KR101831157B1 - A gyro stabilizer with power generation system and damping device - Google Patents

Abstract

The present invention relates to a gyro stabilizer with a generation system and a damping device for a vessel, and a control method thereof. In particular, the gyro stabilizer comprises: a block installed in a vessel; a gimbal rotated with first and second gimbal shafts as the first and second gimbal shafts formed on both sides are coupled to a fixation means of the block to be able to rotate; a rotary shaft installed in an inner center of the gimbal in the direction crossing the first and second gimbal shafts; a flywheel installed on the rotary shaft; and a driving motor rotating the rotary shaft, wherein a generator is installed in one end part selected between the first and second gimbal shafts, and a damper is installed in the other end not including the generator between the first and second gimbal shafts. According to the present invention, since the generator is installed in one end part selected between the first and second gimbal shafts, and the damper is installed in the other end part not including the generator between the first and second gimbal shafts, regenerative braking torque of the generator and damping force of the damper reduce rotational torque generated by excessive processional motion of the gimbal; thereby providing an effect capable of preventing damage of the generator and the damper.

Description

TECHNICAL FIELD [0001] The present invention relates to a gyroscopic stabilizer for a ship having a power generation system and a damping device, and a control method thereof.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gyroscopic stabilizer for a ship having a power generation system and a damping device, and a control method thereof.

More specifically, a generator is provided at any one end of the selected one of the first load compartment and the second load compartment, and the damper is provided at the other end of the first compartment and the second compartment of which the generator is not provided The damping force of the regenerative braking torque of the generator and the damping force of the damper are reduced by reducing the rotational torque generated by the excessively wobbling motion of the gimbals to prevent damage to the generator and the damper, And a control method thereof.

In general, a gyro-stabilizer is a device for stabilizing the hull with a reaction torque generated by the precession of a gyroscope, and is used in other rolling- It is advantageous in that it is simple in configuration.

In addition, since the reaction torque can be proportional to the rotation inertia of the gyro and the rotation speed of the gyro, it is possible to easily adjust the posture stabilization of the ship, and it is difficult to control the posture of the ship through the large equipments such as the ballast water and the movement of the cargo It can be said that it is favorable structure for leisure vessel and the like.

As one of related arts, Japanese Patent Application Laid-Open No. 10-2016-0042600 discloses a power generating system for a leisure ship using a gyro stabilizer.

1 is a view showing a power generating system of a leisure ship using a conventional gyro stabilizer. Referring to FIG. 1, a power generating system of a leisure ship using a conventional gyro stabilizer will be described. When a ship is rolling, power can be supplied to a ship by using a pitching axis of the ship as an output shaft, And is capable of being generated by rotation of the output shaft when pitching occurs in the hull.

To describe a power generating system of a leisure ship using the conventional gyro stabilizer, a block 1 to be fixed to a hull of a leisure ship and a luggage compartment 3 to be rotatably engaged with both sides of the block 1 are formed A flywheel 4 which is rotatably installed inside the gimbals 2 and which pivots about a central axis in a direction orthogonal to the gimbal shaft 3 and a central shaft of the flywheel 4, And a drive motor (5) for rotating the flywheel (4), wherein a center axis of the flywheel (4) is arranged coincident with a yaw axis of the hull, and the loading bore (3) is arranged coinciding with a pitching axis of the hull And the generator 6 is fixed to the end of each of the load-reduction shafts 3, so that when the hull is rolled or pitched, the power is generated by the rotation of the load-reduction shaft 3.

However, in general, the marine generator has a maximum regenerative braking torque. In the case of the conventional marine gyroscopic stabilizer as described above, when the external force (wave) is large and the gimbal 2 is excessively washed , There is a problem that the rotational torque generated in accordance with the wobble motion of the gimbals 2 exceeds the maximum regenerative braking torque of the generator 6 and the generator 6 may be damaged.

Furthermore, when the maximum regenerative braking torque is exceeded in the conventional marine gyroscopic stabilizer, there is a problem that the rotation of the gyro stabilizer adversely affects the balance maintenance of the marine vessel.

Published Japanese Patent Application No. 10-2016-0042600 (Apr. 20, 2016) Patent Registration No. 10-0882853 (Mar. 23, 2009) Published Japanese Patent Application No. 10-2004-0089420 (Oct. 21, 2004)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a power unit in which a generator is provided at any one end of a first load balancer and a second load balancer, And the damper is provided at the other end of the second load-deflection shaft where the generator is not provided, so that the regenerative braking torque of the generator and the damping force of the damper reduce the rotational torque generated by the excessively carburizing motion of the gimbals, And to provide a gyroscopic stabilizer for a ship having a power generation system and a damping device capable of preventing damage, and a control method thereof.

