WO2017135588A2 - Stabilisateur inertiel pour moyen de transport maritime et son procédé de commande - Google Patents

Stabilisateur inertiel pour moyen de transport maritime et son procédé de commande Download PDF

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Publication number
WO2017135588A2
WO2017135588A2 PCT/KR2017/000383 KR2017000383W WO2017135588A2 WO 2017135588 A2 WO2017135588 A2 WO 2017135588A2 KR 2017000383 W KR2017000383 W KR 2017000383W WO 2017135588 A2 WO2017135588 A2 WO 2017135588A2
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WO
WIPO (PCT)
Prior art keywords
gimbal
shaft
damping
angular velocity
damping force
Prior art date
Application number
PCT/KR2017/000383
Other languages
English (en)
Korean (ko)
Other versions
WO2017135588A3 (fr
Inventor
김호현
Original Assignee
주식회사 삼미정공
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 KR1020160013098A external-priority patent/KR101668797B1/ko
Priority claimed from KR1020160014911A external-priority patent/KR101667411B1/ko
Application filed by 주식회사 삼미정공 filed Critical 주식회사 삼미정공
Publication of WO2017135588A2 publication Critical patent/WO2017135588A2/fr
Publication of WO2017135588A3 publication Critical patent/WO2017135588A3/fr

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    • 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
    • B63B39/04—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using gyroscopes directly
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/34—Special valve constructions; Shape or construction of throttling passages
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/06—Rotors
    • G01C19/08—Rotors electrically driven
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine

Definitions

  • the present invention relates to an inertial stabilizer for a marine vehicle using the principle of a gyroscope and a control method thereof.
  • the shake is generated, such a shake is caused by the safety of passengers or cargo on board the sea transportation means Will be affected.
  • the rolling phenomenon may cause the sickness of passengers aboard the ship, as well as to collapse the loaded cargo, and when the rolling phenomenon is intensified, the ship may be overturned and sink, resulting in loss of life and property. .
  • stabilizers such as Bilgekeel, Anti-Rolling Tank, Fin Stabilizer, and Gyroscope have been developed and used in ships.
  • the bilge key is economically inexpensive and can be effectively used as a result of stabilization even during operation or stoppage, but has a low damping force.
  • the anti-rolling tank is structurally simple and effective even during operation or stop, but takes up a lot of space inside the hull, which makes it difficult to apply to a small boat.
  • the pin stabilizer is capable of optimal control according to the change of the yaw cycle, and has a high attenuation effect, but has a problem of low damping effect at low speed and stop state, high price, and acting as resistance during operation. .
  • the gyroscope is effective even during driving and stopping, and has the advantage of high damping performance, while occupying a lot of space in the hull, and having a high cost and a high cost.
  • the exhaust pipe of the engine is secured by securing an arrangement space of the exhaust pipe by installing the exhaust pipe of the engine at the center of the gimbal shaft while the gimbal equipped with the flywheel and the engine of the power source is freely supported on the swing of the hull using the support. Ensure that outboard discharges are made more efficiently.
  • the flywheel is connected to the drive shaft of the engine and rotates through the continuously variable transmission, in this structure has a problem that the position to install the gimbal is limited as the installation position of the engine is limited.
  • the installation position is determined in consideration of the overall size and the appearance of the hull.
  • the installation position of the engine must be taken into consideration so that the installation position is limited, thereby preventing the effective anti-rolling effect. do.
  • the prior document 1 has a problem that the inertial ballast does not function in the situation such as anchoring or mooring, as the flywheel can operate only when the engine is driven.
  • Japanese Patent Application Laid-Open No. 09-114806 discloses a "linear damper-type sweetening device" (hereinafter referred to as "prior document 2").
  • the flywheel is driven in direct connection with the axis of rotation of the spin motor, the gimbal is supported on the support via the gimbal bearing, the gimbal shaft is configured to be wound by a linear damper installed between the arm and the mother.
  • the linear damper operates only with the damping force initially set, so that active damping is not performed according to the precession of the gimbal.
  • the driving motor has a problem in that unnecessary energy consumption occurs as the motor continues to operate at the rated speed.
  • An object of the present invention is to provide an inertial stabilizer for a marine vehicle that detects the magnitude of the angular velocity according to the precession of the gimbal, and can variably control the damping force of the damping means according to the magnitude of the detected angular velocity.
  • Another object of the present invention is to provide a control method of an inertial stabilizer for a marine vehicle that can detect the angular speed according to the precession of the gimbal to variably control the damping force of the damping means, and reduce the energy consumption by adjusting the current of the driving motor.
  • Still another object of the present invention is to provide an inertial stabilizer for a marine vehicle that can cool the motor by guiding the flow of air according to the rotation of the flywheel.
  • the present invention is a flywheel for generating a moment of inertia by rotating around a rotation axis, a drive motor for rotating the flywheel using a motor shaft connected to the rotation shaft through a power transmission means, the rotation shaft and the motor shaft is parallel to each other
  • One side is connected to the gimbal support means, the other side is connected to the gimbal and the damping means for providing a buffer force to the rotating gimbal, and provided on one side of the gimbal includes an angular velocity sensor for detecting a change in angular velocity due to precession
  • the damping means includes a damping shaft capable of drawing in / out of the inner space in which the fluid is accommodate
  • a pair of buffer cylinders provided to be symmetrical with respect to the gimbal shaft, one side is fastened to the gimbal, the other side is connected to the upper bracket and the damping shaft, one side is connected to the lower portion of the pair of buffer cylinder,
  • the other side of the gimbal is detected by the angular velocity sensor is configured to include a flow control valve for connecting the lower bracket and the pair of buffer cylinder fastened to the gimbal support means to adjust the damping force by moving the fluid contained therein The damping force is adjusted by the opening degree of the flow control valve according to the angular velocity detection information.
  • the flow control valve is characterized in that the opening degree is adjusted by the servomotor.
  • control method of the inertial ballast for maritime transport means according to the present invention, the angular velocity detection step of detecting the change in the angular velocity according to the precession of the gimbal using the angular velocity sensor and the angular velocity detected in the angular velocity detection step A damping force control step of adjusting the damping force of the damping means through a flow control valve provided in the damping means, and a driving motor control step of controlling the current of the driving motor for rotating the flywheel according to the detected angular velocity and the damping force of the damping means.
