JPS59190082A - Rolling controller for high speed vessel - Google Patents

Abstract

PURPOSE:To perform feedback control reliably while to reduce the size of controller by detecting the displacement of a hydraulic cylinder for rotating the hydrofoil flap as an electric amount through a differential transformer on the basis of measurement of lateral rolling angle speed. CONSTITUTION:The lateral rolling angle speed of hull is measured to function a movable flap provided on a hydrofoil on the basis of said measurement to reduce the lateral rolling of a hydrofoil vessel. In such a controller, the proper flap angle is calculated on the basis of the angular speed measurement to exchange a valve on the basis of said signal thus to feed oil pressure to both hydraulic cylinders 14 for driving a movable flap. The operating amount of hydraulic cylinder is detected by a differential transformer 24 comprised of a coil 25 and a core 26 to perform feedback control. Consequently the rotary angle of the movable flap can be controlled reliably while the size of movable flap controller can be reduced.

Description

[Detailed Description of the Invention] The present invention relates to a swing control device for a high-speed ship such as a hydrofoil boat, in which a rotating blade provided on a hydrofoil at the bottom of the hull is rotated by a hydraulic cylinder, and is integrated into an oil field cylinder. ,
A differential transformer is provided that detects the operating chromaticity of the rotating blade based on the amount of displacement of the piston of the hydraulic cylinder, and the operating angle of the rotating blade can be detected reliably and easily. The purpose of this system is to seal hydraulic oil into the conduit of the electric wire connected to the dynamic transformer to prevent the intrusion of seawater, etc.

In general, in high-speed ships such as hydrofoil boats equipped with hydrofoils at the bottom of the hull, the hydrofoils control the floating height, rolling, pitching, and up-and-down motion of the hull in order to ensure stable navigation. Rotating blades such as fins and flaps are provided. This type of rotating blade is normally operated by a hydraulic cylinder housed within the hydrofoil, and is configured to rotate the rotating blade by a predetermined angle in response to detection of ship motion.

By the way, when rotating the rotating blade in response to the detection of the hull motion, it is necessary to detect the actual angle of the rotating blade and feed-pack this to control the rotating blade to a predetermined angle. However, in this case, it is very difficult to angle the rotating blade toward the surface needle because the inside of the hydrofoil is very narrow, the hydrofoil is underwater, and so on.

This invention was made in consideration of the above points,
An underwater filter provided at the bottom of the hull of a high-speed boat, and rotary vanes such as fins and flaps that are rotatably supported by the hydrofoil and apply rotational moment to the hull around the center of gravity by lift generated by water flow; a lever integrated with the spindle of the rotating blade; a hydraulic cylinder housed inside the hydrofoil and having a piston rond connected to the lever and displacing a piston to rotate the rotating blade; a differential transformer that is integrally provided in the cylinder and detects the operating angle of the rotating blade based on the amount of displacement of the piston; and an electric wire that accommodates an electric wire connected to the differential transformer and guides the electric wire into the hull. According to the present invention, there is provided a sway control device for a high-speed ship, characterized in that the hydraulic oil of the hydraulic cylinder is sealed inside the differential transformer and in the electric conduit tube. According to the swing control device, the hydraulic cylinder is integrated with a differential transformer that detects the operating angle of the rotating blade based on the amount of displacement of the piston of the hydraulic cylinder, making it easy to detect the actual angle of the rotating blade. In addition, this type of detection means can be easily integrated into a hydrofoil with a narrow space, and since hydraulic oil is sealed inside the differential transformer and the conduit, it can be immersed in water. Even in a hydrofoil, it is possible to prevent seawater from entering into the differential transformer and the electric conduit, and it is possible to obtain a trouble-free and long-life detection means.

The present invention will now be described in detail with reference to drawings showing one embodiment in which the present invention is applied to a hydrofoil boat to control the rolling motion of the hull.