Another problem to be solved by the present invention is to use electric power generated by a generator with power consumed in driving a driving motor and a damper preferentially but to use electric power supplied from a power supply unit when electric power generated by a generator is insufficient A gyroscopic stabilizer provided with a power generation system and a damping device, and a control method thereof.

According to an aspect of the present invention, there is provided a gyroscopic stabilizer for a ship having a power generation system and a damping device, the gyroscopic stabilizer comprising: a block installed on a ship; A gimbal which is rotatably coupled to the fixing means of the block and is rotated together with the first and second load-reduction shafts, the first and second load-reduction shafts formed on both sides thereof; A rotating shaft installed at the center of the inner side of the gimbals in a direction orthogonal to the first load compass and the second load compass; A flywheel mounted on the rotary shaft; And a driving motor for rotating the rotary shaft, wherein a generator is provided at any one end of the first load-down axis and the second load-down axis, and the generator of the first load-down axis and the second load- And a damper is provided at the other end which is not provided.

In addition, an accelerator is further provided between the generator and the load balancer provided with the generator among the first and second load balancing shafts.

The damper may be any one selected from a sealed damper, a hydraulic damper, and an MR (Magnetorheological) damper.

In addition, when the damper is composed of any one of a hydraulic damper and an MR damper, the damper is driven by electric power generated by the generator, and when the electric power generated by the generator is insufficient, And is driven by electric power supplied from a power supply unit.

In the case where the damper is formed of an MR damper, the damper includes a damper housing having an inner piston and an upper chamber and a lower chamber defined by the piston. An MR fluid filled in an upper chamber and a lower chamber of the damper housing; And an accumulator provided at one end of the lower chamber of the damper housing.

In addition, the piston is provided with a passage for communicating the upper chamber and the lower chamber, and the passage is provided with a coil for generating a magnetic field by power supply.

The accumulator further includes a diaphragm portion for separating the inside of the lower chamber from the inside of the accumulator. The diaphragm portion may compensate for a volume due to a difference between a pressure inside the lower chamber and an internal pressure of the accumulator And is made of a synthetic rubber material having elasticity.

In addition, a power supply unit for supplying power is further included, and the driving motor is driven by power generated from the power generator, and when the power generated by the power generator is insufficient, the power is supplied from the power supply unit.

And a hydraulic brake provided on any one of the first load contraction shaft and the second compression contraction shaft).

According to another aspect of the present invention, there is provided a method of controlling a ship gyro stabilizer including a power generation system and a damping device, the method including: a first measurement step of measuring a production power of the generator; A first determination step of determining whether a production electric power of the generator measured in the first measurement step reaches a maximum production capacity of the generator; Wherein the controller is configured to supply power to the MR damper when it is determined in the first determination step that the produced electric power of the generator has reached the maximum production capacity of the electric generator, Supplying power proportional to the size; A second measurement step of measuring a rotation angle of the gimbals; A second determination step of determining whether the rotation angle of the gimbals measured in the second measurement step reaches 80 degrees; And a hydraulic pressure supply step of supplying a maximum hydraulic pressure that can be supplied to the hydraulic brakes when it is determined in the second determination step that the rotation angle of the gimbals has reached 80 degrees.

According to the present invention, there is provided a gyroscopic stabilizer for a ship having a power generation system and a damping device, and a method of controlling the gyroscopic vibrator, wherein a generator is provided at any one end of the first and second luggage compartments, The damping force of the regenerative braking torque of the generator and the damping force of the damper are reduced by reducing the rotational torque generated by the excessively carburizing motion of the gimbals, The generator and the damper can be prevented from being damaged.

Further, according to the present invention, power is generated by the rotation of the gimbals upon rolling or pitching of the ship, and power generated by the rotation of the gimbals is preferentially used with the power used by the ship, There is an effect that can be made.

Further, according to the present invention, when the amount of electric power generated by the generator is insufficient, electric power supplied from a separate power supply unit is used, so that the electric power can be stably used.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a power generation system of a leisure ship using a conventional gyro stabilizer. FIG.
2 is a view showing a ship gyro stabilizer having a power generation system and a damping device according to the present invention.
Figs. 2A to 2C are enlarged views showing the enlarged view of Fig. 2A. Fig.
3 is a schematic view showing rotation of a gimbals and a flywheel of a gyroscopic stabilizer for a ship having a power generation system and a damping device according to the present invention.
4 is a block diagram showing a power supply state of a gyroscopic stabilizer for a ship having a power generation system and a damping device according to the present invention.
FIG. 5A is a view showing a flow state of MR fluid particles when a magnetic damper is not loaded, when a damper of a gyroscopic stabilizer for a ship having a power generation system and a damping device according to the present invention is applied as an MR damper.
FIG. 5B is a view showing a flow state of MR fluid particles when a magnetic damper is applied to a damper of a gyroscopic stabilizer for a ship having a power generation system and a damping device according to the present invention as an MR damper. FIG.
6 is a view showing an MR damper when a damper of a gyroscopic stabilizer for a ship having a power generation system and a damping device according to the present invention is applied as an MR damper.
FIG. 7 is a graph showing the damping force of the MR damper at each speed when the damper of the ship's gyro stabilizer having the power generation system and damping device according to the present invention is applied as an MR damper.
FIG. 8 is a graph showing the resistance of a hydraulic brake of each gimbal angle of a ship gyroscopic stabilizer equipped with a power generation system and a damping device according to the present invention. FIG.
9 is a flowchart showing a control method of a gyroscopic stabilizer for a ship provided with a power generation system and a damping device according to the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, .

