US3557734A - Ships{3 {0 stabilizer control systems - Google Patents

Ships{3 {0 stabilizer control systems Download PDF

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Publication number
US3557734A
US3557734A US770006A US3557734DA US3557734A US 3557734 A US3557734 A US 3557734A US 770006 A US770006 A US 770006A US 3557734D A US3557734D A US 3557734DA US 3557734 A US3557734 A US 3557734A
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United States
Prior art keywords
control
ship
signal
roll
torque
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Expired - Lifetime
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US770006A
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English (en)
Inventor
Alexander Arthur Tann
David William Barry
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Muirhead and Co Ltd
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Muirhead and Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles

Definitions

  • This invention relates to the stabilizer control systems of ships, ores especially to control system in which modulation of an AC carrier frequency is employed.
  • An object of the present invention is to overcome the above-mentioned shortcomings of known stabilizer control systems employing only a single carrier frequency.
  • a further object of the present invention is to provide a stabilizer in which only a single gyroscopic element need be employed and in which use may be made of a low-power and, consequently, small and inexpensive auxiliary high-frequency supply to yield a stabilizer control system possessing a variety of desirable features,
  • the invention provides a ships stabilizer control system comprising a first channel adapted to operate with a carrier at the frequency of the ship normal electrical supply for the production of a first control signal for the control of torque-producing means, a second channel comprising a modulator means adapted to operate with a carrier at a higher frequency for the production of a second control signal for the control of the torque-producing means, and means whereby the first and second control signals may be combined to form a composite control signal for the control of the torque-producing means.
  • the present system lends itself to adaptions incorporating: a single sensing means for producing a signal corresponding to a roll variable, and computing means for deriving from the given roll variable a signal corresponding to further roll variables which may be required to effectuate stabilization.
  • the invention provides a ship 5 stabilizer control system comprising a first channel adapted to operate at the frequency of the ships normal electrical supply for the production of a first control signal for the control of torque-producing means, a sensing means for the production of a roll signal corresponding to a first roll variable, a second channel comprising a modulator means adapted to operate with a carrier at a higher frequency, the modulator means being coupled to the sensing means so that in use the output of the modulator means is a signal at the higher frequency modulated by the first roll variable, computing means for the computation from the first roll variable of a signal corresponding to at least one further roll variable, said computing means being coupled to said modulator means, the signal corresponding to at least one further roll variable constituting a second control signal for the control of the torqueproducing means, and means whereby the first and second control signals may be combined to form a composite control signal for the control of the torque-producing means.
  • the sensing means may be a gryoscope element sensing, for example, (i
  • the computing means may incorporate an integrator 'to produce 6, and a differentiator to produce 0 ,the quantities 0, (i and 5 being the roll variables customarily employed for purposes of stabilization.
  • the higher frequency is conveniently obtained from a 400 cps oscillator.
  • the present invention introduces a damped pendulum to detect an average roll angle. This average angle is incorporated into the stabilization system in the correct sense.
  • a sensing means 1 supplies a signal corresponding to a roll variable (0' in the present embodiment) via a modulating means 2 adapted to operate with a carrier at the normal ships supply frequency to a first channel A, and via a modulating means 3 adapted to operate with a carrier at a higher frequency to a second channel B.
  • Modulating means 2 and 3 may be synchro transmitters mechanically coupled to a velocity gyro 1.
  • Unit 4 is an oscillator for the supply of high frequency to synchro 3.
  • Unit 5 is a demodulator, at the output of which is produced a slowly varying DC signal corresponding in this case to the roll velocity (5
  • This signal is fed to a computing means D comprising an integrator 7 for the production of roll angle 6 and a differentiator for the production of roll acceleration the quantities 0 and 0 constituting further roll variables required to effectuate stabilization.
  • signals 0 and 0 are combined and fed as an input to a modulator 10, the output of which is a signal at the frequency of the nor,- mal ships modulated by the DC input signal.
  • modulator 10 is combined with the signal from channel A, suitably scaled by potentiometer 14, in a means 16 for the production of a composite control signal, which means may be an AC summing amplifier.
  • the composite control signal from 16 controls torqueproducing means 21 after being passed through a demodulator 17 and a buffer arrangement 18 (e.g. cathode follower, emitter follower) to a servo valve 19 for a pump system 20 controlling the torque producing means 21 (e.g. a fin shaft),
  • a demodulator 17 and a buffer arrangement 18 e.g. cathode follower, emitter follower
  • a servo valve 19 for a pump system 20 controlling the torque producing means 21 (e.g. a fin shaft)
  • Demodulator 17 is also supplied with an input from a heavyduty feedback synchrotransmitter 22 monitoring the angular position of fin shaft 21.
  • a vertical reference must be provided and to this end a pendulum 11, heavily damped by conventional dashpot means, is incorporated to mechanically control a synchro 12 energized from the ship's mains and thus provide the electrical equivalent of the pendulum motion.
  • the signal characterizes the average departure of the ship from the vertical since its oscillatory content is negligible.
  • the signal representing the natural list is appropriately added to the other functions at the amplifier 16 after passing through the scaling potentiometer 15.
