CN115610606A - Comprehensive stabilizing system of small-scale unmanned ship under high sea condition - Google Patents
Comprehensive stabilizing system of small-scale unmanned ship under high sea condition Download PDFInfo
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- CN115610606A CN115610606A CN202211413263.6A CN202211413263A CN115610606A CN 115610606 A CN115610606 A CN 115610606A CN 202211413263 A CN202211413263 A CN 202211413263A CN 115610606 A CN115610606 A CN 115610606A
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- rolling
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- ship
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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
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
The invention discloses a comprehensive stabilization system of a small-scale unmanned ship under a high sea condition, which comprises a comprehensive control system, a passive stabilization device, an active stabilization device and inertial navigation equipment; the passive anti-rolling device is used for realizing passive anti-rolling of the naval vessel; the active anti-rolling device is used for realizing active anti-rolling of the naval vessel; the inertial navigation equipment is used for acquiring motion attitude data of the unmanned ship; and the comprehensive control system is used for intelligently controlling the active stabilizing device and the passive stabilizing device to perform stabilizing action according to the ship motion attitude data transmitted by the inertial navigation equipment. The invention is an intelligent, active and passive combined comprehensive stabilization system, has the advantages of active stabilization and passive stabilization and can make up for related defects, the passive stabilization device and the active stabilization device can simultaneously execute stabilization actions through comprehensive intelligent control, motion damping is provided for a boat body, and the motion amplitude is reduced, so that the unmanned boat has better stabilization effect under various navigational speeds and sea conditions.
Description
Technical Field
The invention belongs to the technical field of ship stabilization, and particularly relates to a comprehensive stabilization system of a small-scale unmanned ship under a high sea condition.
Background
The small-scale unmanned ship is easily influenced by external factors such as wind, wave and flow when sailing under severe sea conditions, and is easy to generate motion responses with 6 degrees of freedom such as pitching, rolling and heaving, so that the balance state of the ship body motion is broken, severe motion responses can cause the damage of the structure of the ship body or the abnormal work of ship-borne equipment, and serious people can cause the unmanned ship to be incapable of completing mission tasks. In order to reduce the motion response of a ship in waves and have the capability of normal navigation and work, the conventional anti-rolling mode is usually to realize the anti-rolling of the ship under a certain range of sea conditions through a single passive anti-rolling device such as a bilge keel, an anti-rolling water tank, an anti-rolling rudder and the like, and the anti-rolling mode is rarely designed for the anti-rolling under severe sea conditions and has certain limitation and passivity.
The traditional stabilization mode has the following defects:
1) The anti-rolling device is easy to generate additional resistance and is not suitable for controlling the course and the speed of the small-scale unmanned ship.
2) The anti-rolling mode is passive anti-rolling and is not suitable for anti-rolling of ships under high sea conditions.
3) The anti-rolling mode is single, and the comprehensive anti-rolling effect is poor.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provide a comprehensive stabilization system for a small-scale unmanned ship under high sea conditions.
The technical solution for realizing the purpose of the invention is as follows: a comprehensive stabilization system of a small-scale unmanned ship under high sea conditions comprises a comprehensive control system, and a passive stabilization device, an active stabilization device and inertial navigation equipment which are connected with the comprehensive control system;
the passive anti-rolling device is fixedly connected with the hull structure and is used for realizing passive anti-rolling of the naval vessel;
the active anti-rolling device is used as an anti-rolling attachment body and is arranged on the hull structure or in the cabin space and used for realizing active anti-rolling of the naval vessel;
the inertial navigation equipment is used for acquiring motion attitude data of the unmanned ship, providing parameter input for the comprehensive control system, and generating reverse damping on the ship body through the motion response and the motion attitude of the ship body so as to reduce the motion amplitude;
the comprehensive control system is used for intelligently controlling the active stabilizing device and the passive stabilizing device to stabilize according to the ship motion attitude data transmitted by the inertial navigation equipment;
when the small unmanned ship works and navigates under the high sea condition, the passive stabilizing device and the active stabilizing device can simultaneously stabilize the ship body, provide motion damping for the ship body, reduce the motion amplitude, and have the characteristics of high reliability and good stabilizing effect.
