KR102374986B1 - Submersible Housing Structure for Anti-Motion - Google Patents

Abstract

The present invention is a technology that enables real-time active posture response to the inclination experienced by an underwater residential structure, and includes a liquid bladder capable of storing a variable amount of liquid therein, and the edge of the vertical middle part of the underwater residential structure It is divided into a plurality of wing housings for liquids provided along, an upper housing for liquids provided on the upper part of the underwater residential structure, and a lower housing for liquids provided on the lower part of the underwater residential structures, and a plurality of liquids provided while being spaced apart from each other housing ; In order to be able to transfer the liquid from one of the liquid bladder to the other liquid bladder, and to reduce the 6 degree of freedom fluctuation of the underwater residential structure by the linear momentum and rotational moment of the transferred liquid, A liquid conveying means comprising: a liquid pipe connecting a plurality of liquid bladders to each other; and a conveying pump provided in the liquid pipe; A plurality of housings for gases including a gas bladder whose volume is changed while compressed air is stored therein to generate a corrected buoyancy, and spaced apart from each other in the underwater residential structure; and a compressed air tank storing compressed air for supplying the plurality of gas housings, and a gas pipe connecting the compressed air tank and the plurality of gas housings, wherein the volume of each gas bladder is adjusted Gas supply means for assisting the posture correction of the underwater residential structure by generating a correction buoyancy; Detecting means for detecting real-time position change and acceleration change of the underwater residential structure; a control unit for controlling the liquid conveying unit and the gas supply unit for the reduction of the underwater residential structure according to the value detected by the detecting unit; Including, each of the housing for the gas is characterized in that the module is disposed while forming a layer on each of the wing housing for the liquid.

Description

Submersible Housing Structure for Anti-Motion

The present invention relates to an underwater residential structure for reduction that enables the realization of an underwater dwelling through stable posture maintenance of the underwater residential structure.

The underwater residential structure, which is installed floatingly in the water, is uniformly applied to 6-DOF motion including short-period translational motion (surge, sway, heave), roll, pitch, and yaw. can be exposed

Considering that the underwater residential structure is designed for the purpose of staying manned (fishermen, workers, scientists, managers, and residents), it is more difficult to understand the damage to the periodic/aperiodic horizontal posture caused by the real-time movement of living loads and the flow of ocean currents. Active, real-time response technology is required.

In this way, it is necessary to maintain a very precise posture of the underwater residential structure, and it is necessary to collectively respond to fluctuations in 6 degrees of freedom.

However, in spite of the advent of the underwater dwelling era, no attempt has been made to comprehensively reduce sway for 6-DOF oscillation through the development of a comprehensive sway damping device.

Korean Patent Registration No. 10-2027153 (Registered on September 25, 2019)

The present invention has been devised to solve the problems of the prior art as described above, and is a technology that enables real-time active posture response to the inclination experienced by underwater residential structures on the water or in the water. The purpose of this study is to provide a design technology that guarantees postural comfort by maintaining a balanced posture of an underwater residential structure.

That is, the present invention aims to realize underwater housing through the maintenance of a stable posture of the underwater residential structure.

In addition, the present invention is a collective response technology for six-degree-of-freedom agitation. In order to control and control the agitation through the expression of linear momentum and rotational moment according to the transfer of the liquid, and furthermore, to increase the effectiveness of the technology, the liquid In parallel with transport, the 6 degree of freedom reduction of the underwater residential structure is realized by linking the rotational moment control method using compressed air as the medium.

The present invention focuses on the utilization of the shape symmetry of the underwater residential structure for the purpose of improving the posture stability of the underwater residential structure. In the case of displacement or reciprocating (swaying) along It is intended to reduce the 6-degree-of-freedom fluctuation of the underwater residential structure by inducing a correction moment.

