rod 311 and a piston head 312; wherein, the piston connecting rod 311 is a rod body with the top end rotationally connected with the connecting rod 2; the piston head 312 is a cylindrical piston fixedly connected with the bottom end of the piston connecting rod 311;
the cylinder body 32 is a closed cylinder body provided with a cylindrical inner cavity, is sleeved outside the piston head 312, the bottom of the cylinder body 32 is rotationally connected with the mounting base 11, and the cylinder body 32 is used for accommodating the piston head 312 to reciprocate in the inner cavity; comprising the following steps:
the cylinder 321 is a pipe body sleeved outside the piston head 312, and the shape and the size of the inner wall of the pipe body are matched with those of the piston head, so that the piston head 312 is just inserted into the cylinder 321 and can move along the axial direction of the cylinder 321; when the precession angle of the stabilizer gyro 1 is 0 °, the middle section of the piston head 312 coincides with the middle section of the cylinder 321; the cylinder 321 is provided with an oil cylinder path on the pipe wall, and the oil cylinder path includes: an oil passage 3211, a plurality of damping holes 3212, and a valve block connecting hole 3213, wherein,
the oil duct 3211 is an axial hole arranged in the pipe wall of the cylinder 321;
the damping hole 3212 is a radial hole arranged in the pipe wall of the cylinder 321, one end of the damping hole is communicated with the inner cavity of the cylinder 321, and the other end of the damping hole is communicated with the oil duct 3211; each damping hole 3212 is axially arranged along the cylinder 321 at intervals and is symmetrical relative to the middle section of the cylinder 321; the damping holes at the top and bottom ends are provided with liquid check valves, so that oil in the hydraulic system can only flow from the oil duct 3211 to the inner cavity of the cylinder 321, and the hydraulic system is used for stopping movement of the piston head 312 under the blocking of oil when the piston head is close to the limit position of the top or bottom end in the cylinder 32, and cannot strike the top or bottom end of the cylinder 32 to be damaged.
The valve block connecting hole 3213 is a radial hole arranged in the pipe wall of the cylinder 321, one end of the valve block connecting hole is communicated with the oil duct 3211, and the other end of the valve block connecting hole is communicated with the outer wall of the cylinder 321;
the upper end cover 322 is a sealing cover fixedly arranged at the upper end part of the cylinder 321, a piston connecting rod hole 3221 sleeved outside the piston connecting rod 311 is arranged in the center of the cover body, and a sealing device is arranged between the piston connecting rod 311 and the piston connecting rod hole 3221; an upper air release channel 3222 which is communicated with the inner cavity of the cylinder 321 and the outside is arranged in the upper end cover 322, an upper one-way air release valve 3223 is arranged at the end part of the upper air release channel 3222 which is communicated with the outside, and air in the inner cavity of the cylinder 321 can be discharged from the upper one-way air release valve 3223 by applying pressure after the upper one-way air release valve 3223 is opened;
the lower end cover 323 is a sealing cover fixedly arranged at the lower end part of the cylinder 321, and the bottom of the cover body is rotationally connected with the mounting base 11; the lower end cover 323 is internally provided with a lower air release channel 3231 which is communicated with the inner cavity of the cylinder 321 and the outside, the end part of the outer part of the lower air release channel 3231 is provided with a lower one-way air release valve 3232, and after the lower one-way air release valve 3232 is opened, the air in the inner cavity of the cylinder 321 can be discharged from the lower one-way air release valve 3232 by applying pressure.
