KR102322082B1 - Vibration control apparatus capable of changing control power and vessel or offshore structure including the same - Google Patents

Abstract

The present invention relates to a vibration control apparatus having changeable control power, which comprises: a casing; a plurality of unbalanced mass units disposed horizontally on both side areas from a central portion of the casing and joined respectively to the casing to be able to rotate in an unbalanced form; a plurality of rotation driving units installed at the outside of the casing to correspond to the plurality of unbalanced mass units and connected to the plurality of unbalanced mass units to drive rotation of the plurality of unbalanced mass units; and a vibration force control unit detecting external vibration occurring in the outside of the casing and controlling a phase of each of the plurality of rotation driving units to offset the external vibration. In accordance with the present invention, phases of a plurality of unbalanced masses are adjusted to enable a user to not only change the size of the control power easily but also change the direction of control power from one plane to a desired direction freely, and a controlled phase can be easily estimated even when automatic estimation loading of an optimal phase for vibration control is changed by using a golden section search method (GSSM).

Description

VIBRATION CONTROL APPARATUS CAPABLE OF CHANGING CONTROL POWER AND VESSEL OR OFFSHORE STRUCTURE INCLUDING THE SAME

The present invention relates to a vibration control device capable of changing a control force, and a ship or an offshore structure including the device, and more particularly, to a vibration control device capable of changing a control force for controlling and suppressing vibration of a structure and a vessel including the device Or it relates to offshore structures.

Recently, when excessive vibration occurs in equipment or structures installed on ships, a method of controlling vibration by welding reinforcement for vibration reinforcement to the structure is used, but it is not sufficient for suppressing vibration of structures that frequently generate vibrations such as ships. .

The dynamic reducer is provided with a dynamic object for canceling the vibration of the structure. When the offset vibration corresponding to the natural frequency of the structure is provided, it has the advantage of significantly suppressing the vibration of the structure, but most of the structure is difficult to tune the natural frequency. am.

If a dynamic absorber is used to suppress the vibration of the structure, the vibration is controlled only if the natural frequency of the dynamic absorber is well tuned. For natural frequency tuning, methods of increasing the number of springs or adding mass are used, but precise tuning is difficult.

In particular, a moment compensator is used for vibration control when a ship's wire vibration problem occurs. In the moment compensator, two rotating unbalanced masses are meshed with a gear, and vibration control force is generated using the rotating unbalanced mass.

In such a moment compensator, an engineer operates the machine in a trial and error method to adjust the unbalanced mass when the vibration control force is changed. In addition, in order to find the optimal control phase, there was a problem in that a person had to manually select the angles one by one by a trial and error method.

Moreover, since the existing vibration control device requires manual operation to adjust the angle between masses or move the position of the masses when changing the vibration control force, it was impossible to precisely control the control force when operating the device. There is a high possibility of damage problems caused by

In addition, when the actual load of the ship is changed, the dynamic characteristics of the ship are changed, and the control force and phase set under a specific load condition do not match, and the vibration reduction effect is not seen.

As a result, in the case of the existing vibration control device, it is difficult to change the control force and set the control phase, so there was a problem in that it was difficult to reduce the vibration without an expert on board and adjusting or adjusting it. Since this can be easily adjusted or adjusted directly, there is a demand for the development of a vibration control device that provides a more comfortable environment to the crew by reducing the vibration inside the ship.

As a prior art related to the above-described conventional vibration control device, a vibration reduction device capable of 3-axis direction control used in a ship is disclosed in Korean Patent Registration No. 10-1199162, and the vibration reduction device is disclosed in Patent Publication No. 10-2013-0005071 Since the call is disclosed, it can be referred to.

Korean Patent Publication No. 10-1199162 (3-axis controllable vibration reduction device, 2012.11.12) Korean Patent Publication No. 10-2013-0005071 (Vibration reduction device, 2013.01.15)

In the present invention, the relative phase between a plurality of unbalanced masses is not mechanically manipulated, but by electronic control method to easily change the size of the control force, and the direction of the control force can be freely changed from one plane to a desired direction, and vibration control is performed. By using GSSM (Golden section serach method) for the optimum phase, even when the dynamic characteristics of the structure are changed due to the loading of the ship, the control force and phase are automatically adjusted in real time, and at the same time, there is no gear, so the noise and vibration caused by this is reduced. It is to provide a vibration control device capable of changing the control force without the need for a lubrication system and a ship or offshore structure including the device.

