JPS61241294A - Fin-stabilizer device for vessel - Google Patents

Abstract

PURPOSE:To control the fin angle, by detecting the rolling angular velocity, the vessel velocity, and the rolling angle respectively, and controlling the vessel oscillation as well as maintaining the vessel position perpendicular. CONSTITUTION:A rolling angular velocity meter 6 to detect the rolling angular velocity theta'R of a vessel, a tiltometer 8 to detect the rolling angle rolling thetaN, and a speedometer 7 to detect the velocity of vessel vL are furnished, and the detected signals are input to a computing unit 1 to output a fin angle command signal thetaD. Especially, in this case, a fin angle command value thetaD to force to maintain the vessel's position perpendicular is compounded and calculated, by processing the rolling angle thetaN. The fin angle command signal is amplified by an amplifier 2, to drive a fin activating hydraulic pressure unit 3. In that, the position of the vessel can be maintained perpendicular while controlling the rolling of the vessel sufficiently.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a marine fin stabilizer device that suppresses ship body sway (m sway and pitching) by adjusting the angle of attack of fins installed on the ship body. .

[Conventional technology]

Generally, a ship sailing through waves is induced to roll by the waves. In order to suppress such movement, a device for controlling the angle of attack of operating ends (fins) provided on both sides, ie, a fin stabilizer device, has been proposed.

, FIG. 2 shows a basic configuration diagram of the fin stabilizer device. In such a marine fin stabilizer device, the hull B
Roll angular velocity meter that detects the roll angular velocity (oscillation angular velocity) JR of 6. Signals from the inclinometer 8 that detects the inclination (inclination angle) θN of the hull B and the speedometer 7 that detects the ship speed VL are
The input signal is input to the calculation processing unit 1, which performs calculation according to the selected mode, and generates the fin angle command signal θD.
is output to servo amplifier 2. Thereafter, the fin angle command signal amplified by the servo amplifier 2 is supplied to the hydraulic device (fin drive device) 3, which drives the hull vibration suppression fin 4, and as a result, the fin 4
The angle of attack has been changed and adjusted. In addition,
A pair of left and right fins 4 are provided not only at a portion near the bow but also at a portion near the stern.

Furthermore, a fin angle indicator 5 is provided.1. The second fin angle indicator 5 feeds back the fin angle θF to the servo amplifier 2 side (negative feedback) to control the fin blade angle, and also sends the actual fin angle θF to the arithmetic processing unit 1 (the fin angle θF shown in FIG. 2). .about.4 is the actual fin angle of each of the four fins provided on the front, rear, left, and right sides of the hull), and the arithmetic processing section 1 displays the actual fin angle.

As described above, hull rolling is suppressed by adjusting the angle of attack of the fins 4, but conventional fin stabilizer devices are generally controlled using a natural tilt mode. That is, filI4i! with respect to the natural tilt axis! The fin angle command θD is synthesized from the roll angular velocity θR.

The formula is as follows.

Here, KP is a proportional gain, TI is an integral time, TD is a differential time, and S is a Laplace transform operator.

A control block diagram of the two types is shown in diagram Pt53.

In addition, in FIG. 3, symbols 9 and 10 are A/D converters,
11. 12 is a filter of the filter processing section 13, 14 is a ship speed processing section, 15 is a proportional gain calculation section; 19 is a gain processing section having an integral din calculation section 17 and a differential time calculation section 18; Reference numeral 20 indicates an operation control block section (including the hydraulic device 3 and the fins 4), which is a control processing section that calculates the equation.

[Problem that the invention seeks to solve]

However, the conventional marine fin stabilizer 'fcr
The control method using the natural tilt mode adopted in a is a control that sets the roll angular velocity to O, and does not take the tilt of the ship into account, so if the ship is tilting in a certain direction at the initial stage of control, , there is a problem that the inclination is maintained forever and the posture of the hull B does not return to vertical.

The present invention is intended to solve these problems, and an object of the present invention is to provide a marine fin stabilizer device that is capable of suppressing ship sway while always maintaining a vertical attitude of the ship.

[Failure to solve the problem]

For this reason, the marine fin stabilizer device of the present invention is provided with a fin for suppressing hull oscillation whose angle of attack is adjustable, and a fin drive device for changing the angle of attack of the fin.
A rocking angular velocity detecting means for detecting the rocking angular velocity of the hull and a tilting angle detecting means for detecting the tilting angle of the hull are provided, and based on detection signals from the rocking angular velocity detecting means and the tilting angle detecting means. The present invention is characterized in that a control means is provided for outputting a control signal to the fin drive device to maintain the vertical attitude of the hull.

[For production]

In the above-described marine fin stabilizer device of the present invention, a control signal for maintaining the posture of the ship vertically is output from the control device to the fin drive device based on the oscillation angular velocity detection device and the inclination angle detection device.

As a result, the angle of attack of the fins is adjusted to maintain the vertical attitude of the hull.

〔Example〕

Hereinafter, a marine fin stabilizer device as an embodiment of the present invention will be explained with reference to the drawings. FIG. 1 is a control block diagram thereof, and in FIG. 1, the same reference numerals as in FIGS. show.

