CN1214942C - Ship pitch-roll decreasing device and its control method - Google Patents
Ship pitch-roll decreasing device and its control method Download PDFInfo
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- CN1214942C CN1214942C CN 01145339 CN01145339A CN1214942C CN 1214942 C CN1214942 C CN 1214942C CN 01145339 CN01145339 CN 01145339 CN 01145339 A CN01145339 A CN 01145339A CN 1214942 C CN1214942 C CN 1214942C
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- 230000003247 decreasing effect Effects 0.000 title 1
- 239000007788 liquid Substances 0.000 claims abstract description 59
- 239000003381 stabilizer Substances 0.000 claims abstract description 32
- 238000005096 rolling process Methods 0.000 claims description 41
- 230000007246 mechanism Effects 0.000 claims description 18
- 239000012530 fluid Substances 0.000 claims description 12
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- 230000007547 defect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 15
- 230000015572 biosynthetic process Effects 0.000 description 4
- 230000000087 stabilizing effect Effects 0.000 description 4
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Abstract
The present invention relates to a ship stabilizer and a control method thereof. The ship stabilizer is provided with an instrument test part 37, a control part 6 and a machine switching part 7, wherein the instrument test part 37 can obtain information of ship swing instructions, turning rudder angle instructions, wind directions, wind speed, ship speed, etc.; the control part 6 can be used for reading the contents of the information output by the instrument test part and outputting control signals; the machine switching part 7 is used for driving valves and buffers; the condition met by the ship can be obtained from the instrument test part 37, the information is read by the control part 6, and the control mode of the machine switching part 7 is automatically carried out according to the preset condition and needs so as to change the cycle of the ART and brake the liquid; thereby, the present invention can overcome the inherent defect of the adverse effect on the restoring force of the ship when the liquid in the ART is not used as the stabilizer for efficiently operating.
Description
Technical field
The present invention relates to a kind of innovation scheme that subtracts the liquid control of shaking in the tank, the control method that particularly relates to a kind of like this ship stabilizer, the control method of this ship stabilizer can automatically be controlled the change that subtracts the natural period that shakes tank and liquid braking, with prevent in advance when ship during because of calm when not shaking basically, sharply turning and when being in wavy attitude with the wind the liquid in the water tank become and do not shaking the unsteady water that produces under the state that tank works effectively the restoring force of ship is produced the dysgenic opposite effect as subtracting.
Background technology
In the past, as the device that alleviates ship rolling, the known U of having word cast passive subtracts and shakes tank (below be also referred to as ART).In this ART, subtract and shake moment in order to obtain actv., the restoring force with relative ship increases the device of value of Free Surface (the following Free Surface moment of inertia that also claims) of the liquid of ART, but owing to following reason can not arbitrarily increase.We know, this Free Surface moment of inertia obtains at liquid restoring force not to be produced harmful effect under the state of suitable phase delay, but go ashore when not shaking substantially in the disorderly significantly occasion of phase delay or at state such as calm etc., subtract and shake required liquid and become out of contior unsteady water, apparent center of gravity rises, thereby makes the corresponding minimizing of restoring force.
In addition, the reason of the water that take place to float also has, and hull is in the state of the stable inclination that level relatively keeping a certain angle tilt (below be also referred to as canting).This state Loaded goods move casualty etc. makes the occasion that left and right sides weight balancing destroys or influenced by crosswind etc. and act on the occasion of stable external force alee, and for avoiding crashing or other reason produces when changing the sharply turning etc. of ship's head significantly.
Therefore, in order to predict that in advance the generation of unsteady water will be being restricted to minimum limit to the harmful effect of restoring force, invention has such control method, this control method is provided with the energy disperser that the valve of liquid braking usefulness and change cycle use, the average period of the ship of the deciphering liquid generation opposite effect and average slope angle or the information such as rudder angle instruction that are used to come about, automatically driving valve and energy disperser.For example, these inventions have for example the flat 10-187999 of Japanese Patent Application number (to call prior art-1 in the following text), the flat 10-186767 of Japanese Patent Application number (to call prior art-2 in the following text), special hope flat 06-307157 number.
In prior art 1, whether the restoring force of ship is produced dysgenic method as the liquid of judging water tank, compare with the value and the predetermined conditions of the mean roll angle degree of ship.This determination methods is such control method, promptly, predefined value is made as that the liquid of inferring ART becomes out of contior unsteady water and the restoring force of ship is produced the value of dysgenic little leaning angle and infers such 2 kinds of the value that can not produce dysgenic big leaning angle, when satisfying the condition of little value, valve cuts out, when satisfying the condition of big value, open valve.
Yet, under stormy situation, the rolling angle is reduced as the stabilizing efficiency of ART, can not produce harmful effect, but in the control method of prior art-1, think and satisfy calm such condition restoring force, valve cuts out, enter off working state.When needing ART work, select this operation of off working state to can be described as method of operation with the shortcoming that is not suitable for ART.