Furthermore, the present invention has a low center of gravity design and an unbalanced mass disposed on the same plane compared to the prior art, so that an external moment does not occur in the equipment itself, and a vibration control device capable of changing the control force and a vessel or marine including the device to provide a structure.

A vibration control device capable of changing a control force according to the present invention includes: a casing; a plurality of unbalanced mass portions arranged horizontally on both sides of the casing based on the central portion of the casing and rotatably coupled to the casing in an unbalanced manner; a plurality of rotation driving units installed outside the casing corresponding to the plurality of unbalanced mass portions and connected to the unbalanced mass portions to rotate the unbalanced mass portions; and a vibration force control unit for canceling the external vibration by sensing external vibration generated from the outside of the casing and controlling the phases of the plurality of rotation driving units, respectively.

In addition, the unbalanced mass portion, one or more rotating shafts installed perpendicular to the casing; and one or more unbalanced masses coupled to the rotation shaft.

In addition, the unbalanced mass may have a semi-disk block shape in which a center of gravity is eccentrically coupled to the rotation shaft.

In addition, the unbalanced mass may include a main mass plate; and one or more sub-mass plates stacked on the main mass plate to control mass.

In addition, the rotation driving unit, a driving motor; a driving pulley provided in the driving motor;

a driven pulley provided on the rotating shaft; a belt connecting the driving pulley and the driven pulley; and a tension roller installed on the casing to adjust the tension of the belt.

In addition, a sensing member for detecting the rotational speed according to rotation is installed in the unbalanced mass, and an encoder capable of detecting the rotational speed of the unbalanced mass according to the passage of the sensing member is installed on the wall of the casing. .

In addition, the unbalanced mass portion may include: a pair of first unbalanced masses arranged in four pairs on both sides based on the central portion of the casing, and installed in both first regions with respect to the central portion of the casing; and a pair of second unbalanced masses installed in second regions on both sides with respect to the central portion of the casing, wherein the first unbalanced mass and the second unbalanced mass are identical to both regions based on the central portion of the casing can be arranged.

In addition, the pair of first unbalanced masses and the pair of second unbalanced masses are rotated two by two to generate mutually opposite combined linear forces corresponding to the external vibration, and the phase difference of the vibration force controller Combination direction and vibration force can be adjusted by control.

In addition, the pair of first unbalanced masses and the pair of second unbalanced masses are selectively rotated opposite to each other with respect to a plurality of lines intersecting at right angles at the central portion of the casing, thereby mutually along any one of the plurality of lines. Opposite linear force can be generated.

In addition, the casing is provided as a multi-layer having an upper space and a lower space and a middle part dividing the upper space and the lower space, and the unbalanced mass part may be separately disposed in the upper space and the lower space of the casing.

In addition, the rotation shaft includes a plurality of first rotation shafts and a plurality of second rotation shafts respectively disposed in the upper space and the lower space of the casing, the rotation drive unit, a drive motor installed on the upper portion of the casing; and a plurality of gears coupled to the first rotation shaft and the second rotation shaft to connect the first rotation shaft and the second rotation shaft.

The ship or offshore structure according to the present invention includes a vibration control device capable of changing the aforementioned control force.

According to the present invention described above, the relative phase between a plurality of unbalanced masses is not mechanically manipulated, but by electronic control, so that the magnitude of the control force can be easily changed, and the direction of the control force can be freely changed from one plane to a desired direction. By using GSSM as the optimal phase for vibration control, even when the dynamic characteristics of the structure are changed due to ship cargo loading, the control force and phase are automatically adjusted in real time. It is possible to provide a vibration control device capable of changing unnecessary control force and a ship or offshore structure including the device.