The basic structure of this device is almost the same as that shown in FIG. That is, the hull B is provided with, for example, a total of four fins 4 for suppressing hull oscillation, the angle of attack of which can be adjusted.
Furthermore, a hydraulic device (fin drive device) 3 for changing the angle of attack of each fin 4 is provided.

Further, a roll angular velocity meter (swaying angular velocity detection means) 6 for detecting the roll angular velocity (swaying angular velocity) aR of the hull B;
An inclinometer (inclination angle detection means) 8 for detecting the inclination angle θN of the ship and a ship speed meter 7 for detecting the ship speed VL are provided, and these roll angular velocity meters 6. Ship speedometer7. Is the detection signal from inclinometer 8 processed by calculation? ) is input to ISI.

Then, a fin angle command signal θ0 is output from the arithmetic processing unit 1, and this signal is amplified by the servo amplifier 2 and output to the hydraulic device 3. However, in this device, the fin angle command signal θ0 is In order to compensate for the drawbacks of the natural slope mode control system, the first
As shown in the figure, this differs from the conventional one in that it uses a control system (referred to as forced upright mode) based on the inclination angle θN for forcibly maintaining the attitude of the hull B vertically.

That is, according to this forced upright mode, the inclination angle θN of the hull B from the inclinometer 8 is A/D converted by the A/D converter 21, processed by the filter 22, and then determined by the ship shape in the control processing section 23. Adjustment parameter K. is added to the above-mentioned natural inclination mode, and the fin angle command value θD is synthetically calculated. The formula for the calculation performed within the control processing section 23 is as follows.

(2) Here, KP is a proportional gain, TI is an integral time, TD is a differential time, S is a Laplace transform operator, θR is a roll angular velocity, Ko is an adjustment parameter, and θN is a tilt angle.

In this way, the control processing unit 23 calculates the above equation (2) based on the detection signals from the roll angular velocity meter 6 and the inclinometer 8, and generates a control signal for maintaining the vertical attitude of the hull B into the control block. section 20 (this operation control block section 20
constitutes a control means for outputting to the hydraulic device 3 and fins 4).

In addition, KP in natural tilt mode and forced upright mode,
T, TD are different values.

In this way, the control mode (forced upright mode) uses the heel angle as an input signal to maintain the ship's attitude vertically in the natural heel mode, which suppresses rolling motion based on the natural heel axis.
In addition, control parameters are determined based on the ship's speed to suppress the ship's roll angle and heel angle. That is, in order to maintain the vertical attitude of the ship, the angle of attack of the fin 4 is synthesized from both the natural heeling signal and the heeling angle.

In this way, the hull can be held vertically, which improves the ship's propulsion performance, achieves excellent fuel efficiency, and ensures safety when landing helicopters, etc. .

In addition, there is a parameter K for adjusting the inclination angle. It is possible to adapt to changes in the rolling motion characteristics of the hull depending on the hull shape, so it can be adapted to a variety of ships.

Note that this device can suppress not only rolling but also pitching, yawing, and heaving.

〔Effect of the invention〕

As described in detail above, according to the marine fin stabilizer device of the present invention, the ship body is provided with a hull vibration suppressing fin whose angle of attack is adjustable, and a fin drive device for changing the angle of attack of the fin, A rocking angular velocity detecting means for detecting the rocking angular velocity of the hull and a tilting angle detecting means for detecting the tilting angle of the hull are provided, and based on detection signals from the rocking angular velocity detecting means and the tilting angle detecting means. With a simple configuration that includes a control means for outputting a control signal to the fin drive device to maintain the hull attitude vertically, it has the advantage of being able to maintain the hull attitude vertically while sufficiently suppressing hull oscillation. be.

[Brief explanation of drawings]

FIG. 1 is a control block diagram of a marine fin stabilizer device as an embodiment of the present invention, FIG. 2 is a schematic groove diagram of the marine fin stabilizer device, and FIG. 3 is a conventional marine fin stabilizer device. It is a control block diagram. 1. Arithmetic processing unit, 2. Servo amplifier, 3. Hydraulic system as fin drive device, 4. Fin for suppressing hull oscillation, 5. Fin angle indicator, 6. Roll angular velocity meter (oscillation angular velocity Detection means), 7... Ship speedometer, 8... Inclinometer (inclination angle detection means), 9, 10... A/D converter, 11.1
2...Filter, 13...Filter processing section, 14...Ship speed processing section, 15...Gain processing section, 16...Proportional gain calculation section, 17.. Integral DIN calculation section, 18.. Differential time calculation section , 20...operation control block section, 21...A/D
Converter, 22... Filter, 23... Control processing unit (control means), B... Hull.

Claims (1)

[Claims] a sway angular velocity detection means for detecting the oscillation angular velocity of the hull; An inclination angle detection means for detecting an angle is provided, and a control signal for maintaining the attitude of the hull vertically is sent to the fin drive device based on the detection signals from the oscillation angular velocity detection means and the inclination angle detection means. A marine fin stabilizer device, characterized in that it is provided with a control means for outputting an output.