JP3469162B2 - Method and apparatus for reducing motion of floating structure - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for reducing motion of a marine facility composed of a plurality of floating bodies or a floating body structure such as a pontoon or a semi-sub body.

[0002]

2. Description of the Related Art For example, when a floating body structure composed of a plurality of floating bodies is installed on the sea, it is necessary to take measures to reduce the sway caused by waves and the like. Has been. However, in the case of the motion reduction measures using mooring lines, the motion reduction effect is limited because it is based on a passive way of thinking.

On the other hand, as a shaking motion reducing device for a ship, a solid mass curved in an arc shape such that the center of curvature is located at the upper side is swayed in the port direction so that a single string vibration can be performed. A sway detection sensor that detects the sway of the ship and a sway detection sensor that is movably arranged to form a spring system that utilizes gravity and that has a drive device that applies a driving force to the solid mass is installed. There is one equipped with a control device for phase-controlling a signal and sending a drive command to the drive device (Japanese Patent Laid-Open No. 5-8791). In addition, instead of forming the solid mass in an arc shape, there is also one in which the solid mass formed in a block shape is swingably mounted on a rail formed in an arc shape.

[0004]

However, if an attempt is made to adopt the above-mentioned vibration reduction device for a ship in a floating structure composed of a plurality of floating bodies, the device will be installed on each floating body. Not only is the installation cost high, but the connection structure between the floating bodies is also complicated.

Incidentally, although it is not a floating structure, there is a structure in which buildings standing in a forest are connected to each other by a horizontal vibration damping device so as to suppress the shaking of the building due to wind load or the like (Japanese Patent Laid-Open No. H10 (1998) -107106). No. 196158), by simply applying this idea to a floating body structure composed of a plurality of floating bodies, the horizontal shaking of the floating body can be reduced, but the shaking such as rolling and pitching cannot be reduced.

Therefore, the present invention makes it possible to effectively reduce the sway of a floating body structure composed of a plurality of floating bodies, and to reduce the sway of only the desired floating body. An object of the present invention is to provide a method and apparatus for reducing motion of a floating structure.

[0007]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention relates to a floating body structure comprising a plurality of horizontally floating bodies and different natural periods between adjacent floating bodies. A control force that connects the divided parts of adjacent floating bodies with a push-pull device that operates in the vertical direction, detects the shaking of the adjacent floating bodies, and pushes and pulls the floating body with the larger shaking from the vertical direction. In addition, the floating body with less shaking is subjected to a reaction force to reduce the shaking of each floating body, which is a method for reducing the shaking of the floating body structure, and is composed of a plurality of horizontally divided floating bodies. A sway detection for detecting the sway of each floating body by connecting the divided parts of the adjacent floating bodies of the floating body structure in which the adjacent floating bodies have different natural periods by a push-pull device operating vertically Sen Set up over the predetermined position, further, the motion suppression device for floating construction having a configuration including a control device for providing an actuation command signals of the upset detection sensor to said push-pull device based.

When swaying occurs in each floating body due to wave force, the swaying is detected by the swaying detection sensor, the magnitude of the swaying between adjacent floating bodies is judged, and the push / pull device is operated by a command from the control device. As a result, a control force for pushing and pulling the floating body with large shaking is applied in the vertical direction, and the reaction force is received by the floating body with small shaking, and as a result, the shaking of each floating body is suppressed uniformly.

Further, if one floating body is used as a specific floating body and at least two floating bodies are arranged adjacent to the specific floating body so as to give a control force only to the specific floating body, only the desired specific floating body is shaken. It can be reduced intensively.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

1 (a), (b) and (c) and FIG. 2 (a).
(B) and (C) show one embodiment of the present invention, and show an example of application to a floating structure 2 attached in a petal shape on each side of a regular hexagonal base 1.

The floating structure 2 is composed of three floating bodies 2a, 2b and 2c divided in the width direction (arrow X direction) perpendicular to the radial direction from the base 1, and adjacent floating bodies 2a and 2c.
The widths Wa and Wc of the floating bodies 2a and 2c are made equal so that the width Wb of the floating body 2b is set to twice the width Wa of the floating body 2a so that the natural frequencies (natural frequencies) of b and 2b, 2c are different from each other. There is. The length is arbitrary.