Furthermore, the present invention provides a vibration control device capable of changing the control force that does not generate an external moment in the equipment itself due to a low center of gravity design and an unbalanced mass disposed on the same plane compared to the prior art, and a ship or offshore structure including the device. can

1 is a three-dimensional view of a vibration control device capable of changing a control force according to an embodiment of the present invention.
2 is a front view of a vibration control device capable of changing a control force according to an embodiment of the present invention.
3 is a plan view of a vibration control device capable of changing a control force according to an embodiment of the present invention.
4 is a three-dimensional view of an unbalanced mass of a vibration control device capable of changing a control force according to an embodiment of the present invention.
5 is a perspective view in another direction for illustrating an encoder and a sensing member in a vibration control device capable of changing a control force according to an embodiment of the present invention.
FIG. 6 is a detailed view of the encoder of FIG. 5 .
7 is a conceptual diagram illustrating the vibration force direction according to the number of combinations and the rotational combination state in the XY plane of the unbalanced masses of the vibration control device capable of changing the control force according to an embodiment of the present invention.
8 is a conceptual diagram illustrating horizontal and vertical vibration force directions according to a rotation combination state in an XY plane of unbalanced masses according to an embodiment of the present invention.
9 is a conceptual diagram illustrating an inclined vibration force direction according to an arbitrary combination of rotations in the XY plane of unbalanced masses according to an embodiment of the present invention.
10 is a block diagram of a vibration force control unit of a vibration control device capable of changing a control force according to an embodiment of the present invention.
11 is a block diagram showing the automatic control concept of the vibration force control unit of FIG.
12 is a program screen in which an automatic control block diagram including a transfer function is implemented in a program for a vibration control simulation of a vibration control device capable of changing a control force according to an embodiment of the present invention.
13 is a frequency diagram according to a phase tracking algorithm of an automatic control block diagram implemented in the program of FIG. 12 .
14 and 15 are diagrams for explaining a vibrational force change according to a phase difference between two vibrational forces.
16 is an experimental result diagram showing the vibration frequency of the vibration control experiment according to various orders of the vibration control device capable of changing the control force according to an embodiment of the present invention.
17 and 18 show the change of the excitation force in the vibration control device capable of changing the control force according to an embodiment of the present invention and automatically find the optimal level using the Golden section search method according to various orders Yard test results.
19 is a conceptual diagram of a vibration control device capable of changing a control force according to another embodiment of the present invention.

Hereinafter, various embodiments of the present invention will be described with reference to specific embodiments shown in the accompanying drawings.

1 to 4, the vibration control device capable of changing the control force according to an embodiment of the present invention is a casing 100, a plurality of horizontally arranged on both sides with respect to the central portion of the casing 100, the casing A plurality of unbalanced mass parts 110 , each unbalanced rotatably coupled to 100 , are installed on the outside of the casing 100 in correspondence to the plurality of unbalanced mass parts 110 , and the belt 124 is attached to the unbalanced mass 110 . ) connected to the plurality of rotation driving units 120 for rotationally driving the unbalanced mass unit 110, and external vibration by sensing external vibrations generated outside the casing 100 and controlling the phases of the plurality of rotation driving units 120, respectively. and a vibration force control unit 130 (see FIG. 10 ) for canceling the .

The casing 100 has a rectangular parallelepiped shape partially open, and has a plate-shaped frame structure in which the unbalanced mass 110 and the rotation driving unit 120 are installed. The vibration control device capable of changing such a control force may be fixedly installed in a place of use such as a ship or an offshore structure to offset external vibration. According to an embodiment, a vibration signal of a living area, etc. may be detected by a sensor or the like, and a control force and a control phase of the vibration control device may be controlled through the vibration force controller 130 to generate a vibration control force in the living area or the like.

The unbalanced mass part 110 is installed in a plurality of regions of the casing 100 to create a vibration force in a direction to offset external vibration, and the rotation shaft 111 installed perpendicular to the casing 100, and the rotation shaft 111. It includes one or more unbalanced masses 115 coupled thereto.

The rotating shaft 111 is rotatably installed in the casing 100 by the upper bearing support 113 and the lower bearing support 114 .

The unbalanced mass 115 has a semi-disk block shape in which the center of gravity is eccentrically coupled to the rotation shaft 111 , and may be implemented by stacking several sub-mass plates for easy mass control on the main mass plate.

Four unbalanced mass parts 110 are disposed on both sides based on the central portion of the casing 100 , and a pair of first unbalanced masses 116 installed in both first regions based on the central portion of the casing 100 . ), and a pair of second unbalanced masses 117 installed in the second regions on both sides based on the central portion of the casing 100 .

