WO2020082822A1 - 一种带有水面自适应减摇装置的耐波无人船 - Google Patents

一种带有水面自适应减摇装置的耐波无人船 Download PDF

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Publication number
WO2020082822A1
WO2020082822A1 PCT/CN2019/095930 CN2019095930W WO2020082822A1 WO 2020082822 A1 WO2020082822 A1 WO 2020082822A1 CN 2019095930 W CN2019095930 W CN 2019095930W WO 2020082822 A1 WO2020082822 A1 WO 2020082822A1
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Prior art keywords
suspension
upper deck
spherical
wave
unmanned ship
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PCT/CN2019/095930
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English (en)
French (fr)
Inventor
徐鹏飞
丁延旭
沈雅琳
程文斌
程红霞
骆佳成
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河海大学
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Application filed by 河海大学 filed Critical 河海大学
Priority to GB2006069.5A priority Critical patent/GB2581669B/en
Publication of WO2020082822A1 publication Critical patent/WO2020082822A1/zh

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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
    • B63B39/14—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating inclination or duration of roll
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
    • B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
    • B63B2001/145—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration having means for actively varying hull shape or configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled

Definitions

  • the invention relates to a wave-resistant unmanned ship with a water surface adaptive anti-rolling device, which belongs to the technical field of marine unmanned systems.
  • Unmanned ship as a new type of ocean observation platform, has the advantages of small volume, fast speed and shallow draft. It can enter special waters beyond the reach of traditional marine survey ships. It has been widely used in offshore environmental surveys and pipeline inspections. Applications.
  • Unmanned boat When the unmanned boat is sailing in the marine environment, due to the influence of the sea waves, it will inevitably produce swaying motions, including six degrees of freedom of roll, pitch, yaw, roll, pitch, and heave (or heave) The movements, including roll, pitch, and heave, have the greatest impact on the ship due to large amplitude changes, affecting the safety and normal operation of unmanned ships.
  • the patent CN108298031A proposes a anti-rolling device using a Y-shaped suspension, which can rotate correspondingly with the waves to achieve anti-rolling, but passive anti-rolling devices cannot The control of the ship's attitude is poor when the sea conditions are bad;
  • the patent CN107323613A proposes an anti-rolling device for unmanned ship detection equipment.
  • the telescopic rod can be used to achieve active anti-rolling, but it is only effective in the direction of pitch.
  • the device The load is limited, and it is only applicable to a single detection device, and the whole ship has not been reduced.
  • the technical problem to be solved by the present invention is to overcome the defects of the prior art, and to provide a wave-resistant unmanned ship with an adaptive anti-rolling device on the water surface. It has the disadvantages of poor and small application range. It adopts adaptive anti-rolling device and combines active and passive anti-rolling methods. It has active control and multi-degree-of-freedom anti-rolling capabilities, which can effectively reduce the instability and unsteadiness of unmanned ships during navigation. Rocking improves the navigation safety and operational stability of unmanned ships under complex sea conditions.
  • a wave-resistant unmanned ship with an adaptive anti-rolling device on the water surface the unmanned ship is a double-hulled ship type, including an upper deck, a floating body separated from the upper deck, and an adaptive anti-rolling device, the floating body is unmanned
  • the ship provides buoyancy and is equipped with a propulsion device.
  • the buoy is two symmetrical buoys that are completely symmetrical.
  • the upper deck is provided with an inclination sensor, an accelerometer and a gyroscope to obtain the rotation angle of the upper deck, angular acceleration prediction and Trend, and transmit it to the control system in real time.
  • the adaptive anti-shake device includes a suspension system and a balance control mechanism.
  • the suspension system is not only used to connect the upper deck and the floating body; at the same time, through the shock absorber, the piston rod and the first
  • the connection structure of the universal joint can rotate freely and realize the stability of the upper deck;
  • the balance control mechanism includes a spherical rotation mechanism, the control system, and a bracket for connecting the balance control mechanism and the floating body, and the spherical rotation mechanism rotates horizontally
  • the shaft rotates, both ends of the horizontal rotating shaft are fixed on the bracket, and one end of the horizontal rotating shaft is provided with a motor and is provided with a code It can detect the rotation angle and rotation speed, and reversely adjust the rotation angle of the spherical rotation mechanism under the control of the control system.
