JPH04122296U - Marine fin stabilizer control device - Google Patents

Abstract

(57) [Abstract] [Purpose] The present invention relates to a control device for a fin stabilizer used on a ship, which ensures that the ship's hull can be properly restored even when the ship is hit by large waves and tilts significantly, especially in rough weather. This makes it possible to control the ship's attitude in a stable manner. [Configuration] Hydrofoils 1 installed in pairs on both sides of the hull
and a blade angle adjustment mechanism 4 capable of adjusting the blade angle of the hydrofoil 1, a first sensor 2a capable of detecting the heel angle of the hull and a second sensor capable of detecting the heel angular velocity of the hull. The blade angle control system 3 includes a sensor 2b and a blade angle control system 3 capable of outputting a control signal to the blade angle adjustment mechanism 4 based on detection signals from the first sensor 2a and the second sensor 2b. A weighting system is provided that can weight the detection signal from the first sensor 2a at a predetermined hull heel angle φ _O or more. As a result, even if the ship's hull tilts significantly during rough weather, the hydrofoils will work accurately to restore the ship's shape in a stable manner, ensuring a high level of safety.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a control device for fin stabilizers used on ships, especially in rough weather. Even if the angle of heel of the hull becomes large at the bottom, the hull can be restored stably. The present invention relates to a marine fin stabilizer control device.

0002

[Conventional technology]

Conventional marine fin stabilizer control devices are installed in pairs on both sides of the hull. The blade angle of the hydrofoil is controlled as shown in FIG. 3 (control diagram). In other words, the hull's roll angular velocity (heel angular velocity) detected by the heel angular velocity sensor The signal dφ/dt is input to the blade angle control system, and the detection signal dφ/dt is input to the PID etc. In order to correspond to the control method, the same signal dφ/dt is calculated as the control signal U as a proportional term. It is processed. This control signal U is a blade angle adjustment machine that can adjust the blade angle of the hydrofoil. The blade angle is controlled by the output to the system.

0003

[Problem that the idea aims to solve]

By the way, when using the conventional marine fin stabilizer control device as described above, When a vessel such as a high-speed boat equipped with fin stabilizers sails through large waves in rough weather. , when the hull is subjected to wave disturbances that exceed the fin stabilizer's ability, the fin stabilizer Despite having risers, the hull tilts significantly. At this time the hull will naturally try to return to its original horizontal state with its restoring force, but conventional marine fin stabilizers Since the iser control device uses a control method that uses the side tilt angular velocity as a proportional term, this The fin stabilizer is designed to counteract the above-mentioned restoring force of the tilted hull. The hull will remain tilted for a long period of time. The problem is that they can become dangerous together.

0004 The present invention attempts to solve these problems by Instead of the integral term in the PID control method using angle signals, a lateral tilt angle sensor is used. In addition, the blade angle control system uses a detection signal that As the value increases, the gain multiplied by the above detection signal will be increased to prevent the flash from occurring during stormy weather. If the hull tilts beyond the capacity of the fin stabilizers, The hydrofoils generate lift in the same direction as the restoring force of the hull, creating a stable hull shape. To provide a marine fin stabilizer control device that can perform force control. With the goal.

[0005]

[Means to solve the problem]

In order to achieve the above-mentioned purpose, the marine fin stabilizer control device of the present invention is Hydrofoils are attached to both sides of the body in pairs, and the wing angle adjuster allows you to adjust the wing angle of the hydrofoils. A fin stabilizer equipped with an adjustment mechanism can detect the ship's heel angle. A first sensor and a second sensor capable of detecting the heel angular velocity of the hull, and , the blade angle adjuster based on the detection signals from the first sensor and the second sensor. The blade angle control system is equipped with a blade angle control system that can output control signals to the hull structure. Weighting that can weight the detection signal from the first sensor at an angle of inclination or higher It is characterized by the fact that it has a system.

[0006] In other words, instead of the integral term in the PID method of the conventional control device, the lateral tilt angle Using the detection signal of the sensor, the gain to be multiplied by that signal is calculated based on the magnitude of the lateral tilt angle signal. If it exceeds a certain value, increase it to exceed the fin stabilizer's ability. Even when the hull tilts and the restoring force tries to return it to the horizontal position, the fin stabilizer The hydrofoils generate lift in the same direction as the above-mentioned restoring force, working in the direction of increasing the restoring force of the hull. That's what I did.

[0007]

[Effect]

In the above-mentioned marine fin stabilizer control device of the present invention, the hull inclination angle sensor is When the detection signal is within the specified hull heel angle, the above detection signal is multiplied. PID method fins using conventional hull heel angular velocity with constant gain. In addition to providing the same effect as a stabilizer control device, it also provides fin stabilizer control in large waves, etc. If the above detection signal exceeds the predetermined hull heel angle because it exceeds the riser capability, In this case, increase the gain multiplied by the above detection signal so that the hydrofoil has the same restoring force as the hull. A control signal that can generate lift in the direction is output from the blade angle control system to the blade angle adjustment mechanism. It will be done.