Figure 1 shows the entire hydrofoil, and (1) shows the hull;
(2) and (3) are a front hydrofoil and a rear hydrofoil that are integrally provided on the front and rear bottom of the hull (1), and the front hydrofoil (2) is a strut) (4,a ), (
4b) and fins (5a), (5b). (6) is a propeller, (7) id rudder, (8a
) and (8b) 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 toward the outside, respectively; (9a) and (9b)
is a rolling flap that is provided parallel to the rear of the double-ended ring fins (8a) and (8b) and is rotatably supported around the outward diagonally downward supporting shaft OQ, and the double-ended ring flap ( The rolling flaps (9a) and (9b) rotate in the same direction, respectively, and the rolling flaps (9a) and (9b) rotate in the same direction.
b) the rolling flap (9a) by water flow;
(9b) is generated as a function of the angle formed by the water flow, which imparts a rotational moment around the center of gravity to the hull (1).

an angular velocity sensor that outputs an angular velocity signal; (121 is a control pile that is installed in the wheelhouse of the hull (1) and houses a calculation device for controlling the flap angle 'pj, etc.; (13a);
(13b) is a valve panel installed on the left and right sides of the front bottom of the hull (1) to control the amount of hydraulic oil supplied to the hydraulic cylinders, which will be described later.

(14) is the rolling flap (
The rolling flap (9a) is housed on the right side of the rolling flap (9a).
It is a hydraulic cylinder that rotates by i, and is constructed as shown in FIG. That is, in FIG. 5, Ken is the cylinder body (1) that forms the outer casing of the hydraulic cylinder (14).
61 is a cylinder chamber formed on the left side of the cylinder main body (15), [+71fd is a piston that can move left and right and is housed in the cylinder chamber (16), and (18) is a piston (provided integrally with the cylinder 1η). One main body (a piston rond led out through the left wall of the country, and the rond (1
As shown in FIGS. 2 and 4, the tip of the lever (1) that is integral with the spindle 00 of the rolling flap (9a)
9), the reciprocating movement of the piston f171 (C rotates the spindle αO via the piston rond (18) and lever (19), and rotates the rolling flap (9a).

120) and (21) are hydraulic oil piping connection ports formed in the cylinder body (151) to communicate with one end and narrow end of the cylinder chamber (16), and both connection ports +201,
(The rotation oil pipes (221, (23) shown in solid lines in Fig. 4 are connected to 2+1, respectively, and both pipes W 1221
, (23+) are introduced into the hull (1) through the interior of the front hydrofoil (2) and the interior of the stock (4a), respectively, and are guided to the valve panel (13a). Note that a hydraulic cylinder for rotating the rolling flap (9b) is also accommodated on the left side of the rolling flap (9b) in the front hydrofoil (2), as described above, and a hydraulic cylinder connected to the hydraulic cylinder is housed. The dynamic piping is made of pulp panels (
13b).

(24) is a differential transformer that is integrated into the hydraulic cylinder (14) and detects the operating angle of the rolling flap (9a) based on the amount of displacement of the piston (17). The coil installed on the right side (
2ω and an iron core (261 inserted into the coil (26j) provided integrally and coaxially with the piston f+71,
The amount of movement of the iron core (3fil) associated with the displacement of the piston (171) is taken out as a disgusting output.In addition, a rolling flap (9b) is also integrated in the left hydraulic cylinder in the front submersible support (2). The differential transformer that detects the operating angle is compressed.ρ71 is the cylinder body (1ω
The main body joint fixed to the right end of the
) coil (an electric wire for taking out electric signals connected to 2E1, one end of (29) is connected to the body joint deer and the electric wire ρ
&, and the electric wire (28) is connected to the front hydrofoil (2).
) and through the interior of the strut (4a) to the hull (1)
This is a conduit that guides the inside.

130) is a connection port for piping formed on the left side of the cylinder body (15) and communicated with the inside of the differential transformer (24) through the communication pipe (31); (321) is a connection port connected to the connection port side and connected to the front Hydraulic oil is sealed inside the differential transformer (24) and the electrical conduit 1291 through the entire interior of the underwater pine (2) and the stock (4a), and through the piping (321). The hydraulic pressure prevents river water from entering the differential transformer ρ4) and the electric conduit 129). (
33) is an electric wire take-out part provided in the hull (1) to which the thin end of the electric wire #129) is connected and separates the electric wire ρ& from the oil return pipe (34); 12), and an oil return pipe (34) is guided to the hydraulic oil tank together with the sealing oil pipe slack.

