WO1991006466A1 - Systeme d'amortissement de roulis - Google Patents

Systeme d'amortissement de roulis Download PDF

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Publication number
WO1991006466A1
WO1991006466A1 PCT/SE1990/000709 SE9000709W WO9106466A1 WO 1991006466 A1 WO1991006466 A1 WO 1991006466A1 SE 9000709 W SE9000709 W SE 9000709W WO 9106466 A1 WO9106466 A1 WO 9106466A1
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WO
WIPO (PCT)
Prior art keywords
rudder
roll
ship
signals
angle
Prior art date
Application number
PCT/SE1990/000709
Other languages
English (en)
Inventor
Claes KÄLLSTRÖM
Original Assignee
Sspa Maritime Consulting Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sspa Maritime Consulting Ab filed Critical Sspa Maritime Consulting Ab
Publication of WO1991006466A1 publication Critical patent/WO1991006466A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water

Definitions

  • the present invention refers to motion stabilising systems and in particular to systems for reducing rolling motions of ships by utilizing active rudder control.
  • the US patent specification 4 380 206 describes a ship stabilization system, which utilizes the rudders to compen- sate for wind and wave induced roll motions, including a hydraulically actuated mechanism for controlling the posi ⁇ tion of the rudders; a pump coupled to the hydraulic mecha ⁇ nism for controlling the flow of hydraulic fluid; and a flow control device connected to the pump for controlling the flow rate of fluid through the pump.
  • the ship stabilization system also includes a first actua ⁇ tion device for translating helm steering command signals into control impulses for the the flow control device and a second actuation device for translating helm steering com- mand signals and roll reduction control signals into control impulses for the flow control device.
  • a coupler is connected to the first and second actuation devices and the flow control device for disengaging the first actuation device from the flow control device when the second actuation device is activated.
  • the object of the invention is to provide a system with improved signal processing compared to what is evident from the above cited US 4380 206 for reduction of wind and wave induced roll of ships in which system optimal course keeping is combined with optimal reduction of roll.
  • a second object of the invention is to provide an effective roll reducing system for various wheather situations and ship speeds.
  • a third object of the invention is to provide a cost effec- tive system which is simple to install on ships without additional reconstruction being necessary.
  • Fig. 1 is an outline over forces and moments which are used in a system according to the present invention
  • Fig. 2 is a control block diagram over a control system according to an embodiment of the invention.
  • Fig. 3 is control diagram over a control system according to the invention in which particularly the filter function is illustrated;
  • Fig 4 is a function flow diagram over a control system according to an embodiment of the invention.
  • Fig. 5 is a time diagram of a) rudder position ⁇ , b) roll angle rr and roll rate ⁇ rr of a ship caused only by rudder movement, c) roll angle ⁇ m of the ship caused only by waves and wind, d) total roll angle of the ship ⁇ rr + ⁇ w , e) resulting course of the ship;
  • Fig. 6 shows phase difference between rudder position ⁇ and roll velocity ⁇ rr at different frequencies of rudder activa- tion
  • Fig. 7 is a block diagram over the electronics in a control system according to the invention.
  • Fig. 1 With reference to Fig. 1 the basic principle is illustrated for roll damping with an active rudder. The moment created by the rudder movement is
  • Fig. 1 also illustrates the difference between roll dynamics and the yaw dynamics. This difference makes it possible to use high frequency rudder signals to damp the roll without affecting the course of the ship.
  • FIG 2 With reference to Fig 2 is shown a block diagram over the control functions in a first embodiment of the invention.
  • the following designations are given:
  • the blocks framed constitute the central unit C, of which
  • H is modified with respect to roll RR, yaw CG and velocity S, and the modified command ⁇ * c thereupon is transferred to the rudder motor SG.
  • a feature of the system is that steering commands are trans ⁇ mitted directly to the rudder motor if the roll damping system has been switched off maually by means of the switch S (see fig 2) or if a malfunction has been detected in the system. If large manaecutes are initiated the roll damping system is automatically switched off until the ship has resumed a steady course.
  • the roll reduction regulator is based on state feedback of and reconstruction of state variables ( ⁇ (n), ⁇ (n)) by means of a Kalman filter where ⁇ (n) is sampled roll angle velocity and ⁇ (n) sampled roll acceleration.
  • ⁇ (n) is sampled roll angle velocity and ⁇ (n) sampled roll acceleration.
  • the estimated states ( ⁇ (n), ⁇ (n)) are obtained with which thereafter a prediction is made of the roll angle of the ship.
  • An essential advantage of the Kalman filter is that it does not give any phase shift.
  • the regula ⁇ tor is adaptive in the sense that it adapts to the system, that is, it calculates new filter constants in reference to
  • DFI Cos(w/Ts)* DFI + Sin(w/Ts)/w*DDFI ...(4)