Further, the passive anti-rolling device comprises a T-shaped anti-rolling hydrofoil and a retractable vertical fin rudder;
the T-shaped anti-rolling hydrofoil is used for cutting a water body by a hydrofoil panel in the sailing process of the boat body and generating vertical damping motion through vortex shedding;
when the small unmanned boat sails under a high sea condition, the retractable vertical fin rudder is released through the comprehensive control system, and transverse damping is generated on the cross section of the fin rudder to reduce the rolling motion amplitude of the boat body; when the vertical fin rudder does not participate in the stabilization of the unmanned ship, the retractable vertical fin rudder is recovered through the comprehensive control system, and the retractable vertical fin rudder and the hull are shaped in the same shape after recovery.
Further, the T-shaped anti-rolling hydrofoil is installed on the bow of the boat body, and the retractable vertical fin rudder is installed on the midship of the boat body.
Further, the active anti-rolling device comprises a cut-off plate and an anti-rolling top;
the intercepting plate is used for adjusting the pitching in the navigation process of the unmanned boat, and damping is generated in the longitudinal motion of the intercepting plate, so that the pitching amplitude of the boat body is reduced;
the anti-rolling gyroscope reduces the rolling motion amplitude of the unmanned boat through restoring force generated by rotation of the rotor.
Furthermore, the intercepting plates comprise a port intercepting plate and a starboard intercepting plate which are symmetrically arranged on the left side and the right side, transverse torsional moment can be generated by the differential motion of the port intercepting plate and the starboard intercepting plate, and the rolling motion amplitude of the unmanned ship is reduced by adjusting the phase difference between the torsional moment and motion response.
The port cut-off plate and the starboard cut-off plate are respectively arranged on the port and the starboard of the boat body tail sealing plate and protrude out of the tail sealing plate.
Furthermore, the heights of the port closure plate and the starboard closure plate extending out of the tail closure plate are adjustable, and the transverse torsional moment is generated by adjusting the heights of the port closure plate and the starboard closure plate.
Further, the anti-rolling gyro is installed in a set range near the swinging center of the hull.
Further, the inertial navigation device is installed in a set range near the hull roll center or the anti-roll top.
Furthermore, the comprehensive control system is arranged in the unmanned ship control cabin, and the active stabilizer is intelligently controlled and started according to the parameters of the longitudinal and transverse rolling angle, the acceleration and the bow deck wave times of the unmanned ship, which are acquired by the inertial navigation equipment, so that the longitudinal and transverse rolling damping of the unmanned ship is increased, and the longitudinal and transverse rolling motion amplitude of the unmanned ship is reduced.
Compared with the prior art, the invention has the following remarkable advantages:
1) The active and passive comprehensive stabilization mode is adopted, and the passive stabilization device and the active stabilization device can work simultaneously, so that the stabilization effect is improved.
2) The anti-rolling device can be intelligently controlled to perform anti-rolling work according to the motion attitude and the rolling attitude of the unmanned ship.
3) Because the anti-rolling device is released and works through the comprehensive control system, when the anti-rolling device does not participate in the anti-rolling work, the anti-rolling device is recovered into the cabin of the hull, and therefore additional attached body resistance is not generated.
4) The system has the characteristics of high reliability and small error rate, is suitable for being used when the small-scale unmanned ship navigates under the high sea condition, and has higher economic value and application value.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
FIG. 1 is a schematic diagram of an integrated roll reduction system.
Fig. 2 is a diagram of the composition of the integrated stabilizer system.
FIG. 3 is a schematic view of a T-shaped anti-roll hydrofoil.
Fig. 4 is a schematic view of a retractable vertical fin rudder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, in conjunction with fig. 1 and 2, there is provided a comprehensive roll reduction system for a small-scale unmanned boat under high sea conditions, the system comprising a comprehensive control system, and a passive roll reduction device, an active roll reduction device and an inertial navigation device connected to the comprehensive control system;
the passive anti-rolling device is fixedly connected with the hull structure and is used for realizing passive anti-rolling of the naval vessel;
the active anti-rolling device is used as an anti-rolling attachment body and is arranged on the hull structure or in the cabin space and used for realizing active anti-rolling of the naval vessel;
the inertial navigation equipment is used for acquiring motion attitude data of the unmanned ship, providing parameter input for the comprehensive control system, and generating reverse damping on the ship body through the motion response and the motion attitude of the ship body so as to reduce the motion amplitude;
the comprehensive control system is used for intelligently controlling the active stabilizing device and the passive stabilizing device to perform stabilizing action according to the ship motion attitude data transmitted by the inertial navigation equipment;
when the small unmanned ship works and navigates under the high sea condition, the passive stabilizing device and the active stabilizing device can simultaneously stabilize the ship body, provide motion damping for the ship body, reduce the motion amplitude, and have the characteristics of high reliability and good stabilizing effect.