In addition, with the cooresponding prior art 2 of sharply turning in, according to information, judge whether to carry out sharply turning from following item etc. from potential difference meter output, in the occasion of the condition that satisfies sharply turning, valve cuts out.
(1) sent the rudder angle information required time of instruction.
(2) only sent the information of the rudder angle of instruction.
(3) even the information when detecting the large helm instruction and the time also rotating steering wheel lentamente.
(4) relation of rudder angle and ship's speed.
(5) tilting moment that produces by the rudder angle indication that provides and the speed of a ship or plane.
Yet underway hull is subjected to meeting with the influence of ripple (interflow ripple) and wind, fore driftage (moving to left and right direction), or in order to break away from the course line towards side travel.It is more frequent particularly to break away from the course line under stormy state, so, the corresponding therewith helm of operation automatically.The content of the rudder angle instruction at the initial stage when carrying out sharply turning is substantially the same with this rudder angle of coming about instruction, can not find difference.Therefore, control for prior art 2, in the navigation process when storm, the rudder angle command signal mistake that to export in order to revise the course line simply is as sharply turning, even in fact need stabilizing efficiency, and the liquid in the water tank do not produce harmful effect to restoring force, and also valve cutting out becomes off working state, therefore, prior art 2 is controlled to be the method for operation with the shortcoming that is not suitable for ART.
In addition, become the other factors of the water that floats as the liquid in the water tank, for meet with from the rear (comprise relative shipping agency advance direction be in the rear approximately near ± 50 degree to the scope in dead aft) with the wind and with the wind ripple the time.Be subjected to the occasion that ripple and ship advance with a certain speed from direction of tilt, ship by by the cycle that meets with ripple be ripple apparent period forcing shake.We know that this apparent cycle is relevant with actual cycle (wavelength) and direct of travel, course and the ship's speed of ripple, and the apparent cycle is easy to occur violent rolling when consistent with the cycle of shaking of ship sometimes, is easy to occur violent pitching sometimes.
Particularly meet with the occasion of ripple with the wind, the possibility that becomes the macrocyclic rolling that departs from the natural rolling period that this gear has significantly increases, in this occasion, period of rolling moment slack-off (length), simultaneously, it is big that waving angle becomes, and the natural period of the liquid of ART is certain, so, in other words, because the moving period of liquid is faster than the period of rolling of ship, so, not only do not subtract and shake, opposite roll angle increases, and produces goods such accident of collapsing.For this reason, in the existing control method that the average period according to ship, value was controlled, can not correspondingly sharply cause the rolling that changes by external force.
Also have, though Japanese kokai publication hei 11-139386A also discloses a kind of antirolling apparatus and control corresponding method, its point of view only is to utilize the computer analyzing related data, makes device be easier to control, and it does not eliminate above-mentioned the problems of the prior art.
The object of the present invention is to provide a kind of control method of ship stabilizer, the control method of this ship stabilizer can be thought intrinsic shortcoming itself for what overcome to greatest extent that ART as described above has, promptly, generation for out of contior unsteady water of suppressing to greatest extent under the situation that the liquid of ART is worked, to produce not yet in effectly by certain reason, in the condition when accordingly valve and energy disperser being driven with the situation of shaking, the roll angle and the cycle that have comprised ship, rudder angle instruction and ship's speed information during turning, the pitch angle of ship and cycle, and meteorological information such as wind direction and wind speed, according to its analysis result, the variation of the natural period of automatic guidance ART and the braking of liquid.
Summary of the invention
The control method of ship stabilizer of the present invention is made in order to address the above problem, this ship stabilizer can be finished the operation that subtracts the cyclomorphosis that shakes tank and liquid braking automatically, have at least 2 a pair of gunwale tanks of being located at hull two sides of a ship, the bottom that connects these gunwale tanks makes the mobile to left and right direction fluid passage of liquid, in fluid passage, be used to make the energy disperser that subtracts the natural period change of shaking tank, and the air pipe that is communicated with of the devices such as valve of being located between above-mentioned two gunwale tank tops the remote control drive-type by being used for the liquid braking
In addition, also have the roll angle that detects ship and pitch angle Oscilation sensor, detect detecting instruments such as potential difference meter, detect wind direction draught indicator, and the ship's speedometer of wind speed and direction from the helm instruction of steering wheel portion,
Be provided with control part and manipulating unit, the content of the information of this control part deciphering the sensor output is also exported control signal, and this manipulating unit carries out the remote control driving according to the control signal of control part to above-mentioned valve and energy disperser; It is characterized in that:
When the result who is understood by control part produces harmful effect according to the liquid in the predetermined conditions judgement water tank to restoring force, even implementing according to ship average period value control, also ignore the control of implementing, make and restoring force is not produced harmful effect ground moment enforcement control corresponding pattern, in addition, when the judgement situation change, do not produce dysgenic when dangerous, automatic guidance common according to average period value cyclomorphosis and the braking of liquid.
Description of drawings
Fig. 1 is the block diagram of control mechanism constituent relation that the opening and closing operations of valve of the present invention and energy disperser is shown.