On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the term "comprises" or "having ", etc. is intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, And does not preclude the presence or addition of one or more other features, integers, integers, steps, operations, elements, components, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be construed as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concept of the term appropriately in order to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention. Further, it is to be understood that, unless otherwise defined, technical terms and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Descriptions of known functions and configurations that may be unnecessarily blurred are omitted. The following drawings are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the following drawings, but may be embodied in other forms. In addition, like reference numerals designate like elements throughout the specification. It is to be noted that the same elements among the drawings are denoted by the same reference numerals whenever possible.

The present invention is characterized in that a generator is provided at any one end selected from among a first load balancer and a second load balancer, and a damper is provided at the other end of the first load balancer shaft and the second load balancer shaft, A gyroscopic stabilizer for a ship having a damping device and a power generation system capable of reducing the rotational torque generated by the excessive damping force of the dampers and the damping force of the regenerative braking torque of the dynamo, And a control method.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a gyroscopic stabilizer having a power generation system and a damping device according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a view showing a ship gyro stabilizer provided with a power generation system and a damping device according to the present invention, and FIGS. 2A to 2C are enlarged views showing the enlarged view A of FIG. System and a gyro-stabilizer of a marine vessel equipped with a damping device.

2 to 3, the ship gyroscopic stabilizer provided with the power generation system and the damping device of the present invention comprises a block 10 installed on a ship, a first luggage compartment 21 on both sides and a second luggage compartment A flywheel 40 mounted on the rotary shaft 30 and a driving motor 30 for rotating the rotary shaft 30 are installed in the center of the gimbals 20, (50), and a generator (60) is provided at any one end of the first load balancer shaft (21) and the second load balancer shaft (22), and the first load balancer shaft (21) A damper (70) is provided at the other end of the load compartment (22) where the generator (60) is not provided.

The generator 60 and the damper 70 are connected to the regenerative braking torque generated by the rotation of the first load balancer 21 and the second load balancer 22 by the generator 60, The rotational torque generated by the gimbals 20 is reduced by using the damping force generated by the driving of the gimbals 20 so that the rotational torque transmitted from the gimbals 20 is transmitted to the maximum regenerative braking It is possible to prevent the generator 60 and the damper 70 from being damaged by exceeding the torque.

The block 10 is for fixing the ship gyroscopic stabilizer equipped with the power generation system and the damping device of the present invention to a ship and is composed of a longitudinal member connected to the keel of the hull at the center of gravity of the ship, ) Or a transverse member.

The gimbals 20 are rotatably coupled to the fixing means 11 of the block 10 by first and second load reduction shafts 21 and 22 which are formed on both sides of the gimbals 20 and are parallel to the ground or water surface . Accordingly, the gimbals 20 can be rotated around the first load reduction shaft 21 and the second load reduction shaft 22.

At this time, as described above, the generator 60 or the damper 70 is provided at the ends of the first and second load reduction shafts 21 and 22. In the present invention, the first load reduction shaft 21 is provided with a generator 60 and a damper 70 is provided on the second load balancer 22 as an example.

The power of the generator 60 is transmitted to the generator 60 in a state where the rotation speed of the first load balancer 21 is increased between the first load balancer 21 and the generator 60, (80) for enhancing the performance of the engine.

At this time, the speed increasing device 80 may be a general gear type speed increasing device.

The hydraulic brakes 120 may be further provided on any one of the first and second load reduction shafts 21 and 22 to limit the rotation angle of the gimbal 20.

The hydraulic brake 120 is provided on any one of the first and second luggage bosses 21 and 22 of the gimbals 20 and uses the supplied oil pressure to change the rotation angle of the gimbals 20 It is possible to prevent rotation of 90 degrees or more.

In the present invention, a hydraulic brake using oil pressure is disclosed as a configuration for restricting the rotation angle of the gimbals 20. However, according to the embodiment, the configuration for restricting the rotation angle of the gimbals 20 is not limited to the compressed air brake , Electric brakes, and mechanical brakes.

The resistance force of the hydraulic brake 120 according to the rotation angle of the gimbals 20 will be described with reference to FIG. 8 to be described later.

