WO2016048196A1 - Système de stabilisation active d'engin flottant de dimensions réduites - Google Patents

Système de stabilisation active d'engin flottant de dimensions réduites Download PDF

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Publication number
WO2016048196A1
WO2016048196A1 PCT/RU2015/000604 RU2015000604W WO2016048196A1 WO 2016048196 A1 WO2016048196 A1 WO 2016048196A1 RU 2015000604 W RU2015000604 W RU 2015000604W WO 2016048196 A1 WO2016048196 A1 WO 2016048196A1
Authority
WO
WIPO (PCT)
Prior art keywords
keel
swimming
mover
controller
swimming means
Prior art date
Application number
PCT/RU2015/000604
Other languages
English (en)
Russian (ru)
Other versions
WO2016048196A4 (fr
Inventor
Alexei Petrovich Kirpichnikov
Original Assignee
Obschestvo S Ogranichennoi Otvetstvennostiyu "Autex Ltd."
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from RU2014138624/11A external-priority patent/RU2570924C1/ru
Priority claimed from RU2014138622/11A external-priority patent/RU2570998C1/ru
Application filed by Obschestvo S Ogranichennoi Otvetstvennostiyu "Autex Ltd." filed Critical Obschestvo S Ogranichennoi Otvetstvennostiyu "Autex Ltd."
Publication of WO2016048196A1 publication Critical patent/WO2016048196A1/fr
Publication of WO2016048196A4 publication Critical patent/WO2016048196A4/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B32/00—Water sports boards; Accessories therefor
    • B63B32/60—Board appendages, e.g. fins, hydrofoils or centre boards
    • B63B32/64—Adjustable, e.g. by adding sections, by removing sections or by changing orientation or profile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/08—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using auxiliary jets or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B32/00—Water sports boards; Accessories therefor
    • B63B32/10—Motor-propelled water sports boards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B34/00—Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
    • B63B34/26—Accessories for canoes, kayaks or the like