In order to solve the above problems, the present invention, an underwater residential structure:
It includes a bladder for a liquid capable of storing a variable amount of liquid therein, and a plurality of wing housings for liquid provided along the edge of the vertical middle portion of the underwater residential structure and a liquid provided on the upper portion of the underwater residential structure A plurality of housings for liquid divided into an upper housing and a lower housing for liquid provided at the lower part of the underwater residential structure and spaced apart from each other; In order to be able to transfer a liquid from one of the liquid bladders to the other liquid bladder, and to reduce the 6 degree of freedom fluctuation of the underwater residential structure by the linear momentum and rotational moment of the transferred liquid, A liquid conveying means comprising: a liquid pipe connecting a plurality of liquid bladders to each other, and a conveying pump provided in the liquid pipe; A plurality of housings for gases including a gas bladder whose volume is changed while compressed air is stored therein to generate a corrected buoyancy, and which are provided while being spaced apart from each other in the underwater residential structure; and a compressed air tank storing compressed air for supplying the plurality of gas housings, and a gas pipe connecting the compressed air tank and the plurality of gas housings, wherein the volume of each gas bladder is adjusted Gas supply means for assisting the posture correction of the underwater residential structure by generating a corrected buoyancy; Detecting means for detecting real-time position change and acceleration change of the underwater residential structure; a control unit for controlling the liquid conveying unit and the gas supply unit for the reduction of the underwater residential structure according to the value detected by the detecting unit; Including, each of the housing for the gas is characterized in that the module is disposed while forming a layer on each of the wing housing for the liquid.

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In the above, it is preferable that the pipe for gas further comprises a pipe for discharging gas for discharging gas from the housing for gas.

In the above, it is preferable that an air compressor floating on the water surface is further provided to supply compressed air to the compressed air tank.

In the above, it is preferable that the liquid pipe further includes a pair of on-off valves provided between the transfer pump and the liquid housing to control the inflow and outflow of the liquid to and from the liquid housing.

In the above, the detecting means may include an acceleration sensor (accelerometer), a gyroscope (gyroscope), a magnetometer (magnetometer).

As described above, the present invention enables 6 degrees of freedom to reduce yaw to increase postural stability during floating of the underwater residential structure to realize human habitation of the underwater main use structure.

1 is a perspective view showing a state in which a plurality of housings for a liquid and a plurality of housings for a gas are mounted on an underwater residential structure according to an embodiment of the present invention;
2 is a view showing FIG. 1 in a plan view;
3 is a view showing FIG. 1 in the form of a front view;
4 is a piping conceptual view showing a state in which a plurality of liquid housings are connected by a liquid conveying means in FIG. 1;
FIG. 5 is a piping conceptual view illustrating a state in which a plurality of gas housings are connected to a gas supply means in FIG. 1 .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated.

The present invention detects and predicts the inclination and the displacement of the center of gravity of the underwater residential structure by the detection means installed on the underwater residential structure, and the buoyancy compensation for the inclination or angular acceleration motion is a plurality of hypothesized to have symmetry at a plurality of positions It is controlled by changing the amount of liquid in the housing for liquid.

The underwater residential structure of this embodiment reduces six-degree-of-freedom perturbation through reciprocation including movement of artificial liquid, acceleration and deceleration.

Furthermore, in the present embodiment, when the characteristics of the sway are greater than the short period or the natural period and additional buoyancy correction is required to induce an artificial rotational moment, a yaw reduction device by the gas can be further used.

The type of underwater residential structure is not limited to a specific one, and various shapes can be employed depending on the purpose of use.

1 is a perspective view showing a state in which a plurality of liquid housings and a plurality of gas housings are mounted on an underwater residential structure according to an embodiment of the present invention, and FIG. 3 is a view expressing FIG. 1 in the form of a front view, FIG. 4 is a piping conceptual diagram illustrating a state in which a plurality of liquid housings are connected by a liquid transfer means in FIG. 1 , and FIG. 5 is a plurality of gas housings in FIG. 1 . It is a piping conceptual diagram which shows the state connected to this gas supply means.

The present underwater residential structure includes a plurality of housings for liquid, a liquid transport means, a plurality of housings 130 for gas, a gas supply means, a detection means, and a control unit.

A plurality of housings for liquid are provided while being spaced apart from each other in the underwater housing structure, and include a bladder for liquid capable of storing a variable amount of liquid therein.

When the liquid bladder expands, a contact surface is freely formed on the inner surface of the liquid housing to transmit buoyancy to the underwater housing structure vertically upward, and the liquid housing has a structure that prevents damage to the liquid bladder. equip

In this embodiment, a plurality of housings for liquids, a plurality of wing housings (110a) for liquids provided along the edge of the upper and lower middle portion of the underwater residential structure, and the upper for liquid provided in each of the upper and lower portions of the underwater residential structure It comprises a housing (110b) and a lower housing (110c) for liquid.