The first unbalanced mass 116 and the second unbalanced mass 117 may be disposed on both sides of the casing 100 in the same manner based on the central portion of the casing 100 . That is, the first unbalanced mass 116 and the second unbalanced mass 117 form a pair and are disposed in the same area of the casing 100 with the same structure. At this time, one of the pair of driving motors 121 and 121 ′ for driving the pair of first unbalanced masses 116 and the pair of second unbalanced masses 117 is a master and the other is a slave.

The pair of first unbalanced masses 116 and the pair of second unbalanced masses 117 may generate a control force of an appropriate magnitude corresponding to external vibration control by electronically adjusting the phases of each other.

The rotation driving unit 120 includes the driving motors 121 and 121 ′, the driving pulley 122 provided on the driving motors 121 and 121 ′, the driven pulley 123 provided on the rotating shaft 111 , and the driving pulley 122 . ) and a belt 124 connecting the driven pulley 123, and a tension roller 125 installed on the casing 100 to adjust the tension of the belt 124.

The driving motors 121 and 121' rotate the driving pulley 122, and as the driven pulley 123 is rotated by the driving pulley 122 and the belt 124, the driven pulley 123 is coupled to the rotating shaft 111 ) is rotated, so that the unbalanced masses 116 and 117 are individually rotated to generate vibration to cancel external vibration.

5 and 6, the unbalanced masses 116 and 117 are provided with a sensing member 126 for detecting the rotational speed according to the rotation, and on the wall of the casing 100, the sensing member 126 passes through. An encoder 127 capable of detecting the rotational speed of the unbalanced masses 116 and 117 is installed. This encoder 127 is connected to an encoder splitter 136 which will be described later.

Next, with reference to FIGS. 7 to 9 , a direction of a vibration force according to a rotational combination state in the XY plane of the unbalanced masses according to various embodiments of the present invention will be described.

FIG. 7(a) shows that centrifugal force in the circumferential direction is generated according to the rotation of the unbalanced mass as a case of one unbalanced mass, and FIG. It is shown that this occurs and the force in the vertical direction cancels out. 7 (c) is a case in which there are four unbalanced masses as in an embodiment of the present invention, and two forces in the linear direction are generated, but the magnitude of the control force can be adjusted by giving a phase difference, and the force in the vertical direction is canceled it will be shown The direction of the vibration force is generated by the phase difference between the unbalanced masses. The vibration force controller 130 individually controls the driving motors 121 and 121 ′ to control the phase difference according to the rotational positions of the first unbalanced mass 116 and the second unbalanced mass 117 in response to external vibration. By performing electronically, the direction of the combination of the vibration forces and the magnitude of the combined vibration force are controlled.

As an example, referring to FIG. 8 , the pair of first unbalanced masses 116 and the pair of second unbalanced masses 117 selectively mutually intersect with respect to a plurality of lines intersecting at right angles in the central portion of the casing 100 . By being rotated in reverse, opposite linear forces may be generated along any one of a plurality of lines, and FIG. 8 (a) is a diagram illustrating a horizontal direction, and FIG. Also, referring to FIG. 9 , in an arbitrary rotational combination state of four unbalanced masses such as the first unbalanced mass 116 and the second unbalanced mass 117 , the vibration force appears in the direction of the inclined vibration force.

The generation of linear force according to the combined vibration of the pair of first unbalanced masses 116 and the pair of second unbalanced masses 117 is a direction in which external vibrations can be canceled by the electronic phase difference control of the vibration force controller. can be automatically resized. That is, the vibration force control unit 130 uses a pair of first unbalanced masses 116 and a pair of second unbalanced masses 117 to create offset vibrations for external vibrations to reduce vibrations at the place of use (structure). can

Referring to FIG. 10 , the vibration force controller 130 according to the present embodiment includes a main controller 131 , a plurality of sub-controllers 132 connected to the main controller 131 , and a plurality of sub-controllers provided in the sub-controller 132 . The encoder counter 133 of It may include a connected encoder splitter 136 or the like as a main control element, which are properly wired or connected on the board to implement automatic control of the vibration force.

A plurality of driving motors 121 and 121 ′ may be connected to one sub-controller 132 , respectively, and the plurality of driving motors 121 and 121 ′ are connected to each motor driver 135 connected to the sub-controller 132 . It works as a master and a sub.

