JPH0221998B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a sway control device for a high-speed boat such as a hydrofoil boat.

[Conventional technology]

In general, in high-speed ships such as hydrofoil boats equipped with hydrofoils at the bottom of the hull, the hydrofoils control the floating height, rolling, pitching, and up-and-down motion of the hull in order to ensure stable navigation. Rotating blades such as fins and flaps are provided. This type of rotating blade is normally operated by a hydraulic cylinder housed within the hydrofoil, and is configured to rotate the rotating blade by a predetermined angle in response to detection of ship motion.

By the way, when rotating the rotating blade in response to the detection of the hull motion, it is necessary to detect the actual angle of the rotating blade and feed back this to control the rotating blade to a predetermined angle. However, in this case, it is very difficult to directly measure the angle of the rotating blade because the inside of the hydrofoil is very narrow, the hydrofoil is underwater, and so on.

[Problem to be solved by the invention]

This invention has been made with these problems of the prior art in mind, and its purpose is to adjust the operating angle of a rotary blade supported by a hydrofoil within a hydrofoil with a narrow space. easily detectable,
Furthermore, the present invention aims to provide a high-speed boat sway control device that can detect failures and have a long service life.

[Means to solve the problem]

In order to achieve the above object, the high-speed boat sway control device of the present invention includes a hydrofoil provided at the bottom of the hull of the high-speed boat, and a hydrofoil that is rotatably supported by the hydrofoil and uses lift force generated by water flow. Rotating blades such as fins and flaps that provide rotational moment around the center of gravity to the hull, a lever integrated on the pivot of the rotating blade, and a lever provided on the hull to determine the angular velocity of the rocking of the hull due to disturbances such as waves and wind. an angular velocity sensor that detects the angular velocity and outputs an angular velocity signal proportional to the angular velocity; and an angular velocity sensor that uses the angular velocity signal to calculate a rotation angle of the rotating blade necessary to minimize the shaking of the ship body and generates a rotation angle control signal. a hydraulic cylinder having a piston rod integral with a piston housed inside the hydrofoil and moving in a cylinder chamber connected to the lever and rotating the rotating blade by displacement of the piston; hydraulic oil piping connected to both ends of the cylinder chamber, and a valve panel that switches the flow path of hydraulic oil from the hydraulic pump to either of the two oil pipings in response to the control signal to displace the piston; A differential transformer that is integrally provided within the hydraulic cylinder and detects the operating angle of the rotary blade by changing the position of the piston, and an electric wire connected to the differential transformer is accommodated and the electric wire is guided into the hull. and a servo amplifier that controls the valve panel until the operating angle detected by the differential transformer reaches the rotation angle calculated by the arithmetic unit. The hydraulic fluid is sealed in the hydraulic fluid.

[Effect]

In the high-speed boat sway control system configured as described above, when the ship's hull sways due to a disturbance, the angular velocity signal of this sway is output from the angular velocity sensor, and the arithmetic unit minimizes the sway of the ship. The rotation angle of the rotor blade required for this purpose is calculated and a rotation angle control signal is output.

Therefore, this control signal causes the valve panel to switch between the two oil pipes, and the hydraulic oil from the hydraulic pump flows into the cylinder chamber through either oil pipe, displacing the piston, and responding to this displacement. The rotary blade rotates via the accompanying lever, and a rotation moment acting in the opposite direction to the rocking moment acts on the hull.

On the other hand, the differential transformer integrated in the hydraulic cylinder detects the amount of displacement of the piston to detect the operating angle of the rotating blade, and the servo amplifier switches the valve panel until this operating angle reaches the rotating angle determined by the calculation device. The state is controlled.

Here, if the hydrofoil is immersed in water,
Since hydraulic oil is sealed within the differential transformer and the electrical conduit, seawater is prevented from entering these interiors.

〔Example〕

Next, the present invention will be described in detail with reference to drawings showing one embodiment in which the present invention is applied to a hydrofoil boat to control the rolling motion of the hull.

First, Figure 1 shows the entire hydrofoil boat, where 1 is a hull, 2 and 3 are a front hydrofoil and a rear hydrofoil that are integrally provided on the bottom of the front and rear parts of the hull 1. The wing 2 is supported by struts 4a, 4b and fins 5a, 5b. 6 is a propeller, 7 is a rudder, 8a and 8b are rolling fins that are integrally provided at positions shifted left and right from the center of the front hydrofoil 2 and project outward and diagonally downward, and 9a and 9b are both rolling fins 8.
It is a rolling flap that is provided parallel to the rear of the flaps 9a and 8b and is rotatably supported with a support shaft 10 located diagonally downward outwardly as a fulcrum, and both rolling flaps 9
a and 9b rotate in the same direction, and a lifting force is generated in the rolling flaps 9a and 9b by the water flow, which is a function of the angle between the rolling flaps 9a and 9b and the water flow. A rotational moment about the center of gravity is given.