The upper housing 110b for liquid and the lower housing 110c for liquid are disposed while having a symmetrical structure and a symmetrical position in the vertical direction.

In addition, it is preferable that the plurality of wing housings 110a for liquid are also arranged symmetrically with each other. A plurality of liquid wing housings (110a) are positioned spaced apart along the symmetrical horizontal perimeter of the underwater residential structure.

The liquid transfer means includes a liquid pipe 121 connecting a plurality of liquid housings to each other, and a transfer pump 122 driven by an electro-hydraulic servomotor provided in the liquid pipe.

The liquid conveying means is for conveying a liquid from one housing for liquid (liquid bladder) to another housing for liquid (liquid bladder), or a plurality of liquid bladders.
The pipe for liquid 121 of the liquid transfer means allows the liquid to be transferred from one liquid bladder to the other liquid bladder, and at this time, by the linear momentum and rotational moment of the transferred liquid, the underwater residential structure A plurality of bladders for liquid are connected to each other to reduce the 6 degree of freedom fluctuation.

The liquid pipe 121 is formed in a continuous symmetrical shape.

At this time, the path of the pipeline of the pipe for liquid 121 may be fastened to the structure in the form of an outer surface or an inner surface of the structure, or a separate modular pipeline belt.

The liquid pipe 121 may further include a pair of on/off valves 121a provided between the transfer pump 122 and the liquid housing to control the inflow and outflow of the liquid.

The pipe for liquid 121 and the transfer pump 122 move the liquid quickly to the bladder for liquid to generate buoyancy compensation.

In the construction of the temporary path of the pipe 121 for liquid, the pipe line reaches the other end through the transfer pump 122 along a straight or curved path with a predetermined diameter, and the movement of liquid between housings for liquids arranged symmetrically with each other or Reciprocating movement is effective correction momentum and correction rotation through acceleration and deceleration of the liquid mass corresponding to the product of the pipe cross-sectional area and the linear distance between the liquid bladders located at both ends on the corresponding movement axis (front and rear, left and right, up and down, or a combination thereof) It is designed to transmit the moment to the floating body, and through the combinatorial control of the motion axis, the corrected momentum and the corrected rotational moment are adjustable.

Furthermore, the pipe for liquid 121 is an independent path connecting the housing for liquid arranged symmetrically on three or more axes (corresponding to 1.Surge, 2.Sway, 3.Heave, respectively), or separately from this, the transfer pump 122 It may be equipped with a closed pipeline path (Yaw correspondence) that returns to the transfer pump 122 in continuous symmetry around the underwater residential structure.

As described above, the pipe 121 for the liquid and the transfer pump 122 may be designed in a variety of shapes.

The transfer pump 122 determines the performance range according to the amount of fluid in the bladder for liquid, the mass of the liquid according to the diameter and length of the pipe for liquid 121, and the liquid acceleration required to induce the correction motion.

In addition, the adopted servo transfer pump 122 has its output limit synchronized with the input control signal so that a fast response can be maintained, and the liquid momentum induced by the reciprocation of acceleration and deceleration during the control response is a simple vibration or a unique vibration experienced by the underwater residential structure. It should be able to effectively attenuate frequency vibrations.

A plurality of gas housings 130 are also provided while being spaced apart from each other in the underwater residential structure, and each gas housing 130 is a gas bladder whose volume changes while compressed air is stored therein in order to generate corrective buoyancy therein. Including more.

The gas housing 130 also has a similar arrangement to the liquid housing.

The gas housing 130 is spaced apart along the symmetrical horizontal surface circumference of the underwater residential structure.

After one gas housing 130 is integrated and modularized while forming a layer with one liquid housing 110 in consideration of space efficiency, it is preferable to be mounted on the outer surface of the underwater residential structure.

The gas supply means includes a compressed air tank 142 and a pipe 141 for gas.
The gas supply means is to adjust the volume of each gas bladder to generate a corrected buoyancy to assist in the posture correction of the underwater residential structure.