  • the damping force control step if the detected angular velocity is less than the set range, the damping force of the damping means is reduced by using a flow control valve, and if it is out of the set range, the damping force of the damping means is increased.
  • the damping means includes a damping shaft capable of drawing in / out in the inner space in which the fluid is accommodated, the center of the gimbal shaft A pair of buffer cylinders provided to be symmetrical with each other, one side is fastened to the gimbal, the other side is connected to the upper bracket and the damping shaft, one side is connected to the lower portion of the pair of buffer cylinder, the other side is gimbal And a flow control valve that connects the lower bracket and the pair of buffer cylinders coupled to the gimbal support means to rotatably fix the shaft to support the gimbal, and controls the damping force by moving the fluid contained therein.
  • the damping force control step is configured to adjust the opening degree of the flow regulating valve by using a servo motor. And it characterized
  • the present invention is a flywheel for generating a moment of inertia by rotating about a rotation axis, a drive motor for rotating the flywheel using a motor shaft connected to the rotation shaft through a power transmission means, the rotation shaft and the motor A gimbal for fixing the flywheel and the driving motor therein so that the axes are parallel to each other, a gimbal in which a gimbal shaft is formed in a direction perpendicular to the rotation axis, and a gimbal for rotatably fixing the gimbal shaft so that the gimbal is rotatably supported Support means, one side is connected to the gimbal support means, the other side is connected to the gimbal and damping means for providing a buffer force to the rotating gimbal, and is provided on one side of the gimbal for detecting the angular velocity change according to the precession It is provided on the side of the angular velocity sensor and the flywheel to increase the flow of air due to the
  • the damping means includes a damping shaft that can be pulled in and out in the inner space in which the fluid is accommodated, a pair of buffer cylinders provided to be symmetrical with respect to the gimbal shaft, one side is fastened to the gimbal, the other side is the damping
  • the upper bracket is connected to the shaft, one side is connected to the lower portion of the pair of buffer cylinder, the other side is connected between the lower bracket and the pair of buffer cylinder fastened to the gimbal support means to move the fluid contained therein
  • It is configured to include a flow control valve for adjusting the damping force to be characterized in that the damping force is adjusted by the opening degree of the flow control valve according to the angular velocity detection information of the gimbal sensed by the angular velocity sensor.
  • the damping force can be variably controlled by detecting the angular velocity according to the precession of the gimbal and using the flow control valve provided in the damping means according to the angular velocity.
  • the present invention detects the change in the angular velocity through the angular velocity sensor provided in the gimbal, and actively controls the drive current of the drive motor based on the detected angular velocity information and the damping force information of the damping means.
  • the drive motor is driven only by the rated current
  • the drive motor is driven by the rated current or less, thereby reducing the energy consumption.
  • FIG. 1 is a view showing an embodiment of an inertial ballast for marine vehicles according to the present invention.
  • FIG. 1 is an exploded perspective view of FIG. 1;
  • 3 and 4 are views for showing the detailed structure of the damping means that is the main component of the present invention.
  • FIG. 5 is a view for showing the installation structure of the motor cooling means that is the main configuration of the present invention.
  • FIG. 6 is a view for showing a detailed structure of the motor cooling means installed in FIG.
  • FIG. 7 is a view for showing a control process of the inertial ballast for marine vehicles according to the present invention.
  • FIG. 1 is a view showing an embodiment of an inertial stabilizer for a marine vehicle according to the present invention
  • Figure 2 is an exploded perspective view of Figure 1
  • Figures 3 and 4 are the main components of the present invention The figure for showing the detailed structure of the damping means is shown.
  • the inertial ballast for marine transport according to the present invention (hereinafter referred to as an "inertial ballast”) is a flywheel 200 and the drive motor 300 is a power transmission means 240 Is connected to be installed in parallel to each other inside the gimbal 400, the gimbal 400 is rotatably installed on the gimbal support means (100).
  • the fly wheel 200 rotates about the rotation shaft 220 to generate an inertia moment.
  • the fly wheel 200 is formed in a cylindrical shape of a metal material, a portion of the inner space may be formed as an empty space to reduce the weight.
  • the drive motor 300 is configured to provide a rotational force to the rotating shaft 220, the motor shaft 320 is located in parallel with the rotating shaft 220 is connected to the power transmission means 240. Therefore, the moment of inertia by the flywheel 200 may be controlled according to the rotation speed of the drive motor 300.
  • the power transmission means 240 may include a drive belt 244 connecting between the pulley 242 and the pulley 242 fastened to the rotary shaft 220 and the motor shaft 320, the pulley 242 may be formed integrally with the end of the rotation shaft 220 and / or the motor shaft 320.
  • the inertial stabilizer according to the present invention by having a power transmission structure of the structure as described above can reduce the height of the gimbal 400 compared to the prior art that the flywheel and the drive motor is connected coaxially gimbal 400 during precession You can expect the effect of reducing shaking.
  • the gimbal 400 has the flywheel 200 and the driving motor 300 installed therein, and the gimbal shaft 410 perpendicular to the rotation shaft 220 is provided at both sides.