  • a ships stabilizer control system comprising a first channel adapted to provide a first carrier at the frequency of the ships normal electrical supply modulated with a first control signal for the control of torque-producing means; a second channel comprising a modulator means adapted to provide an intermediate carrier at a higher frequency modulated with the first control signal, and including means for providing from said intermediate carrier a second carrier at the frequency of the ships normal electrical supply modulated with a second control signal for the control of the torque-producing means; and means whereby said first and second control signals may be combined to form a composite control signal for the control of the torque-producing means.
  • a ships stabilizer control system comprising a first channel adapted to operate at the frequency of the ships normal electrical supply for the production of a first control signal for the control of torque-producing means, a sensing means for the production of a roll signal corresponding to a first roll variable, a second channel comprising a modulator means adapted to operate with a carrier at a higher frequency, the modulate modulator means being coupled to the sensing means so that in use the output of the modulator means is a signal at the higher frequency modulated by the first roll variable, computing means for the computation from the first roll variable of a signal corresponding to at least one further roll variable, said computing means being coupled to said modulator means, the said signal corresponding to at least one further roll variable constituting a second control signal for the control of the torque-producing means, and means whereby the said first and second control signals may be combined to form a composite control signal for the control of the torqueproducing means.
  • the ships stabilizer control system as claimed in claim 2 in which the sensing means is such as to produce in use a signal in proportion to the angular velocity of roll 6 so that the first roll variable is 6i and in which the computing means comprises an integrator and a differentiator for the respective integration and differentiation of to produce roll angle 0 and roll acceleration 0 the latter constituting second and third roll variables and being constituents of the composite signal for the control of the torque producing means.
  • the sensing means comprises a gyroscope
  • the modulator means comprises a first synchrotransmitter mechanically coupled to the gyroscope
  • a demodulator is provided via which the first synchrotransmitter is coupled to the integrator and the differentiator.
  • a ships stabilizer control system comprising a first channel adapted to operate with a carrier at the frequency of the ships normal electrical supply for the production of a first control signal for the control of torque-producing means; a second channel comprising a modulator means adapted to operate with a carrier at a higher frequency for the production of a second control signal for the control of the torqueproducing means; means whereby said first and second control signals may be combined to form a composite control signal for the control of the torque-producing means, and list correction meaiis such that list of the ship which may be pres nt may be balanced out.
  • a ships stabilizer control system comprising a first channel adapted to operateat the frequency of the ships normal electrical sup ly for the production of a first control signal for the control 0 torque-producing means, a sensing means for the production of a roll signal corresponding to a first roll a variable, a second channel comprising a modulator means adapted to operate with a carrier at a higher frequency, the modulator means being coupled to the sensing means so that in use the modulator means is a signal at the higher frequency modulated by the first roll variable, computing means for the computation from the first roll variable of a signal corresponding to at least one further roll variable, said computing means being coupled to said modulator means, said signal corresponding to at a least one further roll variable constituting a second control signal for the control of the torque-producing means, means whereby said first and second control signals may be combined to form a composite control signal for the control of the torque-producing means, said sensing means being such as to produce in use a signal in proportion to the angular velocity of roll 6 so that the
  • said first channel for operation at the frequency of the ships normal electrical supply comprises a third synchrotransmitter coupled to said gyroscope so that the output of the third synchrotransmitter is in use in proportion to 0 and in which the means whereby said first and second control signals may be combined comprises an AC amplifier with an input coupled to said third synchrotransmitter of the first channel, to the second synchrotransmitter of the pendulum, and to an electronic modulator with an input coupled to the differentiator and to the integrator.
  • a ship s stabilizer control system comprising: a first channel adapted to operate with a carrier at the frequency of a ships normal electrical supply for the production of a first control signal for the control of torque-producing means, a second channel comprising a modulator means adapted to operate with a carrier at a higher frequency for the production of a second control signal for the control of the torqueproducing means; means whereby said first and second control signals may be combined to form a composite control signal for the control of the torque-producing means; and list correction means such that list of the ship which may be present may be balanced out, said list correction means including a heavily damped pendulum and a synchrotransmitter for operation at the frequency of the ships normal electrical supply, said synchotransmitter being coupled to the pendulum so that in use the output of said synchrotransmitter constitutes a list signal characterizing any list of the ship which may be present, the list signal being combined with the first and second control signals to constitute a component of a composite control signal for the control of the torque-producing means.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Vibration Prevention Devices (AREA)
  • Gyroscopes (AREA)
  • Transmitters (AREA)
  • Navigation (AREA)
US770006A 1967-10-24 1968-10-23 Ships{3 {0 stabilizer control systems Expired - Lifetime US3557734A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB48206/67A GB1210373A (en) 1967-10-24 1967-10-24 Improvements in or relating to ships' roll stabilizer control systems

