WO2005054049A2

WO2005054049A2 - Dynamic stabiliser for a boat, a force stabilising device for orienting sails and a semi-submersible boat

Info

Publication number: WO2005054049A2
Application number: PCT/FR2004/002933
Authority: WO
Inventors: Gérard ALDIN; Aline Aldin; Frédéric ALDIN; Christel Archambaud
Original assignee: Aldin Gerard; Aline Aldin; Aldin Frederic; Christel Archambaud
Priority date: 2003-11-24
Filing date: 2004-11-18
Publication date: 2005-06-16
Also published as: WO2005054049A3; EP1716040A2; FR2862602B1; US20070157864A1; FR2862602A1

Abstract

The inventive boat comprises a platform (52), at least one main shaped completely submerged float (51) which is connected to the platform (52) by one or several bearing pylons (16) and supports the total weight of the platform in such a way that said platform is maintained out-of-water. The inventive boat also comprised substentially horizontal arms (14) which are radially disposed around the platform above water and support masts (5) which are immersed in water and provided with orientable ailerons (1, 2), mobile shaped fairings (6) freely pivotable by local current and individually enveloping each bearing pylon (16) and each immersed mast (5), at least three auxiliary floats (53) which are distributed around the platform in order to provide a trim balance in a stop position or at low speed and are connected to the radial arms or to the platform. An effort compensating device for orienting the sails (57, 59) comprises an overall elastic device (201), a movable extracting part (92, 103) and a motion transmitting device (200) for applying a constant intensity righting torque on the sails.

Description

DYNAMIC STABILIZER FOR A BOAT EQUIPPED WITH A STABILIZATION DEVICE AND BOAT THUS OBTAINED

The technical sector of the present invention is that of boats, and more particularly of boats comprising drag reduction and / or stabilization devices. In the nautical field, we seek to reduce the hydrodynamic drag in order to make the boats faster and to reduce their energy consumption. This reduction in drag can be obtained by reducing the contact surface on the water. In order to reduce this surface, vessels with a submerged float or boats using the principle of "wings" (or foils) are known, such boats being known in particular under the designation "hydrofoils". Thus, US Pat. No. 4,993,348 describes a boat comprising a submerged float. Its submerged stabilizing device however has the drawback of a size limited by the hydrodynamic drag, which limits its effectiveness. US Pat. No. 6,578,507 describes a boat comprising arms provided at their ends with wings allowing the boat, when sailing at high speed, to only rest on these wings. However, such a device has the drawback of having no stability in the face of pitching and rolling and does not make it possible to keep a constant attitude when sailing in front of the waves. The object of the invention is to remedy the drawbacks of the devices known hitherto, by proposing a boat having simultaneously a low hydrodynamic drag and a stabilization of the ship with respect to the waves when it is sailing rapidly. This stabilization concerns all the five parasitic components of roll, pitch, yaw, as well as alternative movements of the center of gravity of the boat due to the passage of waves, made up of the vertical movement of the center of gravity (alternately up and down) and lateral movement of the center of gravity (alternately from offset to port and to starboard). The invention also aims to regulate the torque undergone by the sails of the boat when it is powered by wind. The subject of the invention is therefore a hydrodynamic stabilizer for a boat, comprising a mast immersed in water supporting at its end a first substantially horizontal submerged fin, mounted free to rotate relative to the immersed mast according to a horizontal pivot, characterized in that the first fin comprises a trailing edge flap articulated in rotation about an axis close to the trailing edge of said aileron and in that said flap is controlled by a drive mechanism in rotation relative to said aileron in order to achieve its orientation . According to a characteristic of the invention, the stabilizer comprises a second substantially vertical submerged fin pivoting around the diving mast and comprising a motor means so as to be orientable. According to another characteristic of the invention, the stabilizer comprises a second substantially vertical fin pivoting freely around the plunging mast and comprising a trailing edge flap articulated in rotation around an axis close to the trailing edge of said second fin, said flap being controlled by a drive mechanism in rotation relative to the second fin in order to achieve the orientation of said second fin. According to yet another characteristic of the invention, the diving mast comprises a profiled fairing pivoting freely around said diving mast so as to orient itself freely in the direction of the local flow of water. According to another characteristic of the invention, a return means, of the elastic medium or motor means type, is disposed between the diving mast and the pivoting profiled fairing in order to impose on said fairing a return torque when this fairing is angularly offset. . According to another characteristic of the invention, the pivoting profiled fairing comprises at its downstream side an element with hydrodynamic lift fixed with respect to said fairing or orientable in vertical rotation with respect to the fairing. The invention also relates to a device for stabilization of a boat using at least one stabilizer, characterized in that the at least one stabilizer is carried by a substantially horizontal arm secured to the boat, said arm being located above the water. According to yet another characteristic of the invention, certain arms are made integral with the boat by a pivot type link with several lockable positions in order to be foldable. According to another characteristic of the invention, certain arms consist of several sections linked together by a pivot-type link with several lockable positions in order to be foldable. According to another characteristic of the invention, certain plunging masts are secured to an arm by means of a pivot connection of substantially horizontal axis which is lockable in several positions, a low position of said plunging masts when the hydrodynamic adjustable fins are in service and a raised position of said diving masts when said fins are out of service, the boat being stopped or moving at low speed. According to another characteristic of the invention, the maintenance of certain plunging masts in the low position is ensured by a locking with calibrated resistance against a force tending to roll back said plunging masts, and in that this locking leaves said plunging masts to pivot freely towards the rear when rising when this limit resistance is reached. According to another characteristic of the invention, the stabilization device comprises a computer cooperating with static and / or dynamic sensors and controlling the means or means of orientation of the aileron or fins in order to vary their orientation according to the movements of said boat . The invention also relates to a force compensating device for orienting a wing of a boat or sailing vehicle, characterized in that it comprises on the one hand a global elastic device bearing on a fixed part of the boat and comprising a movable outlet part over a certain stroke, or a certain clearance, said movable outlet part transmitting an elastic force whose intensity is increasing as a function of the amplitude of its displacement, said overall elastic device being constituted of one or more elastic members interposed between said fixed part of the boat and said movable output part, the addition of the individual elastic forces of said elastic members providing the overall elastic force to said movable output part of said overall elastic device, on the other hand, a device for transmitting movement of said movable output piece from said elastic device overall to said wing, said movement transmitting device having an evolution of its transmission ratio as a function of the angle of orientation of said wing such that the elastic return torque which it exerts on said wing, tending to oar ner the mean plane of the latter parallel to the plane of symmetry of the boat, or of the vehicle, either of constant intensity, or of gradually and slightly increasing intensity, when said wing pivots from the orientation corresponding to the pace "near tight "to that corresponding to the" downwind "look. According to another characteristic of the invention, the wing orientation member is a wing sheet connected on the one hand to one end of the wing and being wound on the other hand on a fixed listening drum or linked in rotation to a drum with variable winding radius ensuring the function of movement transmission device. According to another characteristic of the invention, the overall elastic device comprises means for adjusting the average elastic force making it possible to adapt it to the forecast, for a given period of time, of the average orientation force. of the wing. According to another characteristic of the invention, the compensating device comprises means for adjusting the angle of orientation of the airfoil, and said means for adjustment of the orientation angle comprises a manual operating member. According to another characteristic of the invention, the compensating device comprises a means for adjusting the orientation of the airfoil and said means comprises an actuator controlled by a signal coming from a computer or from a control means controlled by a member of 'crew. According to another characteristic of the invention, the compensating device comprises a means of bidirectional limitation of the force, force or torque, communicated by the actuator to the wing. According to another characteristic of the invention, the overall elastic device comprises one or more pneumatic or hydraulic cylinders connected by one or more pipes to one or more tanks containing a compressed gas. According to another characteristic of the invention, at least one reservoir is connected via a valve to a source of pressure, of vacuum or to the open air in order to be able to modify the pressure prevailing in said reservoir. According to another characteristic of the invention, certain elastic members of the overall elastic device can be put out of service during navigation, either by temporary uncoupling of their own elastic movement output member with respect to the device for transmitting movement to the wing. , either by temporary uncoupling of their base relative to the structure of the boat of which this base is usually integral, or by temporary neutralization of their elastic property, then being put back into service during navigation by re-coupling the temporarily uncoupled elastic members or by restoring the elastic property temporarily neutralized. According to another characteristic of the invention, the movement transmission device comprises at least two drums freely rotating about axes fixed relative to the structure of the boat, coupled in rotation, either directly or via a mechanism constant or variable ratio transmission, drums on which two cables with opposing windings are anchored, at least one winding of which takes place in a groove with a variable winding radius, the first cable being connected directly or by means of a hoist to the output member with elastic movement of the overall elastic device and the second cable being connected directly or by means of a hoist to the point of the wing making it possible to orient the latter. According to another characteristic of the invention, the actuator of the compensating device is constituted by, or comprises, a rotary electric stepper motor. According to another characteristic of the invention, the compensating device comprises a force, force or torque amplifier, comprising at least one profiled submerged blade with hydrodynamic lift effect, orientable around a pivot parallel to its longitudinal axis, this pivot being movable transverse to the current due to the displacement of the boat. According to another characteristic of the invention,