The compressed air tank 142 stores compressed air for supplying the plurality of gas housings 130 .

The compressed air tank 142, an air compressor 143 may be further connected.

The air compressor 143 supplies compressed air to the compressed air tank 142 by compressing air while floating on the water surface.

The gas pipe 141 connects the compressed air tank 142 and the plurality of gas housings 130 .

The gas pipe 141 further includes a gas discharge pipe 141a for discharging gas from the gas housing 130 .

In the path configuration of the gas pipe 141, the compressibility of air and the total mass of air in the pipe are insignificant, so the gas reciprocation is independent of the continuous symmetry of the path of the gas pipe 141, and symmetry on the target axis of motion is The volume is adjusted with respect to the housing 130 for a pair or several pairs of gases, and a correction buoyancy is induced.

This assists in correcting posture in areas other than rotational oscillations, particularly simple vibrations, of underwater residential structures.

The detection means detects the fluctuation of the underwater residential structure, that is, the real-time position change and acceleration change of the underwater residential structure.

The detecting means may include an accelerometer, a gyroscope, and a magnetometer.

The control unit controls the liquid transfer means, in particular the transfer pump 122, specifically the electro-hydraulic servomotor, for the reduction of the underwater residential structure according to the value detected by the detection means, and further controls the gas supply means.

The control unit controls the liquid conveying means such as the conveying pump 122 based on the inclination measurement, the acceleration measurement, and the flow rate measurement.

The control unit may be provided with a control algorithm for predicting the translational posture transformation of the underwater residential structure based on the detection of the detection means and correcting the spatial position displacement according to the detection acceleration.

In addition, the control unit may be provided with a control algorithm for predicting the buoyancy correction according to the rotational motion of the underwater residential structure based on the detection of the detection means and to generate a correction rotational moment.

The control unit causes the transfer pump 122 to perform periodic/aperiodic pressure-feeding of the liquid pipe 121, measures the speed, amplitude, period, and fluid amount of the liquid generated by the operation of the transfer pump 122, and drives the pump It may further include a feedback transducer for improving the efficiency of the control signal.

By controlling the transfer pump 122 against the translational fluctuation of the underwater residential structure, and thereby moving, accelerating or decelerating the liquid, the liquid moves forward and backward, left and right, or up and down along the desired single or multiple axes of motion, and is symmetrical It reciprocates between the arranged liquid housings.

When the horizontal plane front-to-back (SURGE) short vibration is detected in the underwater residential structure, the control unit reciprocates and transfers the fluid on the pipeline by the transfer pump 122 in the form of a post-before or phase attenuating the short vibration.

When a horizontal plane left-right (SWAY) simple vibration is detected in the underwater residential structure, the control unit reciprocally transfers the fluid on the pipeline by the transfer pump 122 in the form of right-left or a phase attenuating the short vibration.

When the vertical plane up-down (HEAVE) short vibration is detected in the underwater residential structure, the control unit reciprocates and transfers the fluid on the pipeline by the transfer pump 122 in the form of a down-up or a phase attenuating the short vibration.

By controlling the transfer pump 122, etc. with respect to the rotational motion including the inclination of the underwater residential structure, and thereby moving, accelerating or decelerating the liquid, the liquid moves along a single or a plurality of axes of motion to achieve a target buoyancy ( rotation moment).

When the forward-backward rotational motion/vibration (PITCH) on the horizontal plane is detected, the control unit corrects the rotational moment while the transfer pump 122 reciprocates the fluid on the pipeline in the form of a phase that attenuates the forward-backward or angular motion.

When the horizontal left-right rotational motion/vibration (ROLL) is detected, the control unit corrects the rotational moment while the transfer pump 122 reciprocates the fluid on the pipeline in the form of a right-left or phase attenuating the angular motion.

When the vertical plane up-down rotational motion/vibration (YAW) is detected, the control unit 122 controls the transfer pump 122 to reciprocate the fluid on the pipeline in the form of a down-up or a phase attenuating the angular motion while reciprocating the rotational moment. to correct

As described above, in this embodiment, angular motion fluctuations other than a short period can be corrected by linking the compressed air control method.