The rotary shaft 30 is installed in a direction perpendicular to the first luggage compartment 21 and the second luggage compartment 22 at an inner center of the gimbals 20 and is rotated by the driving motor 50, The flywheel 40 is installed on the rotary shaft 30 and is rotated in a direction orthogonal to the first load reduction shaft 21 and the second load reduction shaft 22.

The generator 60 is provided at an end of the first load balancer 21 and generates electricity by rotation of the gimbals 20 due to rolling or pitching of the ship and uses regenerative braking torque generated during power generation So that the rotational torque due to the wobble motion of the gimbals 20 can be reduced.

At this time, the generator 60 converts the rotational energy of the first load balancer 21 into electric energy, and may be a general generator that generates electric power by an electromagnetic induction action (electromagnetic induction action).

The damper 70 is provided at an end of the second load balancer 22 to provide a damping force and a rotational torque generated by an excessively carburizing motion of the gimbals 20 is transmitted to the generator 60 Thereby preventing the generator 60 from being damaged by exceeding the braking torque.

The damper 70 is coupled to the first crankshaft 131 of the crank 130 and the crank 130 is coupled to the end of the second load reduction shaft 22, And the hydraulic brake 120 may be coupled to the second crankshaft 132 of the first clutch C1. Accordingly, the crank 130 can be rotated about the second load balancer 22, and the rotational movement of the second load balancer 22 is transmitted to the damper 70 and the hydraulic brake 120 The rotational motion can be converted into a linear motion and transmitted by the crank 130.

According to an embodiment of the present invention, the damper 70 is a driven damper. The damper 70 is a closed type damper in which the damping force can not be arbitrarily controlled by the user in a state where the damping force is constant, and a hydraulic damper capable of adjusting the damping force according to the flow rate or power supplied as the active damper And an MR (Magnetorheological) damper.

The damper 70 reduces the rotational torque of the gimbals 20 and generates a rotational torque generated by the car motions of the gimbals 20 exceeding the maximum regenerative braking torque of the generator 60 The damping force is generated only when the rotational torque generated by the carcass movement of the gimbals 20 reaches the maximum regenerative braking torque of the generator 60 because the damper 70 prevents the generator 60 from being damaged. And a hydraulic damper and an MR damper capable of adjusting the damping force so as to generate a large amount of hydraulic pressure.

Further, when the damping force of the damper 70 is large, the regenerative braking torque of the generator 60 can be reduced as the rotational torque of the gimbal 20 is reduced. Therefore, The damping force may be set in consideration of the reduction of the regenerative braking torque of the generator 60 as the rotational torque of the gimbal 20 is reduced.

That is, the damper 70 is always driven by the rotation of the gimbals 20, but when the damping force of the damper 70 is largely generated when the amount of electricity generated by the generator 60 is small, The damper 70 may be constructed of any one selected from a hydraulic damper and an MR damper so that the damping force can be adjusted according to the rotational torque of the gimbals 20, ) Is increased to a predetermined value or more, the damping force can be generated to be large.

According to the present invention, the rotary shaft 30 and the flywheel 40 can be arranged to coincide with the yaw axis of the ship so as to correspond to the spin axis (rotation axis) of the principle of the gyroscope, The load balancer 22 can be arranged to coincide with the pitch axis of the ship so as to correspond to the output shaft of the gyroscope principle. Accordingly, the generator 60 provided at the end of the first load balancer 21 can be generated by the gimbals 20 that are rotated according to the rolling or pitching of the ship.

The conventional gyro stabilizer has a problem that when the external force (wave power) is generated on the ship, the rotational torque of the gimbal 20 exceeds the maximum regenerative braking torque of the generator 60, There has been a problem that it may be damaged. On the other hand, in the gyro stabilizer according to the present invention, the generator 60 is provided at the end of the first load reduction shaft 21 to generate a regenerative braking torque, and a damper The rotational torque of the gimbals 20 exceeds the maximum regenerative braking torque of the generator 60 by reducing the rotational torque of the gimbals 20 as the damping force is generated, And damages of the damper 70 can be prevented.

At this time, the damper 70 is configured to generate a large damping force only when the rotational torque of the gimbal 20 reaches the maximum regenerative braking torque of the generator 60, thereby preventing the generator 60 from being damaged The power generation efficiency of the generator 60 can be prevented from being reduced.

When the damper 70 is composed of any one selected from the hydraulic damper and the MR damper, the gyroscopic stabilizer provided with the power generation system and the damping device may further include a separate power supply unit 110 for supplying power The damping force of the damper 70 is adjusted by the power generated by the generator 60. When the power generated by the generator 60 is insufficient, the damping force is adjusted by the power supplied from the power supply unit 110 .