1 actuator of the compensating device is controlled by a computer connected to sensors for measuring the orientation relative to the boat of the direction of the wind and the wing. According to another characteristic of the invention, substantially vertical candlesticks integral with the boat, surrounded by cylindrical sleeves rotating freely, are provided to intercept the passage or sheets when they reach the front of the boat in order to reduce the stress on the overall elastic device. The invention also relates to a boat comprising a platform, at least one main submerged profiled float, secured to the platform by one or more supporting pylons and supporting the total weight of the platform in order to keep it out of water, characterized in that it has radiating arms around the platform, substantially horizontal and supporting masts immersed in water, provided with adjustable fins immersed in hydrodynamic lift effect, said arms being located above the water, mobile profiled fairings, pivoting freely under the effect of local current and individually enveloping each support pylon, at least three auxiliary floats with closed hull, waterproof and profiled , distributed around the platform to ensure the balance of attitude when stationary or at low speed, integral with the radiating arms or the platform. According to another characteristic of the invention, the boat comprises a stabilization device, produced by said radiating arms, said plunging masts, and said adjustable fins. According to another characteristic of the invention, the boat comprises an adjustable tare device making it possible to increase or decrease the mass of the boat by means of ballasts with adjustable quantity of admitted water. According to another characteristic of the invention, the masts immersed in water as well as certain auxiliary floats are arranged near the end of radiating arms. According to another characteristic of the invention, at least one auxiliary float is fixed to a radiating arm by a link with several lockable positions allowing this float to be brought closer to the platform when the building is stopped or by a link from the pivot type with substantially vertical axis with several locking positions. According to another characteristic of the invention, the boat comprises means for measuring position, inclination, speed and / or acceleration, cooperating with a computer in order to determine the movements of the boat and to model these movements in movements roll, pitch, yaw, and / or reciprocating movements of the center of gravity of the boat due to the passage of waves, consisting of the vertical movement of the center of gravity (alternately up and down) and the lateral movement of said center of gravity gravity (alternately from offset to port and to starboard). According to another characteristic of the invention, the boat comprises measuring means, such as anemometric wind vanes, sail orientation sensors, submersible vanes, pressure sensors, surface reflection sonars, surface probes, video cameras, or any other means cooperating with the computer to determine the movements of the waves upstream of each main submerged float, to model at level of the axis of each said float the movements of water transverse to the course of the boat, for example broken down into movements along two non-parallel transverse axes, or to determine the aerodynamic forces on the elements of the boat providing a windward grip . According to another characteristic of the invention, the computer cooperates with the means for orienting the adjustable fins in order to orient the latter as a function of the modeling of the movements of the boat and / or of the movements of the waves and / or of the aerodynamic forces, and thus achieve the stabilization of the boat by controlling the attitude and the trajectory thereof. According to another characteristic of the invention, certain orientable fins include an angular sensor measuring the angle of rotation of the fin relative to the plunging mast and cooperating with the computer. According to another characteristic of the invention, the boat comprises a balancing device with movable masses continuously adjustable by lateral and / or longitudinal displacements of counterweights movable along guides, positioned along the latter by mechanisms comprising actuators, or comprising a mass of water transferable between distant tanks, said balancing device cooperating with the computer in order to modify the position of the center of gravity of the boat as a function of the movements thereof and of the unbalancing effects due for example payload distribution or wind. According to another characteristic of the invention, the balancing device comprises tanks located in auxiliary floats and partially filled with water, said tanks being connected together by pipes and at least one pump cooperating with the computer in order to distribute water between the tanks. According to another characteristic of the invention, each supporting pylon located between a main submerged profiled float and the platform is retractable, with several lockable positions, as well as the pivoting fairing which surrounds it, in a housing of said platform. According to another characteristic of the invention, the boat comprises wind propulsion means and the orientation of at least one wind propulsion means is ensured by a force compensating device for orienting a wing. A very first advantage of the boat according to the invention lies in the fact that from a certain speed and in waves of height less than the height of its pivoting fairings it is insensitive to the effects of roll, pitch, yaw, transverse swerves (up / down and starboard / port). This advantage is due to the combination of the main float (s), completely submerged profiles (at constant Archean thrust), to the characteristics of the appendages piercing the surface (small cross-section and impact on Archimedes' thrust, profiling and pivoting by wind vane minimizing the effect of transverse waves), with long radiating arms (large lever arm offered to the lift of the submerged adjustable fins) and orientation of these fins oscillating with the waves (incidence and lift remaining proportional to the setpoint d stabilization effort given, despite the passage of waves). Another advantage is that the hydrodynamic drag is extremely reduced, which allows the boat to reach high speeds. Another advantage lies in the ease of access to shallow waters thanks to the reduced draft allowed by the lifting of the main submerged profile float (s) and by the raising of the diving masts, as well as the ease of parking in ports. thanks to the reduced horizontal space allowed by the folding radiating arms. Other characteristics, details and advantages of the invention will emerge more clearly from the description. given below as an indication in relation to the drawings in which: - Figure 1 represents a hydrodynamic stabilizer according to a first embodiment of the invention, - Figure 2 represents a hydrodynamic stabilizer according to another embodiment of l invention, - figure 3 represents a hydrodynamic stabilizer according to yet another embodiment of the invention, - figures 4a to 4d represent examples of realization of pivoting fairings according to the invention, figures 5 and 6 represent an example of application of a stabilization device according to the invention to a pleasure boat, - Figure 7 represents another example of application of a stabilization device according to the invention to a multihull boat, - Figure 8 represents an embodiment of the masthead safety hinge according to the invention, - Figure 9 shows a submerged float boat, according to the invention, - the FIG. 10 represents a particular arrangement of an arm according to the invention, - FIGS. 11a and 11b illustrate the operation of an embodiment of the adjustable tare device, - FIG. 12 illustrates an embodiment of the balancing device with continuously adjustable movable masses according to the invention, - Figure 13 is a schematic view illustrating a particular embodiment of an arm according to the invention. - Figure 14a illustrates an example of a sailboat equipped with several force regulation devices according to the invention, Figure 14b is a functional schematic representation of a device according to the invention, - Figures 15 and 16 illustrate an example of pneumatic cylinder and its reservoir of the force regulation device according to the invention, and FIG. 17 illustrates an example of a cable winding drum with variable radius of the force regulation device according to the invention. FIG. 1 represents a first embodiment of a hydrodynamic stabilizer 15 for a boat according to the invention. In this exemplary embodiment, the stabilizer 15 comprises a vertical diving mast 5, integral with the structure of the boat, a profiled fairing 6 and a first orientable hydrodynamic fin 1 substantially horizontal. The streamlined fairing 6 pivots freely around said plunging mast 5 so as to spontaneously orient itself in the direction of the local flow of water. The orientable hydrodynamic fin 1 pivots freely around a horizontal shaft 3, of axis 10 and arranged at the end of the diving mast 5. The orientable fin 1 comprises a flap 7 of trailing edge articulated in rotation around an axis 21 adjacent to the trailing edge of the fin. The rotation of the trailing edge flap 7 relative to the fin is controlled by a drive mechanism of known type (not shown), for example a sealed electric motor. The operating mode of the stabilizer is as follows: When the boat is moving, the fin 1 is spontaneously oriented under the effect of the opposing torques due to its own hydrodynamic lift force and to the hydrodynamic lift force of its flap 7 The flap 7 has substantially the same span as its fin 1, but has a smaller cord, for example three to four times shorter. The deflection of the flap is ensured by a servomechanism of angular orientation (not shown) of the flap 7 relative to its fin 1. The turning angle of the flap 7 of trailing edge relative to the orientable fin 1 is determined by an on-board electronic computer (of known type) which controls the servomechanism of orientation. This angle between the fin 1 and its flap 7 causes a hydrodynamic lift force of the trailing edge flap which forces the orientable fin 1 to orient itself by taking an incidence relative to the current, which in turn generates a hydrodynamic lift force of the aileron. The latter is in the same direction, but in the opposite direction and clearly greater than the lift force of the flap 7, because of the ratio of the bearing surfaces of the fin 1 and the flap 7. When the boat faces high transverse waves and that the fairing 6 is discovered in the hollows of the waves, the hydrodynamic wind vane effect of the fairing 6 is no longer completely effective. The inertia effect to which this fairing is subjected causes it to rotate on its momentum and this results in uncontrolled oscillations in rotation. And when the next wave again covers the fairing 6, it may be in a position transverse to the local displacement of the water. This would result in a parasitic transverse lift, the maintenance of forced oscillations of the fairing, and above all an increase in hydrodynamic drag penalizing for the speed of the boat and / or for its fuel consumption. In order to avoid such effects, provision may be made for return means 9, of the elastic medium or motor means type, disposed