Publications (1)

Publication Number Publication Date
US3557734A true US3557734A (en) 1971-01-26

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ID=10447756

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Application Number Title Priority Date Filing Date
US770006A Expired - Lifetime US3557734A (en) 1967-10-24 1968-10-23 Ships{3 {0 stabilizer control systems

Country Status (8)

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US (1) US3557734A (xx)
JP (1) JPS4910477B1 (xx)
BE (1) BE722854A (xx)
DE (1) DE1804501B2 (xx)
FR (1) FR1589787A (xx)
GB (1) GB1210373A (xx)
NL (1) NL143053B (xx)
NO (1) NO125088B (xx)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3738304A (en) * 1969-11-03 1973-06-12 Nat Res Dev Ship stabilization apparatus
US3807339A (en) * 1970-07-29 1974-04-30 Vasper Thornycroft Ltd Gas-cushion vehicle
US3837330A (en) * 1973-03-28 1974-09-24 American Hospital Supply Corp Heat-retaining server
US3847348A (en) * 1973-11-14 1974-11-12 Us Navy Roll computer

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1167592A (fr) * 1955-05-17 1958-11-26 Res Interests Ltd Appareil de contrôle pour stabilisateurs de navires
US3421060A (en) * 1964-10-27 1969-01-07 Findlay Irvine Ltd Apparatus for stabilising ships

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1167592A (fr) * 1955-05-17 1958-11-26 Res Interests Ltd Appareil de contrôle pour stabilisateurs de navires
US3421060A (en) * 1964-10-27 1969-01-07 Findlay Irvine Ltd Apparatus for stabilising ships

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3738304A (en) * 1969-11-03 1973-06-12 Nat Res Dev Ship stabilization apparatus
US3807339A (en) * 1970-07-29 1974-04-30 Vasper Thornycroft Ltd Gas-cushion vehicle
US3837330A (en) * 1973-03-28 1974-09-24 American Hospital Supply Corp Heat-retaining server
US3847348A (en) * 1973-11-14 1974-11-12 Us Navy Roll computer

Also Published As

Publication number Publication date
FR1589787A (xx) 1970-04-06
NL6815110A (xx) 1969-04-28
DE1804501B2 (de) 1972-05-10
NL143053B (nl) 1974-08-15
BE722854A (xx) 1969-04-01
NO125088B (xx) 1972-07-17
JPS4910477B1 (xx) 1974-03-11
GB1210373A (en) 1970-10-28
DE1804501A1 (de) 1969-08-21

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