The valve block 4 is a part with a main oil way 41 arranged inside, the main oil way 41 is a pipeline communicated with oil cylinder oil ways of the oil cylinder groups, the end part of the main oil way 41 is connected with valve block connecting holes 3213 of the oil cylinders 3, the main oil way 41 and the oil cylinder oil ways form a hydraulic system together, and the valve block 4 is used for balancing system pressure, radiating heat and adding supplementary oil liquid of the hydraulic system; the valve block 4 further includes:
the accumulator 42 is a hydraulic system accumulator in the prior art, is communicated with the main oil way 41, and mainly uses as follows: firstly, absorbing pressure fluctuation when the hydraulic system operates, dynamically supplementing or absorbing oil, and balancing the pressure of the hydraulic system; secondly, when the volume of the oil in the hydraulic system changes due to temperature change, the oil is supplemented or absorbed, and the pressure of the hydraulic system is balanced so as to ensure that the pressure of the whole hydraulic system is normal;
the cooling liquid channel 43 is a pipeline which is arranged close to the main oil way 41 and is internally filled with cooling medium, the cooling medium can circularly flow in the cooling liquid channel 43 and is used for radiating and cooling oil liquid of the hydraulic system through the circulation flow of the cooling medium;
the oil injection port 44 and the needle valve 45, the oil injection port 44 is communicated with the main oil way 41 through the needle valve 45, and the oil injection port 44 is provided with a liquid one-way valve for one-way oil injection of the hydraulic system.
If the tonnage of the ship and the precession moment to be controlled are large, the control moment can be improved by arranging a set of anti-rolling gyroscope precession speed control devices at the two side ends of the precession shaft 12.
The working principle and the working flow of the precession speed control device of the anti-rolling gyroscope are as follows:
1. exhausting and injecting oil by a hydraulic system;
the precession speed control device of the anti-rolling gyroscope needs to exhaust and oil injection of a hydraulic system before working. Before oiling, the needle valve 45, the upper one-way air release valve 3223 and the lower one-way air release valve 3232 are opened, an oiling pump is connected to the oiling interface 44 to continuously oiling the hydraulic system, the anti-rolling gyroscope 1 is driven to precess, the precession shaft 12 drives the piston assembly 31 to reciprocate in the inner cavity of the cylinder body 32 through the connecting rod 2, and gas in the hydraulic system is discharged through the upper one-way air release valve 3223 and the lower one-way air release valve 3232; after the air is exhausted, the upper one-way air release valve 3223 and the lower one-way air release valve 3232 are closed, the oil injection pump continuously injects oil and charges pressure to the hydraulic system, the needle valve 45 is closed after the charging pressure reaches a set value, the oil injection pump is removed, and at the moment, the inner cavity of each oil cylinder body and the oil way of the valve block 4 form a closed hydraulic system.
2. Precession speed control;
the piston head 312 divides the interior cavity of the cylinder 32 into a rod-shaped cavity a and a rodless cavity b; when the anti-rolling gyroscope 1 precesses, the precession shaft 12 drives the piston assembly 31 to reciprocate in the inner cavity of the cylinder body 32 through the connecting rod 2, the volumes of the rod cavity a and the rodless cavity b change dynamically along with the reciprocating motion, and oil liquid of the hydraulic system is extruded and pushed to flow between the rod cavity a and the rodless cavity b; the movement speed of the piston head 312 is dynamically controlled by the movement of oil in the hydraulic system, and is affected by different speeds according to the position of the piston head 312; further, the influence on the speed of the piston head 312 is transmitted to the precession shaft 12 through the piston connecting rod 311 and the connecting rod 2, so as to control the precession angular speed of the stabilizer gyro 1; the speed of the oil movement in the hydraulic system is determined by a hydraulic damping coefficient in the hydraulic system, and the hydraulic damping coefficient is mainly determined by the minimum sectional area of an oil flowing path; depending on the direction of movement of the piston head 312, the particular operation is:
(1) The piston head 312 is retracted;
during the retraction of the piston head 312 toward the lower end cap 323, as shown in FIGS. 6 and 10, the volume of the rodless chamber b is gradually reduced and the volume of the rod chamber a is reducedCorrespondingly increased, the oil in the rodless cavity b gradually transfers to the rod cavity a, and the oil flowing path is as follows: the rodless cavity b is internally provided with effective damping holes-oil ducts 3211, and the rodless cavity a is internally provided with effective damping holes-rod cavities a; wherein the number of each effective damping hole in the rodless cavity b is K b The damping hole at the bottommost end in the rodless cavity b is closed by being provided with a liquid one-way valve from the oil duct 3211 to the rodless cavity b, K b Excluding the bottommost orifice; the number of each effective damping hole in the rod cavity a is K a ，K a Comprises all damping holes in a rod cavity a;
the diameters and the sectional areas of the damping holes are the same, the sectional area of a single damping hole is W, and the sum of the sectional areas of the effective damping holes in the rod cavity a is K a X W, the sum of the sectional areas of the effective damping holes in the rodless cavity b is K b X W; the hydraulic damping coefficient is defined by K b X W, oil passage 3211 cross-sectional area, K a The minimum value of XW is determined because the cross-sectional area of the oil passage 3211 is much larger than K a X W or K b X W, so the hydraulic damping coefficient is defined by K a X W or K b The minimum value of XW, i.e. K a Or K b Is determined by the minimum value k of (2); k during retraction of the piston head 312 a 、K b As shown in fig. 10, the hydraulic damping coefficient changes dynamically, and the hydraulic damping coefficient is maximum when k=0; when k=0, the piston head 312 is retracted to a position including only the bottom-most orifice in the rodless chamber b, and the piston head 312 stops moving because of the orifice Kong Bilu, and the oil remaining in the rodless chamber b blocks the piston head 312 from continuing to retract.
(2) The piston head 312 extends;
in the process of extending the piston head 312 toward the upper end cover 322, as shown in fig. 6 and 11, the volume of the rod cavity a is gradually reduced, the volume of the rod-free cavity b is correspondingly increased, the oil in the rod cavity a is gradually transferred to the rod-free cavity b, and the oil flowing path is as follows: the effective damping holes-oil ducts 3211 in the rod cavity a-the effective damping holes-the rodless cavity b in the rod cavity b; wherein, the damping hole at the top end in the rod cavity a is closed by being provided with a liquid one-way valve from the oil duct 3211 to the rod cavity a, K a Excluding the topmost damping hole; k (K) b Including no-loadAll damping holes in the rod cavity b; the hydraulic damping coefficient is defined by K a Or K b Is determined by the minimum value k of (2); k during extension of piston head 312 a 、K b The variation process of k is shown in fig. 11, the hydraulic damping coefficient dynamically changes, and the hydraulic damping coefficient is maximum when k=0; when k=0, the piston head 312 protrudes to a position including only the topmost damping hole in the rod chamber a, and the piston head 312 stops moving because of the damping Kong Bilu, and the oil retained in the rod chamber a blocks the piston head 312 from continuing to protrude.
(3) The piston head 312 extends and retracts back and forth in the inner cavity of the cylinder 321, the extending and retracting movement process of each time is influenced by a hydraulic damping coefficient, the speed of the relative movement of the piston head 312 and the inner cavity of the cylinder 321 is controlled step by step, and the relative movement speed is transmitted to the precession shaft 12 through the piston connecting rod 311 and the connecting rod 2 so as to control the precession angular speed of the stabilizer gyroscope 1.
The invention can be applied to the field of the anti-rolling gyroscope and other fields requiring speed control.