Further, in one embodiment, the passive roll reduction device consists essentially of a T-shaped roll reduction hydrofoil (as shown in fig. 3) and a retractable vertical fin rudder (as shown in fig. 4).
The T-shaped anti-rolling hydrofoil belongs to a passive anti-rolling device and is generally fixedly arranged at the bow part of a boat body, in the longitudinal movement process of the bow part, a hydrofoil panel cuts a water body, vertical damping movement is generated through vortex shedding, the movement amplitude of pitching and heaving is reduced, and then the number of times of the upper layer of a deck of the bow part and the vertical movement acceleration are reduced.
The retractable vertical fin rudder is arranged in the middle of the boat bottom, and when the sea condition is small and the motion attitude of the boat body is stable, the retractable vertical fin rudder is in a recovery state and is matched with the surface of the boat body. When the sea condition is high and the hull motion attitude is unstable, the electric device is started through the comprehensive control system to release the vertical fin rudder, and a reverse restoring moment is generated to relieve the shake when the hull is influenced by wind power to incline, so that the rolling amplitude of the hull is reduced.
Further, in one embodiment, the active stabilization device mainly comprises a port cut-off plate, a starboard cut-off plate and a stabilization gyro.
The left intercepting plate and the right intercepting plate are generally arranged on the boat tail and protrude out of the boat bottom plate, and are used for adjusting the pitching in the sailing process of the boat body, certain damping can be generated in longitudinal motion of the left intercepting plate and the right intercepting plate, and the pitching in waves is reduced.
The left and right intercepting plates are symmetrically arranged on two sides, transverse torsional moment can be generated by differential motion of the left and right intercepting plates, and the torsional moment of the left and right intercepting plates and the phase of motion response are adjusted and controlled, so that rolling damping resisting the hull is generated, and the rolling amplitude is reduced.
The electric control devices of the left and right intercepting plates are connected with the comprehensive stabilizing system and receive the control information of the comprehensive control system.
The anti-rolling gyro is generally arranged in the cabin and is positioned near the swinging center of the hull, and no exposed structure is generated, so that additional resistance and energy consumption reduction are avoided. In the sailing movement process of the boat body, the anti-rolling gyroscope mainly reduces the rolling amplitude of the boat body by virtue of restoring force generated by rotation of the rotor.
Further, in one embodiment, the inertial navigation equipment is installed near the hull swing center or the anti-rolling gyroscope and is mainly used for acquiring motion attitude data of the unmanned boat and providing parameter input for the comprehensive control system.
Further, in one embodiment, the comprehensive control system is arranged in the control cabin and is mainly used for inputting parameters such as the longitudinal and transverse rolling angle, the acceleration and the heading and deck surging times of the unmanned boat to intelligently control and start the retractable vertical fin rudder, the port cutoff plate and the starboard cutoff plate to actively reduce the rolling amplitude of the boat body and improve the wave resistance of the boat body.
The invention adopts an intelligent, active and passive combined comprehensive stabilization system, has the advantages of active stabilization and passive stabilization and can make up for related defects, and the active stabilization device and the passive stabilization device can simultaneously execute stabilization actions through comprehensive intelligent control, so that motion damping is provided for a boat body, and the motion amplitude is reduced, so that the unmanned boat has better stabilization effect under various navigational speeds and sea conditions, and has certain application value.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions are only illustrative of the principles of the invention, and any modifications, equivalent substitutions, improvements and the like within the spirit and principle of the invention should be included within the scope of the invention without departing from the spirit and scope of the invention.
Claims (10)
1. A comprehensive stabilization system of a small-scale unmanned ship under a high sea condition is characterized by comprising a comprehensive control system, and a passive stabilization device, an active stabilization device and inertial navigation equipment which are connected with the comprehensive control system;
the passive anti-rolling device is fixedly connected with the hull structure and is used for realizing passive anti-rolling of the naval vessel;
the active anti-rolling device is used as an anti-rolling attachment body and is arranged on the hull structure or in the cabin space and used for realizing active anti-rolling of the naval vessel;
the inertial navigation equipment is used for acquiring motion attitude data of the unmanned ship and providing parameter input for the comprehensive control system;
the comprehensive control system is used for intelligently controlling the active stabilizing device and the passive stabilizing device to perform stabilizing action according to the ship motion attitude data transmitted by the inertial navigation equipment;
when the small unmanned ship works and navigates under high sea conditions, the passive stabilizing device and the active stabilizing device can simultaneously stabilize the ship body.
