JP2607811B2 - Air cushion boat 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 an air cushion boat navigating so as to float the hull by an air cushion chamber provided at the lower part of the hull, and more particularly to a hull having a pair of left and right hydrofoils at its front and rear portions. The present invention relates to an air-cushion boat with hydrofoils with improved attitude control.

[0002]

2. Description of the Related Art Conventionally, there is an air cushion boat having a hull attitude control system as shown in FIG. 4. At the lower part of a hull 1, both sides of the hull 1 and an airbag-like bow seal 1a and stern seal are provided. 1b, an air cushion chamber 7 is formed. The air supplied from the lift fans 6 provided at the bow and stern through the air passages through the inside of the bow seal 1a and the stern seal 1b respectively causes the hull 1 to float by the air cushion effect on the sea surface. It is carried out and can be navigated with little resistance. In order to adjust the attitude of the hull 1 by appropriately discharging air from the inside of the air cushion chamber 7, a variable opening louver 4 communicating with the air cushion chamber 7 is provided. Is based on a detection signal from an air pressure sensor (not shown) that detects the air pressure in the air cushion chamber 7 , and through a louver opening adjustment actuator (not shown) such as a hydraulic cylinder by a hull attitude control system including a pressure gauge amplifier and a controller. Is performed.

[0003] That is, the set pressure value is compared with the pressure of the air cushion chamber 7 measured by the air pressure sensor. If the latter is higher, a signal of a larger opening is sent to the louver opening adjusting actuator, and the latter is sent to the louver opening adjusting actuator. If it is low, a small opening signal is sent. The air sent into the bag-shaped seals 1a and 1b by the action of the lift fan 6 is:
Since the pressure in the seals 1a and 1b is slightly higher than the pressure in the air cushion chamber 7, the air seal is expanded as an air bag and has elasticity. For this reason, it is possible to reduce air leakage from the front and rear of the hull.

If the pressure in the air cushion chamber 7 is high, the louver 4 is opened or closed by a signal of a large opening from the above-mentioned control system, and the air pressure is reduced.
Is adjusted so that the pressure of the air cushion matches the set value, the pressure in the air cushion chamber 7 is kept substantially constant, and the hull 1 can float up to an appropriate height and sail. further,
When there is a wave, this wave compresses the air in the air cushion chamber, and the pressure in the air cushion chamber rises, and it tries to push up the hull. This pressure rise is also detected by the air pressure sensor, and the louver 4 is momentarily moved. The opening is large, preventing pressure rise and preventing the hull from rising, providing a good ride comfort.

[0005]

In the conventional air cushion boat as described above, the vertical movement can be controlled by adjusting the louver opening, but pitching and rolling are controlled. And there is a problem that sufficient hull attitude control cannot be performed. Therefore, an air-cushion boat with a hydrofoil that has a pair of left and right wing angle variable hydrofoil at the front and rear of the hull has been proposed. However, pitching, rolling, There are no excellent air-cushion boats with hydrofoils that provide comprehensive control of vertical movement.

The present invention seeks to solve such a problem, and based on a detection signal from a sensor capable of detecting a hull attitude, a variable opening louver and a variable wing angle type underwater. Pitching by simultaneously controlling the wing angle of the wing,
It is an object of the present invention to provide an air-cushion boat with a hydrofoil that can control the hull attitude in a comprehensive manner by coping with rolling and vertical movements.