between the plunging mast 5 and the pivoting profiled fairing β, in order to impose an angular return torque on the fairing when the latter is angularly offset from the axis of symmetry of the boat. Such return means are already widely known. An example is a torsion spring or a progressive torque booster. The aforementioned drive means may also be controlled as a function of the measurement of the angle between the flow of water and the fairing 6 in order to align the fairing with the current. Means for such a measure are already widely known. By way of example there may be mentioned a submerged set of pressure sensors arranged on the fairing ^'and cooperating with a computer or an angle sensor of a known type measuring the orientation of a submerged vane rotatable about an axis vertical integral with the fairing. FIG. 2 illustrates another embodiment of a hydrodynamic stabilizer 15 according to the invention. In this embodiment, the diving mast 5 is always in a vertical plane but is inclined relative to the vertical z and the fairing 6 is integral with the diving mast 5. The diving mast 5 is connected to the boat by a pivoting head 29 which rotates freely around the vertical axis z. Guard plates 13 of the fin end 1, perpendicular to the axis 10, increase the coefficient of hydrodynamic lift of the aileron and facilitate the spontaneous orientation of the diving mast 5, pivoting like a wind vane in the current, forming transverse bearing planes. FIG. 3 represents another alternative embodiment of a hydrodynamic stabilizer 15 according to the invention. In this other embodiment of the invention, the resulting hydrodynamic lift force can be oriented in two directions. The vertical component (upwards or downwards) of this overall lift is provided by the first orientable fin 1 with horizontal axis of rotation around the shaft 3 secured to the lower end of the diving mast 5. This diving mast 5 also carries and in an upper part a second orientable fin 2 pivoting freely around said plunging mast 5 and providing the horizontal component (to port or to starboard) of the abovementioned overall lift. The horizontal fins 1 and vertical 2 also comprise respective flaps 7 and 8 of the trailing edge articulated in rotation about an axis close to the trailing edge, respectively 21 and 22, of the flaps 1 and 2. Each flap is controlled by a servo-mechanism for driving in rotation relative to its fin in order to achieve the orientation of the fin according to the operating mode which has been described previously. The hydrodynamic stabilizer according to the invention can also be produced by eliminating the flaps 7 and 8 from the trailing edges and by ensuring the orientation of the aileron (s) 1 and 2 by means of a motor (for example an electric motor disposed between the fin and its axis of rotation). Such an embodiment does not however allow simultaneously as reliable, as simple and as effective control of the fins as the embodiment described above with flaps. In fact, in a first simple variant devoid of trailing edge flaps, the computer sends as an instruction to the orientation means of the fins 1 and 2 an orientation angle, relative to their average position, proportional to the lift force. required to stabilize the boat; the drawback of this method is that the angle of incidence of the fin relative to the current fluctuates as a function of the transverse speed of the water due to the waves, and therefore that the effective hydrodynamic lift force of the fin also fluctuates around the setpoint, resulting in poorer stabilization than previously. In a second variant still without trailing edge flaps, the computer sends an orientation angle to the fins 1 and 2 as a setpoint, an orientation angle, relative to their average position, proportional to the necessary orientation angle so that the angle of incidence of the fin relative to the current remains proportional to the lift force required to stabilize the boat (to obtain a constant force, it is therefore necessary to send a signal fluctuating with the rhythm of the waves). This second variant without flaps has the drawback of requiring connection to the computer of means for measuring the direction of the local flow of water. As explained above, such means for measuring the relative orientation angle of a flow relative to a solid moving in a fluid are already widely known (for example based on an angular sensor connected to a submerged hydraulic vane with axis perpendicular to the axis of the boat or based on submerged distributed pressure sensors). We can provide the adjustable fins 1, 2 with a means of increasing their lift by suction of the boundary layer through a seedling of small diameter orifices lining their surface by means of a pump, these orifices being periodically released. by a short flush in the opposite direction using another pump or compressed air. According to an alternative embodiment, the suction is limited to the upper surface of the ailerons and the switching of the suction face is triggered during the reversal of the direction of the torque of orientation of the aileron or of the direction of deflection of its trailing edge flap. Figures 4a to 4d show exemplary embodiments of pivoting fairings 6 according to the invention. In order to remedy the drawbacks of erratic orientation of the pivoting fairing in the event of high waves, the latter may be fitted with an element 18 with hydrodynamic lift acting in addition to or in replacement of the abovementioned return means 9. FIG. 4a represents a pivoting fairing 6 comprising an element 18 with hydrodynamic lift produced by a rigid flat plate, integral with the trailing edge of the pivoting fairing 6 and arranged in the vertical plane of symmetry of said fairing. FIG. 4b represents a pivoting fairing 6 comprising an element 18 with hydrodynamic lift produced by an arm 19 integral with the trailing edge of the pivoting fairing β and which rigidly carries at its downstream end a rigid flat plate 20, arranged in the vertical plane of symmetry of said fairing. FIG. 4c represents a pivoting fairing 6 comprising an element 18 with hydrodynamic lift produced by two arms 19 and 19 'integral with the trailing edge of the pivoting fairing 6 and which carry a profiled wing 28 rigidly integral or articulated around a vertical axis. In the articulated mode, the wing 28 will be oriented relative to the fairing 6 by means of a servomechanism controlled as a function of the measurement of the angle between the flow of the water and the fairing 6, in order to cancel this angle. Means for measuring this angle have been described previously in connection with FIG. 1. FIG. 4d represents a pivoting fairing 6 comprising an element 18 with hydrodynamic lift produced by an arm 19 integral with the trailing edge of the pivoting fairing 6 and which carries rigidly at its downstream end a profiled wing 23. These embodiments given by way of illustration are not limiting. We can consider other embodiments of the element 18 with hydrodynamic lift, for example by providing the trailing edge of the profiled wing 28 of a flap that can be oriented by a motor means interposed between said flap and this wing 28. FIGS. 5 to 7 show examples of application of the hydrodynamic stabilizer according to the invention to different types of boats. FIGS. 5 and 6 represent a boat 24 of the monohull type comprising two substantially horizontal lateral arms 14, fixed to the hull of the boat 24 and each comprising at their end a hydrodynamic stabilizer 15. Each hydrodynamic stabilizer 15 is secured to a support arm 14 by a lockable pivot link as described below. Locking can be carried out by known means, or by a safety hinge as described below. The arms 14 are made integral with the boat 24 by a connection 49 of the hinge type with pivot of vertical axis. The boat 24 also includes one or more static and / or dynamic sensors 25 and a computer 43 cooperating with the sensor (s) and controlling the hydrodynamic stabilizers 15. The computer 43 is for example placed inside the cabin of the boat and the sensors may be gyroscopes arranged in the cockpit of the boat or alternatively vertical accelerometers fixed at the end of the arms 14 to calculate the instantaneous heeling angle and pressure sensors located on the diving masts, in areas always submerged, to calculate the true average heeling angle by setting the results of the instantaneous heeling calculation, as well as a speed sensor to measure the speed of the boat on the water (which provides information on the proportionality factor between the angle of incidence adjustable fins and their induced hydrodynamic lift force). The operation of the boat stabilization device is as follows: The electronic computer 43, to which the motor means of the hydrodynamic stabilizers 15 and the aforementioned sensors 25 are connected, is part, alone or in the company of one or more other electronic computers with which it is interconnected, from a navigation center on board the vessel. This power plant comprises sensors which are all of known types, integral with the structure of the building, with a pivoting fairing, or even with a hydrodynamic stabilizer, and connected to one or more aforementioned computers and this power plant comprises software provided with a function for acquiring measurements from these sensors, such as said sensors and the aforementioned software function, cooperating so as to develop the numerical values periodically updated - for example 10 to 20 times per second - of the components of the deviations in rotation of the building by relative to its nominal attitude or heading, which are necessary for the preparation of control orders to the actuators for orienting the aforementioned immersed fins with hydrodynamic lift force as a function of the movements of the boat and in order to obtain the stabilization effects research. These desired effects are, according to different embodiments of the device according to the invention, one or more angular stabilizations (in roll, pitch, yaw or according to one or more compositions of these movements). The computer 43 determines the stabilizing torque necessary for each of said desired angular stabilizations, then it deduces therefrom the hydrodynamic lift force required from each steerable fin - taking into account its arrangement relative to the boat - finally it sends ailerons to the motor means orientable the instruction aiming to obtain this lift force. It is preferable that this instruction is the steering angle of the trailing edge flaps 7 and 8 (Figures 1 to 3) relative to theirS adjustable fins 1 and 2 (taking into account the speed of the boat), said adjustable fins thus spontaneously taking the incidence appropriate to the desired lift force by accompanying the movement of the waves, without the computer having to take account of said movement of the waves. FIG. 6 represents the boat 24 equipped with hydrodynamic stabilizers 15 according to the invention, when these stabilizers are in the inactive and folded position. The arms 14 were folded over the sides of the boat and the hydrodynamic stabilizers 15 were rotated 180 ° around a horizontal axis parallel to the arm 14, so as to be raised and emerged. Such a configuration advantageously allows the boat to navigate in shallow waters without risking damaging the hydrodynamic stabilizers and reducing the size of the boat, for example to facilitate entry and mooring of the latter in an area.

