JP2502907B2 - Catamaran with hydrofoil - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a catamaran with hydrofoils.

[0002]

2. Description of the Related Art In a conventional ship, a magnet compass is used as a guide for recognizing and correcting the position, navigation speed, acceleration at the time of turning of the ship.

[0003]

However, since the magnet compass is used as described above, there is a problem that it is easily affected by the magnetism generated in the ship and an error is likely to occur. In addition, there is a problem that a material that affects magnetism cannot be used near the magnet compass.

An object of the present invention is to provide a catamaran with a hydrofoil which can solve the above problems.

[0005]

In order to solve the above-mentioned problems, in a catamaran with hydrofoils according to the present invention, a pair of left and right legs in the fore-and-aft direction are projected from the bottom of the hull, and the submersion is made between the legs. The front hydrofoil and the rear hydrofoil of the mold are provided, and auxiliary wings that are independently driven are attached to the left and right ends of each hydrofoil, and a wide-area positioning device for measuring the hull position is installed on the hull, and the hull center of the hull is set. A roll angle of the hull, an inertial sensor that detects the roll angular velocity, or a gyro is provided, and the speed and direction of the hull are calculated from the hull position data detected by the wide area positioning device, and the calculated speed and direction data of the hull are used. The hull roll angle and roll angular velocity data detected by the inertial sensor or gyro are corrected, and the auxiliary wings are driven by the corrected hull roll angle and roll angular velocity data. And it is characterized in that a controller for roll control.

[0006]

According to the above construction, by providing a wide area positioning device instead of the conventional magnet compass, the roll angle and the roll angular velocity of the hull detected by the inertial sensor without any error due to magnetism are corrected, irrespective of the maneuvering. Roll control is performed with high precision, rolling is reduced, the hull is stable, and riding comfort is improved. Also, materials that affect magnetism can be used.

[0007]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of a catamaran with a hydrofoil according to one embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes a hull of a water jet type catamaran with hydrofoils, in which a pair of left and right leg portions 2 in the fore-and-aft direction are projected from the bottom of the hull 1, and between the leg portions 2. A submersible front hydrofoil 3 and a rear hydrofoil 4 are provided in the.

Further, as shown in FIG. 2, the front hydrofoil 3 and the rear hydrofoil 4 are respectively provided with auxiliary wings 5 and 6 which are independently driven at the left and right ends, and these auxiliary wings 5 and 6 are driven. As a means, blade control hydraulic cylinders 7 and 8 are fixed to the bottom of the leg 2. The auxiliary wings 5, 6 are slid up and down around a rotating shaft (not shown) by the wing control hydraulic cylinders 7, 8. The auxiliary wing hydraulic cylinders 7, 8
Each of them is driven by a servo amplifier 9 shown in FIG.
Built-in as 10.

An altitude sensor 11 for measuring the height from the bow to the sea surface is provided at the bow of the hull 1. The altitude sensor 11 is of an ultrasonic type, and calculates a bow altitude by emitting a burst signal of several tens of kHz to the sea surface and measuring a time for receiving a reflected wave from the sea surface. Since the reflected wave from the sea surface may not be obtained depending on the attitude of the hull, it has a data holding function.

In addition, a wide area positioning device {GPS (global position) with less influence of disturbance is provided on the upper portion of the hull 1.
A ning system # 12 is provided.
The GPS device 12 is a radio navigation assistance system using a plurality of satellites in a high orbit, and determines the position of the hull 1 from the distance and the distance change speed.

In addition, the roll angle of the hull 1 at the center of motion of the hull,
An inertial sensor (or gyro) 13 for detecting the roll angular velocity is provided. Since this inertial sensor 13 produces an error due to acceleration during high-speed turning, the acceleration sensor corrects the acceleration error by extracting the speed and direction from the signal of the GPS device 12 which is less affected by disturbance.

Further, an input / output interface device for measuring data of the main engine / auxiliaries, alarm control, generator control, vibration control data measurement / parameter input, and data communication with a vibration control controller 14 described later on the hull 1. 15 are provided. The input / output interface device 15 has graphic display, data trend, parameter input, and data communication functions as the motion control-related functions. The motion control controller 14 has a display device, a parameter input device, and a data communication function. Since no storage device is provided, two lines 16 are provided between the motion control controller 14 and the input / output interface device 15 as shown in FIG.
A communication interface device 17 for this line is provided. In the first line 16, data necessary for control such as a control gain parameter and a digital filter cutoff frequency is output from the input / output interface device 15 to the motion control controller 14 by operating a keyboard 18 provided in the input / output interface device 15. , On the second line 16, the bow altitude,
Hull attitude data such as roll angle and roll angular velocity
The output is output from the motion control controller 14 to the input / output interface device 15, and is displayed and trended on the CRT 19 provided in the input / output interface device 15.
Further, the position data of the hull 1 detected by the GPS device 12 is input to the input / output interface device 15 to calculate the speed and azimuth of the hull 1, and the wobble control controller.
Output to 14.

Further, the motion control controller 14 is
It is a controller that performs roll control of the hull 1 and constant bow height control by independently driving the auxiliary wings 5 and 6, and is constructed by a general-purpose board computer. Further, as shown in FIG. 3, the swing controller 14 includes a bow altitude control switch 21 and a roll control switch.
22 and a console 24 equipped with an altitude setter 23 for manual bow altitude setting. The bow altitude control switch 21 has an automatic-neutral-manual control position, and the roll control switch 22 has an automatic-neutral control position. The automatic positions of these switches 21 and 22 are calculated by the motion control controller 14. Auxiliary wings 5 and 6 are controlled independently of each other, and the neutral position is set to the initial setting of the auxiliary wing angle of attack, and the manual position is to input the altitude setting signal set by the altitude setter 23 directly to the servo amplifier 9. ,
The front auxiliary blade 5 is driven. The positions of the control mode setting switches can be used in combination.