Fig. 2 illustrates all pie graphs that subtract the signal formation of shaking tank.
Fig. 3 is the figure that an example of the air pipe that subtracts the signal formation of shaking tank is shown.
The specific embodiment
The embodiment of 4 the control groups (off working state, mode of operation-1, mode of operation-2, mode of operation-3) that constitute according to 3 kinds of natural perioies that have by off working state and ART illustrates form of implementation of the present invention with reference to the accompanying drawings.
Fig. 1 is the block diagram of control mechanism constituent relation that the opening and closing operations of valve of the present invention and energy disperser is shown, and Fig. 2 illustrates to subtract all pie graphs that the signal of shaking tank constitutes.
In order to achieve the above object, the formation of basic ART self as shown in Figure 2, by a pair of at least 2 gunwale tank 31a, the 31b that are located at hull two sides of a ship, the bottom that connects these water tanks make fluid passage 32 that liquid 36 moves to left and right direction, be used to make the energy disperser 35 that subtracts the natural period that shakes tank 30 and change at fluid passage 32, the air pipe 33 of being located between above-mentioned two gunwale tank 31a, 31b top devices such as valve 34 connection of the remote control drive-type by being used for liquid 36 brakings constitutes.
In addition, though not shown, in fact tank also is provided with devices such as annotating drain hose, sounding pipe, freeing pipe, and the ART30 body adopts closing appliance to make it become air-tight state to leading to exterior all pipes such as above-mentioned notes drain hose, sounding pipe, freeing pipe.
In addition, also be provided with control setup mechanism as shown in Figure 1, this control setup mechanism have the roll angle that detects ship and pitch angle Oscilation sensor 1, detect detecting instruments such as potential difference meter 3, detect wind direction draught indicator 4, and the ship's speedometer 5 of wind speed and direction from the helm instruction of steering wheel portion 2, and comprise control part 6 and manipulating unit 7, this control part 6 is understood by the content of the information of the sensor output and is exported control signal, and this manipulating unit 7 carries out the remote control driving according to the control signal of control part to above-mentioned valve 34 and energy disperser 35.
Control setup mechanism substantially by detecting instrument portion 37, control part 6, and manipulating unit 7 constitute.Detecting instrument portion 37 by the Oscilation sensor 1 of roll angle that detects ship and pitch angle, detect the helm instruction of steering wheel portion 2 detecting instruments such as potential difference meter 3, detect wind speed and direction wind direction draught indicator 4, and the ship's speedometer 5 that detects ship's speed constitute, its information is outputed to control part 6 respectively.
Manipulating unit 7 by according to drive source 12, electromagnetic valve 13,16,19, valve 34 and opening and closing device 14, energy disperser 35,35a and the opening and closing device 17,20 of the control signal work of control part 6, and limit switch 15,18,21 constitute.
Computing is understood loop 8 according to the data from 37 outputs of detecting instrument portion, the roll angle of computing moment and period of rolling, pitch angle and period of pitching, wind direction and wind speed, and ship's speed, and hold its aviation value respectively by its value.In addition, though the result that computing is understood does not illustrate in the drawings, in fact also can be used as navigations information and output to other navigation monitoring equipment.
According to understanding the result that loop 8 is understood in computing, from control loop 9 through control implement loops 10 with the signal output of the predefined switching pattern that is used for control cock 34 or energy disperser 35,35a to manipulating unit 7.
According to the control signal of implementing loop 10 outputs from control, by starting drive source 12 → electromagnetic valve 13 → valve opening and closing device 14 → limit switch 15 → the stop step of drive source 12, finishing control.Or according to the control signal of implementing loop 10 outputs from control, by starting drive source 12 → electromagnetic valve 16 → energy disperser opening and closing device 17 → limit switch 18 → the stop step of drive source 12, finishing control.The working condition of each equipment is held one by one by information processing loop 11, and its information is preserved by the IC memory device, is shown to not shown control desk.
The type of drive of the valve 34 of present embodiment and energy disperser 35,35a is the hydraulically powered formation of hypothesis, is using air-compression type or DYN dynamic occasion, also can omit according to its mode can be in opening and closing installations the abridged part.In addition, air pipe 33 is the example of ways of connecting, but as shown in Figure 3, as connecting air pipe 33a about not but respectively individually to the mode of atmosphere opening, valve 34a is set respectively or at the one-sided side of a ship 1 valve is set and also can obtain identical effect.
In addition, the difference according to mechanism has the not occasion of needs drive source 12.For example, in the occasion of accepting drive source from other supply source, the starting of the drive source 12 that can omit here to be mentioned and stop step.
In addition, wind direction draught indicator 4 and ship's speedometer 5 etc. are generally more as the occasion that the device that obtains navigations information is provided with, as can then there is no need to be provided with for being used for ART from the ship acquired information.Whether in addition, as require to judge precision, also can be taken into information from wave gauge etc., but can adopt according to the decision of budget situation, wind-engaging is not to the constraint of draught indicator 4 and ship's speedometer 5.