That is, the damping force can be controlled by at least one of the power generated by the generator 60 and the power supplied from the power supply unit 110, It is possible to improve the efficiency of power use.

In this case, the drive motor 50 is also driven by the power generated by the generator 60 like the damper 70, and when the power generated from the generator 60 is insufficient, the power supplied from the power supply unit 110 Lt; / RTI >

Therefore, the driving motor 50 can be driven by at least one of the power generated by the generator 60 and the power supplied from the power supply unit 110, and the power generated by the generator 60 is preferentially So that the efficiency of power use can be improved.

Further, the power supply unit 110 may be controlled to supply power only when the power generated by the generator 60 is less than 30% of the total power capacity of the generator 60 for stable power supply.

4 is a block diagram showing a power supply state of a gyroscopic stabilizer provided with a power generation system and a damping device according to the present invention.

4, the gyroscopic stabilizer for a ship having the power generation system and the damping device according to the present invention includes a power generator 60 for generating power and power supplied from the power supply unit 110, And a control unit 90 for controlling the control unit 90.

The controller 90 controls the power generated by the generator 60 and the power supplied from the power supply unit 110 so that the power generated by the generator 60 is less than a predetermined value, The power of the power supply unit 110 is supplied to the drive motor 50 and the damper 70 when it is judged that there is a problem in driving the damper 70 and the driving of the damper 70, So that the supply can be made.

Hereinafter, the case in which the damper 70 is formed of a hydraulic damper and the case in which the damper 70 is formed of an MR damper will be compared.

In the case where the damper 70 is formed of a hydraulic damper, due to the difference in reaction speed between the accumulator acting as a pressure holding device in the closed system and the control valve which provides the damping force by reducing the size of the flow path through which the fluid flows, There is a problem that it is difficult to provide a desired damping force in real time because the angular velocity can not be controlled. In addition, when oil leakage occurs in the hydraulic circuit due to equipment failure and functional error, the hydraulic damper composed of a closed system may cause a pressure drop and lose the damping force. At this time, the equipment is overheated or excessive rolling motion There is a risk that a fire may occur.

On the other hand, when the damper 70 is formed of an MR damper, since the MR fluid is not leaked unless it is destroyed by an external force, the damper 70 can be stably used, and therefore, it can be superior to the hydraulic damper in terms of risk.

In addition, the hydraulic damper is interconnected to provide a damping force in a state where the accumulator, the hydraulic hose, and the fluid are separately provided. However, the MR damper is constructed such that the accumulator, the hydraulic hose and the fluid are integrally formed in the MR damper to provide a damping force The system and maintenance can be simplified.

Therefore, it can be said that the damper 70 of the gyro stabilizer according to the present invention is most preferably composed of an MR damper.

5A is a view showing the flow of MR fluid particles when the damper of the gyroscopic stabilizer for a ship having the power generation system and the damping device according to the present invention is applied as an MR damper, FIG. 5 is a view showing the flow state of MR fluid particles when a damper of a gyroscopic stabilizer for a ship having a power generation system and a damping device is applied as an MR damper. FIG.

In particular, the MR damper is a damper that utilizes the coupling force of the fluid having the MR effect, which increases the resistance of the fluid flow when the magnetic field is loaded, and adjusts the damping force according to the power supplied.

When the magnetic field is unloaded, the MR damper freely flows in the chambers 71b and 71c of the damper housing 71 as shown in FIG. 5A. However, when the magnetic field is not loaded, As shown in FIG. 5B, the fluid 72 is charged to form a chain structure in the chambers 71b and 71c of the damper housing 71, thereby exhibiting a yield stress.

When an object is deformed by stress, when the stress is small, it is deformed (elastic deformation) in proportion to the stress, and when the stress is removed, it returns to the original state. However, when the stress exceeds a certain limit, deformation increases rapidly. This phenomenon is called yield, and its critical stress is called the yield stress, yield value, or yield point of the material. Since the slip occurs inside the object when the yield stress is abnormal, even if the stress is removed, the object does not return to its original shape and permanent deformation remains. This is called plasticity and its deformation is called plastic deformation. An object exhibiting firing is referred to as a fired body.

6 is a view showing an MR damper when a damper of a gyroscopic stabilizer for a ship having a power generation system and a damping device according to the present invention is applied as an MR damper.

Referring to FIG. 6, the MR damper includes a piston 71a and a damper housing 71a in which an upper chamber 71b and a lower chamber 71c are formed with respect to the piston 71a An MR fluid 72 filled in the upper chamber 71b and the lower chamber 71c of the damper housing 71 and an accumulator 71c provided at one end of the lower chamber 71c of the damper housing 71, ≪ / RTI >

In this case, the piston 71a may be provided with a passage 71d for communicating the upper chamber 71b and the lower chamber 71c. The passage 71d may include a coil (not shown) The accumulator 73 may further include a diaphragm 73a for separating the interior of the lower chamber 71c and the interior of the accumulator 73 from the accumulator 73.