  • the motor and the spherical rotation mechanism are connected through a speed reducer.
  • the spherical rotation mechanism is provided on the spherical surface There is a ball hinge for connecting with the suspension system;
  • the control system receives the angle ⁇ measured by the inclination sensor on the upper deck, and the angular acceleration prediction and trend measured by the accelerometer and gyroscope, and then judges the state of the unmanned boat.
  • the control judges that the unmanned boat is basically stable and does not respond; when ⁇ is greater than the given inclination angle, the system judges that the unmanned boat is in an unstable state and needs to make adjustments.
  • the Kalman filter algorithm is used for the next The inclination angle is predicted at the moment, the current inclination angle ⁇ plus the current angular velocity ⁇ times the time t is equal to the inclination angle at the next moment, so as to control the motor drive module to make a reverse adjustment to the motor, respond in advance, realize active roll reduction, and reduce the hull shake caused by the waves.
  • the suspension system includes a front suspension mechanism and a rear suspension mechanism.
  • the front suspension mechanism includes a suspension, a front shock absorber, and a piston rod.
  • the suspension is an I-shaped overall structure with an upper width and a lower width.
  • a number of cylinders are provided on the upper horizontal support of the suspension. Each cylinder is fixed with an inner cylinder spring.
  • the inner cylinder spring is connected to the unmanned ship.
  • the decks are connected to achieve the stability of the upper deck when the suspension is tilted.
  • Each end of the upper horizontal bracket of the suspension is provided with a front shock absorber.
  • the front shock absorber can be contracted and elongated, and the front shock absorber
  • the spring and hydraulic device in the device provide the restoring force, and return to the original state after expansion and contraction.
  • the other ends of the two front shock absorbers are respectively connected to a piston rod through a connecting rod, and the upper ends of the two piston rods
  • the two ends of the horizontal bracket at the lower part of the suspension are respectively hinged by a first universal joint and can rotate in all directions. 2
  • the lower end of the piston rod is connected to the balance control mechanisms on the left and right two floating bodies through a second universal joint Articulated, able to fully Rotating in position, the piston rod can freely expand and contract within the maximum stroke range to realize the change of the length of the piston rod.
  • the rear suspension mechanism includes a non-telescopic I-shaped link and a rear shock absorber, one end of the I-shaped link is hinged to the upper deck, The other end is hinged with the balance control mechanism on the floating body and rotates around the hinge point of the upper deck; the lower end of the rear shock absorber is connected with the crossbar in the I-shaped link, and the upper end is hinged with the upper deck to limit the rotation range of the link .
  • spherical rotating mechanisms which are respectively arranged at four positions in front of and behind the left and right floating bodies, and the front of the left and right floating bodies
  • the spherical surface of the two spherical rotating mechanisms is provided with a second universal hinge for connecting with the front suspension mechanism, and the second universal hinge is respectively used to connect the two piston rods in the front suspension mechanism;
  • the spherical surfaces of the two spherical rotating mechanisms of the part are provided with spherical hinges for connecting with the rear suspension mechanism, and the spherical hinges are respectively used to connect the two I-shaped links in the rear suspension mechanism.
  • the bow of the floating body is set as a bulbous bow, which can reduce the traveling wave of the ship during the travel of the ship.
  • the upper deck is also equipped with operating equipment and a communication antenna.
  • the operating equipment includes a winch provided below the communication antenna and supporting use with the winch And fixedly set the A-frame on the upper deck.
  • the propulsion device is arranged at the stern of the floating body.
  • the material of the suspension is a stainless steel alloy square tube.
  • the piston rod is a free-type gas spring.
  • the present invention solves the defects that the traditional anti-rolling method cannot be applied to small-sized ships and has poor anti-rolling effect.
  • the anti-rolling mechanical structure using the suspension system as the core has light weight, small space, and rapid response to small and medium-scale waves.
  • the anti-shake effect is good, which is very suitable for small and medium ships;
  • the present invention adopts an adaptive anti-rolling device combined with active and passive anti-rolling means to separate the upper deck from the floating body and improve the stability of the upper deck through the suspension system.