Below, according to embodiment its control method is described below with 4 control groups (off working state, mode of operation-1, mode of operation-2, mode of operation-3) that 3 kinds of natural perioies by off working state and ART constitute as the invention process form.
At first, below the control group of (A)～(D) make repeating of scope effective period that each group has in abutting connection with the position, and set for for the group of just implementing some master modes, make that scope is not then implemented the control of other group as long as the average period of rolling of ship does not break away from its effective period.
Because ART obtains high stabilizing efficiency when relative rolling produces the phase delay of about 90 degree, so, the occasion of carrying out common control, as long as the situation of nearest period of rolling, rolling on average is unfavorable for practicality for a long time.Therefore, the calculating of average period of rolling averaged about 2 times～5 times monocycle, adopted will newly be worth the consecutive mean mode that calculates wherein and remove old value often.
(A) for off working state, when the value of average period is more than 13.2 seconds the time and below 7.8 seconds the time, shutoff valve 34 forcibly, and then the circulation of air is cut off, in other words, because liquid 36 can not move, so ART becomes off working state.Enter into 12.6 seconds the average period that this state remains to ship～between 8.4 seconds till.In addition, be used to prevent to float pressure off working state that water takes place in the condition that satisfies right up and down condition, sharply turning, and make and implement when becoming the condition of the off working state of ripple with the wind.
(B) for mode of operation-1, the value of average period is in 10 seconds～7.8 seconds scope in, implement valve 34 and open with 2 groups energy disperser 35, control that 35a opens and kept.This master mode breaks away from other in the value of average period and is in group in the control implementation process, implements when invading the group of mode of operation-1.
(C) for mode of operation-2, the value of average period is implemented the control that valve 34 leaves, energy disperser 35 closes, energy disperser 35a opens, and is kept this state in 11.6 seconds～9.4 seconds scope.This master mode breaks away from other in the value of average period and is in group in the control implementation process, implements when entering into the group of mode of operation-2.
(D) for mode of operation-3, the value of average period is in 11 seconds～13.2 seconds scope, and the control of implement that valve 34 leaves, energy disperser 35,35a closing is also kept.This master mode breaks away from other in the value of average period and is in group in the control implementation process, implements when entering into the group of mode of operation-3.
Even implementing the master mode of above-mentioned mode of operation-1, mode of operation-2 or mode of operation-3, when satisfying the condition of right up and down condition and sharply turning, moment is implemented the master mode of shutoff valve 34.
In addition,, ignore the control method that average period, value was controlled according to ship satisfying the occasion of ripple condition with the wind, moment implement and with the wind the cooresponding cyclomorphosis of ripple and with the corresponding master mode of off working state.
The right up and down condition that is judged as is shown below.
In judging the method for right up and down condition, when with the value of the mean roll angle of ship during with the comparison of predefined value, the information of maritime meteorology situation also increases as a condition.
For easy to understand, with numerical value concrete example is shown below.
(1) setting value of the mean roll angle of ship is setting value 3.0 degree of low-angle setting value 2.0 degree and wide-angle relatively.
(2) setting value with respect to the wind speed that in fact feeds through to ship is big value 10m/sec and little value 6m/sec.
(3) judge right up and down occasion, for the mean roll angle of ship below low-angle (2.0 degree), in fact feed through to the wind speed of ship when little value (6m/sec) is following.
(4) judge it is not right up and down occasion, though for the mean roll angle of ship the following but actual wind speed that feeds through to ship of low-angle (2.0 degree) when big value (10m/sec) is above and the mean roll angle of ship at wide-angle and wind speed and direction irrelevantly when (3.0 spend) is above.
But these predefined values are because according to the purposes of ship and big or small and different, so numerical value can change.
Below, the condition that is judged as sharply turning is shown.
(1) the rudder angle information required time that sends instruction is that steering wheel angle of revolution 4 degree/1sec are when above.
When (2) information of only sending the rudder angle of instruction surpasses setting value 20 and spends.
(3) from detecting the moment of a reference value 20 degree that is judged as sharply turning, remove the operation of rudder angle instruction and arrive these a reference value 20 degree following during required time when surpassing 4 seconds.
(4) ship's speed: when surpassing 15 joints.
These conditions are judged as sharply turning when all being met.
But these predefined values are because with the purposes of ship and big or small and different, so numerical value can change.
Below, the condition of ripple with the wind that is judged as is shown.
(1) speed of relatively determining according to the propeller rotating speed of having been confirmed by sea test etc. and present Service Speed in present speed occasion faster, predicts that the possibility that becomes ripple with the wind is big.
(2) value of average period of rolling and just in the past 1 periodic quantity of shaking in just in the past 1 periodic quantity of shaking occasion of slow (length), predict that the possibility that becomes ripple with the wind is big.
(3) the relatively value of mean roll angle and just in the past 1 angle of shaking, in just in the past 1 occasion that the angle of shaking is bigger, the possibility that prediction becomes ripple with the wind is big.
