CN116923655A - Self-adaptive ship-shaking stabilization technology and system based on air-floatation active control device - Google Patents
Self-adaptive ship-shaking stabilization technology and system based on air-floatation active control device Download PDFInfo
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- CN116923655A CN116923655A CN202310825060.6A CN202310825060A CN116923655A CN 116923655 A CN116923655 A CN 116923655A CN 202310825060 A CN202310825060 A CN 202310825060A CN 116923655 A CN116923655 A CN 116923655A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 16
- 230000006641 stabilisation Effects 0.000 title claims description 28
- 238000011105 stabilization Methods 0.000 title claims description 28
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 17
- 238000013016 damping Methods 0.000 claims abstract description 7
- 230000003044 adaptive effect Effects 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 12
- 238000007667 floating Methods 0.000 claims description 11
- 238000007599 discharging Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000005188 flotation Methods 0.000 claims description 3
- 230000008030 elimination Effects 0.000 claims description 2
- 238000003379 elimination reaction Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 239000003381 stabilizer Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B17/0081—Vibration isolation or damping elements or arrangements, e.g. elastic support of deck-houses
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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
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a self-adaptive ship-shake stabilizing technology and a self-adaptive ship-shake stabilizing system based on an air-floatation active control device, wherein the technology comprises the following steps of 1), a control system (50) reads signals acquired by a ship accelerometer (60): step 2), judging whether the ship body generates ship shake or not based on signals acquired by the ship body accelerometer (60); step 3), the control system (50) changes the height of the carrying platform (10) by controlling the air springs (20) so as to enable the ship fixed load (2) to generate forced vibration; step 4), judging whether the ship is eliminated, if so, returning to the step 3); if the judgment is eliminated, performing step 5); step 5), the control system (50) increases the amount of damping in the controlled damper (30) to dampen the forced vibration.
Description
Technical Field
The invention relates to the technical field of ship vibration control, in particular to a self-adaptive ship shaking stabilization technology and system based on an air floatation active control device.
Background
At present, active control technology for ship shaking caused by sea wave fluctuation when a ship sails on the sea (hereinafter referred to as ship shaking) is less studied, and in the prior art, the stabilizer fin, the stabilizer rudder and the T-shaped wing are additionally arranged on the underwater part of the ship, or the stabilizer water tank is additionally arranged inside the ship for stabilizing the ship, but the technology still has some defects, in particular as follows:
(1) The fixed load of the ship is not fully utilized. In order to generate larger anti-rolling moment, the traditional anti-rolling technology often needs to install additional counterweights or increase the outline dimension of the anti-rolling device, and the phase change reduces the effective load capacity of the ship, so that the full utilization of space on the ship is not facilitated.
(2) Active control techniques are not employed. Taking the anti-rolling water tanks as an example, the technology relies on inertia redistribution of water in the left water tank and the right water tank to generate anti-rolling moment, the anti-rolling effect is very limited, and the anti-rolling moment can be oscillated to zero only for a long time without a controlled damper, which is unfavorable for rapid adjustment.
Accordingly, there is a need for new technical approaches to at least partially overcome the technical problems existing in the prior art.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a self-adaptive ship-shake stabilization technology based on an air-floatation active control device, which fully exerts the vibration control characteristic of the air-floatation active control device based on a vibration control theory, generates a stabilization moment opposite to ship-shake vibration by utilizing a fixed load on a ship, and realizes the inhibition and elimination of ship-shake by means of an accelerometer and a controlled damper, thereby reducing the possibility of ship-shake overturning.
More specifically, according to an aspect of the present invention, there is provided an adaptive ship stabilizing system based on an air-floating active control device, including:
a cargo platform (10), an air spring (20), a controlled damper (30), a platform accelerometer (40), a control system (50) and a hull accelerometer (60);
the air spring (20) is arranged between the carrying platform (10) and the ship body (1) and is used for supporting the carrying platform (10), and the air spring (20) is provided with an air charging valve (21) and an air discharging valve (22);
the two ends of the controlled damper (30) are respectively arranged at the upper end and the lower end of the air spring (20);
the platform accelerometer (40) is fixedly arranged on the carrying platform (10) and is used for measuring vibration parameters of the carrying platform (10);
the hull accelerometer (60) is arranged on the port and starboard of the hull (1) and is used for measuring vibration parameters of the hull; and
the control system (50) is respectively electrically connected with the air spring (20), the controlled damper (30), the platform accelerometer (40) and the hull accelerometer (60), and controls the air spring (20) and the controlled damper (30) according to measurement signals of the platform accelerometer (40) and the hull accelerometer (60), thereby forming the self-adaptive ship stabilizing system.
According to an embodiment of the invention, wherein the vibration parameters of the load platform (10) comprise the frequency, amplitude and phase of the forced vibration.