10 ports. FIG. 7 represents a catamaran whose two floats 27 are lifted entirely out of the water on high speed foils, self-stable in transverse heel thanks to the V-shaped inclination of the foils and which is stabilized in

15 longitudinal attitude (nose-up and nose-down movements) and in yaw by a hydrodynamic stabilizer 15 according to the invention, with two fins 1 and 2 (as illustrated in FIG. 3) fixed to the end of a horizontal arm 14 integral with the back of the boat, in its vertical plane of symmetry,

20 stabilizer including fin 2 also serves as rudder to steer the boat. In another example, not illustrated, a cruise liner will be provided with six stabilizers 15 according to the invention with a single fin 1 (as illustrated in FIGS. 1

25 or 2), fixed at the end of six substantially horizontal arms 14. Two lateral arms 14 to port and two other symmetrical to starboard have a mainly anti-roll function. Another arm 14 straight in front and a final one right at the back of the building have an anti-pitching function. The four arms

30. Lateral are foldable in the horizontal plane against the port and starboard sides of the liner by means of lockable pivot links with axis, $ vertical. The stern arm and the bow arm can be raised above the deck of the liner by pivoting in the vertical longitudinal plane of symmetry of the

35 building by means of lockable pivot links with horizontal axes perpendicular to this plane. FIG. 8 represents an exemplary embodiment of the connection between the head of the diving mast 5 and the arm 14 at by means of a safety hinge with a pivot of substantially horizontal axis and perpendicular to the plane of symmetry of the boat, lockable in the vertical position of the diving mast 5 by holding in abutment against an angular stop by the force of magnetic attraction of magnets. The diving mast 5 and its pivoting fairing 6 are drawn in solid lines for the vertical position of the diving mast and in dotted lines to show a semi-raised position towards the rear. The horizontal central bar 146 of a support 141 in the shape of a "U" secured to the arm 14 carries a series of magnets 145 fixed to its upper part. These magnets adhere by magnetic attraction to a plate of ferrous material 144 secured to a lug 143. This lug 143 is itself secured to the plunging mast 5 and it pivots freely around a substantially horizontal shaft 142 which is secured to the lateral branches of the "U" of the support 141. In the event of too intense rearward force (by an obstacle strike for example) exerted on an adjustable fin 1 or 2 (FIGS. 1 to 3) or on the pivoting fairing 6, the dip mast 5 is thus raised automatically towards the rear. The raising can also be brought about voluntarily to reduce the draft, for example by pulling backwards and upwards a rope fixed to the bottom of the trailing edge of the pivoting fairing 6. Such an embodiment advantageously makes it possible to carry out the maintenance of the diving mast 5 in the low position by a calibrated resistance lock against a force tending to roll back the diving mast. This embodiment allows the plunging mast 5 to pivot freely towards the rear, which can thus be raised when the limit resistance is reached. The hydrodynamic stabilizer according to the invention can also be produced by eliminating the flaps 7 and 8 of trailing edges (FIGS. 1 to 3) and by ensuring the orientation of the aileron (s) 1 and 2 by motor means (for example an electric motor disposed between the fin and its axis of rotation). However, such an embodiment does not allow simultaneously as reliable, as simple and as effective control of the fins as the embodiment described in relation to FIGS. 1 to 3. The preferred embodiment is that in which the adjustable fins 1 and 2 are provided with trailing edge flaps 7 and .8 respectively, which offers both the advantage of lower energy consumption for orientation and better reliability (it is not necessary to correct the setpoint signal to avoid a fluctuation in lift due to waves, which avoids immersing current direction sensors which can be disturbed by algae). In addition, use will preferably be made of fins of the "compensated" type provided with trailing edge flaps. The term “compensated fin” means a fin whose axis of rotation is located substantially on the profile chord, approximately 20% of the length of this chord downstream of the leading edge. FIG. 9 represents an exemplary embodiment of a boat according to the invention, here of the sailboat type, comprising a platform 52, a main profiled float 51 completely submerged integral with the platform 52 by two supporting pylons 16, four radiating arms 14 substantially horizontal integral with said platform and supporting at their end auxiliary floats 53 with closed hull, sealed and profiled, supporting in their lower part masts 5 immersed in water (as shown in Figures 1 to 3) and provided with adjustable fins 1, 2 with hydrodynamic lift effect, a central mast 68 and a wing 57 and 59, of conventional design, ensuring the propulsion of the boat. In this exemplary embodiment of the invention, each sail orientation listening 57 or 59 is part of a force compensating device automatically regulating the capsizing torque due to this sail, in cooperation with the computer 43, and of which the structure and operation will be described later. Each supporting pylon 16 and each diving mast 5 is surrounded by a mobile hydrodynamic fairing 6, pivoting freely under the effect of the local current in order to reduce its hydrodynamic drag as described in relation to FIGS. 1 to 3 and 4a to 4d. The concept of mobile hydrodynamic fairing is already known and therefore does not need to be described. We can however refer to the patent FR-2817531 which describes such a fairing. However, it will be preferable to use a pivoting fairing whose return torque is increased in the event of misalignment, for example by means of an elastic return means (such as a torsion spring or a servo motor with progressive torque) and / or by means of a tail unit with hydrodynamic lift effect located beyond the trailing edge of the hydrodynamic profile of the fairing and constituted by a vertical plate integral with the fairing or by a profiled wing movable around a vertical axis integral with the fairing and oriented by a co-operating motor means with means for measuring the angle of the fairing with the direction of the local flow of water. Pivoting fairings 6 can be used around the supporting pylons 16 of the same type as those described in relation to FIGS. 4a and 4c for the diving masts 5 (the pylon 16 then playing opposite the fairing 6 the role of the mast 5). The boat also comprises an electronic computer 43, of known type, cooperating with means for measuring position, inclination, speed and / or acceleration in order to determine the movements of the boat and to model these movements in roll movements. , pitch, yaw, as well as alternative movements of the center of gravity of the boat due to the passage of waves, consisting of the vertical movement of the center of gravity (alternately up and down) and the lateral movement of the center of gravity (alternately of offset to port and to starboard). These measurement means can be, for example, height sensors, aerial sonars 34 reflecting on the surface of the water, accelerometers 26, submerged pressure sensors, submerged vanes, gyroscopes, or any other means. for measuring position, movement or acceleration, in order to determine the movements of the boat and to model them into movements of movements broken down into movements of roll, pitch and yaw, and movements of transverse movements of the center of gravity of the boat. boat along two non-parallel transverse axes, for example vertical and horizontal. The computer 43 also cooperates with means of measurement of the environment of the boat in order to determine the movements of the waves upstream of each main submerged float 51 (this example has only one, but a boat according to the invention which has several can be envisaged), model at the level of the axis of this float the movements of the water transverse to the course of the boat in horizontal movement and in vertical movement, to model subsequently the transverse hydrodynamic forces on the main float 51 due to the waves and other hand to determine the aerodynamic forces^' on the elements of the boat offering a wind resistance. These different means can, for example, be anemometric wind vanes, sail orientation sensors, submerged wind vanes, submerged pressure sensors, aerial sonars 34 reflecting on the water surface, surface probes of the water, or video cameras. When the boat is in fast navigation, platform 52 and auxiliary floats 53 entirely out of the water, the computer 43 cooperates with the means for orienting the submerged adjustable fins with hydrodynamic lift effect and with the balancing device at moving masses (described below) in order to maintain the mean level of the water surface appreciably midway between the parts of the boat which must remain emerged (platform 52 and auxiliary floats 53) and parts of the boat which must remain submerged (main float 51 and adjustable fins 1, 2). The computer 43 is finally connected, if necessary, to a manual control member allowing the crew to choose the degree of stabilization of the boat, adjustable by software between maximum stabilization (objective 100% stabilization with respect to short waves and 0% long wave tracking) and maximum "contouring" (0% stabilization compared to short waves and 100% target for long wave tracking). The software nevertheless retains full authority to prioritize a balance of attitude and altitude of the boat sufficient to limit the probability, when the boat is in fast navigation, platform 52 and auxiliary floats 53 entirely out water, that the platform 52 or an auxiliary float 53 hits a wave crest or that the submerged float 51 or an adjustable fin is exposed in a wave trough. The auxiliary floats 53 are distributed around the platform 52 so as to ensure the trim balance when the boat is stopped or at low speed. Such an arrangement of the floats illustrates an exemplary embodiment of the invention. We can consider other embodiments, for example by making certain auxiliary floats 53 directly integral with the platform 52. In this embodiment, the boat has four floats, but we can also realize the invention with three floats , or more than three floats. Figure 10 is a schematic view illustrating the end of an arm as described above for this example. In this view, the auxiliary float 53 has in its central part a closed and sealed compartment 54 and in its front part with acceleration sensors 26, for example linear accelerometers measuring the vertical (up / down) and horizontal (port) transverse accelerations / starboard). The sealed compartment 54 communicates with a pipe 55, the operation of which will be explained below. The auxiliary float 53 has in its lower part a hydrodynamic stabilizer 15 comprising a plunging mast wrapped in a movable hydrodynamic fairing 6, pivoting freely under the effect of the local current. A sensor 34, of the aerial sonar type reflecting on the surface of the water, is fixed to the end of a pole 38 at the front of the auxiliary float. This sensor 34 performs the instantaneous measurement of the vertical distance to the surface of the water in front of the boat and cooperates with the computer 43 (FIG. 9) to bypass the highest waves when the "contouring" function is activated by the 'crew. In this embodiment, the stabilizer 15 immersed in water is fixed directly under the auxiliary float 53, but we can very well realize the invention by directly fixing this stabilizer plunging to the radiating arm 14. The stabilizer 15 implemented preferably a stabilizer as described above in relation to FIG. 3. In this embodiment, the hydrodynamic fins 1 and 2 have their pivots respectively horizontal and vertical. However, the invention may be carried out by means of any other type or arrangement using one or more adjustable submerged appendages with hydrodynamic lift effect, provided that the orientation of this or these appendages provides lift, the component of which in the vertical plane perpendicular to the axis of the constantly submerged profiled float 51 (FIG. 9) is orientable by orientation means controlled by the computer 43 in any direction of this plane. Figures 11a and 11b illustrate the operation of an adjustable tare device 500 for increasing or decreasing the mass of the boat. In this example, the platform 52 includes a reservoir 17 located near the center of gravity of the boat and preferably in the lowest part of the boat. This reservoir 17 is connected to a filling and emptying device (for example a pump) making it possible to fill it with more or less water. When the boat is stopped or sailing at low speed, it is preferable that all the auxiliary floats 53 are in contact with the water in order to guarantee good stability of the boat (fig. Lia). Conversely, at high speed, the platform 52 and the floats 53 must be entirely out of water in order to eliminate any hydrostatic or hydrodynamic force exerted on their hull. The tare 500 allows you to adjust the height of the boat relative to the average surface of the water for fast speed navigation (fig. 11b). This height must be such that the wave crests do not strike the auxiliary floats 53 or the platform 52 and such that the wave crests do not reveal hydrodynamic adjustable fins, nor the submerged main float 51. The operation of the adjustable tare device 500 making it possible to increase or decrease the mass of the boat is as follows: when the boat is stopped or at low speed, the tank 17 is filled with water in order to ballast the boat. In fast navigation configuration, the tank 17 is totally or partially drained, depending on the load of the boat, so that the main float 51 alone ensures the buoyancy of the boat. In this exemplary embodiment, the reservoir 17 is located at the base of the platform 52, but the invention can also be achieved by placing this reservoir in the submerged float 51, which is moreover preferable for lowering the center of gravity. In order to best adjust the calibration of the boat, it will be possible to have static pressure sensors 40 immersed at the level of the diving masts or the submerged profiled float 51 or even aerial sonars reflecting on the surface of the water, carried by the floats 53 The pipes allowing the filling and emptying of the reservoir 17 can be passed through a light provided in the fairing 6 pivoting around a carrying pylon. More generally, lights in the pivoting fairings 6 of supporting pylons or hydrodynamic stabilizers may be used for the passage of members connecting an emerged area and an immersed area of the boat (such as: cables, pipes, rotating shafts). FIG. 12 illustrates a balancing device 501 with continuously adjustable mobile masses. In this example, the boat is seen from the front and it receives the starboard wind (therefore coming from the left in the figure). When the boat is sailing at high speed, if it undergoes too great an inclination α relative to the vertical, one or two auxiliary floats 53 on the port side would begin to sink into the water and in addition the two substantially vertical adjustable fins 2 to starboard would begin to emerge and the substantially horizontal steerable