The diaphragm portion 73a may be made of a synthetic rubber material having elasticity so as to compensate for a volume caused by a difference between a pressure inside the lower chamber 71c and an internal pressure of the accumulator 73. [

The MR damper can generate a damping force according to the piston movement of the piston 71a because the MR fluid 72 flows only through the passage 71d formed in the piston 71a, The resistance of the MR fluid 72 can be increased to control the damping force.

That is, the MR damper 70 can generate a damping force according to the piston motion of the piston 71a, and the coil 74 provided in the flow path 71d of the piston 71a, A damping force greater than the damping force according to the piston motion of the piston 71a can be generated.

Accordingly, the power supplied to the coil 74 can be reduced by reducing the rotational torque of the gimbal 20 by the damping force generated by the motion of the piston 71a, It is desirable to be supplied when it is difficult.

The damping force generated in accordance with the piston movement of the piston 71a will be described in detail. Since the damping force generated in accordance with the movement of the piston 71a varies according to the piston movement speed of the piston 71a, The MR fluid 72 is not moved through the flow path 71d of the piston 71a when the piston 71a moves at a higher piston speed than the piston 71a at a piston movement speed of 0.3 m / The MR fluid 72 flows through the flow path 71d of the piston 71a and the MR fluid 72 flows through the flow path 71d of the piston 71a when the piston 71a has a slower piston movement speed. The damping force and the resistance are small, so that the damping force can be generated weakly.

That is, the damping force generated according to the piston motion of the piston 71a may be generated in proportion to the rotational speed of the gimbal 20.

FIG. 7 is a graph showing the damping force of the MR damper according to the velocity when the damper of the gyroscopic stabilizer provided with the power generation system and the damping device according to the present invention is applied as an MR damper.

7, V represents the piston moving speed of the piston 71a, F represents the damping force of the damper 70, and the negative speed represents the speed at which the damper 70 is compressed Damping force indicates the compression damping force of the damper 70 and positive (+) damping force indicates the compression damping force of the damper 70. The plus (+) speed represents the speed at which the damper 70 is tensioned, (A) shows a state in which no electric power is supplied to the coil 74 of the damper 70, (B) and (C) show a state in which the electric power is differentiated to the coil 74 of the damper 70 It indicates the state of supply.

7, when the damper 70 of the present invention is applied to an MR damper, the speed at which the piston 71a of the damper 70 moves and the speed at which the coil 74 of the damper 70 is supplied Depending on the power, the compression damping force of the damper 70 can be generated at a maximum of about -1,700 N or more, and the tensile damping force can be generated at a maximum of about 1400 N or more. In addition, the damping force of the damper 70 can be greatly changed according to the amount of power supplied to the damper 70.

That is, the amount of change of the damping force according to the speed of movement of the piston 71a of the damper 70 shows a constant trend for each section, and a section where the change amount of the damping force is large according to the speed of movement of the piston 71a of the damper 70 The movement speed of the piston 71a is in a range of about -0.2 to 0.2 m / sec, and the variation of the damping force according to the speed of movement of the piston 71a of the damper 70 is small in other sections.

Therefore, the gyro stabilizer of the present invention is configured such that, based on the damping force characteristic of the gimbal 20 at each rotational speed, the rotational torque generated by the car-motion of the gimbals 20 reaches the maximum regenerative braking torque A time point at which power is supplied to the coil 74 of the damper 70 can be set.

8 is a graph showing the resistance of a hydraulic brake of each gimbal of a ship gyro stabilizer equipped with a power generation system and a damping device according to the present invention.

8 is a graph showing the rotation angle of the gimbals 20, F is the resistance force of the hydraulic brakes, and the minus (-) rotation angle indicates the rotation angle of the gimbals 20 when the gimbals 20 are rotated backward And the plus (+) rotation angle represents the rotation angle when the gimbal 20 rotates forward, the minus (-) resistance represents the resistance when the gimbal 20 is rotated backward, and the plus (+ (20).

According to the attached FIG. 8, the hydraulic brake 120 according to the gyro stabilizer of the present invention has a large amount of change in resistance when the gimbal 20 is rotated forward and backward at an angle of about 80 ° or more. In particular, the hydraulic brake 120 generates a resistance force of at most about 2000N at a maximum when the gimbals 20 are rotated forward and backward at a rotation angle of about 90 degrees, so that the gimbals 20 move forward and backward 90 Or more.

9 is a flowchart showing a control method of a gyroscopic stabilizer provided with a power generation system and a damping device according to the present invention.

9, a method for controlling a ship gyro stabilizer with a power generation system and a damping device according to the present invention includes a first measurement step S10, a first determination step S20, a power supply step S30, A second determination step S40, a second determination step S50, and a hydraulic pressure supply step S60.