10 and 11 , vibration of an object such as an engine is input to the encoder counter 133 through a vibration sensor or the like, and the rotation measurement input to the encoder splitter 136 is connected to a plurality of driving motors 121 . It is input to each other encoder counter 133 in each sub-controller 132 that is to be used.

The electronic automatic control of the pair of first unbalanced masses 116 and the pair of second unbalanced masses 117 of the vibration force control unit 130 receives external vibrations and automatically controls the vibration force with respect to external vibrations. PID control method can be used.

12 is a program screen in which an automatic control block diagram including a transfer function is implemented in a program for a vibration control simulation of a vibration control device capable of changing a control force according to an embodiment of the present invention, and FIG. 13 is the program of FIG. It is a frequency diagram according to the phase tracking algorithm of the implemented automatic control block diagram, and FIGS. 14 and 15 are diagrams for explaining the vibrational force change according to the phase difference between the two vibrational forces.

12 to 15 , the magnitude of the combined vibration force according to the automatic control of the vibration force control unit 130 and the degree of offset of external vibration can be simulated using an automatic control simulation program such as MATLAB. have.

In an automatic control simulation program such as MATLAB, the control logic circuit block diagram can be implemented virtually in advance, and the automatically calculated phase of vibration according to time can be output from the control logic circuit block diagram.

Hereinafter, with reference to FIGS. 13 to 15 , a change in the vibratory force according to the phase difference between the two excitation forces will be described in detail.

As shown in Fig. 13, in order to control the vibration generated in the hull, it is necessary to generate vibration having the same magnitude and opposite phase. In order to generate vibrations of the same magnitude, a corresponding control force is required, and a technique for controlling these control forces in an organized manner is required. However, there is a limit to the precise control of such a control force in the existing mechanical and manual methods, and thus there is a problem that an error is inevitable.

In the case of the vibration control device according to an embodiment of the present invention, the size of the vibration control device may be finely adjusted or adjusted by giving a phase difference to two harmonic forces without mechanically controlling the control force.

As described above, in the case of the existing vibration control device, when the actual loading of the ship is changed, the dynamic characteristics of the ship are changed, and the phase does not match with the control force set under a specific load condition, so that the vibration reduction effect cannot be seen. As a result, in the case of the existing vibration control device, it is difficult to change the control force and set the control phase, so there is a problem in that it is difficult to reduce the vibration without an expert on board and adjusting or adjusting it. In case of adjustment or adjustment, the cost is inevitably increased.

In the case of the vibration control device according to an embodiment of the present invention, the control force change is configured to be electronically changeable, and an algorithm for estimating the optimal control phase is mounted, so that the crew can easily adjust or adjust the in-board vibration. A more comfortable environment can be provided to seafarers through reduction.

Hereinafter, a method for adjusting or adjusting the control force of the vibration control device according to an embodiment of the present invention will be described.

)로 일정한 위상차(

)를 가지며 회전하는 경우, 두 개의 힘의 합성력(

)은 수학식 3과 같이 삼각함수의 합차 공식을 이용하여 계산할 수 있다.Referring to Equations 1 to 3 below, two forces (F ₁ , F ₂ ) of the same magnitude have the same rotational speed (

) with a constant phase difference (

), the resultant force of two forces (

) can be calculated using the sum formula of trigonometric functions as in Equation 3.

로 두 개의 힘의 위상차를 조절함으로써, 원래 힘의 0에서 2배까지 임의로 크기를 변화시킬 수 있다. 즉, 동일한 크기의 두 쌍(4개)의 불평형 질량을 동일한 속도와, 적절한 방향으로 회전시킬 경우 동일한 크기와 동일한 방향의 힘 F₁과 F₂가 발생한다. 이 두 쌍의 힘이 발생하는 위상(

)을 조절하면 불평형 질량의 기계적인 수정 없이도 전자적으로 힘의 크기를 임의로 조절할 수 있게 된다.Referring to Equation 3, the magnitude of the combined force of the two forces is

By adjusting the phase difference between the two forces, the magnitude can be arbitrarily changed from 0 to 2 times the original force. That is, when two pairs (four) of the same size of unbalanced mass are rotated at the same speed and in an appropriate direction, forces F ₁ and F ₂ of the same size and in the same direction are generated. The phase in which these two pairs of forces occur (

), it is possible to arbitrarily control the magnitude of the force electronically without mechanical correction of the unbalanced mass.

