JPH06107277A - Hydrofoil craft - Google Patents

Abstract

PURPOSE:To realize more stable sailing by improving a flap controller for controlling strip body rocking especially, as for a hydrofoil craft provided with completely submerged hydrofoils. CONSTITUTION:A hydrofoil craft provided with completely submerged hydrofoils is provided with a flap controller 24 which can control rocking of a ship body by controlling rudder flaps 2a, 2b and hydrofoil flaps 3a, 3b, 7a, 8a according to detection signals from sensors 10-14, 16, 18, 19, 21 which detect rocking information of the ship body. The flap controller 24 comprises a forward compensation control system 22 which calculates forward compensation gain based on tire detection signals from the sonsors so as to perform flap control and a feedback control system 23 which calculates feedback gain based on the detection signals so as to perform flap control. Thereby stability and riding quality of sailing can be remarkably improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydrofoil ship having a fully submerged hydrofoil, and more particularly to a hydrofoil ship having an improved flap control device for suppressing the motion of the hull.

[0002]

2. Description of the Related Art Conventionally, hydrofoil ships have a fully submerged hydrofoil under the bottom of the ship via a column, and the column has a rudder flap and the hydrofoil has a blade flap. .

[0003]

By the way, since the conventional hydrofoil as described above obtains the lifting force by the fully submerged hydrofoil, in order to make the hydrofoil sail stably, Although the flap attached to the hydrofoil or the prop must be controlled appropriately, there is a problem that an appropriate flap control device has not been developed at present. The present invention is intended to solve such problems,
It is an object of the present invention to provide a hydrofoil ship that is provided with a forward compensation control system and a feedback control system in a flap control device to significantly improve riding comfort and enable stable navigation.

[0004]

In order to achieve the above-mentioned object, the hydrofoil of the present invention has a fully submersible hydrofoil under the bottom of the ship via a column, and a ladder flap attached to the column. In a hydrofoil ship equipped with a wing flap attached to the hydrofoil, the rudder flap and the wing flap are controlled in accordance with a detection signal from a sensor that detects information about the hull motion to control the hull motion. A flap control device capable of suppressing is provided, and the flap control device calculates a forward compensation gain based on a detection signal from the sensor to perform a flap control, and a feedback control system based on the detection signal. It is characterized by being configured with a feedback control system that calculates a gain to perform flap control.

[0005]

In the hydrofoil of the present invention described above, heave rate, heave, roll rate, and
Based on the detection signals from the sensors that detect roll angle, pitch rate, pitch angle, yaw rate, yaw angle, etc., the blade angle of the wing flap in the fully submerged hydrofoil provided under the ship bottom via the column, and the above-mentioned column The wing angle of the rudder flap attached to the vehicle is controlled by a flap control device having a forward compensation control system and a feedback control system so that various information regarding the above-mentioned sway of the hull can be made to follow each target set value. The action takes place. That is, in the previous compensation control system, the previous compensation gain is calculated based on the detection signal to perform flap control, and in the feedback control, the feedback gain is calculated based on the detection signal to perform flap control.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A hydrofoil ship as an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view thereof, and FIG.
Is the systematic diagram.

As shown in FIG. 1, in the hydrofoil of this embodiment, a front hydrofoil 3 is formed below a front bottom of a hull 1 through a support column 2 through a support column 2.
In addition to the above, the rear hydrofoil 7, 8 is provided below the aft bottom of the ship via struts 4, 5, 6. And the rudder flaps 2a and 2b are attached to the column 2, and the front hydrofoil 3
Is attached to the rear hydrofoil 7, and the rear hydrofoil 8 is attached to the rear hydrofoil 8. In addition, inside the hull 1, sensors 10 to 14 and 1 for detecting information on the motion of the hull as shown in FIG.
6, 18, 19, 21 and a flap control device 24 are provided. Each of the above-mentioned sensors is appropriately arranged at a position indicated by reference numeral S in FIG.

As a sensor provided in the hull 1,
As shown in FIG. 2, an altitude sensor 10, a heave rate sensor 11, a heave sensor 12, a speedometer (speedometer) 13,
There are a roll rate sensor 14, a vertical gyro (sensor) 16, a pitch rate sensor 18, a yaw rate sensor 19, and a yaw sensor 21. Vertical Gyro 16
Then, the roll (φ) and the pitch (θ) are detected. Reference numeral 9 is an altitude control lever for setting an altitude, 15 is a roll control command signal sending device, 17 is a pitch control lever, and 20 is a yaw control command signal sending device. Further, the flap control device 24 includes a forward compensation control device 22 and a feedback control device 23.