  • the gimbal 400 has a pair of gimbal mainframes 420 facing each other and spaced apart a predetermined interval, the side plate 460 and the upper plate 470 and the bottom plate (between the gimbal mainframe 420) 480 is coupled, the gimbal shaft 410 is coupled to the side plate 460 is configured.
  • the upper plate 470 and the bottom plate 480 are installed to be positioned above and below the gimbal main frame 420, respectively, for mounting the flywheel 200 and the driving motor 300.
  • the rotary shaft mounting parts 474 and 484 rotatably fix the upper side and the lower side of the rotary shaft 220 positioned at the center of the flywheel 200, and the rotary shaft bearings 476 and 486 are further provided therein.
  • the motor shaft bearing portion 483 may be further provided with a motor shaft bearing 483.
  • the side plate 460 is installed to be located between the gimbal mainframe 420, and provides an installation space of the gimbal rotation shaft 410.
  • the gimbal 400 is further provided with an angular velocity sensor 600 for detecting a change in the angular velocity due to the precession.
  • the present embodiment has been described as a structure for directly detecting the amount of change in the angular velocity using the angular velocity sensor 600, provided with a displacement sensor for detecting the displacement according to the precession of the gimbal 400, and the detected displacement It may be composed of a structure for converting at an angular velocity.
  • the gimbal 400 is configured as described above so that the flywheel 200 can be rotated while maintaining the horizontal state even if the ship is shaken transversely while ensuring the radius of the precession movement by the rotation of the flywheel 200 do.
  • the gimbal support means 100 supports the gimbal 400 in which the flywheel 200 and the driving motor 300 are installed to be rotatable at a predetermined angle about the gimbal shaft 410, such as a marine transport means such as a ship. It is a configuration for mounting on the.
  • the gimbal support means 100 includes a base frame 110 fastened to a marine vehicle such as a ship, and a mounting plate 120 vertically installed to face each other at right and left sides of the base frame 110. It includes a reinforcing frame 140 to connect between the mounting plate (120).
  • the base frame 110 is formed in a rectangular shape by connecting a plurality of beams (Beam), it may be formed in a grid shape for strength reinforcement.
  • Beam beams
  • the base frame 110 formed as described above is provided with a pair of mounting plates 120 and the damping means 500.
  • the mounting panel 120 in which the damping means 500 is installed among the two mounting panels 120 will be described.
  • the mounting panel 120 is formed with a drilling hole (not shown) for supporting the gimbal shaft 410 in the center portion, the guide hole 122 is rounded to the upper side of the fastening hole Is formed.
  • the guide hole 122 allows a portion of the upper bracket 540 to be described below to move through a predetermined range, and both ends are bent downward to correspond to the trajectory of the gimbal 400 according to the precession motion.
  • a plurality of reinforcing frame fastening portions are formed at the edge of the mounting panel 120 so that a pair of mounting panels 120 may be attached to the reinforcing frame 140. It can be fixed to face each other while maintaining the spacing.
  • the damping means 500 includes a pair of buffer cylinders 530 and 550, an upper bracket 540 and a lower bracket 520 for mounting the buffer cylinders 530 and 550, and the buffer cylinder ( Is provided between the 530, 550 is configured to include a flow control valve 580 for adjusting the flow rate of the fluid for the buffer.
  • the buffer cylinders 530 and 550 include an inner space in which the fluid is accommodated and a damping shaft capable of drawing in / out of the inner space, and the damping force is exerted while the fluid is compressed when the damping shaft is drawn in.
  • the pair of buffer cylinders 530 and 550 are provided to be symmetrically around the gimbal shaft 410, and the flow control valve 580 is provided between the buffer cylinders 530 and 550.
  • the flow control valve 580 adjusts the damping force by moving the fluid accommodated in the buffer cylinder (530, 550) according to the angular velocity detection information of the gimbal 400 is detected through the angular velocity sensor 600, for this purpose It may be configured to include.
  • the flow rate control valve 580 adjusts the amount of fluid in the buffer cylinders 530 and 550 by adjusting the opening degree by using a servomotor to adjust the damping force.
  • the upper bracket 540 is one end is connected to the damping shaft of the buffer cylinder (530, 550) and the other end is fastened to the gimbal 400.
  • one end of the upper bracket 540 fastened to the gimbal 400 is connected through the guide hole 122 and moved in a curve along the guide hole 122 of the upper bracket 540 during car wash movement of the gimbal. While compressing the damping shaft.
  • the lower bracket 520 is connected to the lower side and one side of the buffer cylinder (530, 550) and the other side is fastened to the gimbal support means (100).
  • an upper portion of the lower bracket 520 connected to the buffer cylinders 530 and 550 is formed in a shape in which two protrusions are spaced at a predetermined interval to fix and install the respective buffer cylinders 530 and 550 in the spaced apart position.
  • such a gap may be formed on one end of the upper bracket 540 connected to the damping shaft so that a pair of buffer cylinders 530 and 550 may be provided to be symmetrical with respect to the gimbal shaft 410. have.
  • any one of the pair of buffer cylinders 530 and 550 is compressed to exert a damping force according to the rotation angle of the gimbal 400 during the precession of the gimbal 400.
  • the fluid contained in the right buffer cylinder 550 may move to the left buffer cylinder 530 via the flow control valve 580 according to the opening degree. Due to this damping force of the damping means 500 is reduced.
  • the damping force can be adjusted by adjusting the opening degree of the flow regulating valve 580, and the opening degree and the damping force of the flow regulating valve 580 are inversely proportional to each other.