In the floating body structure 2 having the above structure, the left and right sides 2 of the divided portions of the adjacent floating bodies 2a, 2b and 2b, 2c.
An angular velocity sensor (vibration gyro) as a motion detection sensor is formed by connecting the points with two active push-pull devices 3 operating in the vertical direction and at the positions on the center of gravity of the floating bodies 2a, 2b, 2c. 4a, 4b, 4c are installed, and a control device 5 for taking in signals from these angular velocity sensors 4a, 4b, 4c and a computing unit 6 for computing a signal transmitted from the control device 5 are provided. An operation command is sent from the control device 5 to each push / pull device 3 based on the result of the calculation.

The push / pull device 3 is shown in FIGS.
As shown in detail in (c) about the one installed between the floating bodies 2a and 2b, on the upper surface of the split side end portion of the floating bodies 2a and 2b,
The mounting bases 7 and 8 are fixed to each other, and the drum 11 adapted to be rotated by the electric motor 10 via the universal coupling 9 is mounted on the mounting base 8 fixed on the floating body 2b. It is arranged in the width direction toward the width direction so as to be located on the floating body 2a side, and
At the end of the mounting base 8 on the side of the mounting base 7, a vertically long plate-shaped gantry frame 13 is erected, and a pulley shaft 14 is pierced at the upper end of the gantry frame 13 in the width direction so as to be rotatable. And a large-diameter intermediate transmission pulley 15 is attached to the rear end of the pulley shaft 14, and a wire 16 is endlessly hung between the intermediate transmission pulley 15 and the drum 11, The drum 10 is rotated by the motor 10 so that the rotational force is transmitted from the intermediate transmission pulley 15 to the pulley shaft 14 via the wire 16.

An upper drive pulley 17 is attached to the front end of the pulley shaft 14, and a lower drive pulley 18 is rotatably attached to the lower end of the front surface of the gantry frame 13.
In addition, the wire 19 is endlessly hung between the upper drive pulley 17 and the lower drive pulley 18 to rotate the pulley shaft 14 upward and to move the wire 19 through the rotation of the lower drive pulleys 17 and 18. Furthermore, a linear slide rail 20 extending in the vertical direction is attached to the front surface of the gantry frame 13 and at a position between the upper and lower drive pulleys 17 and 18, and the wire is attached to the linear slide rail 20. A slide block 21 locked to an intermediate portion on one side in the vertical direction of 19 is slidably engaged with the slide block 2 as the wire 19 moves.
1 can be displaced vertically along the linear slide rail 20.

Further, a load cell built-in block 22 is attached to the lower end of the front surface of the slide block 21, and a slide rail 23 extending in the length direction (arrow Y direction) is laid on the attachment base 7 on the floating body 2a side. In addition, a slide block 24 is engaged with the slide rail 23, and a pitch operation hinge 25 oriented in the width direction and a roll operation oriented in the length direction are provided between the slide block 24 and the load cell built-in block 22. Hinge block 27 as a cross-hinge mechanism having a hinge 26
Are connected via L-shaped brackets 28 and 29, respectively, so that the vertical displacement of the slide block 21 can be transmitted to the floating body 2a side through the hinge block 27 and the slide block 21, and the relative movement of the floating bodies 2a and 2b. Pitching and rolling are absorbed by the hinge block 27.

The combination of the slide rail 23 and the slide block 24 is not necessary for all the push / pull devices 3, but as shown in FIG. , When using multiple units as a set,
One unit is a fixed block 24 '. Further, the push / pull devices 3 for the two units installed between the floating bodies 2a and 2b and between the floating bodies 2b and 2c are driven synchronously.

Now, for example, as shown in FIG. 1C, if a random wave 30 travels from the right to the left and enters the floating body 2c, the floating body 2c responds to the wave of its own natural period. Similarly, the floating bodies 2b and 2a also sway in response to the waves corresponding to their natural periods. Therefore, the fluctuations of the floating bodies 2a, 2b, 2c are variously changed depending on the spectrum of the wave. That is, between the floating bodies 2a and 2b, 2b and 2
Between c, there is an arbitrary relative vibration.

