JPH08324485A - Motion controller in ship and motion control method - Google Patents

Abstract

PURPOSE: To effectively restrain rolling and pitching of a hull of a small ship by outward attaching wings on both gunwale sides of a hull so that they may be freely oscillated, and controlling an oscillator on the basis of the output of an attitude measuring unit for measuring the attitude of the hull. CONSTITUTION: Right and left wings 2 capable of being freely oscillated in the vertical surface are attached on both gunwale sides in the position to the rear part of a hull 1 of a small ship through supporting shaft bodies 3, and cylinder devices 4 for oscillating respective wings in the vertical surface are respectively provided in the hull 1. Respective cylinder devices 4 are controlled by a controller in the hull 1 on the basis of the attitude data output from an attitude measuring unit for outputting the rolling angular speed, the pitching angular speed, and the azimuth. That is, in pitching, for example, when the hull 1 is inclined to the stern side, both wings 2 are oscillated downward, on the other hand, when the hull 1 is inclined to the bow side, both wings 2 are oscillated upward, and pitching motion is controlled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion control device and an operation control method for ships, especially small ships.

[0002]

2. Description of the Related Art Conventionally, in a ship, as a device for suppressing (reducing) rolling motion or pitching motion, a fin is provided on the outer plate of a hull so that the lateral force is exerted on the fin during navigation. There is a type that is provided with an anti-sway tank on the hull as a type that is designed to suppress a swing by generating a swinging moment or a pitching moment, or that can be used even when a ship is stopped at sea.

[0003]

According to the former configuration, there is a problem that the effect is obtained at the time of navigation, but the effect cannot be exhibited when the ship is stopped, and according to the latter configuration, a large space is required for its installation. Therefore, there is a problem that it cannot be adopted for small ships.

Therefore, an object of the present invention is to provide a motion control device and an operation control method in a ship that can solve the above problems.

[0005]

In order to solve the above-mentioned problems, a motion control device for a ship according to the present invention includes a wing attached to both sides of a hull so as to be swingable outward in a vertical plane. An oscillating device that individually oscillates each of these wings, a controller that controls each of these oscillating devices, and an attitude that is attached to the hull to measure the attitude of the hull and that attitude data is output to the controller. It is composed of a measuring instrument.

In order to solve the above problems, the motion control method for a ship according to the present invention is directed to attitude data obtained by an attitude measuring device for a hull, with wings attached to both sides of the hull so as to be swingable within a vertical plane. For example, it is a method of rocking based on a roll angle, a pitch angle or an azimuth angle.

[0007]

According to the above motion control device and motion control method, the wings provided on both sides of the hull are swung based on the current attitude of the hull. By increasing the swing speed of the wing,
It is possible to suppress the swing of the hull. That is, it is possible to suppress the rolling and pitching of a hull, especially a small hull, and it is also possible to control the azimuth of the hull by the thrust generated by the swing of the wings.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. In FIG. 1 and FIG. 1, reference numeral 1 denotes, for example, a hull of a small boat. On both sides of the rear side of the hull 1, right and left wings 2 that are swingable in a vertical plane are supported via a support shaft 3. It is installed.

Inside the hull 1, there is provided a cylinder device (an example of a rocking device) 4 for rocking each of the wings 2 in a vertical plane as shown by an arrow a in FIG. In addition, as shown in FIG. 3, a control device 5 for individually controlling the cylinder devices 4 is provided inside the hull 1.

That is, the control device 5 is provided in the hull 1 to measure the attitude of the hull 1 and to output attitude data such as roll angular velocity, pitch angular velocity, and azimuth angle (for example, a posture measuring device). , Rate sensor, gyro compass, etc.) 6 and the posture data output from the posture measuring device 6 are input, and the controller (microcomputer or the like) for controlling the left and right cylinder devices 4 respectively based on this posture data is provided. Stuff) 7 and. The command azimuth of the hull 1 is also input to the controller 7.

Next, the motion control of the hull will be described.
For example, as shown in FIG. 4A, when the hull 1 rolls, the degree of roll is measured by the attitude measuring device 6. Then, the rolling angular velocity obtained by the posture measuring instrument 6 is input to the controller 7, and the controller 7
Outputs a control signal to the left and right cylinder devices 4, and the left and right wings 2 are swung so as to suppress (reduce) the rolling.

For example, when the rolling angle is as shown in FIG. 4 (a), the starboard wing 2 is swung as shown in FIG. 4 (b), and the port wing 2 is shown in FIG. As shown in (c),
The starboard wing 2 is oscillated in the opposite direction and with the same absolute value of the oscillating angle.

In this case, the wing is moved at a speed proportional to the rolling angular velocity, and depending on the magnitude of the rolling,
The magnitude of the swing angle of the wing can be changed. In the case of pitching, pitching can be suppressed by performing the same control as above.

That is, in the case of pitching, the pitching angular velocity is input from the posture measuring instrument 6 to the controller 7. Then, for example, when the hull 1 leans toward the stern side, both wings 2 are swung downward, and when the hull 1 leans toward the bow side, both wings 2 are swung upward, which is opposite to the vertical pitching motion direction. A directional moment is generated in the hull 1 to suppress the pitching motion.

When controlling the turning motion (yawing) of the hull 1, for example, when the bow of the hull 1 is turned by a predetermined angle, as shown in FIG. 5, the attitude measuring device 6, in this case, a gyro compass is used. The obtained current azimuth angle of the hull 1 is input to the controller 7, where a deviation from the command azimuth angle input to the controller 7 is calculated, and the hull 1 turns in a predetermined direction based on this deviation angle. Thus, the control signal is output from the controller 7 to each cylinder device 4.

That is, when the hull 1 is turned clockwise, the starboard wing 2 is swung, and when the left-handed hull 1 is turned, the port wing 2 is swung to apply thrust to each side. It should be generated.

As described above, the left and right wings 2 are swung in the opposite directions in order to suppress rolling, but the left and right wings 2 are independent in case of turning the hull 1. And then rocked. In addition, in the case of only the roll control or the pitch control, the absolute values of the swing angles of the left and right wings 2 are made equal.

FIG. 6 shows the swing angle of each wing when the hull 1 is turned. That is, FIG. 6A shows the turning angle of the hull 1, the wing angle on the starboard side to be swung corresponding to this is shown in (b), and the wing angle on the port side is shown in (c).

The control of the azimuth of the hull 1 can be performed at the same time as these controls by combining with the roll control or the pitch control. In this case, this is done by making the absolute values of the swing angles of the left and right wings 2 different. Due to the difference in absolute value of the swing angle, the thrust generated by the left and right wings 2 is different, and due to this difference in thrust, the hull 1
Is turned.

When the wing is not in use, such as at the shore, each wing is stored in the hull by the cylinder device. By the way, in the above embodiment, the wing has a rectangular shape, but it may have, for example, a trapezoidal shape, and the wing 2 should be attached at a position away from the center of gravity of the hull. This is because the moment generated on the hull becomes large, so that the effect of suppressing the pitching motion and the effect of controlling the azimuth are improved. Further, the upper and lower positions of the wings may be closer to the bottom of the hull to prevent the wings from being exposed above the sea surface due to rolling or the like.

Further, as the material of the blade, the force generated by the material having low rigidity and flexibility is larger than that of material having high rigidity, and the control effect is improved. Further, in the above embodiment, the case where the posture data output from the posture measuring device 6 is the angular velocity has been described, but the angle may be output, for example.

[0022]

As described above, according to the motion control apparatus and the motion control method of the present invention, the wings provided on both sides of the hull are swung based on the current attitude of the hull, which is simple. With such a configuration, the hull can be controlled not only in the rolling and pitching of a small hull, but also in the direction of the hull. In addition, it is possible to suppress shaking even when the ship is stopped at sea.

[Brief description of drawings]

FIG. 1 is a plan view showing the configuration of a hull in an embodiment of the present invention.

FIG. 2 is a cross-sectional view of essential parts showing the configuration of a hull in the same Example.

FIG. 3 is a block diagram showing a configuration of an operation control unit in the embodiment.

FIG. 4 is a graph illustrating an operation control method in the same example.

FIG. 5 is a block diagram showing a configuration of an operation control unit in the embodiment.

FIG. 6 is a graph illustrating an operation control method in the example.

[Explanation of symbols]

 1 Hull 2 Wing 4 Cylinder device 5 Control device 6 Attitude measuring device 7 Controller

Claims (8)

[Claims] 1. A wing attached to both sides of a hull so as to be able to oscillate outward in a vertical plane, a oscillating device for individually oscillating each wing, and each of these oscillating devices. A motion control device for a ship, comprising a controller for controlling and a posture measuring device attached to the hull for measuring the posture of the hull and outputting the posture data to the controller. 2. A motion control method for a ship, characterized in that wings attached to both sides of a hull so as to be swingable in a vertical plane are swung based on posture data obtained by a posture measuring instrument of the hull. . 3. Wings attached to both sides of a hull so as to be swingable in a vertical plane are swung based on a roll angle or a roll angular velocity obtained by a hull attitude measuring instrument. Motion control method for ships. 4. A motion control method for a marine vessel according to claim 3, wherein the wings on both sides are swung in opposite directions based on the roll angle or the roll angular velocity to suppress roll. 5. A wing swingably mounted on both sides of a hull within a vertical plane is swung based on a pitch angle or pitch angular velocity obtained by a hull attitude measuring instrument. Motion control method for ships. 6. Wings attached to both sides of the hull so as to be swingable in a vertical plane are based on the roll angle or roll angular velocity and pitch angle or pitch angular velocity obtained by a hull attitude measuring instrument. A motion control method for a ship, which comprises rocking. 7. A hull, which is swingably mounted on both sides of the hull in a vertical plane, is swung based on an azimuth angle and a command azimuth angle obtained by an attitude measuring device of the hull to move the hull in a predetermined direction. A motion control method for a ship, which is characterized in that the ship is turned. 8. A sway angle or sway angle obtained by a posture measuring instrument of a hull, and an azimuth and an instruction obtained by a posture measuring instrument of wings attached to both sides of the hull so as to be swingable in a vertical plane. A motion control method for a ship, characterized by swinging based on a deviation angle from an azimuth angle to control the sway and direction of a hull.