  • the control system can realize the prediction of the attitude of the unmanned ship based on the PID control method , And make an early response to carry out active anti-rolling to overcome the problem of poor anti-rolling effect and unreliability of a single anti-rolling method, which can effectively reduce the instability and unsteadiness of the unmanned boat during navigation;
  • the present invention achieves multi-degree-of-freedom anti-rolling through a set of anti-rolling devices, the anti-rolling effect is obvious, and the navigation safety and stability of the unmanned ship under complex sea conditions are improved;
  • the anti-shake device mostly uses metal pipes and hydraulic mechanism, which is simple and reliable, and has a large load capacity, which greatly improves the functionality of the unmanned boat.
  • FIG. 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic diagram of the structure of the front suspension mechanism and the balance control mechanism 6;
  • Figure 3 is a schematic diagram of the structure of the rear suspension mechanism and the balance control mechanism 6;
  • FIG. 4 is a schematic structural view of a bracket 65 and a spherical rotating mechanism 61 at the rear of the floating body;
  • Figure 5 is a schematic diagram of the anti-rolling operation of the unmanned boat on the pitch scale
  • Figure 6 is a schematic diagram of the anti-rolling work of the unmanned boat on the roll and heave scale
  • Figure 7 is a block diagram of the PID algorithm of the control system.
  • the wave-resistant unmanned ship of the present invention is a double-hulled ship type, including an upper deck 1, a floating body 7 separately provided from the upper deck 1, and an adaptive anti-rolling device.
  • the floating body 7 provides buoyancy for the unmanned boat and is set There is a propulsion device 8, the floating body 7 is two symmetrical floating bodies 7, and the upper deck 1 is provided with an inclination sensor, an accelerometer and a gyroscope, which are used to obtain the rotation angle, angular acceleration prediction and trend of the upper deck 1, and It is transmitted to the control system in real time.
  • the adaptive anti-shake device includes a suspension system and a balance control mechanism 6.
  • the suspension system is not only used to connect the upper deck 1 and the floating body 7; at the same time, through the shock absorber, the piston rod 44 and the first universal joint 45
  • the connection structure can rotate freely and realize the stability of the upper deck 1.
  • the balance control mechanism 6 includes a spherical rotation mechanism 61, a control system, and a bracket 65 for connecting the balance control mechanism 6 and the floating body 7.
  • the spherical rotation mechanism 61 rotates around a horizontal rotation axis , The two ends of the horizontal rotation shaft are fixed on the bracket 65, and one end of the horizontal rotation shaft is provided with a motor 63, and is equipped with an encoder, which can detect the rotation angle and the rotation speed.
  • the rotation angle of the spherical rotating mechanism 61 is reversely adjusted.
  • the motor 63 and the spherical rotating mechanism 61 are connected through a reducer 64.
  • the spherical surface of the spherical rotating mechanism 61 is provided with a ball hinge 66 for connecting with the suspension system;
  • 65 is a triangle, the bottom of which is fixed on the floating body 7, the two ends of the balance control mechanism 6 are fixed on a bracket 65, and the bracket 65 supports the balance control mechanism 6;
  • the control system receives the angle ⁇ measured by the inclination sensor on the upper deck 1, and the angular acceleration prediction and trend measured by the accelerometer and gyroscope, and then judges the state of the unmanned boat.
  • the control system Judging that the unmanned boat is basically stable and does not respond; when ⁇ is greater than the given inclination angle, the system judges that the unmanned boat is in an unstable state and needs to be adjusted.
  • the Kalman filter algorithm is used to the next moment Predict the inclination angle, the current inclination angle ⁇ plus the current angular velocity ⁇ times the time t is equal to the inclination angle at the next moment, so as to control the motor 63 drive module to make a reverse adjustment to the motor 63, respond in advance, realize active roll reduction, reduce the hull shake caused by waves .
  • the suspension system includes a front suspension mechanism 4 and a rear suspension mechanism 5.
  • the front suspension mechanism 4 includes a suspension 41, a front shock absorber 42, and a piston rod 44.