According to an embodiment of the invention, wherein the vibration parameters of the hull comprise frequency, amplitude and phase generated by the ship's shake.
According to an embodiment of the invention, wherein the controlled damper (30) is a viscous damper.
According to another aspect of the present invention, there is provided an adaptive ship stabilization technique based on an air-floating active control device, comprising:
step 1), the control system (50) reads the signals acquired by the hull accelerometer (60):
step 2), judging whether the ship body generates ship shake or not based on signals acquired by the ship body accelerometer (60), and returning to the step 1) when judging that the ship shake is not generated; when the ship is judged to be generated, further collecting the frequency, amplitude and phase of the ship, and entering into the step 3);
step 3), the control system (50) changes the height of the carrying platform (10) by controlling the air springs (20) so as to enable the ship fixed load (2) to generate forced vibration;
step 4), the control system (50) reads the vibration parameters of forced vibration acquired by the platform accelerometer (40) and compares the vibration parameters with the ship vibration parameters acquired by the ship body accelerometer (60) to judge whether the ship vibration is eliminated, and if the ship vibration is judged not to be eliminated, the step 3) is returned; if the judgment is eliminated, performing step 5);
step 5), the control system (50) increases the amount of damping in the controlled damper (30) to dampen the forced vibration.
According to an embodiment of the invention, wherein in step 2), the occurrence of ship's sway is determined when the ship's side generates periodically varying accelerations in the vertical direction.
According to an embodiment of the invention, wherein in step 3), the control system (50) varies the height of the load platform by alternately opening and closing the inflation valve (21) and the deflation valve (22) on the air spring (20).
According to the embodiment of the invention, in the step 4), the frequency of the forced vibration is equal to the ship vibration frequency, and the phase difference is half period, so that the ship vibration is judged to be eliminated.
According to an embodiment of the invention, wherein the adaptive ship's sway stabilization technique based on an air-floating active control device further comprises arranging one or more adaptive ship's sway stabilization systems in a one-sided arrangement, a two-sided arrangement or a straddling arrangement on the hull.
Compared with the prior art, the invention provides a new design scheme and can realize the beneficial effects:
(1) The air floatation active control device enables the fixed load of the ship to generate controllable forced vibration. The device mainly comprises an air spring, an air charging valve, an air discharging valve, a controlled damper, a carrying platform, a platform accelerometer and a control system. The device is arranged below the fixed load of the ship, and a control system in the device dynamically adjusts the height of the object carrying platform above the air spring by opening and closing the air charging valve, so that the fixed load of the ship generates forced vibration, and the frequency, amplitude and phase of the forced vibration are controlled by the control system. In addition, the control system can quickly attenuate the forced vibration by increasing the damping magnitude of the controlled damper.
(2) Self-adaptive ship stabilizing technology. The technology is realized by means of an air-float active control device and a control system in the air-float active control device, and by arranging a single or a plurality of air-float active control devices on two sides of a ship body, the ship fixed load generates forced vibration with the same ship shaking frequency and half period of phase difference, and the forced vibration generates a shaking-resistant moment to eliminate ship shaking. For the ships with smaller width, the control device adopts a transverse arrangement mode, the control system independently controls the heights of the air springs positioned on the port and starboard sides of the ships to apply overturning moment to the fixed load on the carrying platform, and the counter moment of the overturning moment acts as anti-rolling moment and also plays a role in eliminating ship rolling.
Drawings
Fig. 1 is a schematic diagram of an adaptive ship stabilization technique based on an air-float active control device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an adaptive ship stabilization technique based on an air-floatation active control device according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an adaptive ship stabilizing system based on an air-floating active control device according to an embodiment of the present invention; and
fig. 4 is a schematic diagram of an arrangement mode of a self-adaptive ship-rocking stabilizing system based on an air-floating active control device according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic diagram of an adaptive ship stabilization technique based on an air-float active control device according to an embodiment of the present invention; fig. 3 is a schematic structural diagram of an adaptive ship-shake stabilizing system based on an air-float active control device according to an embodiment of the present invention. Referring to fig. 1 and 3, by means of a hull accelerometer 60 mounted on the port and starboard of the hull 1, the control system 50 in the air-floating active control device can automatically identify the current ship's vibration intensity, calculate characteristic parameters such as the frequency, amplitude and phase of the ship's vibration, and generate a ship's vibration curve, as shown by ABC curve in fig. 1, in one ship's vibration period, A, B, C points correspond to three typical positions of the hull being stationary, the port being raised to the highest and the starboard being raised to the highest, respectively, wherein the time from B to C state is half of the ship's vibration period. According to the real-time ship-shake parameters, the control system 50 of the air-float active control device generates forced vibration on the fixed load of the ship, and further adjusts the frequency and phase of the forced vibration to be equal to the ship-shake frequency, and the phase difference is half period, as shown by the DEF curve in fig. 1. According to the dynamics theory, the forced vibration can enable the ship fixed load to generate a periodically-changed moment at the ship side position, the direction of the moment is always opposite to the ship shaking direction, the moment is called as a shaking-resistant moment, and the shaking-resistant moment can weaken and eliminate ship shaking, so that ship stabilization is realized.
