JPH10119886A - Anti-rolling device - Google Patents

Anti-rolling device

Info

Publication number
JPH10119886A
JPH10119886A JP28084396A JP28084396A JPH10119886A JP H10119886 A JPH10119886 A JP H10119886A JP 28084396 A JP28084396 A JP 28084396A JP 28084396 A JP28084396 A JP 28084396A JP H10119886 A JPH10119886 A JP H10119886A
Authority
JP
Japan
Prior art keywords
movable mass
springs
rocking
track member
vibration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP28084396A
Other languages
Japanese (ja)
Inventor
Michio Fukano
Takeshi Hojo
Toru Maeda
前田  徹
武 北條
道雄 深野
Original Assignee
Tokimec Inc
株式会社トキメック
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tokimec Inc, 株式会社トキメック filed Critical Tokimec Inc
Priority to JP28084396A priority Critical patent/JPH10119886A/en
Priority claimed from US08/956,679 external-priority patent/US6019056A/en
Publication of JPH10119886A publication Critical patent/JPH10119886A/en
Pending legal-status Critical Current

Links

Abstract

(57) [Problem] To provide a rocking device that occupies a small volume and is easy to manufacture. SOLUTION: The anti-oscillation device is for generating a linear track member arranged perpendicularly to the oscillation axis of the object to be tilted, a movable mass reciprocating along the track member, and a restoring force of the movable mass. And when the movable mass reciprocates, the two springs extend alternately. By changing the spring constant, the restoring force can be changed, and the natural oscillation period can be changed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration reducing device for reducing the fluctuation of a marine structure floating on the sea or water, for example, a stopped ship, a purge, etc., and more particularly to a movable mass reciprocating on a track. The present invention relates to a rocking device configured to reduce the rocking of a structure.

[0002]

2. Description of the Related Art Hitherto, as a device for attenuating a marine structure floating on the sea, there are an active device using an actuator and a passive device using the dynamic vibration absorber principle. The active type device is configured to detect a motion of an offshore structure by a sensor and vibrate the movable mass by an actuator. The vibration of the movable mass is phase controlled so as to reduce the motion of the offshore structure.

A passive type device using the dynamic vibration absorber principle has an advantage that the structure is simpler because an actuator for driving a movable mass is not used.

[0004] An example of a conventional vibration damping device using the principle of a dynamic vibration absorber will be described with reference to FIG. This example is disclosed in Japanese Patent Application No. 8-15428 filed on Jan. 31, 1996 by the same applicant as the present applicant. See the same application for details.

[0005] This vibration reduction device has a track member 511 curved in an arc shape, a movable mass 512 freely movable along the track member 511, and support members 513A and 513B on both sides. At both ends of the track member 511, a horizontal shaft 511A,
511B is attached, and this horizontal shaft 511A, 511
B is a bearing for the support members 513A and 513B (not shown).
It is supported rotatably.

The support members 513A and 513B are vertically mounted on a predetermined base 551 of the offshore structure. Therefore, the horizontal axes 511A and 511B are parallel to the base 551. As shown, the horizontal shafts 511A, 51A are placed on a plane parallel to the base 551.
The x axis is taken along 1B, the y axis is perpendicular to it, and the z axis is perpendicular to base 551.

[0007] This vibration reduction device is configured to reduce the vibration of the marine structure around a rotation axis parallel to the y-axis. When the offshore structure swings around a rotation axis parallel to the y-axis, the movable mass 512 reciprocates along the track member 511. The movable mass 512 reciprocates along an arc-shaped path along the track member 511. The component force of gravity becomes the restoring force of the reciprocating motion.
The center of vibration of the movable mass 512 is the center position of the arc-shaped path, and is the lowermost end.

[0008] Thus, the reciprocation of the movable mass 512 reduces the motion of the offshore structure. In order for the anti-oscillation device to function effectively, the reciprocating motion of the movable mass 512 must have the same oscillation period as the oscillation period of the offshore structure and deviate by a predetermined angle or displacement from the phase of the offshore structure. It is necessary to have the phase which was set.

Generally, the vibration period of an offshore structure is governed by the natural vibration period of the offshore structure. The natural oscillation period of an offshore structure depends on the structure, mass, position of the center of gravity, and the like of the offshore structure, and differs from one offshore structure to another. Also, if the load changes, the mass,
The position of the center of gravity changes, and the natural oscillation period changes.

On the other hand, the oscillation period of the movable mass 512 is governed by the natural oscillation period of the movable mass 512. Movable mass 512
Depends on the mass of the movable mass 512, the motion path, and the like. In order to obtain a desired vibration reduction effect, it is necessary to make the natural vibration period of the movable mass 512 of the vibration reduction device substantially coincide with the natural vibration period of the marine structure.

In the rocking device shown in FIG. 7, the natural vibration period of the movable mass 512 of the rocking device can be adjusted. Even if the offshore structure's load changes and its natural oscillation period changes, the movable mass 51
By adjusting the natural vibration period of 2, the desired vibration reduction effect can be obtained.

According to this example, the track member 511 can be rotated around the horizontal axes 511A and 511B. Thereby, the movable mass 512 moves along the track member 511 on a plane inclined with respect to the xz plane.

An external force and gravity caused by the motion of the marine structure act on the movable mass 512. Contributing to the movement of the movable mass 512 is a component of the force in the direction of movement of the movable mass 512, that is, a component in the tangential direction of the center axis of the track member 511.

The restoring force of the reciprocating motion of the movable mass 512 is based on gravity. For example, if the angle between the tangent to the center axis of the track member 511 and the vertical line is α, the restoring force is mgco.
sα.

The track member 511 has a horizontal shaft 511A, 511
When rotated around B, cosα decreases and the restoring force decreases. Thereby, the natural oscillation period of the movable mass 512 increases.

Therefore, when the natural vibration period of the offshore structure increases due to a change in the load or the like, the track member 511
Is rotated about the horizontal axis 511A, 511B, thereby increasing the natural oscillation period of the movable mass 512, thereby achieving a desired anti-oscillation effect.

[0017]

The conventional rocking device shown in FIG. 7 uses a track member 511 curved in an arc shape. It was difficult to manufacture the curved track member 511 with high accuracy, and mass production was not possible. Processing costs increase in order to precisely process the raceway member 511 into a circular arc.

Further, in the conventional rocking device, since the track member 511 curved in an arc shape is used, there is a disadvantage that the volume occupied by the rocking device, particularly the portion for accommodating the track member 511 and the movable mass 512, becomes large. . In particular, when it is mounted on a small ship or the like, installation may be difficult.

In the conventional vibration reducing device, the natural vibration period of the movable mass 512 can be increased, but cannot be reduced.

In view of the above, an object of the present invention is to provide a vibration damping device that is easy to process and has low manufacturing costs.

[0021] In view of the above, an object of the present invention is to provide a vibration damping device that has a small occupied volume and can be mounted on a small ship.

In view of the above, an object of the present invention is to provide a vibration damping device capable of easily changing the natural vibration period.

[0023]

According to the vibration reducing device of the present invention, there is provided a linear track member which is disposed orthogonally to the axis of motion of the object to be reduced, and a movable mass which can reciprocate along the track member. And two springs for generating a restoring force of the movable mass. When the movable mass reciprocates, the two springs extend alternately.

According to the present invention, in the rocking device, when one of the two springs expands, the other contracts. Further, the two springs are arranged in parallel with the track member, and the movable mass has an accommodating portion for accommodating the spring. Further, two wires are connected to the movable mass, the two springs are respectively connected to the other ends of the wires, and the wires are configured to be guided by roller members.

According to the present invention, in the rocking apparatus, the natural oscillation period of the movable mass can be changed by changing the spring constant of the two springs. A shock absorber is provided for reducing an impact when the movable mass is forcibly stopped.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of a vibration reducing device according to the present invention will be described with reference to FIGS. FIG. 1 shows a first example of a rocking device according to the present invention, and FIG. 2 shows a second example.
1A and 2A show the front configuration, respectively, and FIGS. 1B and 2B show the planar configuration, respectively.

The anti-oscillation device of the present embodiment includes track members 11, 11, a movable mass 12 which can freely move along the track members 11, 11, and support members 13A, 13B which support the track members 11, 11 on both sides. It has springs 21A and 21B mounted on both sides of the movable mass 12, respectively. Support member 13A,
13B is mounted on the base 13C.

The track members 11, 11 are straight members, so that the path of movement of the movable mass 12 is straight. Elastic members, for example, cushion rubbers 11A and 11B are attached to both ends of the track members 11 and 11, respectively.

FIG. 2 shows a second embodiment of the rocking device according to the invention, which differs from the first embodiment shown in FIG.
The mounting positions of A and 21B are different, and the other positions may be the same. In the first example, the two springs 21A, 21B are arranged along the same straight line, and in the second example, the two springs 21A, 21B are arranged along two parallel lines.

The inner ends of the springs 21A and 21B are respectively attached to the movable masses 12, and the outer ends are
A, 13B. The inner ends of the springs 21A and 21B may be respectively attached to both end surfaces of the movable mass 12, but holes 12a provided in the movable mass 12 as shown in FIG.
12b may be mounted on the bottom.

The movable mass 12 moves freely along the track members 11, 11 and at both ends of the track members 11, the ends of the movable mass 12 abut on the elastic members 11A or 11B.
The depth of the holes 12a and 12b of the movable mass 12 is
When the end of the second member comes into contact with the elastic member 11A or 11B,
It is necessary to have sufficient dimensions to be able to accommodate the contracted spring.

In the vibration reducing device of this embodiment, two springs 21A,
The restoring force of the reciprocating motion of the movable mass 12 is generated by 21B. When the movable mass 12 moves along the track members 11, 11, one of the two springs 21A, 21B contracts and the other extends. For example, in FIGS. 1 and 2, the movable mass 12 is disposed at the left end of the track members 11, 11,
The first spring 21A on the right is extended and the second spring 2 on the left is extended.
1B is contracted. Therefore, always two springs 21A, 2A
1B generates a restoring force.

FIG. 3 shows a third embodiment of the vibration reducing device according to the present invention. 3A shows the front configuration, and FIG. 3B shows the plan configuration. According to this example, as shown in FIG.
Wires 15A and 15B are attached to both ends of the wire, and two springs 21A and 21B are connected to the other end of the wires, respectively. The other ends of the two springs 21A and 21B are the support member 1
3A and 13B respectively. Support member 13
A and 13B are provided with rollers 17A and 17B for guiding the wires 15A and 15B, respectively, and the wires 15A and 15B are respectively attached to the rollers 17A and 17B.
Extends along the outer peripheral surface of.

The vibration reducing device of this embodiment is different from the first and second embodiments shown in FIGS. 1 and 2 in that two springs 21A and 21A are provided.
The mounting method of B is different, and other configurations may be the same.

Next, the vibration system of the rocking device according to the present invention will be analyzed. The x-axis is taken along the track members 11, 11 and the y-axis is taken vertically above it. Also, the z-axis is taken perpendicular to the xy-axis (perpendicular to the paper). When the movable mass 12 is stationary,
It is assumed that the two springs 21A and 21B do not expand and contract. The origin O of the coordinates is set at the center of gravity G of the movable mass 12 at this time. Assuming that the lengths and elastic moduli of the two springs 21A and 21B are the same, the origin O is
In the middle of

The oscillating device of this embodiment is configured to reduce sway around a rotation axis parallel to the z-axis (an axis perpendicular to the paper surface). Therefore, the anti-oscillation device of the present example includes the track member 1
1, 11 are arranged along a plane perpendicular to the rotation axis.

In the first and second examples, the movable mass 12
Is proportional to the amount of bias of the two springs 21A and 21B, and the natural oscillation period T is expressed as follows.

[0038]

T = 2π√ (m / K EQ ) K EQ = K 1 + K 2

M is the mass of the movable mass 12, and K 1 and K 2 are 2
The spring constant and K EQ of the two springs 21A and 21B are equivalent spring constants.

When adjusting the natural oscillation period T of the rocking device, the two springs 21A and 21B may be replaced with springs having different spring constants K 1 ′ and K 2 ′. For example, when the natural frequency of the offshore structure changes due to a change in the number of loaded cargoes or humans, two springs 21A,
By exchanging 21B with springs having different constants K 1 ′ and K 2 ′, the natural vibration period T of the movable mass 12 can be changed, thereby obtaining an optimum anti-rolling effect.

Referring to FIG. 4, the function of the rocking device of this embodiment will be described. A solid line 101 represents the motion of the object to be reduced, for example, an offshore structure, and a broken line 102 represents the reciprocating motion of the movable mass 12. The swinging device of this example is a movable mass 12 and two springs 21.
A and 21B are vibration systems. When the natural vibration period T of the vibration system coincides with the natural vibration period of the object to be damped, an optimum damping effect can be obtained. When the object to be rocked shakes, the movable mass 12 also moves. The motion of the object to be reduced is a rotational motion around the center of the motion, and the movable mass 12 is a reciprocating motion in a linear direction. The phase of the reciprocating motion of the movable mass 12 is delayed by 1/4 cycle from the motion of the object to be reduced.

A description will be given with reference to FIG. FIG. 5 shows a state where the anti-oscillation device 10 according to the present invention is mounted on an actual ship 50. A broken line 50 'in FIG. 5 shows a cross section of the hull in a stationary state, and a solid line 50 shows a cross section of the hull swayed and inclined by an inclination angle φ. Each is a cross section of the vessel cut along a plane orthogonal to the direction of the vessel's success line. The center of gravity of the ship in a stationary state is defined as G S , and a vertical line passing through the center of gravity G S is defined as OG S. A vertical line passing through the center of gravity G S of the ship 50 in a state in which only the inclination angle of inclination φ and O'G S.

The rocking motion control device 10 controls the rolling motion of the ship 50,
That is, they are arranged so as to reduce rocking around a rotation axis parallel to the ship's line of success. Therefore, the rocking device 10
The track members 11 are arranged so as to extend in the width direction of the boat 50. Further, the rocking device 10 is provided with a center of gravity G of the ship 50.
It is located above S.

With the ship 50 equipped with the anti-oscillation device 10 as a two-degree-of-freedom vibration system, an equation of motion is derived and its frequency characteristic is obtained. The equations of motion of the hull 50 and the rocker 10 are as follows. However, it is assumed that the roll angle φ of the hull is very small.

[0045]

(I S + mL 2 ) d 2 φ / dt 2 + mL · d 2
x / dt 2 = mgLφ + mgx−K S φ−C S dφ / d
t + P m · d 2 x / dt 2 + mL · d 2 φ / dt 2 = mgφ−
K EQ x-C G · dx / dt

Where φ: roll angle (roll angle) of the hull I S : moment of inertia of the hull C S : damping constant for roll (roll motion) of the hull K S : restoring torque constant of the hull P: forced force x: displacement of the movable mass 12 m: mass of the movable mass 12 L: distance from the center of gravity G S of the ship to the center of gravity G of the movable mass 12 C G: attenuation constant of swinging motion reducing apparatus 10 K EQ: equivalent swinging motion reducing apparatus 10 Spring constant

As an initial condition, when t = 0, dφ / dt = φ =
Assuming that 0 and dx / dt = x = 0, the two equations are subjected to Laplace transform and further expressed in the frequency domain as follows.

[0048]

## EQU3 ##-[(I S + mL 2 ) ω 2 + mgL-K S -j
C S ω] φ− (mLω 2 + mg) x = P (mLω 2 + mg) φ + (mω 2 −K EQ −jC G ω) x
= 0

J is an imaginary unit. Here, put as follows.

[0050]

Equation 4] A = -mω 2 + K EQ B = C G ω C = [(I S + mL 2) ω 2 + mgL-K S ] (milliohms 2
-K EQ) - (mLω 2 + mg) 2 -C S C G ω 2 D = [(I S + mL 2) ω 2 + mgL-K S ] C G .omega.
(Mω 2 −K EQ ) C S ω E = − (mLω 2 + mg)

The variables φ and x are expressed as follows.

[0052]

## EQU5 ## φ = [(A + jB) / (C + jD)] P x = [E / (C + jD)] P

The gain characteristics of the variables φ and x are expressed as follows.

[0054]

| Φ | = √ [(A 2 + B 2 ) / (C 2 + D 2 ] P | x | = √ [E 2 / (C 2 + D 2 )] P

The phase characteristics of the variables φ and x are expressed as follows.

[0056]

7φ (jω) = tan −1 [(BC-AD) /
(AC + BD)] ∠x (jω) = tan −1 (−D / C)

A description will be given with reference to FIG. 6A shows a gain characteristic of the two-degree-of-freedom vibration system shown in FIG. 5, and FIG. 6B shows a phase characteristic. The horizontal axis represents the ratio ω of the natural frequency ω n of the movable mass 12 of the vibration reducing device 10 to the natural frequency Ω n of the ship 50.
a n / Ω n.

Referring to FIG. 6A. A curve C1 represents the sway angle (rolling angle or roll angle) φ (deg) of the hull 50 on which the anti-oscillation device 10 of the present embodiment is mounted, and a curve C2 represents the maximum displacement (or maximum amplitude) x (cm) of the movable mass 12. ),
A curve C3 represents the sway angle (rolling angle or roll angle) φ (deg) of the hull 50 without the swinging device 10 mounted thereon.

When the natural frequency ω n of the movable mass 12 of the vibration reducing device 10 is substantially equal to the natural frequency Ω n of the ship 50, that is, when the ratio ω n / Ω n ≒ 1, the curves C1 and C3 are As is clear from comparison, the rocking angle φ of the hull 50 equipped with the rocking reduction device 10 is significantly reduced as compared with the rocking angle of the hull 50 not mounted with the rocking reduction device 10. Accordingly, by making the natural frequency ω n of the movable mass 12 of the vibration reducing device 10 substantially equal to the natural frequency Ω n of the ship 50, the vibration reducing device 1
The effect of 0 can be sufficiently exhibited.

At this time, as shown by the curve C2, the maximum displacement (or the maximum amplitude) of the movable mass 12 x (c
m) takes the minimum value.

Referring to FIG. 6B, FIG. A curve C4 represents a phase difference Δφ (deg) of a rocking angle (rolling angle or roll angle) φ of the hull 50 equipped with the vibration reduction device 10 of the present example with respect to external force rocking (for example, a wave) acting on the ship 50. The curve C5 represents the phase difference Δx (deg) of the movement of the movable mass 12 with respect to the external force fluctuation acting on the ship 50.

When the natural frequency ω n of the movable mass 12 of the vibration reducing device 10 is substantially equal to the natural frequency Ω n of the ship 50, that is, when the ratio ω n / Ω n ≒ 1, the curves C4 and C5 are As is apparent from comparison, the oscillating angle φ of the hull 50 equipped with the anti-oscillation device 10 is delayed by about 90 ° with respect to the external force oscillation, and the phase angle of the motion of the movable mass 12 of the anti-oscillation device 10 is Delays about 90 ° with respect to the oscillation angle φ. As a result, the phase angle of the motion of the movable mass 12 of the rocker 10 is delayed by about 180 ° with respect to the external force fluctuation.

Although the embodiments of the present invention have been described in detail, the present invention is not limited to these examples, and various modifications can be made within the scope of the invention described in the claims. It will be understood by those skilled in the art.

[0064]

According to the present invention, there is an advantage that the manufacturing cost can be reduced because the track member is straight.

According to the present invention, there is an advantage that the occupied volume can be reduced because the track member is straight.

According to the present invention, even if the natural vibration period of the object to be reduced changes, the natural vibration period of the movable mass can be changed by a simple operation of replacing the natural vibration period with a spring having a different spring constant. There is an advantage that an optimum anti-oscillation effect can be achieved for the object to be shaken.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first example of a rocking device according to the present invention.

FIG. 2 is a diagram showing a second example of the rocking device according to the present invention.

FIG. 3 is a diagram showing a third example of the rocking device according to the present invention.

FIG. 4 is a diagram showing a phase relationship between the object to be reduced and the movable mass.

FIG. 5 is a view showing an example in which a vibration reduction device according to the present invention is mounted on a ship.

FIG. 6 is a diagram illustrating vibration characteristics and phase characteristics of a two-degree-of-freedom vibration system including a rocking device and a ship.

FIG. 7 is a diagram illustrating a configuration example of a conventional rocking device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Reducer 11 Track member 11A, 11B Elastic member 12 Movable mass 12A Roller 13A, 13B Support member 13C Base 15A, 15B Wire 17A, 17B Roller 21A, 21B Spring 50 Ship 52 Deck

Claims (6)

[Claims]
1. A linear track member that is disposed orthogonally to the oscillation axis of the object to be reduced, a movable mass that can reciprocate along the track member, and a movable member for generating a restoring force of the movable mass.
A rocking device comprising: two springs, wherein the two springs extend alternately when the movable mass reciprocates.
2. The rocking device according to claim 1, wherein when one of the two springs expands, the other contracts.
3. The rocking device according to claim 1, wherein the two springs are arranged in parallel with the track member.
The rocker according to claim 1, wherein the movable mass has a housing portion for housing the spring.
4. The rocking device according to claim 1, wherein two wires are connected to the movable mass, and the two springs are respectively connected to the other ends of the wires, and the wires are roller members. A rocking device characterized in that the device is guided by a rocker.
5. The vibration reducing device according to claim 1, wherein the natural oscillation period of the movable mass can be changed by changing a spring constant of the two springs. A rocking device characterized by the following.
6. The vibration reducing device according to claim 1, further comprising a shock absorber for reducing an impact when the movable mass is forcibly stopped. The anti-rolling device characterized by the above.
JP28084396A 1996-10-23 1996-10-23 Anti-rolling device Pending JPH10119886A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP28084396A JPH10119886A (en) 1996-10-23 1996-10-23 Anti-rolling device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP28084396A JPH10119886A (en) 1996-10-23 1996-10-23 Anti-rolling device
US08/956,679 US6019056A (en) 1996-10-23 1997-10-23 Anti-rolling apparatus

Publications (1)

Publication Number Publication Date
JPH10119886A true JPH10119886A (en) 1998-05-12

Family

ID=17630763

Family Applications (1)

Application Number Title Priority Date Filing Date
JP28084396A Pending JPH10119886A (en) 1996-10-23 1996-10-23 Anti-rolling device

Country Status (1)

Country Link
JP (1) JPH10119886A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001206287A (en) * 1999-12-20 2001-07-31 Soc Technique Pour L'energie Atomique Technicatome Stabiljzer for ship
JP2009197905A (en) * 2008-02-21 2009-09-03 Mitsubishi Heavy Ind Ltd Damping device
WO2020019744A1 (en) * 2018-07-23 2020-01-30 青岛科技大学 Dynamic stabilizer for ship and method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001206287A (en) * 1999-12-20 2001-07-31 Soc Technique Pour L'energie Atomique Technicatome Stabiljzer for ship
JP4718680B2 (en) * 1999-12-20 2011-07-06 ソシエテ テクニク プール レネルジイ アトミク テクニカトム Ship stabilizer
JP2009197905A (en) * 2008-02-21 2009-09-03 Mitsubishi Heavy Ind Ltd Damping device
JP4705653B2 (en) * 2008-02-21 2011-06-22 三菱重工鉄構エンジニアリング株式会社 Vibration control device
WO2020019744A1 (en) * 2018-07-23 2020-01-30 青岛科技大学 Dynamic stabilizer for ship and method

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