  • the suspension 41 is an I-shaped overall structure with an upper width and a lower width, and the suspension 41 There are several cylinders on the upper horizontal support, each cylinder is fixed with a cylinder spring 43, the cylinder spring 43 is connected to the unmanned ship's upper deck 1, can achieve the stability of the upper deck 1 when the suspension 41 is inclined ,
  • the two ends of the upper horizontal bracket of the suspension 41 are provided with a front shock absorber 42, the front shock absorber 42 can be contracted and elongated, and the spring and hydraulic device in the front shock absorber 42 provide the restoring force
  • the other ends of the two front shock absorbers 42 are respectively connected to a piston rod 44 through a connecting rod, and the upper ends of the two piston rods 44 are respectively connected to the two ends of the horizontal bracket under the suspension 41 through the first
  • the universal joint 45 is hinged
  • the rear suspension mechanism 5 includes a non-telescopic I-shaped connecting rod 51 and a rear shock absorber 52.
  • the I-shaped connecting rod 51 is hinged at one end with the upper deck 1 and the other end is hinged with the balance control mechanism 6 on the floating body 7 around the upper deck 1 The hinge point rotates; the lower end of the rear shock absorber 52 is connected with the crossbar in the I-shaped connecting rod 51, and the upper end is hinged with the upper deck 1, limiting the rotation range of the connecting rod.
  • the spherical rotating mechanisms 61 which are respectively arranged at the front and rear four positions of the left and right floating bodies.
  • the spherical surfaces of the two spherical rotating mechanisms 61 at the front of the left and right floating bodies are provided for connecting with the front suspension mechanism 4
  • the second universal joint 62 is used to connect the two piston rods 44 in the front suspension mechanism 4; the spherical surfaces of the two spherical rotating mechanisms 61 at the rear of the left and right floating bodies are provided with
  • the ball joint 66 connected to the rear suspension mechanism 5 is used to connect the two I-shaped links 51 in the rear suspension mechanism 5 respectively.
  • the second universal joint 62 is provided on the spherical surfaces of the two spherical rotating mechanisms 61 at the front of the left and right floating bodies, to realize the universal joint (the first universal joint 45 and the second Universal hinge 62) three-dimensional unconstrained rotation movement; and the ball hinge 66 is provided on the spherical surface of the two spherical rotating mechanisms 61 at the rear of the left and right floating bodies, which can only realize the I-shaped connecting rod 51 in the rear suspension mechanism 5 in the transverse section ( The plane shown in FIG. 3) rotates about the plane of the ball hinge 66.
  • the bow of the floating body 7 is provided as a bulbous bow 9, which can reduce the traveling wave of the ship during the travel of the ship.
  • the upper deck 1 is also equipped with a working device 3 and a communication antenna 2.
  • the working device 3 includes a winch 32 disposed under the communication antenna 2 and an A-frame 31 used in conjunction with the winch 32 and fixedly disposed on the upper deck 1.
  • the propulsion device 8 is provided in the stern of the floating body 7.
  • the material of the suspension 41 is a stainless steel alloy square tube; the piston rod 44 is a free-type gas spring; and there are four cylinders.
  • the anti-rolling method of the unmanned ship of the present invention for different degrees of freedom is as follows:
  • Tilt The waves propagate along the longitudinal direction of the ship, causing the ship's bow to have different heights and form a pitch.
  • the floating body 7 produces pitch when the wave is encountered.
  • the front suspension mechanism 4 and the rear suspension mechanism 5 can rotate relative to the floating body to ensure that the upper deck 1 does not tilt.
  • Passive adjustment devices such as shock absorbers in the two suspension mechanisms and active adjustment devices in the balance control mechanism 6 make The floating body 7 quickly returns to its original state, achieving the purpose of anti-rolling on the pitch scale.
  • the waves come from the ship's lateral direction, causing the hull to tilt, which seriously affects the safety of navigation.
  • the wave-resistant unmanned ship adopts a double-hull type, which increases the stability torque.
  • the two left and right floating bodies pass around the upper deck through two suspension mechanisms 1 Relative rotation produces an independent heave motion.