(4) value of average period of pitching and just in the past 1 periodic quantity of shaking in just in the past 1 periodic quantity of shaking occasion of slow (length), predict that the possibility that becomes ripple with the wind is big.
(5) value of average pitch angle and just in the past 1 angle of shaking, in just in the past 1 occasion that the angle of shaking is bigger, the possibility that prediction becomes ripple with the wind is big.
(6) ± 50 spend to the occasion of the wind direction in dead aft approximately from the rear becoming relative direct of travel, the possibility that prediction becomes ripple with the wind is big.
(7) under the situation that the average period with 1/2 value fast (weak point) of the scope of the effective period that has than the group that is in the implementation process, value was shaken, when 1 periodic quantity of shaking in firm past surpasses slow (length) side's the setting value of this group, predict that the possibility that becomes ripple with the wind is big.Thus, comprehensively be judged as the occasion of wavy attitude with the wind, ignoring the control Implementation Modes according to value average period, moment implements to obtain the master mode of the group of the natural period of (length) 1 grade slowly.For example, in the occasion of positive implementation state-1, in the master mode of moment implementation state-2.
(8) shake under the situation above-mentioned, as the value of 1/2 (the one-sided side of a ship) of relatively just in the past 1 roll angle of shaking and instantaneous roll angle, intermittent angle is bigger, and, 1/2 the value at the moving angle of 1 pitching of shaking is relatively just in the past moved the angle with instantaneous pitching, the moving angle of instantaneous pitching is bigger, perhaps, with have than the group that is in the implementation process effective period scope 1/2 the value situation that value is shaken fast (weak point) average period under, 1 periodic quantity of shaking just in the past surpasses that the group of side's adjacency of slow (length) with this group has effective period scope 1/2 value, perhaps, surpass and the control group that is in the group adjacency in the implementation process, and enter in the group of adjacency, then under this occasion, ignore the control Implementation Modes according to value average period, moment is implemented the natural period of slow (length) 2 grades or the master mode of off working state.For example, when positive implementation state-1, in the master mode of moment implementation state-3.Perhaps, when positive implementation state-2, implement the master mode of off working state in moment.But these predefined values are because according to the purposes of ship and big or small and different, so numerical value can change.
Implemented above-mentioned corresponding to calm, sharply turning, and with the wind after the control of ripple, in order to carry out common control, implement according to ship average period value the control Implementation Modes.
By above explanation as can be known, according to control method of the present invention, the information such as the rudder angle instruction the when angle of the roll and pitch when being taken into ship and meeting with and cycle, turning and ship's speed, and meteorological information in sea such as wind direction and wind speed, with the result of information that resolves the large rolling of ship and little rolling as controlled condition, thereby
Whether the state that (1) can easily judge little mean roll angle is caused by anti-rolling effect;
(2) can easily judge for to coming about of adjusting from departing from of course or for being used for coming about or being coming about of being used for usually turning of zig zag action;
(3) the easily rolling that caused by waveguide with the wind of prior forecast.
By the high condition judgment of above-mentioned precision, the liquid effectively control in the periodic regime of duty is self-evident, and the own intrinsic shortcoming that also can suppress to greatest extent to produce under the situation of the liquid ground not yet in effect of ART duty for a certain reason in the past is the generation of out of contior unsteady water.
And, can predict the rolling that causes by waveguide with the wind in advance, moment is carried out correspondence, so, have the action effect that can greatly reduce the factor that accidents such as goods collapses take place.
In addition,, only need to connect the switch of control beginning, need not too much note, can obtain stable stabilizing efficiency often, have the good action effect that prior art does not have, be the big invention of effect the shortcoming of ART when operation subtracts when shaking tank.
Claims (19)
1. the control method of a ship stabilizer, this ship stabilizer can be finished the operation that subtracts the cyclomorphosis that shakes tank (30) and liquid braking automatically, have at least 2 a pair of gunwale tank (31a that are located at hull two sides of a ship, 31b), the bottom that connects these gunwale tanks makes the mobile to left and right direction fluid passage (32) of liquid (36), in fluid passage, be used to make the energy disperser (35) that subtracts the natural period change of shaking tank (30), and be located at above-mentioned two gunwale tank (31a, 31b) the air pipe (33) of the connection such as valve (34) device of etc.ing of the remote control drive-type by being used for liquid (36) braking between top
In addition, also have the roll angle that detects ship and pitch angle Oscilation sensor (1), detect potential difference meter (3) detecting instrument of etc.ing from the helm instruction of steering wheel portion (2), detect wind speed and direction wind direction draught indicator (4), reach ship's speedometer (5),
Be provided with control part (6) and manipulating unit (7), this control part (6) is understood the content of the information of above-mentioned detecting instrument portion (37) output and is also exported control signal, and this manipulating unit (7) carries out the remote control driving according to the control signal of control part to valve (34) mechanism of etc.ing and the energy disperser (35) that is used to control aforesaid liquid (36) braking; It is characterized in that:
When the average period of rolling of the result who understands by control part (6) according to predefined ship, sharply turning, when each condition judgment liquid (36) calm and ripple with the wind produces harmful effect to restoring force, even implementing control according to the average period of rolling value of ship, also ignore the control of implementing, make and restoring force is not produced non-action is carried out on harmful effect ground when satisfying sharply turning or right up and down condition master mode, moment is implemented the control corresponding pattern when the condition of satisfied ripple with the wind, in addition, when the judgement situation changes, do not produce dysgenic when dangerous, the cyclomorphosis of the average period of rolling value of basis that automatic guidance is common and the braking of liquid (36).