Definitions

  • the invention relates to the field of designing small and individual swimming equipment, for example, such as surfboards, SUP, kayaks and canoes, and can be used to increase their stability.
  • FR 2940781 A1 describes a system to calm the pitching of a ship by means of a flexible connection between the hull and keel of the ship.
  • This device essentially has the same disadvantages, in addition, it cannot be used on flat-bottomed ships without a keel, inflatable boats, etc.
  • No. 5,474,012 A discloses a ship roll compensation system comprising a control unit, a transmission, and two planes located on either side of the mover.
  • RU 2384457 C2 describes a storm damper of pitching and rolling pitch, which has two steered wings or two rotary nozzles on propellers mounted on horizontal or inclined balloons in the stern of the ship’s hull under the direct influence of the fluid flow from working propellers.
  • Rotary wing ballers allow elastic play of at least angles of ⁇ 30 °, provided by a spring (or electromagnetic) device with a restoring torque proportional to the deflection of the wing from a neutral angle of zero or specified by the control equipment.
  • JP H04133893 describes the use of inflatable cavities made with appropriate actuators that allow the cavities to move along the side of the ship.
  • a hydro-gyrostabilizer is described in the form of a cavity mounted on a swimming means in which the rotational movement of a liquid is organized using a water jet.
  • a disadvantage of the known device is the limitation of the scope, due to the shape and size of the cavity. In particular, such a system cannot be applied to flat-boats, surfers and skimboards.
  • the known device allows an individual swimming vehicle to move in a controlled mode on the water surface.
  • a stabilization system of a swimming means comprising L-shaped rods with actuators mounted on the body of the swimming means and moving floats fixed to the rods (US 5787832 A).
  • the objective of the invention is to increase the stability and safety of small-sized swimming equipment through the use of an active stabilization system that compensates for both pitching and user error, and prevents rollover.
  • this system comprises at least one propulsion unit extended from the body of said floating means in a direction perpendicular to the axis of the heel or roll of the swimming means, so that in the working state the entire propulsor or its working part is in an underwater position, while the propulsor is directed with the possibility of creating a torque acting on the indicated swimming means, the vector of which is opposite to the roll or pitch vector.
  • the system comprises a controller and a sensor for angular position of the swimming means, wherein the input and output of the controller are connected to said sensor and to the control input of at least one mover, respectively.
  • the system may optionally be equipped with a sensor of the center of gravity of the floating means, and / or a derivative of the angular position of the indicated floating means, and / or an environmental sensor, and the controller is made with additional information inputs connected to these sensors.
  • system may further comprise a control panel connected to the controller, wherein the controller is configured to change the channel transmittance coefficient of the angular position tilt sensor from the control panel.
  • the controller is configured to change the channel transfer coefficient of the angular position sensor — propulsion device depending on external conditions, hydrodynamics of the swimming means, the position of the operator’s center of gravity and the mode selected by him.
  • the mover can be carried out from the body of the swimming means in a direction that provides a non-zero projection on the direction perpendicular to the axis of the heel or roll of the swimming means by means of a rod fixed to the body of the swimming means.
  • the rod can be mounted on the housing with the possibility of rotation around a vertical axis and connected with a rotary mechanism controlled by the controller.
  • the mover on the rod can be mounted movably with the possibility of changing the direction of thrust.
  • At least one mover can be mounted on the keel or in the cavity made to the keel, while the mover is mounted with the possibility of creating traction in the direction perpendicular to the longitudinal and vertical axes of the swimming means.
  • the keel can be made removable.
  • Flaps can be installed on the keel with the ability to divert the jet created by the propulsion device or propulsors in the direction opposite to the given direction of movement of the swimming means.
  • the rear and / or lower part of the keel is flexible.
  • the keel can be made with lower petals, on which at least two propulsors are respectively placed, while these petals are executed with the possibility of their fixation in a horizontal, inclined or vertical position.
  • the keel can be made with side plates on which the respective propulsors are mounted.
  • At least one cavity can be made in the keel for its controlled filling with water or air.
  • At least two propulsors can be mounted on the keel, directed at an obtuse angle to a given direction of movement of the swimming means.
  • these movers can be performed reversible.
  • the following are used as a small swimming means: a surfboard, or SUP, or a skimboard, including those made with a reduction in width and / or with a lack of passive means of maintaining balance.