  • the upper deck 1 has a smaller motion range due to the shock absorption effect of the suspension system to achieve the purpose of anti-roll in the roll and heave degrees of freedom.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Details Of Aerials (AREA)

Abstract

一种带有水面自适应减摇装置的耐波无人船，无人船为双体船型，包括上甲板（1）、与上甲板（1）分离设置的浮体（7）以及自适应减摇装置，浮体（7）为无人船提供浮力并设置有推进装置（8），浮体（7）为左右完全对称的2个浮体（7），上甲板（1）上设置有倾角传感器、加速度计与陀螺仪，用于获得上甲板（1）的转动角度、角加速度预测和趋势，并将其实时传送给控制系统，自适应减摇装置包括悬挂系统和平衡控制机构（6）。

Description

一种带有水面自适应减摇装置的耐波无人船 技术领域
本发明涉及一种带有水面自适应减摇装置的耐波无人船，属于海洋无人系统技术领域。
背景技术
无人船作为一种新型海洋观测平台，具有体量小、速度快、吃水浅的优势，可进入传统海洋调查船所不能及的特殊水域，在近海环境调查、管线巡检等领域已有广泛的应用。无人船在海洋环境航行时，由于受到海上波浪的影响，不可避免地产生摇荡运动，包括横摇、纵摇、首摇、横荡、纵荡、垂荡(或升沉)六个自由度的运动，其中横摇、纵摇、升沉由于幅值变化大，对船舶影响最大，影响无人船航行安全与正常作业。
传统船舶减摇装置有舭龙骨、减摇鳍、减摇水舱等，但由于无人船体量小，较小的波浪就会引起船体的剧烈摇荡；同时无人船载重有限，无法安装大型减摇设备，因而上述手段难以满足无人船减摇需求。目前，针对无人船出现一些减摇装置，但存在缺陷：专利CN108298031A提出了一种利用Y字形悬架的减摇装置，可随波浪发生相应转动实现减摇，但被动减摇装置无法做到对船舶姿态的控制，海况恶劣时减摇效果差；专利CN107323613A提出一种无人船探测设备的减摇装置，利用伸缩杆能够实现主动减摇，但仅在纵摇方向上有效，同时该装置载重有限，只适用于单一探测设备，未实现整船减摇。
因此，需要一种针对无人船的具备主动控制和多自由度减摇的减摇方案及无人船。
发明内容
本发明所要解决的技术问题是克服现有技术的缺陷，提供一种带有水面自适应减摇装置的耐波无人船，针对现有船舶减摇技术手段无法适用小体量船舶、减摇效果差、应用范围小的缺陷，采用自适应减摇装置，结合主动与被动减摇手段，具备主动控制和多自由度减摇能力，可有效减少无人船航行时的不稳定性和静止时的摇摆，提高无人船在复杂海况下的航行安全性与作业稳定性。
为了实现上述目标，本发明采用如下的技术方案：
一种带有水面自适应减摇装置的耐波无人船，所述无人船为双体船型，包括上甲板、与上甲板分离设置的浮体以及自适应减摇装置，所述浮体为无人船提供浮力并设置有推进装置，所述浮体为左右完全对称的2个浮体，所述上甲板上设置有倾角传感器、加速度计与陀螺仪，用于获得上甲板的转动角度、角加速度预测和趋势，并将其实时传送给控制系统，自适应减摇装置包括悬挂系统和平衡控制机构，所述悬挂系统不仅用于连接所述上甲板和浮体；同时通过减震器、活塞杆以及第一万向铰的连接结构能够自由转动、实现上甲板的平稳；所述平衡控制机构包括球形旋转机构、所述控制系统以及用于连接平衡控制机构和浮体的支架，所述球形旋转机构绕水平旋转轴旋转，所述水平旋转轴的两端固定在支架上，且水平旋转轴的一端设置有电机，并配设有编码器，能够检测转动角度和转速，在所述控制系统的控制下对球形旋转机构的转动角度进行反向调整，所述电机与球形旋转机构通过减速器连接，所述球形旋转机构的球面上设置有用于与悬挂系统连接的球铰；