When the hull (1) rolls due to disturbances such as waves and wind, the angular velocity signal from the angular velocity sensor (11) is input to the control panel (121), and the flap angle control calculation unit sends a signal to the hull (1). The flap angle required to minimize the roll motion is calculated, a flap angle control signal proportional to this is output via the servo amplifier, and the hydraulic fluid from the left and right valve valves is controlled by both hydraulic pressures. The cylinder (141) flows into the cylinder rod f161, moves the piston (1η, and the piston rond (18)
Bilateral-linked flap (9a) via.

(9b) are individually rotated simultaneously and in the same direction.

Also, at this time, the electric wire (2&
An output equal to the rotation angle of the rolling flaps (9a) and (9fi) is obtained by activating the valve, and this is fed back to the servo amplifier, and the low IJ song flaps (9a) and (9b) are activated by both hydraulic cylinders "-141". The rotation is performed until the flap angle reaches the flap angle according to the flap angle control signal, and the lift force generated by the water flow acts on the ring flaps (9a) and (9b), which have been rotated to the predetermined flap angle, and the hull In (1), a rotational moment is generated in the opposite direction to the rolling motion, and the hull fl+ is held substantially horizontally.

Therefore, according to the implementation side, when detecting the rotation angle of the double-ended ring flaps (9a) and (9b), the hydraulic cylinder G'' is detected by the differential transformer 1241 instead of being detected face-to-face. = (14) piston (1
The rotation angle can be detected by the variable position of 71, and by feeding this back, the rotation angle of the double-end ring flaps (9a) and (9b) can be controlled with high precision. Since the dynamic lance 4) is integrated into the hydraulic cylinder 1141, this type of detection means can be miniaturized and easily accommodated in the front hydrofoil (2), which has a small space. In order to seal the hydraulic oil used in the hydraulic cylinder (14) inside the differential transformer (24) and the conduit I29) and soak it in oil, the front hydrofoil (2) is submerged in water. However, the differential transformer (2
4) Detection of the operating angle of the double-end link flaps (9a), (91)) prevents seawater from entering inside the conduit (29) and extends the service life without failure. This makes it possible to achieve reliable, easy, and stable rolling control.

In the above, the case of rolling control of a hydrofoil boat was explained, but pitching and vertical swing control (C) describes the case where rotary blades such as flaps and fins are rotated by an oil field cylinder at (tll). The same can be done when detecting the operating angle, and furthermore, the present invention can be effectively applied not only to underwater boats but also to high-speed boats.

[Brief explanation of the drawing]

Figure 2 shows an embodiment in which the swing control device for a high-speed boat of the present invention is applied to a hydrofoil boat. , Figure 5 is a cross-sectional view of the hydraulic cylinder.0 (1)...Hull, (2)...Front hydrofoil, (9a)
, (9b)...Rolling flap, 00・Spindle, (
14)...Hydraulic cylinder, (+71...screw)
(+81... Piston rod, (+9)... Reno <-1 (24)... Differential transformer, (28)... Electric, Mine, 129) Conduit. Agent: Ryutabu Fujita, Senmi-S, Hitachi Zosen Corporation, 1-6-14 Edobori, Nishi-ku, Osaka, Japan Inventor: Masaaki Kuroi, Hitachi Zosen Corporation, 1-6-14 Edobori, Nishi-ku, Osaka Author: Tadao Takai, Hitachi Zosen Corporation, 1-6-14 Edobori, Nishi-ku, Osaka Inventor: Sumio Ishikawa, Hitachi Zosen Corporation, 1-6-14 Edobori, Nishi-ku, Osaka Inventor: Ken Kitano 488- Hitachi Zosen Corporation, 1-6-4 Edobori, Nishi-ku, Osaka

Claims (1)

[Claims] ■ Hydrofoils installed at the bottom of the hull of a high-speed boat, and rotary vanes such as fins and flaps that are rotatably supported by the hydrofoils and apply rotational moment to the hull around the center of gravity using lift generated by water flow. a lever integral with the support shaft of the rotary blade; a hydraulic cylinder housed inside the hydrofoil and having a piston rond connected to the lever and displacing the piston to rotate the rotary blade; a differential transformer that is integrally provided in the hydraulic cylinder and detects the operating angle of the rotating blade based on the amount of displacement of the piston; and a turtle that accommodates an electric wire connected to the differential transformer and guides the electric wire into the hull. #ρ, and hydraulic oil for the hydraulic cylinder is sealed inside the differential transformer and the electric wire σ.