The motion control controller 14 is an altitude sensor.
The detection signals of the inertial sensor 11 and the inertial sensor 13 are passed through a low-pass filter 25 that can set a cutoff frequency from a keyboard 18 of the input / output interface device 15, noise included in the signal is filtered and input, and the detection signal of the blade angle sensor 10 is input. After inputting and inputting the speed and heading data of the hull 1 calculated from the input / output interface device 15, according to the settings of the switches 21 and 22 of the console 24, after calculating the roll control and the bow height constant control law described later. Drive signals corresponding to the blade angles of the auxiliary wings 5 and 6 are output to the servo amplifier 9 to operate the auxiliary wings 5 and 6 to control the motion of the hull 1.

In the bow height constant control, when the automatic position is selected by the bow height control switch 21, the bow height target value preset by the keyboard 18 of the input / output interface device 15 and the altitude sensor 11 input are inputted. When the left and right ailerons 5 of the front hydrofoil 3 are driven at the same time so that the altitude data match, and the neutral position is selected by the bow altitude control switch 21,
This is done by simultaneously driving the left and right ailerons 5 of the front hydrofoil 3 to the preset aileron attack angle, and when the manual position is selected by the bow altitude control switch 21, the altitude setter. The altitude setting signal set in 23 is directly input to the servo amplifiers 9 of the left and right front auxiliary wings 5 to drive the front auxiliary wings 5.

The roll control is performed by the roll control switch 22.
Inertial sensor when automatic position is selected in
The hull 1 in which the roll angle and roll angular velocity data of the hull 1 detected by 13 are input from the input / output interface device 15.
Of the front and rear wings 5 so that the target roll angle preset by the keyboard 18 of the input / output interface device 15 and the corrected roll angle may be matched. , 6 are controlled in the right and left reverse directions to give a moment opposite to the hull motion to suppress the roll motion of the hull 1, and the roll control switch 22
When the neutral position is selected at, the auxiliary wings 5 and 6 of the front and rear wings are driven to the initially set auxiliary blade attack angle.

With the above construction, by performing the constant bow height control during traveling, the bow height from the water surface can be made constant without completely raising the hull 1 from the water surface, and the hull attitude can be stabilized and the front part can be stabilized. Hydrofoil 3
It is possible to prevent an excessive impact load from being applied to the wing due to the jumping out of the blades, and by performing roll control, it is possible to reduce rolling that occurs particularly during transverse waves and improve riding comfort. Further, by providing the GPS device 12 instead of the conventional magnet compass, the roll angle and the roll angular velocity of the hull 1 detected by the inertial sensor (or gyro) 13 can be corrected without an error due to magnetism, and thus the roll can be performed accurately. The control can be performed, and the hull can be stabilized and the riding comfort can be improved. Also, materials that affect magnetism can be used.

Further, since the hydrofoils 3 and 4 are submerged type, the hydrofoils 3 and 4 are prevented from being hit by the waves, and this is combined with the formation of the hull 1 in a double-hulled manner, which makes the hull 1 extremely You can sail in a stable state.

[0020]

As described above, according to the present invention, a wide area positioning device is provided in place of the conventional magnetic compass, so that there is no error due to magnetism and the roll angle of the hull detected by an inertial sensor or a gyro, The roll angular velocity can be corrected, and thus roll control can be performed accurately, rolling can be reduced, and riding comfort can be improved. Also, materials that affect magnetism can be used. Furthermore, since the front hydrofoil and rear hydrofoil attached to the legs of the hull are submerged, they will not be hit by the waves, and this combined with the catamaran shape of the hull makes the hull extremely You can sail in a stable state.

[Brief description of drawings]

FIG. 1 is a side view of a catamaran with hydrofoils according to an embodiment of the present invention.

FIG. 2 is a layout diagram of a control device of the catamaran with hydrofoils.

FIG. 3 is a control block diagram of the catamaran with hydrofoils.

[Explanation of symbols]

 1 Hull 2 Leg 3 Front Hydrofoil 4 Rear Hydrofoil 5,6 Auxiliary Wing 7,8 Wing Control Hydraulic Cylinder 9 Servo Amplifier 10 Wing Angle Sensor 11 Altitude Sensor 12 Global Positioning System (GPS) 13 Inertial Sensor 14 Swing Controller for control 15 Input / output interface device 16 Line 17 Communication interface device 18 Keyboard 19 CRT 21 Advanced control switch 22 Roll control switch 23 Advanced setting device 24 Console 25 Low pass filter

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuo Nakai 5-3-8 Nishi-Kujo, Konohana-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd. (56) Reference JP-A-59-143790 (JP, A) Kaisho 59-190082 (JP, A)

Claims (1)

(57) [Claims] 1. A pair of left and right leg portions projecting from the bottom of a hull projecting from the bottom of the hull, a submersible front hydrofoil and a rear hydrofoil are provided between the leg portions, and the hydrofoil has left and right ends, respectively. The wide-area positioning device is provided with an independently driven auxiliary wing, a wide-area positioning device for measuring the hull position is provided on the hull, and an inertial sensor or a gyroscope for detecting the roll angle and roll angular velocity of the hull is provided at the center of the hull motion. Calculate the speed and direction of the hull from the hull position data detected by, and correct the roll angle and roll angular velocity data of the hull detected by the inertia sensor or gyro by the calculated speed and direction data of the hull. A twin-wing with hydrofoil, characterized in that a controller for driving the auxiliary wing and performing roll control is provided based on the corrected roll angle and roll angular velocity data of the hull. Ship.