When the floating body 2a, 2b, 2c is shaken as described above, the angular velocity sensor 4a as a shaking detection sensor installed on each floating body 2a, 2b, 2c,
The angular velocities are detected by 4b and 4c, and the angular velocities between the adjacent floating bodies are entered into the calculator 6 via the control device 5, and the magnitudes of the shaking are respectively compared and calculated here. An operation command is output from the control device 5 to the electric motors 10 of the push / pull devices 3 so as to push and pull the larger floating body from the vertical direction based on the smaller floating body. That is, the magnitude of the mutual swing between the floating bodies 2a and 2b, 2b, and 2c is determined, a control force is applied to the floating body having a large swing, and the reaction force is received by the floating body having a small swing. , 2b, 2c can be reduced evenly. Therefore, the floating structure 2 can be utilized even in a sea area where an anchor cannot be taken.

In the above case, for example, when the sway of the floating body 2a is large between the floating bodies 2a and 2b, the floating body 2a is
In order to give a control force to the electric motor 10, a drive command is given to the electric motor 10, and the driving force of the electric motor 10 causes the rotational force of the drum 11 to be transmitted to the intermediate transmission pulley 15 via the wire 16. Since it is transmitted to the drive pulley 17, the wire 19, and the lower drive pulley 18, the slide block 21 locked in the middle of the wire 19 is vertically displaced along the linear slide rail 20. As a result, the slide block 21 is vertically moved. The displacement is transmitted as a control force to the floating body 2a via the hinge block 27, and the reaction force is a path opposite to the force transmission path, and the floating body 2a receives the reaction force.
It will be transmitted to b.

In the above, each floating body 2a, 2b, 2c
However, in the case where the fluctuation of a specific floating body, for example, the floating body 2b is intensively reduced, the floating body 2b is controlled by each push / pull device 3.
A control force is applied to the floating bodies 2a and 2c to receive the reaction force. In this case, all floating bodies 2a, 2b,
This is advantageous when it is not necessary to reduce the fluctuation of 2c.

Further, in the above, the case where the angular velocity sensor is used as the motion detection sensor is shown. However, the signal is integrated once by using the angular acceleration sensor to control the angular acceleration, or the angular acceleration is used. The signal of the sensor or the angular velocity sensor may be differentiated and controlled as an angular acceleration signal. Further, although the push / pull device 3 is controlled by force, it may be controlled by angular displacement. That is, when the angular velocity sensor is used, the detected angular velocity signal is integrated once to create an angular displacement signal, and when the angular acceleration sensor is used, the detected angular acceleration signal is integrated twice. The angular displacement signal may be generated, and when the angular displacement sensor is used, the displacement of the push / pull device 3 may be directly controlled using the angular displacement signal.

Further, as the shaking detection sensor, a wave height meter is installed in the vicinity of each floating body 2a, 2b, 2c, and the wave height and period are taken into the arithmetic unit 6 via the control unit 5, and the arithmetic unit 6 preliminarily calculates the wave height and period. Feed-forward control is performed to calculate the amount of sway of the floating bodies 2a, 2b, 2c, and based on the result of the calculation, apply a control force to the push / pull device 3 in advance to reduce the sway of the floating bodies 2a, 2b, 2c. You may allow it. Further, in this case, any one of the above-mentioned angular acceleration, angular velocity, and angular displacement control or a combination thereof may be added.

Therefore, it is possible to effectively reduce the sway of each floating body 2a, 2b, 2c by selecting any optimum control according to the sea condition from the above-mentioned respective controls.