所述控制系统接收上甲板上倾角传感器测出的角度θ，以及加速度计与陀螺仪测得的角加速度预测和趋势，进而判断无人船的状态，当转动角度θ小于给定倾角时时，控制系统判断无人船基本平稳，不做响应；当θ大于给定倾角时 时，系统判断无人船处于不平稳状态，需要做出调整，基于PID反馈控制方法，再采用卡尔曼滤波算法对下一时刻倾角进行预测，当前倾角θ加当前角速度ω乘以时间t等于下一时刻倾角，从而控制电机驱动模块对电机做出反向调整，提前响应，实现主动减摇，减少波浪引起的船体晃动。
上述的一种带有水面自适应减摇装置的耐波无人船，所述悬挂系统包括前悬挂机构和后悬挂机构，所述前悬挂机构包括悬架、前减震器、活塞杆，所述悬架为呈上宽下窄的工字形整体结构，悬架的上部水平支架上设置有若干个圆筒，每一个所述圆筒内固定一个筒内弹簧，所述筒内弹簧与无人船上甲板相连接，能够实现悬架倾斜状态下上甲板的平稳，悬架上部水平支架的两端部各设置有一个前减震器，所述前减震器能够收缩拉长，并由前减震器内的弹簧和液压装置提供回复力，在伸缩后回复原始状态，2个所述前减震器的另一端分别通过一个连杆与一根活塞杆相连接，2个所述活塞杆的上端分别与悬架下部水平支架的两端部通过第一万向铰铰接，能够全方位转动，2所述活塞杆的下端分别与左、右2个浮体上的平衡控制机构通过第二万向铰铰接，能够全方位转动，所述活塞杆能够在最大行程范围内自由伸缩，实现活塞杆长度的变化。
上述的一种带有水面自适应减摇装置的耐波无人船，所述后悬挂机构包括不能够伸缩的工字形连杆和后减震器，所述工字形连杆一端与上甲板铰接，另一端与浮体上的平衡控制机构铰接，绕上甲板铰接点转动；所述后减震器的下端与工字形连杆中的横杆相连接，上端与上甲板铰接，限制连杆的转动范围。
上述的一种带有水面自适应减摇装置的耐波无人船，所述球形旋转机构有4个，分别设置在左、右两个浮体的前、后4个位置，左、右浮体前部的2个球形旋转机构的球面上设置有用于与前悬挂机构连接的第二万向铰，所述第二万 向铰分别用于连接前悬挂机构中的2个活塞杆；左、右浮体后部的2个球形旋转机构的球面上设置有用于与后悬挂机构连接的球铰，所述球铰分别用于连接后悬挂机构中的2个工字形连杆。
上述的一种带有水面自适应减摇装置的耐波无人船，所述浮体的艏部设置为球鼻艏，能够减小船舶行驶过程中的船行波。
上述的一种带有水面自适应减摇装置的耐波无人船，所述上甲板还搭载有作业设备以及通讯天线，所述作业设备包括设置在通讯天线下方的绞车和与所述绞车配套使用并固定设置在上甲板上的A型架。
上述的一种带有水面自适应减摇装置的耐波无人船，所述推进装置设置在浮体艉部。
上述的一种带有水面自适应减摇装置的耐波无人船，所述悬架的材料为不锈钢合金方管。
上述的一种带有水面自适应减摇装置的耐波无人船，所述活塞杆为自由型气弹簧。
上述的一种带有水面自适应减摇装置的耐波无人船，所述圆筒有4个。
本发明所达到的有益效果：
(1)本发明解决了传统减摇手段无法适用小体量船舶、减摇效果差的缺陷，采用以悬挂系统为核心的减摇机械结构，重量轻、空间小，对中小尺度波浪反应迅速，减摇效果好，非常适合于中小型船舶使用；
(2)本发明采用主被动减摇手段相结合的自适应减摇装置，将上甲板与浮体分离，通过悬挂系统提高上甲板稳定性，控制系统基于PID控制方法能够实现无人船姿态的预测，并做出提前响应，进行主动减摇，克服单一减摇手段减 摇效果差、不可靠的问题，能够有效减少无人船航行时的不稳定性和静止时的摇摆；
(3)本发明通过一套减摇装置实现了多自由度的减摇，减摇效果明显，提高了无人船在复杂海况下的航行安全性与稳定性；
(4)减摇装置多采用以金属管材与液压机构，简单可靠，载重量大，极大地提升了无人船的功能性。
附图说明
图1为本发明整体结构示意图；
图2为前悬挂机构与平衡控制机构6结构示意图；
图3为后悬挂机构与平衡控制机构6结构示意图；