ailerons 1 to starboard would begin to cavitate and be about to emerge. This would respectively cause a braking effect on port tending to pivot the boat to port, then a risk of abrupt and total loss of vertical lift of the horizontal steerable fins 1 to starboard causing a sudden increase in the list to port and increased support of the port 53 auxiliary floats, accelerating the swiveling to port. Similarly, excessive tilting of the boat forwards or backwards would cause comparable disadvantages. It is therefore imperative to provide a balancing device making it possible to modify the position of the center of gravity of the boat, laterally and longitudinally, as a function of external forces applied to the boat or of a poor distribution of the payload on board. The balancing device 501 comprises the closed and sealed compartments 54 situated in auxiliary floats 53 and partially filled with water, pipes 55 connecting these compartments to each other and at least one pump 11 and possibly a distributor member distributing water between the different compartments. This pump 11 and this distributor member may possibly be connected to the tank 17 so that the tanks 54 are completely filled when the boat is stopped or at low speed. The functioning of the permanently adjustable mobile mass balancing device is as follows: The computer 43 (FIG. 9) defines, as a function of the average trim angles of the boat (trim angles are understood to mean the angles of lateral inclination and longitudinal tilt of the boat), the water transfers to be made. The pump 11 and the distributor member cooperate with the computer 43 and distribute the water between the tanks 54, by means of the pipes 55, in order to modify the position of the center of gravity of the boat. The static pressure sensors 40 can be made to cooperate with the computer 43 to detect the trim angles. It is also possible to envisage a balancing device with movable masses continuously adjustable by lateral and / or longitudinal displacements of counterweights movable along guides, positioned along these guides by mechanisms comprising actuators and position sensors. However, balancing by transfer of water masses remains the preferred embodiment. FIG. 13 is a schematic view illustrating an exemplary embodiment of an arm 14. In this example, the arm comprises two sections 14a and 14b and the auxiliary float 53 is fixed to the radiating arm 14 by a link with several lockable positions. The two sections 14a and 14b are interconnected by a link 12 of the lockable pivot type with horizontal axis. The connection between the float 53 and the arm 14 is for example produced by a slide carried by the two sections of the arm and a locking means in each of the two positions, for example a dog catch and a pressure screw or a conical bolt latch . In the normal navigation configuration of the boat, the arm 14 is fully extended and the connection between the two sections is locked so that they cannot pivot relative to each other. The float 53 is fixed near the end of the arm 14, near the diving mast 5. When the crew wishes to reduce the horizontal size of the boat at low speed, for example to facilitate access to the port, the arms 14 can be folded up. To adopt this folded configuration, the crew unlocks the float 53 and then brings it closer to the platform 52 until the end of the section 14a secured to the platform 52 and it locks the float 53 in this new position (which is shown in dotted lines in the figure). The float 53 being locked in this position, the connection 12 between the two sections of the arm 14 is unlocked and the second section 14b is then folded over the first section 14a, as shown in phantom in the figure. In order to facilitate this maneuver, a cable 47 may be placed between the end of the arm 14 and a pulley located at the top of the mast 68. An alternative embodiment consists in attaching the auxiliary floats 53 to the radiating arms 14 by connections of the pivot type with substantially vertical axis with several lockable positions. This variant is particularly suitable when the arms 14 are fixed to the platform 52 by a link of the vertical pivot type with several lockable positions, such as described in. relationship with Figures 5 and 6, to be foldable. The paragraphs below relating to the boat according to the invention describe additional examples of possible embodiments of said boat. In this example envisaged above of embodiment of a boat according to the invention, the hydrodynamic stabilizers 15 are all of the type illustrated in FIG. 3. It is also possible to envisage other embodiments of the invention, for example by having plunging masts 5 distinct the substantially horizontal 1 and substantially vertical 2 adjustable fins 2. It is also possible to place several hydrodynamic stabilizers 15 (of the lifting type, as described below) by radiating arm 14, which makes it possible to adapt the surface of the fins submerged in the sea conditions encountered. We can also replace the two fins 1, 2 of the same stabilizer 15 by a single submerged profiled appendage orientable along two axes orthogonal to the axis of the submerged float 51, this appendix, seen from upstream, having the appearance of two fins arranged in a cross, or else the appearance of a nozzle with rectangular section constituted by four fins joined together and parallel two by two or with annular section (profiled fin curved over 360 °). However, the embodiment illustrated in FIG. 3 with two independent fins 1, 2 is the preferred one. The example described above is a sailboat, but it is also possible to make a boat according to the invention powered by a motor, for example using on-board fuel. In the case of propulsion by submerged propeller (s), it will be advantageous to place the propeller (s) at the rear point of (or each) submerged float 51. To facilitate access to the ports, the main submerged float 51 may be liftable against the platform 52 by retraction of the supporting pylons 16 with their pivoting fairings 6 in housings of the said platform, and even be partially recessed in the said platform thanks to a vault formed in its lower zone (detail not drawn). To increase the speed of the boat, the main submerged float 51 may be provided with a means of drag reduction by suction of the boundary layer through a seedling of small diameter orifices lining the surface of the float, by means of a pump, these orifices being periodically cleared by a brief flush in the opposite direction by means of another pump or compressed air. For a large boat, access to the submerged main float compartment 51 from the platform 52 may be provided for maintenance visits or for storing goods or freight there. It could be a permanent access by means of a passage by a supporting pylon 16, which is then tubular, or a temporary access to the stop by means of a vertical tube sliding by a driving means and tightly in the platform 52 so that this tube forms a temporary communication well between the platform and the submerged float 51, this tube then pressing its lower end provided with a peripheral sealing means (for example a seal or an annular suction cup connected to a suction pump) on top of the submerged float 51, around a sealed door formed in the wall of this float; a pump allows water to be evacuated from the tube before the door is opened; during navigation, this tube remains retracted in the platform 52 behind a door. In order to guarantee good stability of the boat according to the invention when it is of the wind powered type and to optimize the use of the wind as a driving element, it is important to be able to continuously adjust the orientation of the sail sail. . The invention therefore also relates to a force compensating device for orienting a sail wing. Such a device can be adapted and used on any type of sailing boat, as well as on other sailing vehicles, for example a sand yacht. The effort compensating device according to the invention aims to exert a variable torque (or effort) on the wing orientation member, in order to allow either an automatic orientation of said wing according to the wind, is assistance with a defined orientation. The term "wing" means any member using wind power as the driving force applied to the boat, this member being able for example to be a sail, a mast-wing or a "turbosail". The term "wing orientation member" means the member integral with this wing by which the orientation angle relative to the boat of said wing can be fixed, that is to say for example a fixed sheet listening at one end of the sail or near the end of the boom secured to the sail, or a connecting rod, the end of which is secured to the wing or to a crank secured in rotation to said wing (for example secured to the base of a pivoting wing mast or of the boom of a sail), or else a toothed wheel meshing with a worm or a chain or even a toothed belt, wheel coaxial with the pivot axis of the wing and integral in rotation of said wing (for example integral with the base of a pivoting wing mast or the boom of a sail). In the embodiment of the force-compensating devices of the example below, sheets play the role of wing orientation member and each wing is a sail without boom or with boom. FIG. 14a illustrates the application of force compensating devices 502 for the orientation of boat sails according to the invention to a pleasure sailboat. In this exemplary embodiment, the boat has a rear wing made up of a mainsail 57 provided with a boom oriented by the sheet 56 and a front wing made up of a jib 59 oriented by the sheet 58 located on the leeward side. A central mast 68 supports the mainsail 57, the boom and the top of the jib 59. The bridge 61 is provided with three tapping points: one for the mainsail, located at the rear and two for the jib, one of which is located on the port side and the other on the starboard side. At each of these three pulling points, the usual winch is replaced by a device 60 according to the invention for the adjustment of the sheet orienting the associated canopy. FIG. 14b schematically illustrates an embodiment of a force compensating device 502 according to the invention, comprising an overall elastic device 201, the movable outlet member 71 of which is represented here by a lifting beam 103 or a cable 71, causes the orientation of the airfoil via a movement transmission device 200 Said movement transmission device 200 directs the airfoil via the sheet 56 (or 58) which here fulfills the role of airfoil orientation member, as defined above. In the following, the term "sheet traction device" 60 designates all of the elements constituting the device 502, with the exception of said sheet 56 (or 58). This sheet traction device 60, in the embodiment envisaged for this example, comprises two integral winches 66 and 69 with antagonistic windings, the second 69 of which has a groove 70 with a variable winding radius and pulls by a cable 71 a overall elastic device 201, shown diagrammatically by a lifter 103 attached to tension springs 37 anchored to the structure 30 of the boat. This overall elastic device 201 is shown by way of example. It will however be preferred an overall elastic device 201 comprising one or more elastic members, each produced by a jack connected by a pipe to a gas tank as will be described below, in relation to FIGS. 15 and 16. In the exemplary embodiment envisaged (FIG. 14a), the sailboat comprises three force compensating devices 502 according to the invention, which can be completely separate, or else have the same electronic computer in common, located for example in the passenger compartment. Sensors or service bodies can also be common and shared by the three devices 502 (for example: common anemometric wind vane, common air compressor used alternately, or used simultaneously). In the context of the application of this device to a boat as described above in relation to FIGS. 5, 7 and 9 to 12, we can judiciously use the various sensors and measurement means already present on the boat, as well as the computer 43 (Figure 9) already implemented for the stabilization of the boat. During the design of the device 60, the elasticity characteristics of the overall elastic device 201 and the law of evolution of the transmission ratio of the device 200 linked to the evolution of the radius of winding on the drum 69 as a function of the winding angle are chosen so as to allow, for a given adjustment of said elasticity characteristics, the moment of the restoring force exerted by the sheet on the wing is constant, or gradually and slightly increasing, when the wing pivots from the orientation corresponding to the pace of the "close tight" to the pace of the "tail wind". Thus, the sheet tensioning devices 60 guarantee that the capsizing torque due to the airfoil in the event of a sudden oversold cannot increase dangerously (the airfoil tends to orient itself spontaneously in the wind axis). In FIG. 14a, the mast 68 is not guyed and it is pivotable through 360 ° around a vertical axis. Vertical stanchions 63, playing the role of sheet spacers 56 and 58 of the axis of the boat, located symmetrically on port and starboard, are integral with the deck and each provided with a cylindrical sleeve with guard cheeks, rotating on bearings. These candlesticks 63 have a height and a disposition such that the sheets 56 and 58, intercepted in the passage, rest on them when the mainsail 57 or the jib 59 pivot far forward, so that the angle of more favorable traction reduces maximum traction. The jib sheet on the windward side (not drawn) is relaxed and wound on the drum 66 (FIG. 14b) of the device 60, the elastic members of which are then all placed out of service. Only the terminal eye of the sheet protrudes from the orifice of the bridge 61, which will receive the hook for the jib listening point at the next tack. In the embodiment envisaged for this example, each of the listening tension devices 60 comprises a cylindrical drum 66, illustrated more fully in FIG. 17, bordered by two flanges 67 anti-exhaust, freely rotating on two tapered roller bearings 104 held by a support (not shown) secured to the bridge 61, drum 66 on which the sheet 56 or 58 is wound. This drum 66 is secured to a coaxial drum 69 with radius d variable winding provided with a groove 70 with a multi-turn cam profile, in the hollow of which a flexible and inextensible cable 71 is wound in the opposite direction. The latter provides a torque which is antagonistic to that of listening by anchoring to a stirrup traction 90 secured to the piston rod of a pneumatic cylinder 72 (FIGS. 15 and 16), with almost zero friction and whose body 73 is secured to the bridge 61 by supports (not shown). This jack 72 is connected by a pipe 81 to a compressed air tank 82, illustrated in FIG. 15. The crew (or a computer) adapts the average pressure in this tank as a function of the force of the wind and the surface of the sail in service by means of a set of compressor, pipeline, valves and pressure gauge connected to this tank. The adjustment of the average pressure of the reservoir thus makes it possible to adjust the mean elastic force of the jack. The evolution of the ratio of the winding radii of the sheet 56 or 58 on the drum 66 and of the opposing cable 71 on the drum 69 as a function of the angle of rotation of these drums is provided in such a way that the moment of the