For example, assuming that the magnitude of the two forces is 1 and the rotation frequency is 1 Hz, F ₁ and F ₂ are blue and red lines as shown in FIG. have. At this time, when the two forces are synthesized at each time, a resultant force is obtained. If there is no phase difference between F _{1 and F 2} , the combined force of the two forces becomes 2 by Equation 3 (Equation 3).

이 되며, 도 15의 (a)와 같이 F₁ 및 F₂의 위상차가 120도일 경우 두 힘의 합성력은 1이 되고, 도 15의 (b)와 같이 F₁ 및 F₂의 위상차가 180도일 경우 두 힘은 서로 반대로 작용하게 되어 그 합성력은 0이 된다.At this time, in the case that any phase difference between the two strength may fine-tune or adjust the resultant force of two forces, F ₁ and if the phase difference is 60 degrees in the F ₂ as shown in (b) of Fig. 14 is a resultant force of two forces

_{When the phase difference between F 1} and F ₂ is 120 degrees as shown in (a) of FIG. 15, the combined force of the two forces becomes 1, and when the phase difference between _{F 1} and F _{2 is 180 degrees as shown in FIG. 15 (b)} The two forces act opposite each other, and the resultant force is zero.

Accordingly, the vibration control device according to an embodiment of the present invention rotates two pairs of unbalanced masses of the same size at the same speed and in an appropriate direction to adjust the phase between the two pairs of forces to finely adjust or adjust the magnitude of the combined force. be able to

16 is an experimental result diagram showing the vibration frequency of a vibration control experiment according to various orders of the vibration control device capable of changing the control force according to an embodiment of the present invention. It can be seen that is decreased.

17 and 18 show the change of the excitation force in the vibration control device capable of changing the control force according to an embodiment of the present invention and automatically find the optimal level using the Golden section search method according to various orders Yard test results.

In this embodiment, it is possible to automatically find the optimal level by using the change of the excitation force by the vibration force control unit 130 using the Golden section search method (Golden section search method). According to this, since the vibration force control unit 130 is implemented to automatically find the optimal phase and optimal force, when a crew member without professional vibration knowledge detects uncomfortable vibration, it can be easily controlled electronically in real time, It is enough to cancel the uncomfortable vibration.

19 is a conceptual diagram of a vibration control device capable of changing a control force according to another embodiment of the present invention.

According to another embodiment with reference to FIG. 19, the casing 100 is provided as a multi-layer having an upper space and a lower space and an intermediate part 105 that separates the upper space and the lower space, and the unbalanced mass 110 is a casing ( A plurality of unbalanced masses 115 may be separately disposed in the upper space and lower space of 100 .

The rotation shafts 111 and 111 ′ include a plurality of first rotation shafts 111 and a plurality of second rotation shafts 111 ′ respectively disposed in an upper space and a lower space of the casing 100 . The rotation driving unit 120 includes a driving motor 121 installed on the upper portion of the casing 100 , and a first rotation shaft 111 and a second rotation shaft to connect the first rotation shaft 111 and the second rotation shaft 111 ′. It may include a plurality of gears (141, 142) coupled to (111').

According to the present invention described above, the relative phase between a plurality of unbalanced masses is not mechanically manipulated, but by electronic control, so that the magnitude of the control force can be easily changed, and the direction of the control force can be freely changed from one plane to a desired direction. By using GSSM as the optimal phase for vibration control, even when the dynamic characteristics of the structure are changed due to ship cargo loading, the control force and phase are automatically adjusted in real time. It is possible to provide a vibration control device capable of changing unnecessary control force and a ship or offshore structure including the device.

Furthermore, the present invention provides a vibration control device capable of changing the control force that does not generate an external moment in the equipment itself due to a low center of gravity design and an unbalanced mass disposed on the same plane compared to the prior art, and a ship or offshore structure including the device. can

Although the embodiments of the present invention have been described as described above, those of ordinary skill in the art based thereon can add or change components within the scope that does not depart from the essential technical spirit of the present invention described in the claims. , it will be possible to variously modify and change the present invention by deletion or addition, which is also included within the scope of the present invention.