With the above structure, the hydrofoil ship of this embodiment operates as follows. First, the forward compensation control device 22 detects the altitude deviation Δh calculated based on the detection signal h from the altitude sensor 10 and the setting signal h _SET from the altitude control lever 9 and the roll detection signal from the vertical gyro 16. φ and roll control command signal transmitter 15
The roll deviation Δφ calculated based on the setting signal φ _SET from the vertical gyro 16, the detection signal θ related to the pitch from the vertical gyro 16 and the setting signal θ _SET from the pitch control lever 17
The yaw deviation Δφ calculated based on the pitch deviation Δθ calculated based on and the detection signal ψ from the yaw sensor 21 and the setting signal ψ _SET from the yaw control command signal transmission device 20 is input, and further the ship speed The ship speed V from a total of 13 is also input. Then, in the forward compensation control device 22, each signal is input to the integrator, and a gain given as a function of the ship speed V is multiplied by the signal from the integrator, and these signals are summed to obtain each signal. Flaps 3a, 3b, 7a, 8a,
2a, 2b actuator control system 25, 2 not shown
Output signals are sent to 6, 27, 28, 29 and 30.

Next, the feedback control device 23 includes a detection signal Z from the heave sensor 12, a detection signal dZ / dt from the heave rate sensor 11, and a vertical gyro.
Signal φ related to roll from 16 and roll rate sensor
Detection signal dφ / dt from 14 and vertical gyro 16
Pitch rate sensor 18
Detection signal dθ / dt, the detection signal ψ from the yaw sensor 21, and the detection signal dψ / d from the yaw rate sensor 19.
t and the ship speed V are input.

Also in the feedback control device 23,
Input signals dZ / dt, Z, dφ / dt, φ, d
The function of multiplying θ / dt, dψ / dt and ψ by a gain given as a function of the ship speed V and summing these signals is performed. The output signal of the device 23 is input to the actuator control systems 25 to 30. Further, in the actuator control systems 25 to 30, the output signals sent from the forward compensation control device 22 and the feedback control device 23 are added and subtracted, and the hydrofoil 2a, 2b, 3a, 3b, 7a, 8a actuators are controlled. The action given as the drive command signal is performed. In this way, according to the hydrofoil of the present embodiment, the blade angles of the wing flaps 3a, 3b, 7a, 8a and the ladder flaps 2a, 2b are properly controlled, and the stability of the hull at the time of traveling is ensured. The ride quality is significantly improved.

[0012]

As described in detail above, according to the hydrofoil of the present invention, the hull is swayed in the flap control device for controlling the wing flap and the rudder flap provided on the hydrofoil and its support. Since the forward compensation control system and the feedback control system that work according to the detection signal from the sensor are provided, the stability and riding comfort of the hull at the time of traveling are significantly improved.

[Brief description of drawings]

FIG. 1 is a perspective view showing a hydrofoil as an embodiment of the present invention.

FIG. 2 is a control system diagram of the hydrofoil of FIG.

[Explanation of symbols]

 1 Hull 2 Struts 2a, 2b Rudder flap 3 Front hydrofoil 3a, 3b Wing flap 4, 5, 6 Strut 7 Rear hydrofoil 7a Wing flap 8 Rear hydrofoil 8a Wing flap 9 Height control lever 10 Height sensor 11 Heavelate sensor 12 Heave sensor 13 Vessel speedometer 14 Roll rate sensor 15 Roll control command signal sending device 16 Vertical gyro (sensor) 17 Pitch control lever 18 Pitch rate sensor 19 Yaw rate sensor 20 Yaw control command signal sending device 21 Yaw sensor 22 Forward compensation control Device 23 Feedback controller 24 Flap controller 25-30 Actuator control system

Claims (1)

[Claims] 1. A hydrofoil ship having a fully submersible hydrofoil under a bottom of a ship via a prop, and a rudder flap attached to the prop, and a hydrofoil attached to the hydrofoil. A flap control device that controls the above-mentioned ladder flaps and wing flaps in accordance with a detection signal from a sensor that detects information about the sway of the ship to suppress the sway of the hull, and the flap control device is provided from the sensor. A forward compensation control system that performs a flap control by calculating a forward compensation gain based on the detection signal and a feedback control system that calculates a feedback gain based on the detection signal and performs a flap control. The hydrofoil, characterized by.