2. ship stabilizer, can finish the operation that subtracts the cyclomorphosis that shakes tank (30) and liquid braking automatically, have at least 2 a pair of gunwale tank (31a that are located at hull two sides of a ship, 31b), the bottom that connects these gunwale tanks makes the mobile to left and right direction fluid passage (32) of liquid (36), in fluid passage, be used to make the energy disperser (35) that subtracts the natural period change of shaking tank (30), and be located at above-mentioned two gunwale tank (31a, 31b) the air pipe (33) of the connection such as valve (34) device of etc.ing of the remote control drive-type by being used for liquid (36) braking between top
In addition, also have the roll angle that detects ship and pitch angle Oscilation sensor (1), detect detecting instrument (3), detect wind direction draught indicator (4), and the ship's speedometer (5) of wind speed and direction from the helm instruction of steering wheel portion (2),
Be provided with control part (6) and manipulating unit (7), this control part (6) is understood from the content of the information of above-mentioned detecting instrument portion (37) output and is exported control signal, and this manipulating unit (7) carries out the remote control driving according to the control signal of control part to valve (34) mechanism of etc.ing and the energy disperser (35) that is used to control aforesaid liquid (36) braking; It is characterized in that:
When the average period of rolling of the result who understands by control part (6) according to predefined ship, sharply turning, when each condition judgment liquid (36) calm and ripple with the wind produces harmful effect to restoring force, even implementing control according to the average period of rolling value of ship, also ignore the control of implementing, make and restoring force is not produced non-action is carried out on harmful effect ground when satisfying sharply turning or right up and down condition master mode, moment is implemented the control corresponding pattern when the condition of satisfied ripple with the wind, in addition, when the judgement situation changes, do not produce dysgenic when dangerous, the cyclomorphosis of the average period of rolling value of basis that automatic guidance is common and the braking of liquid (36).
3. ship stabilizer according to claim 2, it is characterized in that: as the replacement device of the air pipe (33) of the valve mechanism connections such as (34a) of being located between above-mentioned two gunwale tanks (31a, 31b) top the remote control drive-type by being used for liquid (36) braking, be provided with respectively the air of the above-mentioned two gunwale tanks air pipe (33a) to atmosphere opening, the braking that is provided with liquid (36) a side or two sides of above-mentioned air pipe (33a) is the valve mechanisms such as (34a) of the remote control drive-type of purpose.
4. the control method of a ship stabilizer, this ship stabilizer can be finished the operation that subtracts the cyclomorphosis that shakes tank (30) and liquid braking automatically, have at least 2 a pair of gunwale tank (31a that are located at hull two sides of a ship, 31b), the bottom that connects these gunwale tanks makes the mobile to left and right direction fluid passage (32) of liquid (36), in fluid passage, be used to make the energy disperser (35) that subtracts the natural period change of shaking tank (30), and be located at above-mentioned two gunwale tank (31a, 31b) the air pipe (33) of the valve mechanism connections such as (34) of the remote control drive-type by being used for liquid (36) braking between top
In addition, also have the roll angle that detects ship and pitch angle Oscilation sensor (1), detect potential difference meter (3) detecting instrument of etc.ing from the helm instruction of steering wheel portion (2), detect wind speed and direction wind direction draught indicator (4), reach ship's speedometer (5),
Be provided with control part (6) and manipulating unit (7), this control part (6) is understood from the content of the information of above-mentioned detecting instrument portion (37) output and is exported control signal, and this manipulating unit (7) carries out the remote control driving according to the control signal of control part to valve (34) mechanism of etc.ing and the energy disperser (35) that is used to control aforesaid liquid (36) braking; It is characterized in that:
In the process of enforcement according to the corresponding master mode of the control group of the average period of rolling value of ship, satisfy predefined calm conditioned disjunction sharply turning condition as the result who understands by above-mentioned control part, then implement to close the master mode of the off working state of the valve mechanisms such as (34) that is used to control aforesaid liquid (36) braking, in addition, change, do not satisfy under the situation of condition of above-mentioned right up and down conditioned disjunction sharply turning the cyclomorphosis of the average period of rolling value of basis that automatic guidance is common and the braking of liquid (36) in situation.
5. the control method of ship stabilizer according to claim 4, it is characterized in that: satisfy when below the threshold value that the mean roll angle of ship is being predesignated and also the wind speed that feeds through to ship when the threshold value of predesignating is following, be judged as calm, and the master mode of implementing to close the valve mechanisms such as (34) that is used to control aforesaid liquid (36) braking, in addition, change in situation, do not satisfy under the situation of above-mentioned condition the cyclomorphosis of the average period of rolling value of basis that automatic guidance is common and the braking of liquid (36).