100: casing 110: a plurality of unbalanced mass parts
111: axis of rotation 112: wheel adapter
113: upper bearing support 114: lower bearing support
115: unbalanced mass
116: first unbalanced mass 117: second unbalanced mass
120: a plurality of rotation driving unit 121: drive motor
122: drive pulley 123: driven pulley
124: belt 125: tension roller
126: sensing member 127: encoder
130: vibration force control unit 131: main controller
132: sub controller 133: encoder counter
134: analog converter 135: motor driver
136: encoder splitter

Claims (13)

casing;
a plurality of unbalanced mass portions arranged horizontally on the same plane in a plurality of regions on both sides based on the central portion of the casing, each unbalanced rotatably coupled to the casing;
a plurality of rotational driving units installed on the outside of the casing corresponding to each of the plurality of unbalanced mass portions and connected to each of the unbalanced mass portions to rotationally drive the unbalanced mass portions; and
And a vibration force control unit for canceling the external vibration by sensing the external vibration generated from the outside of the casing and controlling the phase of each of the plurality of rotation driving units,
The unbalanced mass includes one or more rotating shafts installed perpendicularly to the casing, and one or more unbalanced masses coupled to the rotating shaft,
The unbalanced mass has a semi-disk block shape in which a center of gravity is eccentrically coupled to the rotation axis,
A sensing member for detecting the rotational speed according to rotation is installed in the unbalanced mass, and an encoder capable of detecting the rotational speed of the unbalanced mass according to the passage of the sensing member is installed on the wall of the casing,
The unbalanced mass portion may include: a pair of first unbalanced masses disposed in pairs of four on both sides based on the central portion of the casing, and installed in both first regions with respect to the central portion of the casing; and a pair of second unbalanced masses installed in second regions on both sides with respect to the central portion of the casing, wherein the first unbalanced mass and the second unbalanced mass are identical to both regions based on the central portion of the casing is placed neatly,
The rotation driving unit includes four rotation driving units connected to each of the four unbalanced mass units, a first master rotation driving unit and a first slave rotation driving unit driving the pair of first unbalanced masses, and the pair of second unbalanced masses It includes a second master rotation driving unit and a second slave rotation driving unit for driving,
The pair of first unbalanced masses and the pair of second unbalanced masses may rotate the first slave rotation driving part and the second slave rotation driving part corresponding to the rotations of the first master rotation driving part and the second master rotation driving part respectively. Each of the driving units is rotationally controlled opposite to each other to generate mutually opposite combined linear force corresponding to the external vibration, and the rotational driving unit is controlled in real time by the phase difference electronic control of the vibration force control unit to adjust the combination direction and the vibration force,
The external vibration is vibration by an engine or a propeller installed on a ship,
The vibration force control unit automatically performs phase difference electronic control in real time using GSSM, derives an optimum phase and optimum control force through the GSSM, and compares the phases of the first master rotation driving unit and the second master rotation driving unit to match the optimum control force, and compare the rotation speed and phase of the first master rotation drive unit calculated by the rotation speed sensed through the encoder with the rotation speed and phase of the engine or the propeller to match the optimum phase to cancel external vibrations,
Vibration control device that can change the control force. delete delete The method of claim 1,
The unbalanced mass is
main mass plate; and
and one or more sub-mass plates stacked on the main mass plate and configured to control mass. The method of claim 1,
The rotary drive unit,
drive motor;
a driving pulley provided in the driving motor;
a driven pulley provided on the rotating shaft;
a belt connecting the driving pulley and the driven pulley; and
A vibration control device capable of changing the control force, comprising a tension roller installed on the casing to adjust the tension of the belt. delete delete delete The method of claim 1,
The pair of first unbalanced masses and the pair of second unbalanced masses are selectively rotated opposite to each other with respect to a plurality of lines intersecting at right angles at the central portion of the casing so as to be opposite to each other along any one of the plurality of lines. A vibration control device that generates a linear force and can change the control force. delete delete A ship comprising a vibration control device capable of changing the control force according to claim 1, 4, 5 or 9. An offshore structure comprising a vibration control device capable of changing the control force according to claim 1 , 4 , 5 or 9 .

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