, tensile force of the sheet with respect to the pivot axis of the sail increases in a substantially linear fashion as a function of the angle of the mean plane of this sail with the plane of symmetry of the boat, with a total variation of around 10% when this angle goes from 0 ° (boat "upwind") to 180 ° (boat "downwind", sail completely forward). The invention can also be implemented in a different way, for example by also giving the drum 66 a variable winding radius, or by separating the drums 66 and 69 and connecting them by a gear train, or even by cascading several devices 66, 69 with antagonistic windings. The invention can be carried out using one or more elastic members. In the embodiment envisaged for this example, each elastic member of the elastic device overall 201 is produced by a pneumatic cylinder 72 with almost zero friction (FIGS. 15 and 16), substantially collinear with the tensile force of the cable 71. This cylinder 72 is formed by a cylindrical body 73 in which a cylindrical piston 74 slides with a ring clearance. A flexible tubular reinforced membrane 75 (see detail in FIG. 16), anchored at the perimeter of the bottom of the body 73 and on the head of the piston 74, is turned like a thermowell and rolls between the walls 73, 74 sliding one relative to each other to ensure the seal. The first anchoring is ensured by pinching the membrane between the plate 77 forming the bottom of the cylinder body and the end flange 76 by means of a screw crown 78. The second anchoring is ensured by pinching the membrane 75 between the head of the piston 74 and the counter plate 79 by a crown of screws 80. Each anchoring is reinforced (detail not drawn) by a bead at the edge of the membrane, trapped by two circular grooves formed in the opposite faces of the plates and counter plates tightened by screws. The body 73 of the jack is integral with the structure of the boat and its bottom 77 includes the orifice of a pipe 81 joining the reservoir 82 of compressed air, which is provided with a pressure gauge 83. The pressure in this reservoir is adjustable on the one hand by means of the compressor 84 drawing the outside air and discharging it through the pipe 85 provided with a stop valve 86 and on the other hand by means of the decompression valve 87 with exhaust to the open air . The piston 74 of the jack is secured, by means of a caliper 88, to two traction rods 89 each guided by two ball bushings (not shown), the outer rings of which are integral with the structure of the boat. A second stirrup 90, integral with the rods 89 at their other end, transmits the traction force of these by an ear to eye 92 then a shackle 93 which is anchored either directly to the cable 71 by an eye lug 94 as drawn in FIG. 16, either (case not drawn) to the eye of the movable block of a hoist forming a travel multiplier, the other block of which is fixed and integral with the structure of the boat; the end of the cable 71 opposite the winding on the drum 69 is in this case anchored to the structure of the boat and the central part of said cable 71 is stretched between the pulleys of the hoist blocks. To reach the heart of the mechanism of the sheet tensioning device 60 located under the bridge 61, the sheet 56 or 58 crosses the latter (FIG. 14b) through an orifice in the center of which it is guided by an upper pulley 64, with an axis horizontal and pivoting mounted on a vertical pivot fixed to the bridge, and by a pulley 65 with a horizontal axis, the block of which is fixed under the bridge 61. An auxiliary mechanism (FIG. 17) also ensures lateral guidance of the sheet 56 or 58 at proximity of its winding on the cylindrical drum 66. A second winding guide mechanism similar to the previous one is provided (but not drawn) for the cable 71, arranged symmetrically to the first with respect to the plane perpendicular to the plane of the layout and passing through l axis of the drums 66 and 69. In FIG. 17, each of these two winding guide mechanisms comprises a pair of grooved pulleys 95 with a semicircular section, which are tangent and together form a circular orifice ire delimited by the grooves opposite and through which passes the sheet or the cable to be guided. The pivots of these two pulleys are carried by a carriage 96 movable in translation parallel to the axis of the drums 66 and 69. This carriage is guided in translation by guide members on a rail 97 secured to the structure of the boat. This carriage is secured by a shoe 98 tightened by screws 99 of a cable 100 stretched parallel to its travel and returned by pulleys 101 with axes perpendicular to the plane of the figure and secured to the structure of the boat towards two drums 102 of small diameter, coaxial with the main drums and integral with them in rotation, on which the ends of the cable 100 are anchored and wound in opposite directions. In this way, the translational movement of the carriage 96 is proportional to the angle of rotation of the drums 66 and 69. In a variant of this embodiment, the carriage of the carriage 96 is provided by a screw-nut system, the l the rotating member is driven in rotation by the rotation of the drums by a known transmission means at constant ratio. The adjustment of the length of the listening to a precise value is controlled by the software of the electronic computer common to the listening voltage devices 60. To this end, on the one hand the angle of rotation of the drum 66 is measured by an angular measurement sensor of a known type, and on the other hand a stepping electric motor of a current type and with a torque of known stall has its output shaft secured to the drum by means of a reversible gear transmission transmission mechanism. The angular sensor and the electronic engine control device are connected to the aforementioned electronic computer. This listening adjustment device makes it possible to compensate for friction, while allowing listening to slip away in the event of abnormal effort due to overselling, without losing knowledge of the angle of the drum, so as to then automatically restore a setting. optimal. The slight angular locking due to the residual torque of the stepping motor eliminates the need to continuously supply it with energy; this slight locking can be reinforced if necessary by a turntable indexed by snap-on ball bearings (every 10 ° for example), fixed on the motor shaft. In the example described above for producing the overall elastic device, the means for adjusting the average elastic force is effected by modifying the average pressure prevailing in the reservoir by means of valves. We could consider instead, or in addition (which is recommended), adjusting the average elastic force by providing several elastic members and varying the number of elastic members in service at a given time. One means for the deactivation of an elastic member is the temporary elimination of the elastic effect (for example, for jacks, by putting their chamber at atmospheric pressure by adjusting valves). Another means consists in temporarily uncoupling the base or the frame of the elastic member from the structure of the boat (which can be achieved by a removable type connection mechanical or hydraulic type with coupling cylinder). Yet another means consists in temporarily uncoupling the movable output member specific to the elastic member relative to the motion transmission device 200 (FIG. 14b) (which can be obtained for example by means of a cable hoist , stretched for commissioning and relaxed for decommissioning). With reference to FIGS. 14a to 17, in order to prevent the aerodynamic lift force of the wing 57, 59 from reaching the floor value below which it abruptly collapses (the angle of incidence of said wing by relative to the wind becoming close to zero), it is possible to use a computer cooperating with means for measuring the listening voltage 56, 58 (for example the pressure sensor 83 in the tank 82 and a sensor of known type for measuring angular position of the drum 66) and cooperating with the means for adjusting the force of the force compensator of said airfoil (for example solenoid valves on the pipes 81 of each of the cylinders 72 and solenoid valves for venting chambers of these jacks), so as to maintain the lift force of said wing between two limits depending on the average force adjustment (in these examples: number and characteristics of the jacks in service). The device according to the invention can be used on any type of sailboat or sailing vehicle (for example sand yachting). It can also be installed on any type of existing sailboat having the necessary space under the deck for the organs of the device, if necessary by slightly adapting the interior fittings. In addition, it is particularly suitable for boats with a stabilization device as described above. Compared to the known means for orienting wind appendages, the device according to the invention offers the following advantages: it offers passengers improved comfort (reduced lodging). It increases safety (reduced risk of capsizing) and no longer requires constant monitoring of competition orientation. The muscular effort is more reduced in mode assistance and energy consumption is reduced in the case where the device includes an actuator. The fine regulation of the capsizing torque of wind origin in automatic mode is particularly advantageous for unstable sailboats, like those carried by foils or submerged floats. The production of a force compensating device for the orientation of a boat wing using a sail sheet has been given by way of illustration. It is also possible to obtain a compensating device according to the invention according to other embodiments. Another possible embodiment consists in linking the drum with a variable winding radius in rotation, directly or by means of a gear, to the mast 68 supporting the wing or to the sail boom. Other embodiments of the elastic element or elements according to the invention can also be envisaged by using - instead of the elasticity of a gas in a jack - the elasticity of a gas under pressure in a pneumatic accumulator containing a hydraulic liquid in the lower part and the floor of which has the orifice of a pipe leading to the chamber of a hydraulic cylinder, or the elastic deformation of the material of a spring, or even the magnetic force of magnetized elements. It is advantageous to replace the actuator with the aforementioned electric motor for adjusting the orientation of the wing by an automatic pilot for sailboat, of a known type, with pendular submerged blade mounted madly in rotation about its longitudinal axis and with flap adjustable trailing edge. This autopilot can be adapted as follows: the steering angle of the trailing edge flap of the pendulum blade will be controlled by a servomotor controlled by a computer and the two output lead cables will be wound, tensioned and provided with '' an anti-slip device, on a drum mounted free to rotate about a fixed axis relative to the boat. This drum forms a winch which receives the pendular movement of the blade when it crosses the current when the flap is turned. Said drum rotates the drums 66 and 70 by means of a rotation transmission mechanism with a multiplier ratio, of a known type. Another solution could consist in causing said drum to be driven not by the drosses of an automatic pilot, but by a mechanism for transmitting the rotational movement of a submersible propeller with variable pitch, of reversible direction, the blades of which will be oriented by a servomechanism controlled by the aforementioned computer. We can also advantageously apply the force compensation device according to the invention to an airfoil provided with two sheets with symmetrical roles by pooling between the two symmetrical devices 60 (FIG. 14a) for retaining these sheets to starboard and port side the device overall elastic 201 (FIGS. 14b and 15) and the actuator for adjusting the orientation of the airfoil. A recommended solution (on the basis of FIG. 17) consists in placing two drums 66 relating to the port side sheet and to the starboard sheet coaxially with the drum 69 and to interpose between this latter and the two drums 66 two devices for clutch, for example with clutches, so as to secure in rotation to the drum 69 sometimes the first drum 66, sometimes the second; 1 actuator, also pooled, will be coupled in rotation to the drum 69 by a rotation transmission mechanism of a known type.