At this time, the ship gyro stabilizer provided with the power generation system and the damping device is characterized in that the block 10 installed on the ship, the first luggage compartment shafts 21 and the second luggage compartment shafts 22 formed on both sides are connected to the blocks 10 A gimbal 20 rotatably coupled to the first load balancer 21 and the second load balancer 22 so as to be rotatable about the first load balancer 21 and the second load balancer 22; A flywheel 40 mounted on the rotary shaft 30, a drive motor 50 for rotating the rotary shaft 30, and a second fly-wheel 40 mounted on the first and second load- The generator 60 provided at either one of the selectable load balancer 21 and the second load balancer 22 and the generator 60 among the first load balancer 21 and the second load balancer 22, The hydraulic brakes 120 are provided to any one of the first damper bushing 21 and the second load bushing 22, And a supply section 110 and a control unit 90 for controlling the electric power supplied from the power and the power supplier 110, which is power from the generator (60).

The first measurement step (S10) is a step of measuring the production power of the generator (60).

The first determination step S20 is a step of determining whether the production electric power of the generator 60 measured in the first measurement step S10 reaches the maximum production capacity of the generator 60.

That is, it is determined whether or not the electric power produced by the generator 60 reaches the maximum producible capacity of the generator 60, so that the rotational torque of the gimbals 20 reaches the maximum regenerative braking It is possible to deduce that the torque has been reached.

The power supply step S30 is a step of supplying power to the MR damper when it is judged in the first determining step S20 that the production electric power of the generator 60 reaches the maximum production capacity of the generator 60 .

At this time, the magnitude of the electric power supplied to the MR damper can be supplied in proportion to the magnitude of the electric power produced by the generator 60.

That is, by making the magnitude of the generated power of the generator 60 proportional to the magnitude of the power supplied to the MR damper, if the magnitude of the produced power of the generator 60 is large, the magnitude of the power supplied to the MR damper becomes large And the magnitude of the electric power supplied to the MR damper can be reduced if the generated power of the generator 60 is small.

The second measurement step (S40) is a step of measuring the rotation angle of the gimbals (20).

The second determination step S50 is a step of determining whether the rotation angle of the gimbals 20 measured in the second measurement step S40 has reached 80 degrees. At this time, the rotation angle 80 of the gimbals 20 in the second determination step S50 may be changed to about 75 to 85 degrees according to the embodiment.

The hydraulic pressure supply step S60 is a step of supplying the maximum hydraulic pressure that can be supplied to the hydraulic brake 120 when it is determined in the second determining step S50 that the rotation angle of the gimbals 20 has reached 80 degrees to be.

Accordingly, when the rotation angle of the gimbal 20 reaches 80 °, the hydraulic brake 120 limits the rotation of the gimbal 20, so that the gimbal 20 is not rotated by 90 ° or more .

According to the present invention, the generator is provided at any one end of the selected one of the first load compartment and the second load compartment, and at the other end of the first load compartment and the second compartment without the generator, The damping force of the regenerative braking torque of the generator and the damping force of the damper reduce the rotational torque generated by excessive gyration motion of the gimbals, thereby preventing damage to the generator and the damper.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It can be seen that branch substitution, modification and modification are possible.

10: Block 11: Fixing means
20: Gimbal
21: first load compartment 22: second load compartment
30: rotating shaft 40: flywheel
50: drive motor 60: generator
70: Damper
71: Damper housing
71a: piston 71b: upper chamber
71c: Lower chamber 71d:
72: MR fluid 73: Accumulator
73a: diaphragm 74: coil
80: Stowing machine 90:
110: power supply unit 120; Hydraulic brake
130: crank 131: first crankshaft
132: second crankshaft

Claims (10)