  • DDFI - Sin(w/Ts)* w * DDFI + Cos(w/Ts) * TempDFI ...(5)
  • the roll frequency is calculated as
  • w is used to change the coefficients in the filter and at the prediction of the rudder command.
  • the predictor P calculates the rudder order ⁇ c .
  • the maximum rudder angle which can be used for roll damping is calculated according the following:
  • FIG. 4 With reference to Fig. 4 is shown a somewhat simplified functional flow diagram over a control system according to a second embodiment of the invention intended for yachts, small fishing ships and the like.
  • FGS direction sensor type Fluxgate sensor
  • Fig. 4 The function of the system according to Fig. 4 is the same as that in Fig. 3 with the difference that the rudder order has been modified with the auto pilot order from the block AP according
  • the rudder order is converted to suitable signals in a block not shown for the steering motor on board the present ship.
  • FIG. 6 A practic design in hardware of the control system according to the embodiment in Fig. 4 is illustrated in Fig. 6.
  • the CPU- unit of the roll damping system is based on a 16 bit ⁇ - processor type M 68000.
  • the CPU - unit 20 is pro ⁇ vided with a series interface type RS-232C by means of which the system can be connected to a portable computer 10 and be programmed for measured (see Fig 5a and Fig 5b) and given ship parameters.
  • the control unit communicates directly with the I/O ports of the CPU-unit or by the A/D and D/A converter 2.
  • the control unit 1 in addition to the auto pilot contains a maneuvering panel with switch means for the system function and a dis ⁇ play for indication of course deviation, loading state and yaw radius.
  • the roll sensor 3 which detects the roll angle velocity of the ship comprises a solid state transducer.
  • the operation is in principle that of a gyro and based on a tuning fork which oscillates at its resonance frequency.
  • the tuning fork When the tuning fork is rotated about its symmetry axis the shanks will be deflected from the plane in which they are oscillating. This results in measurable elongations in the shanks perpendicular to the symmetry plane of the tuning fork generator.
  • the roll angle velocity is then derived from the elongations measured.
  • the roll sensor 3 of solid state type to a very little extent is affected by moving velocities or accelerations. This means that it can be installed generally in any place of the ship under the condition that the rotation sensitive axis is parallel with the roll axis of the ship.
  • This ad ⁇ vantageous property allows installation of the sensor in the control box for the system as a module. By providing the sensor module with a mechanical setting facility of the sensor axis it is possible to provide parallel alignment with the roll axis of the ship.
  • the signals from the sensor 3 are analogue to digital con- verted and are signal processed in digital form in the CPU- unit 20 by way of a filter program stored in an EPROM corre ⁇ sponding to the function diagram in Fig. 3 and related filter calculation algorithms (see page 6).
  • Analogue signals from a sensor for velocity 7, sensor 8 for rudder position, sensor for direction 11 and rudder command 9, are fed to an isolating unit 4 comprising opto couplers connected to the A/D - converter 2.
  • Digital rudder control signals ⁇ c are digital- analogue converted in the unit 2 and are converted in the converter 5 to appropriate control impulses for the rudder motor 6.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Feedback Control In General (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Vibration Prevention Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Système de réduction du mouvement de roulis induit par les vagues et par le vent d'un bateau, destiné à être connecté dans le système de commande normale du bateau, comprenant un moteur de gouvernail (SG) destiné à entraîner le gouvernail du bateau, ledit gouvernail servant à la fois de moyen de direction et à produire un moment de roulis, ledit système comprenant une unité centrale (C), laquelle reçoit des signaux d'angle de gouvernail d'un barre (H), ladite unité centrale émettant des signaux de commande du gouvernail au moteur du gouvernail (SG) en réponse auxdits signaux de commande et d'angle de gouvernail. Ladite unité centrale (C) comprend un détecteur de roulis (DR) destiné à produire un signal (Ζ) de vitesse d'angle de roulis, lequel est transmis à un filtre (F) discret adaptatif, afin de produire des variables d'états reconstitués de vitesse (Ζ(n)) d'angle de roulis échantillonnée ainsi que d'accélération (Ζ(n)) de roulis échantillonnée, lesquelles par reconstitution dans les variables (Ζ(n), Ζ(n)) d'états estimés du filtre sont transmises à un régulateur de prédiction (RP) de l'angle du gouvernail, de sorte que ledit régulateur, en réponse au signal de vitesse d'angle de roulis filtré, produit un signal de commande du gouvernail au moteur du gouvernail (SG), lequel donne au bateau un mouvement de roulis d'une ampleur et d'une phase telles que le moment de roulis du bateau induit par le vent et par les vagues est neutralisé.
PCT/SE1990/000709 1989-11-03 1990-11-02 Systeme d'amortissement de roulis WO1991006466A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8903683-4 1989-11-03
SE8903683A SE465029B (sv) 1989-11-03 1989-11-03 Rulldaempande system