In summary, the device and the method for controlling the precession speed of the anti-rolling gyroscope provided by the invention do not need a plurality of units such as a sensor, a control circuit and the like, have a simple structure, greatly improve the reliability of a system and reduce the cost of the system; a proportional valve is not needed, and the requirement on the cleanliness of an oil way is low; power supply is not needed, and energy sources are saved; the method can be applied to various speed control scenes and has wide applicability.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (9)
1. The utility model provides a stabilizer gyro precession rate control method which is characterized in that, based on a stabilizer gyro precession rate controlling means realize, stabilizer gyro is installed on the mounting base, be provided with on the stabilizer gyro precession rate controlling means with stabilizer gyro fixed connection's precession axis, it still includes:
the connecting rod is a rod body with a middle point fixedly connected with one side end part of the precession shaft and is mutually perpendicular to the precession shaft, and the connecting rod synchronously rotates around the middle point along with precession of the stabilizer gyroscope;
the oil cylinder groups are identical oil cylinders symmetrically arranged on two sides of the middle point of the connecting rod;
the oil cylinder comprises: the cylinder body is a closed columnar body provided with an inner cavity, and the bottom end of the cylinder body is rotationally connected with the mounting base; the piston assembly is provided with a piston connecting rod which is rotationally connected with the connecting rod at the top end, a piston head which is inserted into the inner cavity of the cylinder body is arranged at the bottom end, the shape and the size of the piston head are matched with those of the inner cavity of the cylinder body, and the piston head can reciprocate in the inner cavity of the cylinder body; the piston head divides the inner cavity of the cylinder body into a rod cavity and a rodless cavity; an oil cylinder oil way is arranged in the inner cavity of the cylinder body and used for containing oil; the oil cylinder oil way comprises a rod cavity and a rodless cavity, and further comprises: the oil duct is an axial hole arranged in the side wall of the cylinder body; the damping hole is a radial hole arranged in the side wall of the cylinder body, one end of the damping hole is communicated with the inner cavity of the cylinder body, and the other end of the damping hole is communicated with the oil duct; the valve block connecting hole is a radial hole arranged in the side wall of the cylinder body, one end of the valve block connecting hole is communicated with the oil duct, and the other end of the valve block connecting hole is communicated with the outside of the cylinder body; when the piston head reciprocates in the inner cavity of the cylinder body, the damping of the oil in the oil cylinder oil way passing through the damping hole can be dynamically changed, so that the rotating angular speed of the connecting rod is dynamically controlled; the damping holes at the topmost end and the bottommost end are internally provided with liquid one-way valves, so that oil liquid of the hydraulic system can only flow from the oil duct to the direction of the inner cavity of the cylinder body;
the valve block is a component with a main oil way arranged inside, the main oil way is communicated with oil cylinder oil ways of all the oil cylinders of the oil cylinder group through the valve block connecting hole, and the main oil way and all the oil cylinder oil ways jointly form a hydraulic system; wherein, the liquid crystal display device comprises a liquid crystal display device,
when the anti-rolling gyroscope precesses, the precession shaft drives the piston assembly to reciprocate in the inner cavity of the cylinder body through the connecting rod, the volumes of the rod cavity and the rodless cavity are dynamically changed along with the precession shaft, and oil liquid of the hydraulic system is extruded and pushed to flow between the rod cavity and the rodless cavity; meanwhile, the movement speed of the piston head is dynamically controlled due to the restriction of the hydraulic damping coefficient of the oil in the hydraulic system, and the hydraulic damping coefficient in the hydraulic system is mainly determined by the minimum sectional area of the oil flowing path; the method comprises the following steps:
s1, retracting the piston head;
in the process of retracting the piston head towards the lower end cover, the volume of the rodless cavity is gradually reduced, the volume of the rod cavity is correspondingly increased, oil in the rodless cavity is gradually transferred to the rod cavity, and the oil flowing path is as follows: the rodless cavity, the effective damping holes in the rodless cavity, the oil duct, the effective damping holes in the rodless cavity and the rodless cavity; wherein the number of each effective damping hole in the rodless cavity is K b The damping hole at the bottommost end in the rodless cavity is closed by being provided with a liquid one-way valve from the oil duct to the rodless cavity, K b Excluding the bottommost orifice; the number of each effective damping hole in the rod cavity is K a ，K a All damping holes in the rod cavity are included; the hydraulic damping coefficient is formed by K a Or K b Is determined by the minimum value k of (2); the hydraulic damping coefficient dynamically changes and is maximum when k=0; when k=0, the piston head is retracted to a position in the rodless cavity, wherein the position only comprises the bottommost damping hole, and at the moment, the retained oil in the rodless cavity prevents the piston head from being retracted continuously;