[0008] In other words, when the heel angle of the hull becomes large, weight is added to the heel angle signal. As a result, the angle of the hydrofoil is controlled so that the angle of inclination of the hull becomes zero.

【Example】

Hereinafter, a marine fin stabilizer control device as an embodiment of the present invention will be explained with reference to the drawings. FIG. 1 is a schematic diagram thereof, and FIG. 2 is a control diagram thereof. As shown in FIG. 1, in the marine fin stabilizer control device of the present invention, hydrofoils 1 are installed in pairs on both sides of the hull, and a blade angle adjustment mechanism that can adjust the blade angle of the hydrofoils 1 is provided. A hydraulic drive device 4 is provided. A first sensor 2a capable of detecting the heel angle φ of the hull and a second sensor 2b capable of detecting the heel angular velocity dφ/dt of the hull are provided. A blade angle control system 3 is provided that outputs a control signal to the hydraulic drive device 4 based on the detection signals φ and dφ/dt. Now, this blade angle control system 3 performs calculations as shown in FIG. 2 to generate a blade angle command control signal U from the lateral inclination angular velocity signal dφ/dt and the lateral inclination angle signal φ. In other words, the differential signal d(dφ/dt)/dt obtained by differentiating the angular velocity signal dφ/dt by the differentiating circuit 5a is multiplied by the differential gain G _D by the circuit 5b, and the signal G _D ·d(dφ/dt)/dt and the angular velocity signal. The sum of the signal G _P (dφ/dt) obtained by multiplying dφ/dt by the proportional gain G _P in circuit 6 and the signal G _I φ obtained by multiplying the angle signal φ by the integral gain G _I in circuit 7 is the blade angle command control. This results in a signal U, which can be expressed as shown in the equation [Equation 1].

[Equation 1] U=G _P (dφ/dt)+G _I φ+G _D ·d(dφ/dt)/dt Furthermore, the integral gain G _I is determined by the gain determining circuit 8 as follows. G _I =G _O・a G _O : Integral gain a: Weighting function And, as the weighting function a, for example, a=f(φ)=(φ−φ ₀ ) ² +1 However, when φ<φ ₀ , a=1 Specifically, when the heel angle φ of the hull is smaller than the predetermined heel angle φ ₀ (for example, 3°) (φ<φ ₀ ), the weight function a becomes 1. , G _I =G ₀ , and when the lateral inclination angle φ is greater than or equal to the predetermined angle φ ₀ (φ≧φ ₀ ), the weighting function a becomes G _I =G _O ·f(φ). With such a configuration, in this embodiment, when the heel angle φ of the hull is smaller than the predetermined heel angle φ ₀ , the same effect as the blade angle control of a hydrofoil using conventional PID control can be obtained, and , when the hull tilts significantly during rough weather, etc. and the heel angle φ exceeds φ _O , the blade angle control system adjusts the gain G _I that multiplies the heel angle φ according to the size of the heel angle φ. By setting a large value, the lift force of the hydrofoil 1 is generated in the same direction as the restoring force of the hull. Therefore, in this embodiment, the hull is prevented from tilting significantly, and even if it were to tilt significantly, the hull can be efficiently restored.

[Effect of the idea]

As detailed above, according to the marine fin stabilizer control device of the present invention, When the heel angle of the hull is smaller than the predetermined heel angle, the wing angle control of the middle wing is performed using the conventional method. A PID control method is performed in which the heel angular velocity is a proportional term, and the ship's heel is A method that adds weight to the lateral inclination angle signal when the angle exceeds the predetermined angle mentioned above. Since the control is performed by In addition to suppressing the large heel of the ship, it also prevents the ship from tilting significantly due to large waves during rough weather. In this case, the lifting force of the hydrofoils acts in the direction of adding to the restoring force of the hull, greatly improving safety. It has the effect of improving.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram showing a marine fin stabilizer control device as an embodiment of the present invention.

FIG. 2 is a control diagram of the marine fin stabilizer control device shown in FIG. 1;

FIG. 3 is a control diagram as an example of a conventional marine fin stabilizer control device.

[Explanation of symbols]

1 Hydrofoil 2a First sensor that detects the lateral inclination angle 2b Second sensor that detects lateral inclination angular velocity 3 Blade angle control system 4 Hydraulic drive device 5a Differential circuit 5b, 6, 7 Amplifier circuit 8 Gain determination circuit

Claims (1)

[Scope of utility model registration request] [Claim 1] A fin stabilizer that is equipped with hydrofoils installed in pairs on both sides of the hull and a wing angle adjustment mechanism that can adjust the wing angle of the hydrofoils, which detects the angle of inclination of the hull. A wing comprising a first sensor capable of detecting a tilt angular velocity of the hull and a second sensor capable of detecting a heel angular velocity of the hull, and capable of outputting a control signal to the wing angle adjustment mechanism based on detection signals from the first sensor and the second sensor. A marine fin, comprising a wing angle control system, and the wing angle control system is provided with a weighting system capable of weighting the detection signal from the first sensor at a ship body inclination angle of a predetermined angle or more. Stabilizer control device.