6. the control method of ship stabilizer according to claim 4, it is characterized in that: feed through to the wind speed of ship when the threshold value of predesignating is above when actual, judge be not calm, enforcement is according to the corresponding master mode of the control group of the average period of rolling value of ship.
7. the control method of ship stabilizer according to claim 4 is characterized in that: when the mean roll angle of ship and wind speed and direction irrespectively when the threshold value of predesignating is above, judge be not calm, and keep the control in the current enforcement.
8. the control method of ship stabilizer according to claim 4, it is characterized in that: when all meet the following conditions (1)-(5), be judged as sharply turning, and the master mode of the non-action of the valve mechanisms such as (34) that is used for controlling liquid (36) braking is closed in implementation, in addition, change in situation, do not satisfy under the situation of above-mentioned condition, automatically to controlling according to the cyclomorphosis of common average period of rolling value and the braking of liquid (36), (1) the rudder angle information required time that sends instruction is in the steering wheel angle of revolution of predesignating (more than the threshold value of degree/sec), (2) information of only sending the rudder angle of instruction surpasses pre-set threshold, (3) from detecting the moment of the threshold value that is judged as sharply turning, remove the operation of rudder angle instruction and arrive this threshold value below during required time above specified value, (4) ship's speed surpasses specified value, and (5) wind speed is below the threshold value of predesignating.
9. the control method of a ship stabilizer, this ship stabilizer can be finished the operation that subtracts the cyclomorphosis that shakes tank (30) and liquid braking automatically, have at least 2 a pair of gunwale tank (31a that are located at hull two sides of a ship, 31b), the bottom that connects these gunwale tanks makes the mobile to left and right direction fluid passage (32) of liquid (36), in fluid passage, be used to make the energy disperser (35) that subtracts the natural period change of shaking tank (30), and be located at above-mentioned two gunwale tank (31a, 31b) the air pipe 33 of the valve mechanism connections such as (34) of the remote control drive-type by being used for liquid (36) braking between top
In addition, also have the roll angle that detects ship and pitch angle Oscilation sensor (1), detect potential difference meter (3) detecting instrument of etc.ing from the helm instruction of steering wheel portion (2), detect wind speed and direction wind direction draught indicator (4), reach ship's speedometer (5),
Be provided with control part (6) and manipulating unit (7), this control part (6) is understood from the content of the information of above-mentioned detector parts (37) output and is exported control signal, and this manipulating unit (7) carries out the remote control driving according to the control signal of control part to valve (34) mechanism of etc.ing and the energy disperser (35) that is used to control aforesaid liquid (36) braking; It is characterized in that:
Setting is by non-action status and subtract four control groups that 3 kinds of natural perioies shaking tank (30) constitute at least, in the process of enforcement according to the corresponding master mode of the control group of the average period of rolling value of ship, as judging that the result who is understood by above-mentioned control part satisfies the predefined condition of ripple with the wind generally, then ignore the control method of controlling according to the average period of rolling value of ship, implement with the cooresponding cyclomorphosis of predefined ripple with the wind and with the corresponding master mode of off working state.
10. the control method of ship stabilizer according to claim 9, it is characterized in that: speed that the propeller rotating speed that the comparison basis has been confirmed by sea test etc. is determined and present Service Speed, in present speed occasion faster, the possibility that prediction becomes ripple with the wind is big, and with this information as a condition of ripple with the wind.
11. the control method of ship stabilizer according to claim 9, it is characterized in that: the value of average period of rolling and firm 1 period of rolling value of shaking in the past, in firm 1 occasion that the periodic quantity of shaking is slower in the past, the possibility that prediction becomes ripple with the wind is big, and with this information as a condition of ripple with the wind.
12. the control method of ship stabilizer according to claim 9, it is characterized in that: the relatively value of mean roll angle and just 1 angle of shaking in past, in firm 1 occasion that the angle of shaking is bigger in the past, the possibility that prediction becomes ripple with the wind is big, and with this information as a condition of ripple with the wind.
13. the control method of ship stabilizer according to claim 9, it is characterized in that: the value of average period of pitching and firm 1 value period of pitching of shaking in the past, in firm 1 occasion that the periodic quantity of shaking is slower in the past, the possibility that prediction becomes ripple with the wind is big, and with this information as a condition of ripple with the wind.
14. the control method of ship stabilizer according to claim 9, it is characterized in that: the value of average pitch angle and firm 1 pitching angle of shaking in the past, in firm 1 occasion that the angle of shaking is bigger in the past, the possibility that prediction becomes ripple with the wind is big, and with this information as a condition of ripple with the wind.
15. the control method of ship stabilizer according to claim 9 is characterized in that: becoming the occasion that relative direct of travel is in the wind direction in dead aft, the possibility that prediction becomes ripple with the wind is big, and with this information as a condition of ripple with the wind.