s2, the piston head stretches out;
in the process that the piston head stretches out towards the upper end cover, the volume of the rod cavity is gradually reduced, the volume of the rod-free cavity is correspondingly increased, oil in the rod cavity is gradually transferred to the rod-free cavity, and the oil flowing path is as follows: the effective damping holes in the rod cavity, the oil ducts in the rod cavity, the effective damping holes in the rodless cavity and the rodless cavity; wherein the damping hole at the topmost end in the rod cavity is closed by being provided with a liquid one-way valve from the oil duct to the rod cavity, K a Excluding the topmost resistorA nylon hole; k (K) b All damping holes in the rodless cavity are included; the hydraulic damping coefficient is defined by K a Or K b Is determined by the minimum value k of (2); the hydraulic damping coefficient dynamically changes and is maximum when k=0; when k=0, the piston head extends to a position in the rod cavity, wherein the position only comprises the topmost damping hole, and the retained oil in the rod cavity prevents the piston head from continuously extending;
s3, the piston head stretches out and retracts back and forth so as to control the precession angular velocity of the anti-shake gyroscope;
the piston head extends out and retracts back and forth in the inner cavity of the cylinder body, the speed of the relative movement of the piston head and the inner cavity of the cylinder body is controlled step by step under the influence of the hydraulic damping coefficient, and the piston head is transmitted to the precession shaft through the piston connecting rod and the connecting rod so as to control the precession angular speed of the anti-rolling gyroscope.
2. A stabilizer gyro precession rate control device for implementing the stabilizer gyro precession rate control method according to claim 1, the stabilizer gyro precession rate control device comprising:
the connecting rod is a rod body with a middle point fixedly connected with one side end part of the precession shaft and is mutually perpendicular to the precession shaft, and the connecting rod synchronously rotates around the middle point along with precession of the stabilizer gyroscope;
the oil cylinder groups are identical oil cylinders symmetrically arranged on two sides of the middle point of the connecting rod;
the oil cylinder comprises: the cylinder body is a closed columnar body provided with an inner cavity, and the bottom end of the cylinder body is rotationally connected with the mounting base; the piston assembly is provided with a piston connecting rod which is rotationally connected with the connecting rod at the top end, a piston head which is inserted into the inner cavity of the cylinder body is arranged at the bottom end, the shape and the size of the piston head are matched with those of the inner cavity of the cylinder body, and the piston head can reciprocate in the inner cavity of the cylinder body; the piston head divides the inner cavity of the cylinder body into a rod cavity and a rodless cavity; an oil cylinder oil way is arranged in the inner cavity of the cylinder body and used for containing oil; the oil cylinder oil way comprises a rod cavity and a rodless cavity, and further comprises: the oil duct is an axial hole arranged in the side wall of the cylinder body; the damping hole is a radial hole arranged in the side wall of the cylinder body, one end of the damping hole is communicated with the inner cavity of the cylinder body, and the other end of the damping hole is communicated with the oil duct; the valve block connecting hole is a radial hole arranged in the side wall of the cylinder body, one end of the valve block connecting hole is communicated with the oil duct, and the other end of the valve block connecting hole is communicated with the outside of the cylinder body; when the piston head reciprocates in the inner cavity of the cylinder body, the damping of the oil in the oil cylinder oil way passing through the damping hole can be dynamically changed, so that the rotating angular speed of the connecting rod is dynamically controlled;
the valve block is a component with a main oil way arranged inside, the main oil way is communicated with oil cylinder oil ways of all the oil cylinders of the oil cylinder group through the valve block connecting hole, the main oil way and all the oil cylinder oil ways jointly form a hydraulic system, and the valve block is used for balancing system pressure, radiating heat and adding supplementary oil liquid of the hydraulic system.
3. The stabilizer gyro precession rate control device according to claim 2, wherein a middle section of the piston head coincides with a middle section of the cylinder block when a precession angle of the stabilizer gyro is 0 °.
4. The stabilizer gyro precession rate control device according to claim 2, wherein the oil cylinder further includes:
the upper end cover is a sealing cover fixedly arranged at the upper end part of the cylinder body, a piston connecting rod hole sleeved outside the piston connecting rod is formed in the center of the cover body, and a sealing device is arranged between the piston connecting rod and the piston connecting rod hole;
the lower end cover is a sealing cover fixedly arranged at the lower end part of the cylinder body, and the bottom of the cover body is rotationally connected with the mounting base.