Referring to fig. 3, an adaptive ship's roll stabilization system based on an air-floating active control device of an embodiment may include a cargo platform 10, air springs 20, controlled dampers 30, a platform accelerometer 40, a control system 50, and a hull accelerometer 60; wherein the load carrier platform 10 is for carrying a fixed load 2 of a vessel.
An air spring 20 is arranged between the carrying platform 10 and the hull 1 for supporting the carrying platform 10, and an air charging valve 21 and an air discharging valve 22 are arranged on the air spring 20. The height of the carrying platform is determined by the air pressure in the air spring supported by the lower part, the air charging valve is connected with a compressed air charging pump (not shown), when the air charging valve is opened and the air discharging valve is closed, the air pressure in the air spring 20 is increased, the height of the carrying platform is increased, and when the air charging valve is closed and the air discharging valve is opened, the air pressure in the air spring is reduced, and the height of the carrying platform is reduced.
The controlled damper 30 may be a viscous damper or the like, the damping force of which can be controlled, and both ends of the controlled damper 30 are respectively provided at the upper end and the lower end of the air spring 20. The platform accelerometer 40 is fixedly arranged on the carrying platform 10 and is used for measuring vibration parameters of the carrying platform 10, such as frequency, amplitude, phase and the like; the hull accelerometer 60 is arranged on the port and starboard of the hull 1 and is used for measuring vibration parameters of the hull, such as frequency, amplitude, phase and the like generated by ship shaking.
The control system 50 is electrically connected to the air springs 20, the controlled dampers 30, the platform accelerometer 40 and the hull accelerometer 60, respectively, and controls the air springs 20 and the controlled dampers 30 based on the measurement signals of the platform accelerometer 40 and the hull accelerometer 60, thereby forming an adaptive ship-shake stabilization system.
When the control system 50 alternately opens and closes the air charging and discharging valve, the fixed load 2 above the carrying platform can generate forced vibration, the frequency, amplitude and phase of the forced vibration are measured by the platform accelerometer 40 arranged on the carrying platform, and the measuring signal is transmitted to the control system to realize closed-loop control, the controlled damper 30 is used for generating a damping quantity with controllable size, and the forced vibration is rapidly attenuated when the ship is eliminated, so that the forced vibration is prevented from becoming a new ship shaking excitation source. Meanwhile, the hull accelerometers 60 are mounted on the port and starboard sides of the ship to assist the control system 50 in identifying and measuring the ship's shake. The control system 50 is not particularly limited, and may employ a conventional control technique to realize the functions thereof.
Fig. 2 is a schematic flow chart of an adaptive ship stabilization technique based on an air-floating active control device according to an embodiment of the present invention, as shown in the figure, the adaptive ship stabilization technique of the embodiment may include: the control system 50 in the air-float active control system monitors the measurement result of the hull accelerometer, when the ship board generates periodically changing acceleration in the vertical direction, it judges that the ship is swinging, and further measures the frequency, amplitude and phase of the current ship, on this basis, the control system 50 changes the height of the carrying platform 10 by alternately opening and closing the air charging and discharging valves in the air springs 20, so that the ship fixed load generates forced vibration, the frequency of the forced vibration is equal to the ship swinging frequency, the phase difference is half a period, and the forced vibration will cause the ship fixed load to generate stabilizing moment, and the direction of the stabilizing moment is opposite to the ship swinging direction. Under the action of the stabilizing moment, the ship is restrained and eliminated, the process is monitored by the ship body accelerometer 60 in real time, the control system 50 increases the damping quantity in the controlled damper 30 when the ship is eliminated, and the forced vibration of the ship fixed load 2 is smoothed, so that a new ship shaking excitation source is avoided.