Reference numeral 11 denotes an angular velocity sensor 12 which is provided on the hull 1 and detects the angular velocity of rolling of the hull 1 due to disturbances such as waves and wind, and outputs an angular velocity signal proportional to the angular velocity.
is installed in the wheelhouse of the hull 1, and the angular velocity sensor 11
a control panel housing a flap angle control calculation device, etc., which calculates the flap angle necessary to minimize the roll of the hull 1 based on the angular velocity signal from the angular velocity signal and outputs a flap angle control signal proportional to the flap angle; 13b is a valve panel that controls the amount of hydraulic oil supplied to hydraulic cylinders, which will be described later, installed on the left and right sides of the front bottom of the hull 1.

14 is a rolling flap 9 in the hydrofoil 2
This is a hydraulic cylinder that is housed on the right side of FIG. 5 and rotates the rolling flap 9a, and is constructed as shown in FIG. That is, in FIG. 5, 15 is a cylinder main body forming the outer casing of the hydraulic cylinder 14, 16 is a cylinder chamber formed on the left side inside the cylinder main body 15, and 17 is a cylinder housed in the cylinder chamber 16, which can move left and right. piston, 1
A piston rod 8 is provided integrally with the piston 17 and extends through the left wall of the cylinder body 15, and the tip of the rod 18 is connected to the rolling flap 9a as shown in FIGS. 2 and 4. It is connected to a lever 19 integral with the support shaft 10, and the reciprocating movement of the piston 17 causes the support shaft 10 to rotate via the piston rod 18 and lever 19, thereby rotating the rolling flap 9a.

Reference numerals 20 and 21 are hydraulic oil piping connection ports formed in the cylinder body 15 so as to communicate with one end and the other end of the cylinder chamber 16, and both connection ports 20, 2
Rotating oil pipes 22 and 23 shown in solid lines in FIG. and is guided to the valve panel 13a. Note that a hydraulic cylinder for rotating the rolling flap 9b is also housed on the left side of the rolling flap 9b in the front hydrofoil 2, as described above, and a rotation pipe connected to the hydraulic cylinder is connected to a valve. Panel 13
Guided by b.

The valve panels 13a and 13b have a flow path for hydraulic oil from a hydraulic pump connected to the control panel 1.
For example, when one oil pipe 22 is connected to a hydraulic pump, the hydraulic oil in the hydraulic oil tank is transferred from the pump to the valve. , is supplied to the left side of the cylinder chamber 16 through the oil pipe 22, and as the piston 17 moves to the right, the hydraulic oil on the right side of the cylinder chamber 16 is supplied to the left side of the cylinder chamber 16 through the other oil pipe 23, valve, etc. returned to the tank.

24 is a differential transformer that is integrated into the hydraulic cylinder 14 and detects the operating angle of the rolling flap 9a based on the amount of displacement of the piston 17. It consists of an iron core 26 that is provided integrally and coaxially and inserted into a coil 25, and the amount of movement of the iron core 26 accompanying the displacement of the piston 17 is extracted as an electrical output. A differential transformer for detecting the operating angle of the rolling flap 9b is also integrated into the left hydraulic cylinder in the front hydrofoil 2. 27 is a main body joint fixed to the right end of the cylinder main body 15;
8 is a wire for taking out an electric signal connected to the coil 25 of the differential transformer 24, and 29 has one end connected to the main body joint 2.
7 is an electric conduit tube that houses the electric wire 28 and guides the electric wire 28 into the hull 1 through the inside of the hydrofoil 2 and the strut 4a.

Reference numeral 30 indicates a connection port for a pipe formed on the left side of the cylinder body 15 and communicates with the inside of the differential transformer 24 through the communication pipe 31. Reference numeral 32 indicates a connection port for a pipe that is connected to the connection port 30 and is connected to the inside of the front hydrofoil 2 and the strut 4a. This is an oil piping for sealing that is introduced into the hull 1 and communicated with the hydraulic oil tank of the hydraulic cylinder 14, and the hydraulic oil is sealed inside the differential transformer 24 and the electric conduit 29 through the piping 32. The oil pressure prevents seawater from entering the differential transformer 24 and the electric conduit 29. Reference numeral 33 denotes an electric wire take-out part provided in the hull 1 to which the other end of the electric conduit 29 is connected and which separates the electric wire 28 from the oil return pipe 34. The electric wire 28 is guided to the control panel 12, and the oil return pipe 34
is guided to the hydraulic oil tank together with the sealing oil pipe 32.

When the hull 1 rolls due to disturbances such as waves and wind, the angular velocity signal from the angular velocity sensor 11 is input to the control panel 12, and the flap angle control calculation device uses the angular velocity signal to minimize the rolling of the hull 1. The necessary flap angle is calculated, and a flap angle control signal proportional to this is outputted via the servo amplifier.Furthermore, in the left and right valve panels 13a, 13b, the rotation oil pipes 22, 23 are controlled in accordance with the signal. The flow path of the oil from the hydraulic pump is switched, and the hydraulic oil from the hydraulic pump flows into the cylinder chamber 16 of both hydraulic cylinders 14 and moves the piston 17, and both rolling flaps 9a and 9b are individually moved via the piston rod 18. They are rotated simultaneously and in the same direction.