  • motor cooling means 800 for cooling the temperature of the drive motor 300 by guiding the flow of air due to the rotation of the fly wheel 200 to the drive motor 300 on the side of the fly wheel 200. 5) is further provided.
  • FIG. 5 is a view for showing the installation structure of the motor cooling means, which is a main component of the present invention
  • FIG. 6 is a view for showing the detailed structure of the motor cooling means installed in FIG.
  • the motor cooling means 800 is provided in a direction intersecting with the rotation shaft 200 of the flywheel 200. That is, when the flywheel 200 with the rotary shaft 220 installed up and down as in the present invention rotates, the flow of air is generated in the transverse direction to cross it, in the present invention the flow of air generated as described above
  • the motor cooling means 800 is provided on the side of the flywheel 200 so as to guide the driving motor 300 to air cooling.
  • the motor cooling means 800 is to guide the flow of air to the flywheel side guide parts 822 and 842 having curved surfaces corresponding to the outer surface of the flywheel 200 and the drive motor 300.
  • the motor side guide parts 824 and 844 extending from the flywheel side guide parts 822 and 842 toward the driving motor 300.
  • the motor cooling means 800 may be divided into a first cooling means 820 provided on one side of the flywheel 200 and a second cooling means 840 provided on the other side, each cooling means 820
  • the flywheel side guides 822 and 842 of the 840 are rounded in a direction facing each other to surround the flywheel 200.
  • the motor side guide parts 824 and 842 have a curvature in the opposite direction to the curvature direction of the flywheel side guide parts 822 and 842 as the inflection point of a portion connected to the flywheel side guide parts 822 and 842. It is formed to face the drive motor 300.
  • the motor cooling means 800 is formed as described above may be provided on the side of the gimbal 400, as shown in this embodiment shown in Figure 5, or may be installed or integrally formed on the inner surface of the cover 700 have.
  • the motor cooling means 800 is installed on the open side of the gimbal 400 using the fastening part 826, and the drive motor 300 is formed to have a full length smaller than the size of the side opening.
  • the cooled air is to be discharged to the outside of the gimbal 400 through the remaining space without stagnating in the gimbal 400.
  • the air flow according to the rotation of the flywheel 200 is guided to the driving motor 300 by the motor cooling means 800 provided in the gimbal or the case.
  • the driving motor 300 can be cooled effectively, and thus has the advantage of enabling more stable operation.
  • FIG. 7 is a view for showing a control process of the inertial ballast for marine vehicles according to the present invention.
  • the moment of inertia is generated while the flywheel 200 rotates together with the driving motor 300.
  • the moment of inertia acts together with the precession motion of the gimbal 400 to attenuate the fluctuation, thereby reducing the lateral fluctuation of the marine vehicle such as a ship.
  • the damping means 500 and the driving motor 300 are controlled through the following steps during the process of reducing lateral fluctuation as described above.
  • an angular velocity detection step of detecting a change in angular velocity due to precession of the gimbal 400 using the angular velocity sensor 600 is performed.
  • the angular velocity is calculated by calculating the rotation angle of the gimbal 400 rotated for a unit time.
  • a damping force control step of adjusting the damping force of the damping means 500 is performed through the flow control valve 580 provided in the damping means 500 according to the calculated angular velocity.
  • the damping force control step when the calculated angular velocity is less than the set range, the damping force of the damping means 500 is reduced by using the flow control valve 580, and when it is out of the set range, the damping force of the damping means 500 is increased.
  • damping force adjustment can be made through the control of the servo motor to adjust the opening degree of the flow control valve 580.
  • the present invention further comprises a drive motor control step of controlling the current for driving the drive motor 300 by comparing the damping force of the damping means 500 with the angular velocity calculated in the angular velocity detection step and a set range. do.
  • the current of the driving motor 300 is controlled to be greater than or equal to the rated rotational current. Control below the rated rotational current.
  • the rated rotation speed of the flywheel 200 is 4,000rpm, and the current consumed to maintain it is 4.5kW, if the fluctuation of the marine transportation means such as a ship is intensified, the angular velocity and the damping force over the set range are detected.
  • the drive motor 300 continues to maintain a current of more than 4.5kW.
  • the angular velocity below the set range is calculated by the angular velocity sensor 600, and the damping force is reduced by the flow control valve 580, and the driving motor 300 is driven.
  • the current By reducing the current to less than 4.5kW, energy consumption can be reduced.
  • the drive motor 300 is cooled by the flow of air generated when the drive motor 300 is rotated by the motor cooling means 800 to enable a more stable operation of the motor.
  • the ship is agitated back and forth or left and right by the external force generated in the surrounding environment during the operation, and such a shake may affect the stability of passengers or cargoes and a large rollover accident may occur. Therefore, in the case of large vessels, a structure that reduces such fluctuations by using ballast water is used, but in the case of medium / small, especially small vessels, it is difficult to reduce the fluctuation by using ballast water. .
  • the inertial ballast for maritime transportation means can be easily installed on the medium / small vessels to reduce the shaking of the ship by using the gyroscope principle, thereby eliminating the passenger's emotional complaints and As stable transportation is possible, it may be widely used in the small and medium vessel market.