Next, FIG. 3 shows another embodiment of the present invention, in which a push-pull device 3'having a structure different from that of the push-pull device 3 shown in the above-mentioned embodiment is used for floating bodies 2a and 2b. The case where it is installed in between is shown. That is, the floating body 2b is attached to the end of the floating body 2a.
A connecting base 31 that horizontally projects toward the side is provided, and
At the end of the floating body 2b, connecting bases 32 for sandwiching the connecting base 31 from the left and right are provided so as to project toward the floating body 2a side, and two places on each connecting base 32 of the floating body 2b. The columns 34 are erected at a total of four locations via the mounting base 33,
The columns 34 arranged in the width direction are connected by the intermediate connecting beam 35, and the columns 34 arranged in the length direction are connected to the top connecting beam 36.
And the intermediate connecting beam 37 to form a support frame 38 on the side of the floating body 2b, and a vertical linear guide 39 is provided on the inner surface of the intermediate frame beam 35 in the width direction of the support frame 38 in the vertical direction. On the other hand, base brackets 48 are fixedly installed at two positions in the width direction on the connecting base 31 of the floating body 2a, and the base bracket 48 is mounted on the base bracket 48 via a spherical bearing built-in mounting bracket 40. A pedestal 41 is attached so as to be swingable in the length direction, and rail posts 42 adapted to be engaged with the linear guides 39 are erected at four corners of the pedestal 41, and the length of each rail post 42 is set. The racks 43 are fixedly installed along the vertical direction on the surface facing each other in the vertical direction, the pinions 44 are engaged with the racks 43, and the pinions 44 in the width direction are attached to the pinion shafts 45 extending in the width direction. Both end portions of the pinion shaft 45, the electric motor 46 which is placed on the intermediate connecting beam 37 in the longitudinal direction of the support Frames 38, linked via a reduction gear 47, FIG. 1
By driving the electric motor 46 by the operation command from the control device 5 shown in (b), the driving force of the electric motor 46 is transmitted to the rack 43 via the speed reducer 47, the pinion shaft 45, and the pinion 44, and further, The rail post 42 is vertically displaced together with the rack 43, and the displacement is caused by the mount 41, the spherical bearing built-in mounting bracket 40, and the base bracket 48.
By being transmitted to the floating body 2a via the, the vertical displacement is relatively applied between the floating bodies 2a and 2b.

Even if the push-pull device 3'shown in FIG. 3 is used, the same operational effect as in the above-mentioned embodiment can be obtained.

In the above embodiment, the division width of the floating body 2b is made longer than the division width of the floating body 2a (= 2c) in order to make the natural periods of the adjacent floating bodies different from each other. The division widths of the floating bodies 2a, 2b, 2c are made different from each other, or the division widths of the respective floating bodies 2a, 2b, 2c are made equal to each other, and the weight of the push / pull device 3 or 3 ′ itself or the weight of a loading structure including them. May be different from each other, the length may be arbitrary, further, the number of divisions of the floating structure, the shape, etc. are not limited to those shown in the embodiment, The push-pull device 3 or 3'connecting the divided parts of the floating body can be installed in any number depending on the size and shape of the floating body, and various changes can be made without departing from the scope of the present invention. Of course.

[0028]

As described above, according to the present invention, the division of the adjacent floating bodies of the floating body structure, which is composed of a plurality of floating bodies divided in the horizontal direction, and the natural periods of the adjacent floating bodies are different from each other. The parts are connected by a push-pull device that operates in the up-down direction, detect the sway of the adjacent floating body, and apply a control force that pushes and pulls the floating body with the larger sway from the up-down direction. A method for reducing the sway of a floating structure in which the smaller buoyant body receives a reaction force to reduce the sway of each floating body. The divided parts of the adjacent floating bodies of the floating structure having different natural periods are connected to each other by a push-pull device that operates in the vertical direction, and a shaking detection sensor for detecting the shaking of each floating body is provided at a required position. Setting Further, since it is a motion reducing device for a floating structure having a control device that gives an operation command to the push / pull device based on the signal of the motion detection sensor, the motion of the divided floating body can be reduced. Therefore, it is possible to reduce the acceleration acting on the structure on the floating body, whereby the strength of the structure on the floating body can be reduced, and it is not necessary to use an anchor for reducing the shake in the floating structure. The total construction cost can be reduced, the floating structure can be used even in sea areas where anchors cannot be taken, and the floating structure can be moved to any place in the event of a disaster. Can be effectively used regardless of sea conditions. Further, by using one floating body as a specific floating body and adjoining at least two floating bodies to the specific floating body so as to give a control force to only the specific floating body, it is possible to reduce the fluctuation of only the specific floating body. Therefore, when it is not necessary to reduce the fluctuation of all the floating bodies, the ability of the push-pull device can be reduced, and the push-pull device can be manufactured at low cost, which is an excellent effect.