5. The stabilizer gyro precession speed control device according to claim 2, wherein each of the damping holes is provided at intervals along the axial direction of the cylinder body and is symmetrical with respect to the cylinder body middle section.
6. The precession speed control device of a stabilizer gyroscope according to claim 2, wherein liquid check valves are provided in the topmost and bottommost damping holes, so that oil of the hydraulic system can flow only from the oil passage toward the cylinder inner cavity, and the piston head stops moving when approaching to a top or bottom limit position in the cylinder.
7. The precession speed control device of a stabilizer gyroscope of claim 4,
an upper air release channel which is communicated with the inner cavity of the cylinder body and the outside is arranged in the upper end cover, and an upper one-way air release valve is arranged at the end part of the upper air release channel which is communicated with the outside, so that the air in the inner cavity of the cylinder body can be discharged from the upper one-way air release valve;
the lower end cover is internally provided with a lower air discharge channel which is communicated with the inner cavity of the cylinder body and the outside, and the end part of the outer part of the lower air discharge channel is provided with a lower one-way air discharge valve, so that the air in the inner cavity of the cylinder body can be discharged from the lower one-way air discharge valve.
8. The stabilizer gyro precession rate control device of claim 2, wherein the valve block further comprises:
the energy accumulator is communicated with the main oil way and used for balancing the pressure of the hydraulic system;
and the oiling interface is communicated with the main oil way and is provided with a liquid one-way valve, and the oiling interface is used for unidirectional oiling of the hydraulic system.
9. The precession speed control device for a stabilizer gyro according to any one of claims 2 to 8, wherein the number of cylinders provided at both ends of the connecting rod is symmetrically increased according to the magnitude of the precession moment to be controlled.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111589052.3A CN114263642B (en) | 2021-12-23 | 2021-12-23 | Device and method for controlling precession speed of anti-rolling gyroscope |
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| CN202111589052.3A CN114263642B (en) | 2021-12-23 | 2021-12-23 | Device and method for controlling precession speed of anti-rolling gyroscope |
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| CN103470553A (en) * | 2013-09-10 | 2013-12-25 | 上海羽翼船舶设备有限公司 | Procession speed limiting device for anti-rolling gyroscope |
| CN106907362A (en) * | 2017-04-14 | 2017-06-30 | 中国船舶重工集团公司第七0四研究所 | Subtracting based on magnetic flow liquid shakes gyroscopic procession control system |
| CN210106286U (en) * | 2019-04-18 | 2020-02-21 | 佛山市集成液压机械有限公司 | Oil cylinder with bidirectional speed reduction function |
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2021
- 2021-12-23 CN CN202111589052.3A patent/CN114263642B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6698817B1 (en) * | 2002-04-29 | 2004-03-02 | O'brian Woody V. | Variable rate covering system for open top vehicle containers |
| CN103057374A (en) * | 2012-12-27 | 2013-04-24 | 三一重工股份有限公司 | Hydro-pneumatic suspension system and engineering vehicle |
| CN203335520U (en) * | 2013-07-04 | 2013-12-11 | 苏州三基铸造装备股份有限公司 | Hydraulic cylinder with oil hole sets formed in cylinder barrel side wall |
| CN103470553A (en) * | 2013-09-10 | 2013-12-25 | 上海羽翼船舶设备有限公司 | Procession speed limiting device for anti-rolling gyroscope |
| CN106907362A (en) * | 2017-04-14 | 2017-06-30 | 中国船舶重工集团公司第七0四研究所 | Subtracting based on magnetic flow liquid shakes gyroscopic procession control system |
| CN210106286U (en) * | 2019-04-18 | 2020-02-21 | 佛山市集成液压机械有限公司 | Oil cylinder with bidirectional speed reduction function |
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| CN114263642A (en) | 2022-04-01 |
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