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  • Vibration Prevention Devices (AREA)

Abstract

La présente invention concerne un stabilisateur inertiel pour un moyen de transport maritime utilisant le principe gyroscopique et un procédé de commande de celui-ci. La présente invention comprend : un volant (200) qui se met en rotation autour d'un arbre rotatif (220) et génère ainsi un moment d'inertie ; un moteur d'entraînement (300) qui met en rotation le volant (200) à l'aide d'un arbre moteur (320) qui est raccordé à l'arbre rotatif (220) par l'intermédiaire d'un moyen de transfert d'énergie (240) ; une suspension à la cardan (400) présentant un arbre de suspension à la cardan (410) formé dans une direction perpendiculaire à l'arbre rotatif (220), le volant (200) et le moteur d'entraînement (300) étant retenus dans la suspension à la cardan (400) de telle sorte que l'arbre rotatif (220) et l'arbre moteur (320) sont parallèles l'un à l'autre ; un moyen de support de suspension à la cardan (100) qui supporte en rotation l'arbre de suspension à la cardan (410) de sorte que la suspension à la cardan (400) est supportée en rotation ; un moyen d'amortissement (500) présentant un côté raccordé au moyen de support de suspension à la cardan (100) et l'autre côté raccordé à la suspension à la cardan (400), fournissant ainsi à la suspension à la cardan rotative (400) une force d'amortissement ; et un capteur de vitesse angulaire (600) disposé sur un côté de la suspension à la cardan (400) de façon à détecter un changement de vitesse angulaire résultant d'un mouvement de précession, la force d'amortissement du moyen d'amortissement (500) étant ajustée en fonction d'informations concernant la vitesse angulaire détectée de la suspension à la cardan (400) qui est détectée par le capteur de vitesse angulaire (600). En conséquence, il est possible de détecter la vitesse angulaire résultant du mouvement de précession de la suspension à la cardan et de commander de façon variable la force d'amortissement à l'aide d'une soupape de régulation de débit disposée sur le moyen d'amortissement.
PCT/KR2017/000383 2016-02-02 2017-01-11 Stabilisateur inertiel pour moyen de transport maritime et son procédé de commande WO2017135588A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020160013098A KR101668797B1 (ko) 2016-02-02 2016-02-02 해상 운송수단용 관성안정기
KR10-2016-0013098 2016-02-02
KR1020160014911A KR101667411B1 (ko) 2016-02-05 2016-02-05 해상 운송수단용 관성안정기 및 이의 제어방법
KR10-2016-0014911 2016-02-05

Publications (2)

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WO2017135588A2 true WO2017135588A2 (fr) 2017-08-10
WO2017135588A3 WO2017135588A3 (fr) 2018-08-02

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110466707A (zh) * 2019-08-07 2019-11-19 武汉理工大学 一种应用于小型高速船的随动减摇装置
CN115583308A (zh) * 2022-09-26 2023-01-10 中国舰船研究设计中心 船舶用存储舱室

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3601854B2 (ja) * 1994-09-19 2004-12-15 特許機器株式会社 ジャイロ機構による制振方法
JPH10244990A (ja) * 1997-03-05 1998-09-14 Mitsubishi Heavy Ind Ltd ジャイロ式減揺機
WO2009049371A1 (fr) * 2007-10-16 2009-04-23 Halcyon International Pty Ltd Gyrostabilisateur
EP2536998B1 (fr) * 2010-02-17 2018-07-25 Veem Ltd Système de commande de gyrostablisateur adaptatif actif
WO2014136192A1 (fr) * 2013-03-04 2014-09-12 三菱重工業株式会社 Dispositif de réduction de roulis et navire l'utilisant

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110466707A (zh) * 2019-08-07 2019-11-19 武汉理工大学 一种应用于小型高速船的随动减摇装置
CN110466707B (zh) * 2019-08-07 2021-07-23 武汉理工大学 一种应用于小型高速船的随动减摇装置
CN115583308A (zh) * 2022-09-26 2023-01-10 中国舰船研究设计中心 船舶用存储舱室

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