  • the main point of the invention is precisely the stabilization of the floating means relative to the vertical or any other selected axis, regardless of the waves on the surface of the water or the dynamic movement of the center of gravity (load) of the smallest floating means.
  • a keel can be used with propulsion devices under the control of the controller, as well as one or more rods with propulsion devices (for reasons of symmetry, convenience, etc.)
  • control can be carried out from the joystick, or by converting the pressure of the athlete's legs into a control effort.
  • Figure 1 shows the system in accordance with one of the variants of its implementation with the location of the mover on the rod, while the dotted line shows the position that the rod may occupy, top view;
  • FIG. 2 another embodiment of the system, top view
  • FIG. 3 shows the connection diagram of the controller
  • FIG. 4 - embodiment of the stabilization system with the location of the mover on the keel, side view;
  • FIG. 5 - the same, with a different arrangement of movers, bottom view;
  • FIG. 6 shows the same with the location of the movers on the petals, front view; in FIG. 7 shows another embodiment of the stabilization system with the location of the mover on the keel, side view;
  • FIG. 9 embodiment of the stabilization system with the location of the movers on the keel and on the side plates, side view;
  • FIG. 10 is the same front view
  • FIG. 11 is an embodiment of a stabilization system with an arrangement of propulsors on a folding split keel, side view;
  • FIG. 12 - the same in the unfolded position of the keel, front view
  • the system can be formed by a rod 2 fixedly mounted on the swimming vehicle 1, at the end of which a propulsion device 6 is mounted, which is configured to create a pulling force directed both up and down.
  • a propulsion device 6 an electric motor with a propeller or a water-jet propulsion can be used, the propulsion being below the surface of the water. In this case, a moment is created that compensates for the rolls of the swimming means 1.
  • the magnitude of the moment is determined by the controller 7 by the magnitude and rate of change of the angular position of the swimming means 1, determined by the sensors 9 and 10 installed on the swimming means, respectively (the algorithm can also be used data on the position of the center of gravity coming from the sensor 11, as well as higher derivatives, etc.).
  • the output signal of the controller 7 controls the thrust of the propulsion device 6, and if, in the example shown in Fig. 1, the swimming device 1 is tilted by a wave or an athlete who has transferred the center of gravity to the starboard side, the propulsion device 6, located to the right, should provide thrust down to the moment of full compensation roll, that is, in antiphase to the pitching vector.
  • the propulsion 6 creates a thrust up.
  • the rod 2 can be made movable, with a rotary mechanism 3, which is controlled by the controller 7. In this case, the roll to the left side can be compensated not by changing the direction of the rod from bottom to top, but by transferring the rod 2 to position 2 '.
  • the system may also comprise two rods 2 which are stationary relative to the swimming means 1 and are located perpendicular to the longitudinal axis of the swimming means (rods 2 and 2 'in FIG. 1).
  • the system may contain not one or two, but, for example, four rods 2, the position of which is also regulated by the controller 7.
  • the stabilization mode is automatically activated when the thrust (revolutions) of each propulsion is regulated by the built-in controller 7 based on the stabilization coefficient (the maximum possible stabilization or partial - with allowable tolerances for the angle of deviation from the vertical axis of the swimming vehicle 1 in peace). It doesn’t matter what causes instability - lateral roll on the wave or the movement of passengers or goods that shift the center of gravity, so this mode is especially useful when landing or disembarking;
  • the control of the thrust and its redistribution between the movers can be carried out either manually, by the joystick, or automatically, by the controller 7, for example, for direct movement with compensation of lateral drift, etc.
  • the simplest implementation may be the implementation of the transverse rod 2 with bends at the ends and movers 6 mounted on them (for example, engines and screws).
  • their position can be controlled as a pedal with a rotary by a mechanism (not shown), and directly by turning with the foot, for example, a drum with a corrugated rubber surface (not shown), connected with the axis of the rod 2.
  • control logic should be maintained (it is assumed, for example, that the upper third of the rubberized corrugated drum rises above " deck ”and is available for contact with the athlete’s foot): rotating the drum from itself all the way forward, you get a rear arrangement of nozzles and forward movement; turning the drum back on itself in the middle position, the stabilization mode is obtained, and with a further turn back, respectively, braking or moving backward is also carried out.
  • an automatic transition to this mode can be provided in the event of a roll or a derivative of a rotational movement around the longitudinal axis higher than allowed.
  • the variant with symmetrical movers 6 can be a U-shaped transverse rod 2, at the ends of which movers are fixed on the L-shaped brackets 6.