[Brief description of drawings]

FIG. 1 shows an embodiment of a motion reducing apparatus for a floating structure according to the present invention, in which (a) is a schematic plan view of a floating structure attached to a base, and (b) is one floating structure. The top view which expands and shows a part, (c) is an AA arrow line view of (b).

FIG. 2 is a view showing an example of a push-pull device installed at a connecting portion of divided floating bodies constituting a floating structure, (a) being a side view,
(B) is a BB direction arrow view of (A), (C) is a CC direction arrow view of (A).

FIG. 3 is a schematic diagram showing another embodiment of the present invention.

[Explanation of symbols]

2 Floating body structure 2a, 2b, 2c Floating body 3, 3'Push / pull device 4a, 4b, 4c Angular velocity sensor (motion detection sensor) 5 Control device

─────────────────────────────────────────────────── ─── Continuation of the front page (73) Patent holder 000000974 Kawasaki Heavy Industries, Ltd. 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo (73) Patent holder 591210600 Kawada Industry Co., Ltd. Fukuno-cho, Higashitonami-gun, Toyama Prefecture Naeshima 4610 (73) Patent holder 000002107 Sumitomo Heavy Industries, Ltd. 5-9-11 Kitashinagawa, Shinagawa-ku, Tokyo (73) Patent holder 591099212 Katayama Stratec Co., Ltd. 6 Minamienkajima, Taisho-ku, Osaka-shi, Osaka 2-21 (73) Patent holder 000142595 Kurimoto Iron Works Co., Ltd. 12-12 Kitahori, Nishi-ku, Osaka-shi, Osaka (73) Patent holder 000006655 Nippon Steel Corporation Otemachi, Chiyoda-ku, Tokyo 2-3-6 (73) Patent holder 000001199 Kobe Steel, Ltd. Kobe Steel, Ltd. Hyogo Prefecture Chuo-ku Wakihama-cho 2-1026 (73) Patent holder 000005119 Hitachi Zosen Co., Ltd. 1-789 Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka (73) Patent holder 000142492 Komai Iron Works Co., Ltd. 2-20-21, Isoji, Minato-ku, Osaka-shi, Osaka (73) Patent holder 000006208 Mitsubishi Heavy Industries Ltd. Company 2-16-5 Konan, Minato-ku, Tokyo (73) Patent holder 000000099 Ishikawajima-Harima Heavy Industries Co., Ltd. 2-2-1 Otemachi, Chiyoda-ku, Tokyo (72) Inventor Tadatoshi Furukawa Yamadaoka, Suita-shi, Osaka 2-chome 1 Graduate School of Engineering, Osaka University (72) Inventor Katsuo Mutaguchi 5-17 Kitsumachi, Kure City, Hiroshima Prefecture Ishikawajima Harima Heavy Industries Co., Ltd.Kure Shingu Factory (72) Inventor Yuji Koike Yokohama City, Kanagawa Prefecture No. 1 Shin-Nakahara-cho, Isogo-ku, Ishikawajima-Harima Heavy Industries Co., Ltd., Machinery & Plant Development Center (56) Reference JP-A-10-196158 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) ) B63B 35/00

Claims (3)

(57) [Claims] 1. A push-pull which vertically operates the divided portions of the adjacent floating bodies of a floating structure which is composed of a plurality of horizontally divided floating bodies and has different natural periods from each other. Connect with a device, detect the sway of the adjacent floating bodies, and add a control force to push and pull the floating body with the larger sway from the up and down direction so that the floating body with the smaller sway receives the reaction force. According to the method, the fluctuation of the floating structure is reduced. 2. The fluctuation reduction of a floating body structure according to claim 1, wherein one floating body is a specific floating body, and at least two floating bodies are adjacent to the specific floating body, and a control force is applied only to the specific floating body. Method. 3. A push-pull which vertically operates the divided portions of the adjacent floating bodies of a floating structure which is composed of a plurality of floating bodies divided in the horizontal direction and has different natural periods from each other. A configuration in which a vibration detection sensor for detecting fluctuation of each of the above-mentioned floating bodies is connected to a device and installed at a required position, and further a control device for giving an operation command to the push-pull device based on a signal of the vibration detection sensor is provided. A motion reducing device for a floating structure, comprising: