JPS59143790A - Rolling control device for high-speed boat - Google Patents

Abstract

PURPOSE:To ensure the stable cruising of a high speed boat, by providing such an arrangement that the angular velocity of rolling of a hydrofoil boat is detected, and rolling flaps attached to a hydrofoil are rotated in accordance with the thus detected value. CONSTITUTION:Rolling fins 6a, 6b project obliquely downward and outward from the lower part of the front section of a hydrofoil 2, and the rear half parts thereof are formed as rotatable rolling flaps 7a, 7b that are adapted to be rotated by servo-mechanisms 11a, 11b in the directions in which the rolling is reduced, in accordance with a signal in proportion to a angular velocity detected by an inboard sensor 9 for detecting the angular velocity of the rolling. The rolling of the boat caused by disturbance due to waves and winds, etc. is aimed at being prevented to ensure the stable high speed cruising.

Description

Detailed Description of the Invention This issue 8I-1 relates to a rolling control device for a high-speed ship such as a hydrofoil; Based on the sensor angle signal, the flap angle of the low link flap provided at the bottom of the hull) ηS is set1. l II L
.

The purpose is to hold the lead body almost horizontally.

General i, C + bottom part of the hull K@, In high-speed ships such as hydrofoils with a rear submersible type, it is necessary to maintain stable cruising at high speed for long periods of time, due to waves, wind, etc. It is necessary to prevent the j9 body from shaking sideways due to external disturbances.

This issue was made with the intention of the VC monk in point 11 u, @.It is a device that is rotatably installed at the bottom of the hull of a high-speed boat. A low link flap that provides a rotational moment, an angular velocity sensor that outputs an angular velocity signal proportional to the angular velocity r (f) of the lateral vibration of the QA body, and a groove in the lead body according to the negative Shake f: Calculate the flap angle of the rolling flap that is necessary to minimize it, and output the flag negative control signal i1 by 1'1. Flap angle 1C based on the eye 1 signal 1/rc that controls the low link flap with the above-mentioned flap
Therefore, the rolling control device for a high-speed ship of the present invention is characterized in that the number of servos that rotate so that
According to K, the hull will roll due to a disturbance.

When the angular velocity signal of the rolling motion is output from the angular velocity sensor, the arithmetic unit that receives the angular velocity signal outputs a flap angle control signal for the flap angle necessary to minimize the rolling motion of the ship. The rolling flap is rotated by a servo and a mechanism so that the flap angle is set to the above-mentioned flap angle, and the positive force of the water flow of the rolling flap acts on the hull to minimize the roll of the hull. 1
．． The 0 body is held horizontally and stable sailing can be achieved.

This invention will now be explained in detail in detail #1 with reference to a drawing showing one embodiment of a bottle stand applied to a hydrofoil boat.

Figure 1 shows the entire hydrofoil ship, (1) shows the hull,
+21 and +311ri integrally installed on the bottom of the front and rear of the hull (1), with front, 11 hydrofoils and aft hydrofoil (4) propeller, (5) rudder, (6a)
and (6b) are rolling fins that are integrally provided at positions shifted to the left and right from the center of the front hydrofoil (2) and protrude diagonally downward from external forces, (7a) and (71) rolling fins (5a), (51]) is a rolling flap that is provided in parallel to the rear of the external force diagonally downward and is rotatably supported using the 1-haku (8) as a fulcrum, and is a double-ended link 7 ramp (7a).

(710 rotates in the same direction, and the rolling 7 ramps (7a) and (7b) are caused by the water flow.
Lifting force is generated as a function of the angular changes made on the ramps (7+, t), (7')) and the water flow, which imparts a rotational moment around the center of gravity to the hull (1).

(9) is an angular flux sensor that is installed on the ship's hull and outputs an angular velocity signal proportional to the angular velocity of the hull (■j) caused by disturbances such as waves and wind. A device using a tuning fork type piezoelectric excitation element manufactured by Watson, Inc. in the United States is used. (1
1 is a control panel that is installed in the wheelhouse 1 and houses the flap angle control calculation device, etc., which will be described later.
(Ila), (Jib) (before I in ri lead body til
These are pulp panels installed on the left and right sides of JLL I & JA and are equipped with servo valves, which will be described later.

I cut it. Figure 'fj4 shows the first diagram of the roll control system, (1'lri is the flap negative control calculation unit housed in the control/gunnel + lO, and the front H self-angular velocity sensor (9) receives the angular velocity signal from
In order to minimize the lateral opening of l (hull H in words) ((
・The necessary rolling flap angles of rolling flaps (7a) and (7b) are calculated from time to time, and the calculation results are output as flap angle fal1m+signal.Details will be described later. . (]'3B)', (1
3b) is the flap angle 11i of the calculation device (12175・ra)
Left and right servos 7y7', r14a), (141) where the 111flill signal was manually input.
) is drunk.

(mark)
8. ).

Hydraulic pump (+5 &), (
+5b) A servo valve (16&) that switches the flow path of the oil that has been drained from the servo valve.

(, +61)) is a double-ended ring flap (7a), (7
As shown in Fig. 21, it is a hydraulic cylinder that moves the rotation means of the front hydrofoil (2). ) of the cylinder shaft first 75; it is a rolling flap (
7a) + 7b), and the cylinders (16a) and (16b) are connected to the shaft (8) of both hydraulic cylinders (16a) and (16b).
1 is displaced in proportion to the oil 4 sent from both servo valves (148) and (+411), respectively, and the position of both rolling flaps (7a) and (7h) is compared to the displacement of 1].
Power: 1 giant, 1 move.

(17a), (+7t)) are both hydraulic cylinders (16a)
:N61]) Assembled in the K-I book, the position of the cylinder shaft is bent.
It is a flap angle transmitter consisting of a differential transformer that detects the rotation angle of 7b), that is, the flap angle of two transmitters (17a) and ('17b) 75. The signal and the actual flap angle signal are both h? -Bore 7p (13a), (13t)) vc feet no.
Fluff in.

The horns are always visible. That is, both amplifiers (13a) and (13+)) are the 7-wave angle I obtained by calculating the actual flap angle from the actual flap angle signal.
Both servo valves (l1l) and (14b) in C bee respectively.
Output the predetermined A word to
When the flap angle matches the servo valve (1
4zaL), (14"), and set the servo valves (14a,), (141>) to the neutral position 1fiif VC.
I have IN. Then, the servo amplifier (13a), (+3
1)).

Servo valves (14a), (141)), hydraulic cylinders (
16a), (+61)) and transmitters (, 17a), (
+71)) for low link flange 7” (7a,)
, (71)) is provided with a servo mechanism that rotates the flaps to obtain a flap angle according to a seven-lap negative control signal.

By the way, 1.Usually, when water tilts due to waves.

Because the immersion areas of the left and right fri11 parts of both hydrofoils (24, 131) of the hull tlJ are different, a difference in lift occurs, causing the hull [IJ to move backward and parallel to the inclined water surface. A rolling moment acts and the hull (1) rolls sideways. Therefore, in order to keep the hull [1J] horizontal, it is necessary to rotate the rolling flaps (7a) 1 (7b) to balance this moment. However, when the water 1rIT is tilted, the hull (1) is
Just as I was about to do this, the hull +11 was horizontal 1. This occurs by simply differentiating the flap angle with respect to the four-sided angle of the hull + 1).
This shows that it is impossible to control the rolling motion of the hull (1) without proportional control including integral control.

For example, consider the case where the water surface is inclined at an angle θ0 with respect to the horizontal rYJ. At this time, the inclination angle θ of the hull (1)
The rotational moment generated by the water surface of the ship (IJK) becomes a curved line as shown in Figure 5.
j14ii moment becomes 0, and furthermore, the hull (1)
When is horizontal, that is, when θ=0, the rotational moment reaches its maximum. Also, rolling flap (7a), (
The flap angle δ of 71 is proportional to the inclination angle θ (with C attached) of the hull il+, and the hull 111.
K The generated rotational moment is represented by curve B shown in the figure, and the rotational moment is expressed as δ in Figure 1'-! or the i-cycle of δ or a function of θ.

Then - C2 pivot moment due to water surface and rolling flap (7s,), (7b) that opposes this! The rotational moment due to F-1 Balance at the intersection point P of both curves A and B.

+r+g body +IJ is balanced at the position of inclination angle θ1.

That is, depending on this kind of proportional fttU control, the hull t,1
Since the elbow is horizontally 147 and there is an offset or residual value of θ1, it is not possible to light it by setting it to zero. 7, increase the gain of the song fiB (rolling flap (7a), (
The rotational moment generated by the curve 71 can be expressed as a curve 13' shown in the figure, and the two rotational moments are balanced at the intersection point P' with the curve MA, and the hull (1) is tilted at an angle of inclination θ! It is possible to reduce the size of the offset by balancing at the position . However, this gain cannot be increased unnecessarily in consideration of control stability, propulsion loss, etc. Therefore, simply controlling the flap angle δ proportionally will not improve the roll control of the ship [11]. There are many things I can't do.

Therefore, in consideration of the above, the flap angle with respect to the rolling angular velocity of the hull tit is controlled based on proportional, (component, and integral control) as well as nonlinear characteristics as shown in Figure 61. In other words, The above-mentioned flap angle control calculation device +121 is configured as shown in FIG.

The angular velocity Iv signal obtained from the angular velocity sensor (9) is input to the integrating amplifier 1221 through the differentiating circuit (181) and the differentiating amplifier (1ω, proportional amplifier 1201, and integrating circuit 121), and each amplifier 44 , 120+,
Differential signal from (2).

The proportional signal and the integral signal are added between adders).

Furthermore, the addition signal from the addition 4 areas) is transferred to the A/D converter ('
241, the digital signal is converted into a digital signal by 0Lv1. A non-linear calculation table (25j) consisting of an IC, and the non-in
An output on the shape characteristic is obtained and converted into an analog signal by a D/A converter array to obtain a flap angle control signal.