  • the sizes of all parts are selected from the following simple Considerations: the horizontal arrangement of the U-shaped structure, for example, corresponds to the horizontal arrangement of the propulsors with 6 screws (nozzles) back, while the L-shaped mount provides them with necessity of penetration relative to the water surface; the vertical position of the U-shaped structure (the result of its rotation by 90 °) then corresponds to the vertical position of the movers used in stabilization mode, and the size of the lateral parts of the U-shaped structure is selected based on the maximum roll and maximum wave height, despite which the mover must be under water.
  • the rotary mechanism 4 and / or the hinge mechanism 5, as well as the fastening of the upper part of the U-shaped structure should provide both two extreme and intermediate positions of its side parts in the angle of rotation relative to axis 3 and the upper part of the structure.
  • others are possible, including more complex structures that are divided for the left and right sides.
  • the use of propulsors 6 (or jets from them) in the stabilization mode in the “not vertically, but at an angle” position, as well as various modes of the controller 7 for controlling traction (revolutions), including the redistribution of traction between the propulsors, provides many possibilities for controlling the swimming means. Two modes can be given as an example:
  • the appropriate traction control mode can achieve full compensation of both roll and rotation, while not shifting the oar to the other side.
  • controller 7 can be supplied to the input of controller 7: on the position of the athlete’s center of gravity in the plane of the “deck”, for example, from pressure sensors mounted in the “deck”, or in a special mat placed on it, as well as from sensors reporting the strength of the current, excitement, wind, etc. (conventionally indicated in Fig. 3 by 12).
  • the controller 7 may also have various modes of operation, set from the remote 8. The difference between the modes can be the value of the transmission coefficient in the control channel, the value of the delay in this channel, etc.
  • FIG. 4-10 various embodiments of the system are shown with a propulsion device or propulsors placed on a keel of a swimming craft.
  • the keel 4 installed on the boat, which by itself provides increased stability, provides much more stability due to the location in it or on it of the mover (s), creating a transverse controlled force, the component of which is directed perpendicular to the direction of movement of the swimming means and is located below the surface water, creating a moment that compensates for banks.
  • FIG. 4 schematically shows an embodiment of the system with the arrangement on the keel 4 of one reversing propulsion 6, and in FIG. 5 schematically depicts a variant with two overhead movers 6, 6 '.
  • the keel 4 can be mounted on the body of the swimming means 1 by means of fasteners 13 (for example, belts).
  • the controller 7 In the keel 4 can be placed the controller 7 and the power source, for example, a battery 5.
  • the system functions in the same way as described above with the mover (movers) located on the rods 2 with the only difference that the moment that counteracts the roll or pitching is created by the mover thrust directed not vertically but horizontally.
  • Manual control of the system is also possible.
  • the operator using the remote control 8 can control the direction of rotation of the reverse transverse mover 6, so that the moment created thereby ensures the stability of the swimming means 1 (horizontal position, for example, a skimboard).
  • the operator changes the thrust of the propellers 6, 6 ', so that the force transverse to the direction of movement of the swimming means 1 ensures the stability of this floating means.
  • the remote control 8 provides manual control of the movers 6, b 'or a change in the operating mode of the controller 7, with the possibility of automatically maintaining the horizontal position of the swimming means 1 or, equivalently, the vertical position of the keel 4.
  • the movers can also be controlled using the joystick or pedals (not shown) mounted in the body of the swimming means 1.
  • the operator using the remote control 8, for example, executed in the form of a joystick, controls the direction and / or thrust of the propulsion device 6 (6 ').
  • the keel can be equipped with shutters 14 and 15, installed with the possibility of abduction of the jet created by the propulsors in the direction opposite to the specified direction of movement of the swimming means. This will allow you to combine maintaining a stable horizontal position of the swimming means 1 with its translational motion.
  • the rear and / or lower parts 16 and 17 of the keel 4 can be made flexible, which is convenient in shallow water, and when rolling, when the mover or movers 6 operate in the "pulse" mode, it allows to further stabilize the swimming means 1 and provide an additional "translational” effect movement, not only when using the shutters 14 and 15, but also due to the fact that the rear 16 and lower 17 of the keel 4 work like a fin.
  • the movement of the slight deflection of the lower part 17 is converted to the side opposite to the jet being thrown and the roll into the rotational movement of the rear fin (rear flexible part 16 of the keel 4).
  • the keel can be made non-rigid in the lower 17 and / or rear 16 parts, including with the possibility of converting the bend of the lower part 17 relative to the vertical axis into the pivoting movement of the rear 16 part relative to the horizontal axis to improve the dynamics of the movement of the swimming means 1 and simulate the function fin.
  • the lower part 17 of the keel 4 above the location of the movers 6 is made with non-rigid (elastic) fastening and the possibility of deviation from the vertical axis of the keel 4 by an angle ⁇ (for example, under the influence of water resistance when the mover 6 is on).
  • the rear portion 16 is also flexible.
  • connection of these two parts by a rod, for example, fixed on a hinge on the rigid part of the keel 4 above the fastening of the lower part 17 with the mover, and by the ends at the extreme, middle or other points of the lower 17 and rear 16 parts, respectively, when bending the lower part 17 will ensure the rotation of the rear part 16, for example, by the angle Kxarctga, where K is the proportionality coefficient equal to the ratio of the shoulders of the resulting lever relative to its turning point.
  • K is the proportionality coefficient equal to the ratio of the shoulders of the resulting lever relative to its turning point.
  • Another possibility of implementing such a motion conversion is all kinds of stiffeners or gradients of material parameters embedded in the keel 4 structure for a controlled change in shape at the indicated deformation of the lower part 17.
  • the result for example, for a board with such a keel, is the possibility of movement on water, much similar to movement on a roller skateboard, when the change in the position of the torso of a person and the transfer of the center of gravity provoke movement, the parameters of which in this case largely depend on the settings of the electric crown control unit (controller 7).
  • propulsors 6 does not exclude additional propulsors longitudinally located along the axis of motion, mounted on the rear of the keel or on the body of the swimming means and intended for its translational movement.
  • the keel can be considered the lower part of the hull of a small or individual swimming means of any shape, equipped with transverse or side propulsion 6, which in its sense performs the function of active stabilization. It is also possible that there are several active keels on the boat, including those located at a certain angle to the axis of movement.
  • a folding, split keel is also used.
  • the keel 4 can also be made with fixed horizontal plates 21, 22 (Fig. 9, 10), on which additional movers 6 are located, which can function similarly to movers 6 mounted on rods 2, as described above.
  • the controller 7 can be configured to change the transmission coefficient of the channel "angular position sensor 9 - mover 6".
  • This channel is a tracking system that supports the roll of a floating vehicle near zero or a given deviation value, while both the operator’s sensations and the degree of his participation in this process depend on the transmission coefficient and timing control parameters, so setting the coefficients on one or another level and choice of algorithm (mode) allow you to expand the scope of the system, adapting it to different tasks.
  • the battery consumption for example, is entirely determined, on the one hand, by such settings, and on the other hand, by the athlete’s experience, since in the absence of the need for additional stabilization, the movers 6 can be turned off.
  • the controller 7 can take into account weather conditions, excitement, and other external data coming to its inputs from the corresponding sensors, in this case, the algorithm and / or the degree of change of the transmission coefficient of the channel "angular position sensor 9 - mover 6" and control delays can be calculated taking into account external conditions, hydrodynamics of the swimming means 1 and the mode selected by the operator. In the case of the location of the propulsors 6 on the lateral surfaces of the keel, their coordinated work can also give some compensation of the roll "aft" and pitching.
  • the position of the operator’s center of gravity and the dynamics of its movement can be monitored by sensors (for example, pressure or displacement) located on the surface of the swimming means, which allows predicting the displacement of the general center of gravity and reducing the reaction time during stabilization.
  • sensors for example, pressure or displacement
  • the stabilization mode when switched off (for example, emergency), the behavior of a floating vehicle with such a keel changes too sharply, which can be dangerous.
  • the consequence of this may be the immediate filling of the cavities 20 with water to increase stability and the corresponding indication (for example, on the remote control 8).
  • the system responds to engine breakdowns or battery discharge so that it uses the latest battery energy to inflate these bags with air, increasing the area of the craft, its lateral stability and safety.
  • the same system may be useful in elementary school.
  • the keel can also be equipped with a transport safety system that prevents, for example, accidental inclusion without being placed in the water, as well as at angles close to the horizontal (which can be important during transportation and as a precaution for pranks of children).
  • a stabilization system dramatically improves the stability of a swimming means, it becomes possible for an athlete to perform a variety of regular motor activities, for example: pressing the pedals of an additional water jet mounted on a swimming means, a pedal or other device for converting muscular energy into electrical energy to recharge batteries or directly movement of a swimming means, as well as the implementation of other useful activities without the risk of rocking Does turning side.
  • a stabilization system does not exclude, as described above, the use of muscular energy to recharge batteries, drive propulsion when rowing, as well as in the form of pedals, a treadmill, an arc or a mast as a lever for arm effort, etc.