Claims

CLAIMS 1. Hydrodynamic stabilizer (15) for boat (24), comprising a mast immersed in water (5) supporting at its end a first submerged fin (1) substantially horizontal, mounted free to rotate relative to the diving mast ( 5) along a horizontal pivot (3), characterized in that the first fin (1) comprises a flap (7) of trailing edge articulated in rotation about an axis close to the trailing edge (21) of said fin (1 ) and in that said flap is controlled by a drive mechanism in rotation relative to said fin (1) in order to achieve its orientation.

2. Stabilizer according to claim 1, characterized in that it comprises a second submerged fin (2) substantially vertical pivoting around the diving mast (5) and comprising a motor means so as to be orientable.

3. Stabilizer according to claim 1, characterized in that it comprises a second substantially vertical fin (2) pivoting freely around the diving mast (5) and comprising a flap (8) of trailing edge articulated in rotation around a axis close to the trailing edge (22) of said second fin (2), said flap (8) being controlled by a drive mechanism in rotation relative to the second fin (2) in order to achieve the orientation of said second fin ( 2).

4. Stabilizer according to one of claims 1 to 3, characterized in that the diving mast (5) has a profiled fairing (6) pivoting freely around said diving mast so as to orient itself freely in the direction of the local flow some water.

5. Stabilizer according to claim 4, characterized in that a return means (9), of the elastic means or motor means type, is arranged between the plunging mast (5) and the pivoting profiled fairing (6) in order to impose at said fairing a return torque when this fairing is angularly offset.

6. Stabilizer according to claim 4 or 5, characterized in that the pivoting profiled fairing (6) comprises at its downstream side an element (18) with hydrodynamic lift fixed relative to said fairing or Orientable in vertical rotation relative to the fairing.

7. Device for stabilizing a boat (24) using at least one stabilizer (15) according to any one of the preceding claims, characterized in that the at least one stabilizer (15) is carried by an arm (14 ) substantially horizontal integral with the boat (24), said arm (14) being located above the water.

8. A boat stabilization device according to claim 7, characterized in that certain arms (14) are made integral with the boat (24) by a link (49) of the pivot type with several lockable positions in order to be foldable.

9. A boat stabilization device according to claim 7, characterized in that certain arms (14) consist of several sections (14a, 14b) connected together by a link (12) of the pivot type with several lockable positions so to be foldable.

10. A boat stabilization device according to any one of claims 7 to 9, characterized in that certain plunging masts (5) are secured to an arm (14) via a pivot connection of substantially horizontal axis (142) which is lockable in several positions, a lower position of said plunging masts when the hydrodynamic adjustable fins (1, 2) are in service and a raised position of said plunging masts when said fins are out of service, the boat being at stopping or moving at low speed.

11. A boat stabilization device according to claim 10, characterized in that the maintenance of certain diving masts (5) in the low position is ensured by a calibrated resistance locking against a force tending to roll back said diving masts, and in that this locking allows the said plunging masts to pivot freely backwards while rising when this limit resistance is reached.