[0007]

In order to achieve the above-mentioned object, an air-cushion boat with a hydrofoil according to the present invention comprises an air-cushion chamber provided at a lower part of a hull, and a lift fan for supplying air to the air-cushion chamber. a variable opening type louver mounted on the hull to adjust the pressure of the air cushion chamber, together with and a louver opening degree adjustment actuator capable of adjusting the opening of the louvers, the front and rear of the hull A wing angle variable type hydrofoil mounted in pairs on the left and right sides, and a wing angle adjustment actuator capable of adjusting the wing angle of the hydrofoil, the hull attitude and the above A sensor capable of detecting the pressure in the air cushion chamber, reference value setting means capable of setting a reference value for the attitude of the hull, a reference signal from the reference value setting means, and the sensor A first adder / subtracter for comparing the detection signal from the sensor, a forward controller for receiving the output signal from the adder / subtractor and performing forward control, and applying a feedback gain to the detection signal from the sensor to output the signal. A second adder / subtractor for comparing the output signal from the forward controller with the output signal from the forward controller, and the louver opening adjustment actuator and the blade based on the output signal from the second adder / subtractor. A control system for controlling the angle adjusting actuator is formed.

In the air cushion boat with hydrofoil according to the present invention, the forward controller controls the deviation signal between the reference signal as the reference value for the attitude of the hull and the detection signal for the attitude of the hull detected by the sensor. A signal obtained by adding and subtracting an output signal subjected to forward control and a signal output by applying a feedback gain to a detection signal from the sensor is input to the louver opening adjustment actuator and the blade angle adjustment actuator. The action is performed. The opening of the louver and the blade angle of the hydrofoil are controlled based on the detection signal from the sensor, and the attitude control of the hull is performed in response to fluctuations such as pitching, rolling, and vertical movement. The forward controller is a feedforward system.
Control function.
Control is performed in advance. This is the goal
The controllability of setting and response to disturbances is improved.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of an air-cushion boat with a hydrofoil according to one embodiment of the present invention.
FIG. 2 is a conceptual view of the configuration of the device, FIG. 2 is a longitudinal sectional view of the hull, and FIG. 3 is a control system diagram thereof. As shown in FIGS. 1 and 2, the air-cushion boat with a hydrofoil according to the present embodiment has an air cushion chamber 7 which is surrounded by both sides of the hull 1 and an airbag-like bow seal 1a and a stern seal 1b. Are formed.

The hull 1 is provided at the bow and stern with a lift fan 6 for supplying air to the air cushion chamber 7, and the pressure of the air is controlled by adjusting the amount of air discharged from the air cushion chamber 7. For this purpose, a variable louver 4 and a louver opening adjustment actuator (not shown) capable of adjusting the opening of the louver 4 are provided. In addition, a blade angle adjusting actuator (not shown) that can adjust the blade angle of the hydrofoil is provided with variable blade angle hydrofoil 5 mounted on the front and rear portions of both sides of the hull 1 in left and right pairs. It is provided.

Further, a plurality of sensors 2 for detecting the attitude of the hull and the pressure of the aeration chamber 7 are provided, and reference value setting means (not shown) for setting a reference value for the attitude of the hull is provided. . The control system 3 in the present embodiment is configured as shown in FIG. That is, the control system 3 includes a reference signal r = ( Z *, θ *, φ * ) from the reference value setting means and an output value extraction signal provided on the downstream side of the sensor 2 among the detection signals from the sensor 2. Detection signal Yp = (Z,
θ, φ) is provided, and a forward controller 9 that receives an output signal from the adder / subtractor 12 and performs forward control is provided. The forward controller 9 includes an integrator 11 and a forward compensation gain unit 10 that multiplies the forward compensation gain Ker . Forward-looking
The controller 9 has a feedforward control function.
So control ahead of the feedback control signal
Is to multiply. This allows you to set goals and respond to disturbances.
Answer controllability is enhanced. In this control system 3, the same as integrator 11
Multiply the signal from the integrator 11 by the forward compensation gain Ker
The above-described response controllability is achieved by the configuration with the forward compensation gain unit 10.
To improve it.

A detection signal from the sensor 2 is directly subjected to a feedback gain Kx by a feedback gain unit 8, and an output signal from the feedback gain unit 8 and
A second adder / subtractor 13 for comparing the output signal from the forward compensation gain unit 10 in the forward controller 9 is provided.
Is input to the louver opening adjustment actuator and the blade angle adjustment actuator. With the configuration described above, the following operation is performed in the air-cushion boat with hydrofoil according to the present embodiment. That is, first, the vertical displacement Z, the vertical displacement speed dZ / dt, the pitch angle θ, the pitch angular speed dθ /
dt, pressure value μ, roll angle φ, roll angular velocity dφ / dt
Are detected and multiplied by a feedback gain Kx (matrix) to generate a control signal. The control signal is input to the second adder / subtractor 13.