A block 10 installed on the ship;
The first and second load reduction shafts 21 and 22 formed on both sides are rotatably engaged with the block 10 so that the first and second load reduction shafts 21 and 22 A gimbal 20 being rotated;
A rotation shaft 30 installed at the center of the gimbals 20 in a direction orthogonal to the first load lowering shaft 21 and the second load lowering shaft 22;
A flywheel 40 mounted on the rotary shaft 30; And
A driving motor 50 for rotating the rotary shaft 30;
Lt; / RTI >
A generator 60 is provided at any one end of the first and second load reduction shafts 21 and 22. The first and second load reduction shafts 21 and 22, The damper 70 is provided at the other end where the generator 60 is not provided,
The damper 70 is composed of an MR (Magnetorheological) damper,
A hydraulic brake 120 coupled to any one of the first and second load balancing shafts 21 and 22, a power supply unit 110 for supplying electric power, And a controller 90 for controlling power supplied from the power supply unit 110,
The control unit (90)
A first measurement step S10 for measuring the production power of the generator 60 and a second measurement step S10 for determining whether the production power of the generator 60 measured in the first measurement step S10 reaches the maximum production capacity of the generator 60 The power is supplied to the MR damper when it is determined that the output power of the generator 60 reaches the maximum output capacity of the generator 60 in the first determining step S20 A power supply step (S30) for supplying power to the MR damper in proportion to a magnitude of the production power of the generator (60), a second measurement step for measuring a rotation angle of the gimbals (20) (S40), a second determination step (S50) of determining whether the rotation angle of the gimbals (20) measured in the second measurement step (S40) reaches 80 degrees, and a second determination step (S50) When it is determined that the rotation angle of the hydraulic brake 20 has reached 80 degrees, Hydraulic pressure supply step of supplying a maximum oil pressure as possible (S60) power generation system and a damping unit for ships gyro stabilizer is provided which comprises a control.
The method according to claim 1,
A power generator (80) is further provided between the generator (60) and a load balancer in which the generator (60) is provided among the first load balancer shaft (21) and the second load balancer shaft A gyroscopic stabilizer for a ship having a system and a damping device.
delete The method according to claim 1,
The damper (70)
Wherein the generator is driven by electric power generated by the generator and is driven by electric power supplied from the electric power supply unit when the electric power generated by the generator is insufficient. Gyro stabilizer.
The method according to claim 1,
The damper (70)
A damper housing 71 in which a piston 71a is provided and an upper chamber 71b and a lower chamber 71c are formed with respect to the piston 71a;
A MR fluid 72 filled in the upper chamber 71b and the lower chamber 71c of the damper housing 71; And
An accumulator 73 provided at one end of the lower chamber 71c of the damper housing 71;
And a damping device for generating a damping force to the damping device.
The method of claim 5,
In the piston 71a,
A flow path 71d is formed so that the upper chamber 71b and the lower chamber 71c communicate with each other,
In the flow path 71d,
And a coil (74) for generating a magnetic field by electric power supply is provided on the surface of the dynamo system.
The method of claim 5,
In the accumulator 73,
A diaphragm portion 73a for separating the inside of the lower chamber 71c from the inside of the accumulator 73,
The diaphragm portion (73a)
Characterized in that it is made of a synthetic rubber material having elasticity so as to be able to compensate for a volume due to a difference between a pressure inside the lower chamber (71c) and an internal pressure of the accumulator (73). The damping device Stabilizer.
The method according to claim 1,
And a power supply unit 110 for supplying power,
The drive motor (50)
Wherein the generator is driven by electric power generated by the generator and is driven by electric power supplied from the electric power supply unit when the electric power generated by the generator is insufficient. Gyro stabilizer.
The method according to claim 1,
Further comprising a hydraulic brake (120) provided on any one of the first and second load reduction shafts (21, 22).
A block 10 installed on a ship, a first luggage compass 21 and a second luggage compass 22 formed on both sides of the block 10 are rotatably coupled to the block 10 so that the first load compartment 21 and the second compartment A gimbal 20 rotatable about a second load balancer 22 and a rotary shaft disposed in the center of the gimbals 20 in a direction orthogonal to the first load balancer 21 and the second load balancer 22 30, a flywheel 40 mounted on the rotary shaft 30, a drive motor 50 for rotating the rotary shaft 30, a first load balancer 21 and a second load balancer 22 An MR damper provided at the other end of the first load balancer shaft 21 and the second load balancer shaft 22 that is not provided with the generator 60, A power supply unit 110 for supplying electric power to the selected one of the load compartment 21 and the second load compartment 22 and a power supply unit 110 for supplying electric power generated by the generator 60 and the power supply unit 110 )in A control method for a ship gyroscopic stabilizer provided with a power generation system and a damping device including a control unit (90) for controlling supplied power,
A first measuring step (SlO) of measuring a production electric power of the generator (60);
A first determining step (S20) of determining whether the production electric power of the generator (60) measured in the first measuring step (S10) reaches the maximum production capacity of the generator (60);
When it is determined in the first determining step S20 that the produced electric power of the generator 60 has reached the maximum production capacity of the generator 60, power is supplied to the MR damper, and electric power supplied to the MR damper A power supply step (S30) for supplying the size of the generator (60) in proportion to the magnitude of the production power of the generator (60);
A second measurement step (S40) of measuring the rotation angle of the gimbals (20);
A second determination step (S50) of determining whether the rotation angle of the gimbals (20) measured in the second measurement step (S40) reaches 80 degrees; And
A hydraulic pressure supply step (S60) for supplying a maximum hydraulic pressure that can be supplied to the hydraulic brake (120) when it is determined in the second determining step (S50) that the rotational angle of the gimbals (20) has reached 80 degrees;
And a damping device for damping the damping force of the damping device.

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