Publications (1)

Publication Number Publication Date
WO1991006466A1 true WO1991006466A1 (fr) 1991-05-16

Family

ID=20377376

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE1990/000709 WO1991006466A1 (fr) 1989-11-03 1990-11-02 Systeme d'amortissement de roulis

Country Status (3)

Country Link
AU (1) AU6711490A (fr)
SE (1) SE465029B (fr)
WO (1) WO1991006466A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0615339A1 (fr) * 1993-03-11 1994-09-14 SANYO ELECTRIC Co., Ltd. Servosystème numérique
US5860842A (en) * 1994-06-16 1999-01-19 Gerd Schonrock Self-steering system for watercraft
US20090114137A1 (en) * 2006-06-30 2009-05-07 Jan Alexander Keuning Ship
US8555734B2 (en) 2005-08-22 2013-10-15 Technology Investment Company Pty Ltd Stabilising means
RU2531999C1 (ru) * 2013-03-01 2014-10-27 Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук Способ отказоустойчивого умерения крена судна на подводных крыльях
CN114245785A (zh) * 2019-08-22 2022-03-25 西门子歌美飒可再生能源公司 用于稳定浮动式风力涡轮机的控制系统

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4380206A (en) * 1981-03-25 1983-04-19 The United States Of America As Represented By The Secretary Of The Navy Ship roll stabilization system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4380206A (en) * 1981-03-25 1983-04-19 The United States Of America As Represented By The Secretary Of The Navy Ship roll stabilization system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0615339A1 (fr) * 1993-03-11 1994-09-14 SANYO ELECTRIC Co., Ltd. Servosystème numérique
US5860842A (en) * 1994-06-16 1999-01-19 Gerd Schonrock Self-steering system for watercraft
US8555734B2 (en) 2005-08-22 2013-10-15 Technology Investment Company Pty Ltd Stabilising means
US20090114137A1 (en) * 2006-06-30 2009-05-07 Jan Alexander Keuning Ship
US20120266799A1 (en) * 2006-06-30 2012-10-25 Jan Alexander Keuning Method For Maintaining The Heading Of A Ship
US8863678B2 (en) * 2006-06-30 2014-10-21 Technische Universiteit Delft Ship
US8881664B2 (en) * 2006-06-30 2014-11-11 Technische Universiteit Delft Method for maintaining the heading of a ship
RU2531999C1 (ru) * 2013-03-01 2014-10-27 Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук Способ отказоустойчивого умерения крена судна на подводных крыльях
CN114245785A (zh) * 2019-08-22 2022-03-25 西门子歌美飒可再生能源公司 用于稳定浮动式风力涡轮机的控制系统

Also Published As

Publication number Publication date
SE8903683L (sv) 1991-05-04
SE465029B (sv) 1991-07-15
AU6711490A (en) 1991-05-31
SE8903683D0 (sv) 1989-11-03

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