Also, at this time, the electric wire 2 is connected to the differential transformer 24.
8, an output equal to the rotation angle of the rolling flaps 9a, 9b is obtained, and this is fed back to the servo amplifier, and the rotation of the rolling flaps 9a, 9b by both hydraulic cylinders 14 is controlled by the flap angle control signal. The lifting force generated by the water flow acts on both rolling flaps 9a and 9b, which are rotated to a predetermined flap angle, and a rotational moment is generated in the hull 1 in the opposite direction to the rolling motion, causing the hull to rotate. 1 is held almost horizontally.

Therefore, according to the embodiment, when detecting the rotation angle of both rolling flaps 9a, 9b, this is not directly detected, but the differential transformer 24
The rotation angle can be detected based on the amount of displacement of the piston 17 of the hydraulic cylinder 14 detected by this, and by feeding back this, the rotation angle of both rolling flaps 9a and 9b can be controlled with high precision. Moreover, since the differential transformer 24 is integrated into the hydraulic cylinder 14, this type of detection means can be downsized and easily accommodated in the front hydrofoil 2, which has a small space. Since the hydraulic oil used in the hydraulic cylinder 14 is sealed inside the transformer 24 and the electric conduit 29 and is soaked in oil, even though the front hydrofoil 2 is submerged in water, there is no difference in the hydraulic pressure of the hydraulic oil. Inside the dynamic transformer 24 and the conduit 2
It is possible to prevent seawater from entering into the flap 9, ensuring a long service life without failure, and it is possible to reliably and easily detect the operating angle of both rolling flaps 9a and 9b, thereby realizing stable rolling control. It is.

In addition, although the case of rolling control of a hydrofoil boat was explained above, in pitching and vertical swaying control,
The same method can be used to detect the operating angle when rotating rotating blades such as flaps and fins using other hydraulic cylinders. The same applies to ships.

〔Effect of the invention〕

Since this invention is configured as described above, it produces the effects described below.

A rotary blade is supported that gives rotational moment around the center of gravity of the ship to the hydrofoil at the bottom of the hull, and the rotary blade is integrally placed in a hydraulic cylinder that rotates the rotary blade by the amount of displacement of the piston of the cylinder. By providing a differential transformer for detecting the operating angle, it is possible to easily detect the actual angle of the rotating blade, and this type of detection means can be easily incorporated into a hydrofoil with limited space. By sealing hydraulic oil inside the differential transformer and the conduit tube that houses the electric wires connected to it, it is ensured that seawater does not infiltrate inside the differential transformer and the conduit tube inside the hydrofoil that is immersed in water. Therefore, it is possible to obtain a long-life detection means that is free from failures and realizes stable vibration control.

[Brief explanation of drawings]

The drawings show an embodiment in which the swing control device for a high-speed boat of the present invention is applied to a hydrofoil boat, and FIG. 1 is an overall perspective view of the hydrofoil boat, and FIG. 2 is a partially cutaway view of the rolling flap part. 3 is a plan view of the rolling flap, FIG. 4 is a plan view showing the main oil piping system, and FIG. 5 is a sectional view of the hydraulic cylinder. DESCRIPTION OF SYMBOLS 1... Hull, 2... Front hydrofoil, 9a, 9b... Rolling flap, 10... Support shaft, 14... Hydraulic cylinder, 17... Piston, 18... Piston rod,
19... Lever, 24... Differential transformer, 28... Electric wire, 29... Electric conduit.

Claims (1)

[Claims] 1 Hydrofoils installed at the bottom of the hull of a high-speed boat,
a rotary blade such as a fin or a flap that is rotatably supported by the hydrofoil and applies a rotational moment about the center of gravity to the ship body by lift generated by water flow; a lever integral with the support shaft of the rotary blade; An angular velocity sensor installed in the hull and configured to detect the angular velocity of the hull shaking due to disturbances such as waves and wind, and output an angular velocity signal proportional to the angular velocity; A calculation device that calculates the rotation angle of the rotation blade and outputs a rotation angle control signal, and a piston rod that is integrated with the piston that is housed inside the hydrofoil and moves within the cylinder chamber are connected to the lever and the piston A hydraulic cylinder that rotates the rotary blade by the displacement of A valve panel that switches to one of the oil pipes to displace the piston, a differential transformer that is integrally provided within the hydraulic cylinder and that detects the operating angle of the rotating blade based on the amount of displacement of the piston, and the differential transformer. control the valve panel until the operating angle detected by the electrical conduit that accommodates the electrical wire connected to and guides the electrical wire into the hull and the differential transformer reaches the rotation angle calculated by the computing device; A sway control device for a high-speed ship, comprising: a servo amplifier, and the hydraulic oil is sealed inside the differential transformer and the electric conduit.