In addition, each amplifier f191, 1201, 1221 can individually vary the frequency rate, and the differential, ratio iMJ
, the magnitude of each integrated signal level can be adjusted to achieve optimal rolling control. Also, in reality, the nonlinear calculation table + 251 K
Several types of characteristic curves are stored in the 81st IK, taking into consideration the ever-changing sea conditions and hull characteristics.

Therefore, according to the actual 1 m example, the hull (
1] rolls, the angular velocity 1 word from the angular velocity sensor j91 causes the arithmetic unit +121 to
．． In order to minimize the horizontal vibration of 1, the necessary flap angle is calculated, and a flap angle system proportional to this? r@
The I signal is output, and both rolling flaps (7a), (71)) are moved by the left and right servo mechanisms (RFC) at an angle of 1 flange (l), and a rotational moment is generated in the opposite direction to the rolling motion of the ship. However, the hull can be held almost horizontally, and stable running power of the hull can be achieved.

By the way, conventionally, as an angular velocity sensor, an integral gyro or a late gyro, which is a gyro with a degree of freedom of angular displacement of a moving body with respect to a screaming space VC, and an angular velocity of +1VcIj, has been used. /ko, t1!2
A vertical gyro with two axes of freedom is used to measure the tilt angle of the vehicle in the horizontal position, but these have large weight and dimensions, and The life of the bearing is short due to the need to apply force at the end of the rotation, and it has many disadvantages such as TTC, 1m long at start-up, and difficult maintenance. Space x l,
Kawai'c f and long maintenance 7! J-
``'j'' b@ Control of a hydrofoil ship that needs to navigate (() is not suitable.

However, in the case of the above-mentioned real sister example, the angularity sensor (9) with a tuning fork-type piezoelectric driving element is used, so it is extremely small and mysterious, and moreover, it is rotated.
3 minutes, it has a semi-permanent life, short start-up time, no special maintenance required, and low power consumption. In this type of lateral corner il?1If11 device along the hydrofoil, which incorporates an angular velocity sensor (9) and has been made into a system, the system configuration power has been reduced to a single element, and the miniaturization has made it possible to fit inside the narrow 1st wing (1). It can be used effectively, reduces the weight of the hull (1) as well as improves the efficiency of the equipment, and shortens the start-up time, reducing the operational time and efficiency. Due to its long lifespan and no special maintenance, resources required for maintenance, namely people and money, are reduced.

It is a time saver. Sarachi: By using less than 4 ounces of electricity, it is possible to reduce the amount of electrical equipment inside the ship.
The power transmission equipment has been made smaller and lighter, which fully satisfies the compactness and weight reduction required for hydrofoil equipment.

Note that this invention is applicable not only to hydrofoils but also to other high speeds: 1a
Of course, it can be applied to

[Brief explanation of drawings]

Figure 1r111d shows one implementation of the rolling control device for a high-speed ship of the present invention applied to a hydrofoil ship, Figure 1 is an overall diagonal diagram of underwater takeoff, and Figure 2 is a partial view of the rolling flap part. Fig. 3 is a plan view of the rolling flap, Fig. 4 is a block diagram of the control 1i11 series, and Fig. 5 is a partial cutaway perspective view.
Figures 6 and 8 are diagrams showing the relationship between the longitudinal heel angle and the flap angle and the rotational moment generated by the hull 1/C, respectively. row,
Figure 7 shows 1 area for the flap and 1 area for itching. FIG. 2 is a block diagram of the device. (Old...hull, (7a), (7b)...rolling flap, (9)...angle, flux sensor, (121...
- Flap angle control calculation device 1. ': ¥ , (13
a), (Igb) -- Servo amplifier, (14a
), (14b)...servo valve, (16Fl), (1
6b) ``Hydraulic cylinder, (17a), (171))
...Flap angle transmitter. Agent: Ryuta Fujita, Patent Attorney: Hitachi Zosen Corporation, 1-6-14 Edobori, Nishi-ku, Osaka Author: Tadao Takai, Hitachi Zosen Corporation, 1-6-14 Edobori, Nishi-ku, Osaka Author: Sumio Ishikawa Inside Hitachi Zosen Corporation, 1-6-14 Edobori, Nishi-ku, Osaka Inventor Ken Kitano - Within Hitachi Zosen Corporation, 1-6-14 Edobori, Nishi-ku, Osaka

Claims (1)

[Claims] ■ Low link flap 7, which is rotatably installed in the opening of the hull of the high-speed ship and applies a rotational moment around the center of gravity to the IQ body by catching the lift generated by the water flow, and an angular velocity signal proportional to the angular velocity of the rolling of the hull. A cube that powers 1"
A linear sensor, and an arithmetic device that calculates the flap angle of the rolling flap, which is necessary to reduce the curvature of the rolling flap, using the angular velocity signal, and generates a flap angle flilj impulse j signal. A rolling control device for a high-speed ship, characterized in that it has a low rolling flap means, a servo that rotates the rolling flap to a flap angle based on the flap angle control signal, and various features. j equipment.