2. The integrated roll reduction system for high sea state small scale unmanned boats of claim 1, wherein the passive roll reduction means comprises T-shaped roll reduction hydrofoils, retractable vertical fin rudders;
the T-shaped anti-rolling hydrofoil is used for cutting a water body by a hydrofoil panel in the sailing process of the hull and generating vertical damping motion through vortex shedding;
when the small unmanned boat sails under a high sea condition, the retractable vertical fin rudder is released through the comprehensive control system, and transverse damping is generated on the cross section of the fin rudder to reduce the rolling motion amplitude of the boat body; when the vertical fin rudder does not participate in the stabilization of the unmanned ship, the retractable vertical fin rudder is recovered through the comprehensive control system, and the retractable vertical fin rudder and the hull are shaped in the same shape after recovery.
3. The integrated roll reduction system for the small-scale unmanned high sea state ship according to claim 2, wherein the T-shaped roll reduction hydrofoil is installed in a bow portion of the ship body, and the retractable vertical fin rudder is installed in a midship portion of the ship body.
4. The integrated roll reduction system for a high sea state small scale unmanned boat of claim 1, wherein the active roll reduction device comprises a shut-off plate, a roll-reducing top;
the intercepting plate is used for adjusting the pitching in the sailing process of the unmanned boat, damping is generated in the longitudinal motion of the intercepting plate, and the pitching amplitude of the boat body is reduced;
the anti-rolling gyroscope reduces the rolling motion amplitude of the unmanned ship through restoring force generated by rotation of the rotor.
5. The integrated stabilizing system for a small-scale unmanned ship under high sea conditions of claim 4, wherein the shutoff plates comprise a port shutoff plate and a starboard shutoff plate which are symmetrically arranged on the left side and the right side, the port shutoff plate and the starboard shutoff plate are differentially arranged to generate transverse torsional moment, and the amplitude of the rolling motion of the unmanned ship is reduced by adjusting the phase difference between the torsional moment and the motion response.
6. The integrated stabilizing system for a small-scale unmanned high-sea state craft of claim 5, wherein said port and starboard closure plates are mounted on the port and starboard sides of the hull tail closure plates and protrude from the tail closure plates.
7. The integrated roll reduction system for high sea small scale unmanned boats of claim 6, wherein the heights of the port and starboard closure plates extending beyond the tail closure plate are adjustable, and the lateral torsional moment is generated by adjusting the heights of the port and starboard closure plates.
8. The integrated roll reduction system for a high sea condition small scale unmanned ship according to claim 4, wherein the roll reduction gyro is installed within a set range near the center of roll of the hull.
9. The integrated roll reduction system for a small-scale unmanned high sea state boat according to claim 1, wherein the inertial navigation device is installed within a set range near a boat body roll center or a roll reduction gyro.
10. The comprehensive anti-rolling system of the small-scale unmanned ship under the high sea condition of claim 1, wherein the comprehensive control system is arranged in an unmanned ship control cabin, and an active anti-rolling device is intelligently controlled and started according to parameters of the longitudinal and transverse rolling angle, the acceleration and the heading deck wave times of the unmanned ship, which are acquired by inertial navigation equipment, so that the longitudinal and transverse rolling damping of the unmanned ship is increased, and the longitudinal and transverse rolling motion amplitude of the unmanned ship is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211413263.6A CN115610606A (en) | 2022-11-11 | 2022-11-11 | Comprehensive stabilizing system of small-scale unmanned ship under high sea condition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211413263.6A CN115610606A (en) | 2022-11-11 | 2022-11-11 | Comprehensive stabilizing system of small-scale unmanned ship under high sea condition |
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| CN115610606A true CN115610606A (en) | 2023-01-17 |
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| CN202211413263.6A Pending CN115610606A (en) | 2022-11-11 | 2022-11-11 | Comprehensive stabilizing system of small-scale unmanned ship under high sea condition |
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- 2022-11-11 CN CN202211413263.6A patent/CN115610606A/en active Pending
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