Fig. 4 is a schematic diagram of an arrangement mode of an adaptive ship-sway stabilization system based on an air-flotation active control device according to an embodiment of the present invention, and referring to fig. 4, the adaptive ship-sway stabilization system based on an air-flotation active control device according to an embodiment of the present invention may be arranged in different manners on ships of different sizes, for example, a single-sided, double-sided, crossing arrangement manner, and the number of arrangements may be flexibly adjusted. The air-float active control device is arranged below the fixed load close to the ship side, so that the optimal ship-shake effect can be achieved, and for large ships, the air-float active control device can be singly or multiply arranged on the port and the starboard of the ship in a scattered manner, and as shown in (a) and (b) in fig. 4, the single-side arrangement and the double-side arrangement can generate the stabilization moment for stabilizing the ship-shake. For small ships with narrow width, the air-float active control device can be increased and span the whole ship deck, as shown in (c) of fig. 4, at this time, the control system of the air-float active control device enables the fixed load to generate periodically-changed overturning moment, and the reaction force moment of the fixed load serves as anti-rolling moment, so that the purpose of eliminating ship rolling is achieved. In the invention, the arrangement of one side, two sides and crossing of the air floatation active control device is different in form, but the generated stabilizing effect is consistent
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. Self-adaptive ship stabilizing system based on air supporting initiative controlling means, characterized by comprising: a cargo platform (10), an air spring (20), a controlled damper (30), a platform accelerometer (40), a control system (50) and a hull accelerometer (60);
the air spring (20) is arranged between the carrying platform (10) and the ship body (1) and is used for supporting the carrying platform (10), and the air spring (20) is provided with an air charging valve (21) and an air discharging valve (22);
the two ends of the controlled damper (30) are respectively arranged at the upper end and the lower end of the air spring (20);
the platform accelerometer (40) is fixedly arranged on the carrying platform (10) and is used for measuring vibration parameters of the carrying platform (10);
the hull accelerometer (60) is arranged on the port and starboard of the hull (1) and is used for measuring vibration parameters of the hull; and
the control system (50) is respectively electrically connected with the air spring (20), the controlled damper (30), the platform accelerometer (40) and the hull accelerometer (60), and controls the air spring (20) and the controlled damper (30) according to measurement signals of the platform accelerometer (40) and the hull accelerometer (60), thereby forming the self-adaptive ship stabilizing system.
2. The adaptive ship's sway stabilization system based on an air-flotation active control device of claim 1, characterized in that the vibration parameters of the cargo platform (10) comprise the frequency, amplitude and phase of the forced vibration.
3. The adaptive ship's roll stabilization system based on an air-float active control device of claim 1, wherein the vibration parameters of the hull include frequency, amplitude and phase of the ship's roll.
4. The adaptive ship's sway stabilization system based on an air-floatation active control device of claim 1, characterized in that the controlled damper (30) is a viscous damper.
5. An adaptive ship stabilization technique using the adaptive ship stabilization system based on an air-floating active control device according to any one of claims 1 to 4, comprising:
step 1), the control system (50) reads the signals acquired by the hull accelerometer (60):
step 2), judging whether the ship body generates ship shake or not based on signals acquired by the ship body accelerometer (60), and returning to the step 1) when judging that the ship shake is not generated; when the ship is judged to be generated, further collecting the frequency, amplitude and phase of the ship, and entering into the step 3);
step 3), the control system (50) changes the height of the carrying platform (10) by controlling the air springs (20) so as to enable the ship fixed load (2) to generate forced vibration;
step 4), the control system (50) reads the vibration parameters of forced vibration acquired by the platform accelerometer (40) and compares the vibration parameters with the ship vibration parameters acquired by the ship body accelerometer (60) to judge whether the ship vibration is eliminated, and if the ship vibration is judged not to be eliminated, the step 3) is returned; if the judgment is eliminated, performing step 5);
step 5), the control system (50) increases the amount of damping in the controlled damper (30) to dampen the forced vibration.
6. The adaptive ship stabilization technology based on the air-floatation active control device according to claim 5, wherein the technology is characterized in that: in step 2), when the ship side generates periodically changing acceleration in the vertical direction, the occurrence of ship shake is determined.
7. The adaptive ship stabilizing technology based on the air-floating active control device according to claim 5, wherein in step 3), the control system (50) changes the height of the carrying platform by alternately opening and closing the air charging valve (21) and the air discharging valve (22) on the air spring (20).
8. The adaptive ship-shake stabilization technology based on an air-floating active control device according to claim 5, wherein in step 4), the frequency of the forced vibration is equal to the ship-shake frequency, and the phase difference is half a period, so as to determine the ship-shake elimination.
9. An adaptive ship's sway stabilization technique based on an air-float active control device of claim 5 comprising arranging one or more adaptive ship's sway stabilization systems in a one-sided, two-sided or straddling arrangement on the hull.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310825060.6A CN116923655A (en) | 2023-07-06 | 2023-07-06 | Self-adaptive ship-shaking stabilization technology and system based on air-floatation active control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310825060.6A CN116923655A (en) | 2023-07-06 | 2023-07-06 | Self-adaptive ship-shaking stabilization technology and system based on air-floatation active control device |
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| CN116923655A true CN116923655A (en) | 2023-10-24 |
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| CN202310825060.6A Pending CN116923655A (en) | 2023-07-06 | 2023-07-06 | Self-adaptive ship-shaking stabilization technology and system based on air-floatation active control device |
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