Abstract

L'invention peut être utilisée lors de la construction ou de la modernisation de navires, de barques, de kayaks, de différentes planches de surf et de SUP de dimensions réduites, entre autres. L'invention consiste essentiellement en un système de stabilisation active de faibles dimensions d'un engin flottant (1), comprenant au moins un propulseur (6) déporté par rapport au corps dudit engin flottant (1) dans une direction perpendiculaire à l'axe de roulis ou de tangage de l'engin flottant de sorte que, en position fonctionnelle, le propulseur (6) se trouve en position immergée ; le propulseur (6) peut générer un moment rotatif agissant sur ledit engin flottant, dont le vecteur est orienté à l'opposé du vecteur de roulis ou de tangage.
PCT/RU2015/000604 2014-09-25 2015-09-24 Système de stabilisation active d'engin flottant de dimensions réduites WO2016048196A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
RU2014138624 2014-09-25
RU2014138624/11A RU2570924C1 (ru) 2014-09-25 2014-09-25 Активное приспособление для движения по воде в виде киля и его варианты
RU2014138622 2014-09-25
RU2014138622/11A RU2570998C1 (ru) 2014-09-25 2014-09-25 Система активной стабилизации малоразмерного плавательного средства

Publications (2)

Publication Number Publication Date
WO2016048196A1 true WO2016048196A1 (fr) 2016-03-31
WO2016048196A4 WO2016048196A4 (fr) 2016-05-26

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021013290A1 (fr) * 2019-07-25 2021-01-28 Luebcke Holger Mécanisme de propulsion pour véhicule marin et véhicule marin équipé d'un tel mécanisme de propulsion
CN114228932A (zh) * 2021-12-07 2022-03-25 江苏科技大学 一种船舶姿态智能控制系统及其方法
CN114248879A (zh) * 2021-12-07 2022-03-29 江苏科技大学 一种取水泵船船体平衡装置及其方法
EP3984878A1 (fr) * 2020-10-19 2022-04-20 Dacoma ApS Système permettant de maintenir un angle de roulis prédéterminé d'un navire

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FR2940781A1 (fr) 2009-01-07 2010-07-09 Georges Cascarino Dispositif de correction de la gite d'une embarcation
EP2338786A2 (fr) * 2009-12-23 2011-06-29 Brunswick Corporation Systèmes et procédés d'orientation d'un navire afin de minimiser le tangage ou le roulis
US20120167812A1 (en) 2010-12-31 2012-07-05 Walker Shawn M Wake Shaping System
US8215252B1 (en) * 2009-07-14 2012-07-10 Lockheed Martin Corporation System and method for dynamic stabilization and navigation in high sea states

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Publication number Priority date Publication date Assignee Title
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FR2306872A1 (fr) * 1975-04-11 1976-11-05 Tran Dinh Can Dispositif stabilisateur pour structure flottante
US5474012A (en) 1993-09-07 1995-12-12 Nissan Motor Co., Ltd. Automatic control for trim tabs
US5787832A (en) 1996-02-12 1998-08-04 Spinka; Harold Method and apparatus to stabilize marine vessels
WO2002076822A1 (fr) * 2001-03-27 2002-10-03 Robert Allen Dispositif de propulsion marine
US20030167991A1 (en) 2002-03-06 2003-09-11 Stan Namanny Motorized surfboard and method of assisting surfer in paddling out to waves
JP4133893B2 (ja) 2004-02-03 2008-08-13 Ｔｏｔｏ株式会社 マッサージノズル及びマッサージ装置
WO2006022847A2 (fr) 2004-03-25 2006-03-02 Exxonmobil Upstream Research Company Stabilisateur hydrogyroscopique et procede servant a stabiliser un vaisseau
RU2384457C2 (ru) 2008-04-25 2010-03-20 Василий Николаевич Храмушин Активный стабилизатор килевой и бортовой качки корабля - штормовой аварийный движитель
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US8215252B1 (en) * 2009-07-14 2012-07-10 Lockheed Martin Corporation System and method for dynamic stabilization and navigation in high sea states
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EP3984878A1 (fr) * 2020-10-19 2022-04-20 Dacoma ApS Système permettant de maintenir un angle de roulis prédéterminé d'un navire
WO2022084231A1 (fr) * 2020-10-19 2022-04-28 Dacoma Aps Système pour maintenir un angle de roulis prédéterminé d'un navire marin
CN114228932A (zh) * 2021-12-07 2022-03-25 江苏科技大学 一种船舶姿态智能控制系统及其方法
CN114248879A (zh) * 2021-12-07 2022-03-29 江苏科技大学 一种取水泵船船体平衡装置及其方法
CN114248879B (zh) * 2021-12-07 2023-02-03 江苏科技大学 一种取水泵船船体平衡装置及其方法

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