An output value extractor 14 extracts an output value Yp (Z, θ, φ) from a detection signal of the sensor 2 and outputs the output signal Yp and a reference set value r ( Z *, θ *,
φ * ) is output from the first adder / subtractor 12. The output signal Ye from the adder / subtractor 12 is input to the forward controller 9, and the control signal generated by the forward controller 9 is input to the adder / subtractor 13. The addition and subtraction of the two control signals is performed by the adder / subtractor 13 to generate command signals to the blade angle adjusting actuator and the louver opening degree adjusting actuator.

The opening degree of the louver 4 and the blade angle of the hydrofoil 5 are controlled by the command signal generated in this manner.
As described above, since the wing angle adjustment actuator and the louver opening adjustment actuator are controlled, the air-cushion boat with hydrofoil of the present embodiment enables a stable hull attitude of the hull and enables the marine vessel to sail. It is possible to realize a high-speed ship with good stability and good attitude control even with disturbances such as wind and tidal current.

[0015]

As described above in detail, according to the air-cushion boat with a hydrofoil of the present invention, the opening of the louver with variable opening and the wing angle of the hydrofoil with variable wing angle are controlled simultaneously, and pitching, The hull attitude is controlled comprehensively by a control system including a forward controller to deal with rolling and vertical movements.
The Cormorant hand stage vessels to can make stable cruising, and waves, wind, the effect of that enables good cruising stability against disturbances such as tidal currents obtained.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram of an apparatus configuration showing an air cushion boat with a hydrofoil as one embodiment of the present invention.

FIG. 2 is a longitudinal sectional view of the hull of the air-cushion boat with a hydrofoil shown in FIG. 1;

FIG. 3 is a control system diagram of the air cushion boat with a hydrofoil shown in FIG. 1;

FIG. 4 is a longitudinal sectional view of a hull of a conventional air cushion boat.

[Explanation of symbols]

 Reference Signs List 1 hull 1a bow seal 1b stern seal 2 sensor 3 control system 4 variable opening louver 5 variable blade angle type hydrofoil 6 lift fan 7 air cushion room 8 feedback gain section 9 forward controller 10 forward compensation gain section 11 integration Unit 12 First adder / subtractor 13 Second adder / subtractor 14 Output value extractor

Continuation of the front page (56) References JP-A-62-15157 (JP, A) JP-A-2-28050 (JP, A) JP-A-4-83966 (JP, U) JP-A-4-201777 (JP) , U)

Claims (1)

(57) [Claims] An air cushion chamber provided at a lower part of the hull; a lift fan for supplying air to the air cushion chamber; a variable opening louver mounted on the hull to adjust the pressure of the air cushion chamber; together and a louver opening degree adjustment actuator capable of adjusting the opening of the louvers, and in pairs left and right to the front and rear of the hull mounted vane angle variable hydrofoil wings of the same hydrofoil A wing angle adjusting actuator capable of adjusting the angle, and a sensor capable of detecting the attitude of the hull and the pressure of the air cushion chamber and a reference value for the attitude of the hull can be set to control the attitude of the hull. A reference value setting means, a first adder / subtractor for comparing a reference signal from the reference value setting means with a detection signal from the sensor, and an output signal from the adder / subtractor. A forward controller that performs forward control; and a second adder / subtractor that compares a signal output by applying a feedback gain to a detection signal from the sensor and an output signal from the forward controller. A control system for controlling the louver opening adjustment actuator and the blade angle adjustment actuator based on an output signal from the second adder / subtractor, wherein an air cushion boat with a hydrofoil is provided. .