Reciprocation of liquid means aperiodic/periodic liquid movement, and through the detection of the fluctuation of the underwater residential structure by the detection means, the control unit performs a control algorithm for posture correction to control the transfer pump and the gas supply means, and at the start time The initial amount of fluid inside the housings 110 and 130 that form a pair or several pairs of symmetry varies during the execution of the control algorithm, which may be separated by correcting the rotational moment using a compressed air system on the control signal.

In addition, in the presence of continuous external force, the underwater residential structure undergoes continuous posture fluctuations, and this reduction also requires continuous and effective control signal production of the control unit based on real-time posture detection of the underwater residential structure.

In addition, it is desirable to implement the execution error as a sequential feedback signal so that the mechanical output, which is the control result, conforms to the control target value.

In the initial stage of the attitude control started by input of the detection signal, the yaw reduction control is performed by the control of the transfer pump 122, and the yaw reduction for the rotational moment (inclination) started through the transfer pump 122 converges in the control amplitude and cycle. If not, or when the underwater residential structure is exposed to fluctuations exceeding the initially set amplitude and period by an external force, the control by the gas supply means is started, and when the control result converges, the operation is terminated.

The above describes an example of posture correction according to fluctuations other than simple vibration of an underwater residential structure through 6 degree of freedom yaw control. The attitude correction of the underwater residential structure is performed according to the real-time attitude detection of the residential structure and the continuous and effective control of the transfer pump and the collective control signal between the gas supply means.

In addition, according to the embodiment, the device may further include a device for simultaneously controlling one or more pairs of symmetrical housings for liquid, detecting the amount of transferred fluid of the transfer pump 122, and compensating for backflow and hydraulic oil loss due to external external force control. .

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

110a: wing housing for liquid 110b: upper housing for liquid
110c: lower housing for liquid
121: liquid piping 121a: on-off valve
122: transfer pump
130: housing for gas
141: gas pipe 141a: gas exhaust pipe
142: compressed air tank
143: air compressor

Claims (9)

For underwater residential structures:
It includes a bladder for a liquid capable of storing a variable amount of liquid therein, and a plurality of wing housings for liquid provided along the edge of the vertical middle portion of the underwater residential structure and a liquid provided on the upper portion of the underwater residential structure A plurality of housings for liquid divided into an upper housing and a lower housing for liquid provided at the lower part of the underwater residential structure and spaced apart from each other;
In order to be able to transfer a liquid from one of the liquid bladders to the other liquid bladder, and to reduce the 6 degree of freedom fluctuation of the underwater residential structure by the linear momentum and rotational moment of the transferred liquid, A liquid conveying means comprising: a liquid pipe connecting a plurality of liquid bladders to each other, and a conveying pump provided in the liquid pipe;
A plurality of housings for gases including a gas bladder whose volume is changed while compressed air is stored therein to generate a corrected buoyancy, and which are provided while being spaced apart from each other in the underwater residential structure;
and a compressed air tank storing compressed air for supplying the plurality of gas housings, and a gas pipe connecting the compressed air tank and the plurality of gas housings, wherein the volume of each gas bladder is adjusted Gas supply means for assisting the posture correction of the underwater residential structure by generating a corrected buoyancy;
Detecting means for detecting real-time position change and acceleration change of the underwater residential structure;
a control unit for controlling the liquid conveying unit and the gas supply unit for the reduction of the underwater residential structure according to the value detected by the detecting unit;
includes,
Each of the housing for gas is arranged in a layered form on each of the wing housings for the liquid, characterized in that the modularized structure for submersible dwellings.
delete delete delete delete The method of claim 1,
The pipe for the gas is an underwater residential structure for reducing water, characterized in that it further comprises a pipe for discharging gas for discharging the gas from the housing for the gas.
The method of claim 1,
Underwater residential structure for reduction, characterized in that the air compressor floating on the water surface is further provided in order to supply compressed air to the compressed air tank.
The method of claim 1,
The pipe for the liquid is provided between the transfer pump and the housing for the liquid and further comprises a pair of on-off valves for controlling the inflow and outflow of the liquid to the housing for the liquid. .
The method of claim 1,
The detection means, an accelerometer (accelerometer), a gyroscope (gyroscope), an underwater residential structure for water reduction, characterized in that it comprises a magnetometer (magnetometer).

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