16. the control method of ship stabilizer according to claim 9, it is characterized in that: under the situation of shaking with 1/2 the fast average period of rolling value of value of the scope of the effective period that has than the group that is in the implementation process, when 1 periodic quantity of shaking in firm past surpasses a slower side's the setting value of this group, the possibility that prediction becomes ripple with the wind is big, and with this information as a condition of ripple with the wind.
17. the control method of ship stabilizer according to claim 9, it is characterized in that: have at least one side who is used for above-mentioned valve (34) mechanism of etc.ing that is used for controlling liquid (36) braking and energy disperser (35) carry out the remote control driving respectively with the cooresponding a plurality of control groups of a plurality of different average period of rolling value of ship, when the result who is understood by above-mentioned control part satisfies the predefined condition of ripple with the wind, implement to obtain the master mode of group of the natural period of slow 1 grade.
18. the control method of ship stabilizer according to claim 9, it is characterized in that: have at least one side who is used for above-mentioned device (34) that is used for controlling liquid (36) braking and energy disperser (35) carry out the remote control driving respectively with the cooresponding a plurality of control groups of a plurality of different average period of rolling value of ship, as 1/2 value of relatively just in the past 1 roll angle of shaking and the roll angle in the current measuring and calculating, roll angle in the measuring and calculating is bigger, and, the angle is moved in 1/2 of the moving angle of 1 pitching of shaking in the past value and the pitching in the current measuring and calculating relatively just, the moving angle of pitching in the measuring and calculating is bigger, then ignore control Implementation Modes, implement the master mode of the group of cycle of slow 2 grades or off working state according to average period of rolling value.
19. the control method of ship stabilizer according to claim 9, it is characterized in that: have at least one side who is used for above-mentioned device (34) that is used for controlling liquid (36) braking and energy disperser (35) carry out the remote control driving respectively with the cooresponding a plurality of control groups of a plurality of different average period of rolling value of ship, as surpassing and the control group that is in the group adjacency in the implementation process, and enter in the group of adjacency, then ignore control Implementation Modes, implement the master mode of the group of cycle of slow 2 grades or off working state according to average period of rolling value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01145339 CN1214942C (en) | 2001-12-31 | 2001-12-31 | Ship pitch-roll decreasing device and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01145339 CN1214942C (en) | 2001-12-31 | 2001-12-31 | Ship pitch-roll decreasing device and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1429736A CN1429736A (en) | 2003-07-16 |
| CN1214942C true CN1214942C (en) | 2005-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01145339 Expired - Fee Related CN1214942C (en) | 2001-12-31 | 2001-12-31 | Ship pitch-roll decreasing device and its control method |
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| Country | Link |
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| CN (1) | CN1214942C (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100384692C (en) * | 2006-01-27 | 2008-04-30 | 中国海洋大学 | Marine platform and its guard and shock reducing device |
| CN101624087B (en) * | 2008-07-11 | 2011-12-21 | 中国船舶重工集团公司第七○四研究所 | Anti-rolling tank control device |
| CN102853817A (en) * | 2012-05-15 | 2013-01-02 | 哈尔滨工程大学 | Longitudinal and lateral swing cycle measuring method of dynamically positioned vessel |
| CN102951272B (en) * | 2012-10-30 | 2015-03-11 | 哈尔滨工程大学 | Comprehensive re-setting control method for ship rudder stabilization |
| KR101549881B1 (en) * | 2013-12-27 | 2015-09-03 | 미쯔이 죠센 가부시키가이샤 | Vibration damping device of marine engine |
| CN103895814B (en) * | 2014-03-28 | 2016-09-14 | 哈尔滨工程大学 | A kind of control method of rudder rollstabilization |
| CN103935480B (en) * | 2014-05-26 | 2016-08-17 | 哈尔滨工程大学 | A kind of rudder stabilization method based on analytic modell analytical model Predictive control design |
| CN104828217A (en) * | 2015-05-12 | 2015-08-12 | 无锡市东舟船舶附件有限公司 | Damping plate structure of water valve assembly of anti-rolling water tank |
| CN105697634B (en) * | 2016-04-19 | 2017-12-01 | 中国船舶重工集团公司第七○二研究所 | Adjustable vibration reduction system peculiar to vessel based on suspension type liquid load |
| CN108909965A (en) * | 2018-08-24 | 2018-11-30 | 中国卫星海上测控部 | Ship stabilization and the anti-water tank that inclines |
| CN109878655B (en) * | 2018-10-23 | 2020-11-20 | 哈尔滨工程大学 | Through flow self-balancing pipeline type stabilization device |
| CN113553741B (en) * | 2021-07-29 | 2022-02-11 | 哈尔滨理工大学 | Roughness optimization system for marine Magnus anti-rolling device |
| CN115107946A (en) * | 2022-08-04 | 2022-09-27 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Active roll reduction method for offshore floating platform |
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2001
- 2001-12-31 CN CN 01145339 patent/CN1214942C/en not_active Expired - Fee Related
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| CN1429736A (en) | 2003-07-16 |
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