12. Stabilization device of a boat according to one of claims 7 to 11, characterized in that it comprises a computer (43) cooperating with sensors (25) static and / or dynamic and controlling the orientation means or means of the fin (s) (1, 2) in order to vary their orientation as a function of the movements of said boat.

13. Force compensating device for orienting an airfoil (57, 59) of a boat or sailing vehicle, characterized in that it comprises: - on the one hand, an overall elastic device (201) bearing on a fixed part (30) of the boat and comprising an outlet part (103, 92) movable over a certain stroke, or a certain clearance, said movable outlet part transmitting an elastic force whose intensity is increasing as a function of the amplitude of its displacement, said overall elastic device consisting of one or more elastic members (37, 72) interposed between said fixed part of the boat and said movable output part, the addition of the individual elastic forces of said elastic members (37, 72) providing the overall elastic force at said movable output piece (103, 92) of said overall elastic device (201), - on the other hand a movement transmission device (200) of said movable output piece (103, 92) dud it overall elastic device (201) to said airfoil (57), said movement transmission device having an evolution of its transmission ratio as a function of the orientation angle of said airfoil (57) such that the elastic return torque exerted by the device (200) on said wing, tending to bring the mean plane of the latter parallel to the plane of symmetry of the boat, or of the vehicle, either of constant intensity, or of progressively and slightly increasing intensity, when said wing (57) pivots from the orientation corresponding to the speed

"close tight" to that corresponding to the "downwind" look.

14. Device according to claim 13, characterized in that the orientation member of the airfoil is a sheet (56, 58) of airfoil (57, 59) connected on the one hand to one end of the airfoil and s' winding on the other hand on a sheet drum (66) integral with or linked in rotation to a drum (69) with variable winding radius ensuring the function of motion transmission device (200).

15. Device according to claim 13, characterized in that the overall elastic device (201) comprises a means of adjustment (86, 87) of the average elastic force making it possible to adapt it to the forecast, for a period of given time, the average effort of orientation of the airfoil (57).

16. Device according to any one of claims 13 to 15, characterized in that it comprises a means for adjusting the angle of orientation of the airfoil (57), and in that said means for adjusting the angle of orientation includes a manual operating member.

17. Device according to any one of claims 13 to 15, characterized in that it comprises a means for adjusting the orientation of the airfoil (57), and in that said means comprises an actuator controlled by a signal from 'a computer (43) or from a control means controlled by a crew member.

18. Device according to claim 17, characterized in that it comprises a bidirectional limitation of the force, force or torque, communicated by the actuator to the airfoil (57).

19. Device according to any one of claims 13 to 18, characterized in that the overall elastic device (201) comprises one or more pneumatic or hydraulic cylinders (72) connected by one or more pipes (81) to one or more tanks (82) containing a compressed gas.

20. Device according to claim 19, characterized in that at least one reservoir (82) is connected via a valve (86, 87) to a source of pressure, vacuum or to the open air so to be able to modify the pressure prevailing in said tank.

21. Device according to any one of claims 13 to 20, characterized in that certain elastic members (37, 72) of the overall elastic device (201) can be put out of service during navigation, either by temporary uncoupling of their own output member (103, 92) with elastic movement relative to the device transmission of movement (200) to the airfoil (57), either by temporary uncoupling of their base (73) relative to the structure of the boat of which this base is usually integral, or by temporary neutralization of their elastic property, then be put back in service during navigation by re-coupling the temporarily uncoupled elastic members or by restoring the temporarily neutralized elastic property.

22. Device according to any one of claims 13 to 21, characterized in that the movement transmission device (200) comprises at least two drums (66, 69) freely rotating about axes fixed relative to the structure of the boat, coupled in rotation, either directly or by means of a transmission mechanism with constant or variable ratio, drums on which are anchored two cables with opposing windings (56) and (71) of which at least one winding takes place in a groove (70) with a variable winding radius, the first cable (71) being connected directly or by means of a hoist to the output member (103, 92) with elastic movement of the overall elastic device ( 201) and the second cable (56) being connected directly or by means of a hoist to the point of the airfoil (57) making it possible to orient the latter.

23. Device according to claim 17 or 18, characterized in that the actuator is constituted by, or comprises, a rotary electric stepper motor.

24. Device according to claim 17 or 18, characterized in that it comprises a force, force or torque amplifier, comprising at least one immersed profiled blade with hydrodynamic lift effect, orientable around a pivot parallel to its axis longitudinal, and in that this pivot is movable transversely to the current due to the displacement of the boat.

25. Device according to claim 17 or 18, characterized in that the actuator of the compensating device is controlled by a computer connected to sensors making it possible to measure the orientation relative to the boat of the direction of the wind and of the airfoil (57 ).

26. Device according to any one of claims 14 to 25, characterized in that candlesticks (63) substantially vertical integral with the boat, surrounded by cylindrical sleeves rotating freely, are provided to intercept the passage or sheets (56, 58 ) when they reach the front of the boat to reduce the stress on the overall elastic device (201).

27. Boat comprising a platform (52), at least one main profiled float (51) completely submerged, integral with the platform (52) by one or more supporting pylons (16) and supporting the total weight of the platform -form (52) in order to keep it out of the water, characterized in that it comprises: - radiating arms (14) around the platform (52), substantially horizontal and supporting masts plunging into it water (5), provided with adjustable fins (1,2) immersed with hydrodynamic lift effect, said arms (14) being located above the water, - movable profiled fairings (6), pivoting freely under the effect of the local current and individually enveloping each supporting pylon (16), - at least three auxiliary floats (53) with closed hull, tight and profiled, distributed around the platform (52) to ensure the balance of attitude to the stopped or at low speed, integral with the radiating arms (14) or with the platform (52).

28. Boat according to claim 27, characterized in that it comprises a stabilization device according to one of claims 7 to 12, produced by said radiating arms (14), said plunging masts (5), and said adjustable fins ( 1, 2).

29. Boat according to claim 27 or 28, characterized in that it comprises an adjustable tare device (500) making it possible to increase or decrease the mass of the boat by means of ballasts (17) with adjustable quantity of admitted water .

30. Boat according to one of claims 27 to 29, characterized in that the masts immersed in water (5) as well as certain auxiliary floats (53) are arranged near the end of radiating arms (14).

31. Boat according to any one of claims 27 to 30, characterized in that at least one auxiliary float (53) is fixed to a radiating arm (14) by a link with several lockable positions making it possible to bring this float (53) ) of the platform (52) when the building is stationary or by a pivot type connection with a substantially vertical axis with several lockable positions.

32. Boat according to one of claims 27 to 31 characterized in that it comprises means for measuring position, inclination, speed and / or acceleration, cooperating with a computer (43) in order to determine the movements of the boat and to model these movements in roll, pitch, yaw movements and / or in alternative movements of the center of gravity of the boat due to the passage of waves, made up of the vertical movement of the center of gravity (alternately ascent and descent) and lateral movement of said center of gravity (alternately from offset to port and to starboard).

33. Boat according to claim 32, characterized in that it includes measurement means, such as anometric vane, sail orientation sensors, submerged weather vanes, pressure sensors (40), sonar reflection surface (34), surface feelers, video cameras, or any other means cooperating with the computer (43) to determine the movements of the waves upstream of each main submerged float (51), to model at the level of the 'axis of each said float the movements of the water transverse to the course of the boat, for example broken down into movements along two non-parallel transverse axes, or to determine the aerodynamic forces on the elements of the boat offering a catch in the wind.

34. Boat according to claim 32 or 33, characterized in that the computer (43) cooperates with the means for orienting the adjustable fins (1, 2) in order to orient the latter as a function of the modeling of the movements of the boat and / or wave movements and / or aerodynamic forces, and thus achieve stabilization of the boat by controlling the attitude and its trajectory.

35. Boat according to any one of claims 27 to 34, characterized in that certain orientable fins (1, 2) comprise an angular sensor measuring the angle of rotation of the fin (1, 2) relative to the diving mast (5) and cooperating with the computer (43).

36. Boat according to any one of claims 27 to 35, characterized in that it comprises a balancing device (501) with movable masses continuously adjustable by lateral and / or longitudinal displacements of counterweights movable along guides , positioned along the latter by mechanisms comprising actuators, or comprising a mass of water transferable between distant tanks (54), said balancing device (501) cooperating with the computer (43) in order to modify the position of the center of gravity of the boat as a function of the movements of the latter and of the unbalancing effects due for example to the distribution of the payload or to the wind.

37. Boat according to claim 36, characterized in that the balancing device (501) comprises tanks (54) located in auxiliary floats (53) and partially filled with water, said tanks (54) being interconnected by pipes (55) and at least one pump (11) cooperating with the computer (43) in order to distribute the water between the tanks (54).

38. Boat according to any one of claims 27 to ^• 37, characterized in that each supporting pylon (16) situated between a main fully submerged profiled float (51) and the platform (52) is retractable, in several positions lockable, as well as the pivoting fairing (6) which surrounds it, in a housing of said platform.

39. Boat according to any one of claims 27 to 38, comprising wind propulsion means, characterized in that the orientation of at least one wind propulsion means (57, 59) is ensured by a device according to the any of claims 13 to 26.