图4为浮体后部的支架65和球形旋转机构61的结构示意图；
图5为纵摇尺度上无人船减摇工作示意图；
图6为横摇与升沉尺度上无人船减摇工作示意图；
图7为控制系统PID算法框图。
图中附图标记的含义：
1、上甲板，2、通讯天线，3、作业设备，31、A型架，32、绞车，4、前悬挂机构，41、悬架，42、前减震器，43、筒内弹簧，44、活塞杆，45、第一万向铰，5、后悬挂机构，51、工字形连杆，52、后减震器，6、平衡控制机构，61、球形旋转机构，62、第二万向铰，63、电机，64、减速器，65、支架，66、球铰，7、浮体，8、推进装置，9、球鼻艏。
具体实施方式
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明 本发明的技术方案，而不能以此来限制本发明的保护范围。
参见图1至图6，本发明的耐波无人船为双体船型，包括上甲板1、与上甲板1分离设置的浮体7以及自适应减摇装置，浮体7为无人船提供浮力并设置有推进装置8，浮体7为左右完全对称的2个浮体7，上甲板1上设置有倾角传感器、加速度计与陀螺仪，用于获得上甲板1的转动角度、角加速度预测和趋势，并将其实时传送给控制系统，自适应减摇装置包括悬挂系统和平衡控制机构6，悬挂系统不仅用于连接上甲板1和浮体7；同时通过减震器、活塞杆44以及第一万向铰45的连接结构能够自由转动、实现上甲板1的平稳；平衡控制机构6包括球形旋转机构61、控制系统以及用于连接平衡控制机构6和浮体7的支架65，球形旋转机构61绕水平旋转轴旋转，水平旋转轴的两端固定在支架65上，且水平旋转轴的一端设置有电机63，并配设有编码器，能够检测转动角度和转速，在控制系统的控制下对球形旋转机构61的转动角度进行反向调整，电机63与球形旋转机构61通过减速器64连接，球形旋转机构61的球面上设置有用于与悬挂系统连接的球铰66；支架65为三角形，其底部固定在浮体7上，平衡控制机构6的两端固定在支架65上，支架65将平衡控制机构6支起；
控制系统接收上甲板1上倾角传感器测出的角度θ，以及加速度计与陀螺仪测得的角加速度预测和趋势，进而判断无人船的状态，当转动角度θ小于给定倾角时，控制系统判断无人船基本平稳，不做响应；当θ大于给定倾角时，系统判断无人船处于不平稳状态，需要做出调整，基于PID反馈控制方法，再采用卡尔曼滤波算法对下一时刻倾角进行预测，当前倾角θ加当前角速度ω乘以时间t等于下一时刻倾角，从而控制电机63驱动模块对电机63做出反向调整，提前响应，实现主动减摇，减少波浪引起的船体晃动。
悬挂系统包括前悬挂机构4和后悬挂机构5，前悬挂机构4包括悬架41、前减震器42、活塞杆44，悬架41为呈上宽下窄的工字形整体结构，悬架41的上部水平支架上设置有若干个圆筒，每一个圆筒内固定一个筒内弹簧43，筒内弹簧43与无人船上甲板1相连接，能够实现悬架41倾斜状态下上甲板1的平稳，悬架41上部水平支架的两端部各设置有一个前减震器42，前减震器42能够收缩拉长，并由前减震器42内的弹簧和液压装置提供回复力，在伸缩后回复原始状态，2个前减震器42的另一端分别通过一个连杆与一根活塞杆44相连接，2个活塞杆44的上端分别与悬架41下部水平支架的两端部通过第一万向铰45铰接，能够全方位转动，2活塞杆44的下端分别与左、右2个浮体上的平衡控制机构6通过第二万向铰62铰接，能够全方位转动，活塞杆44能够在最大行程范围内自由伸缩，实现活塞杆44长度的变化。
后悬挂机构5包括不能够伸缩的工字形连杆51和后减震器52，工字形连杆51一端与上甲板1铰接，另一端与浮体7上的平衡控制机构6铰接，绕上甲板1铰接点转动；后减震器52的下端与工字形连杆51中的横杆相连接，上端与上甲板1铰接，限制连杆的转动范围。
球形旋转机构61有4个，分别设置在左、右两个浮体的前、后4个位置，左、右浮体前部的2个球形旋转机构61的球面上设置有用于与前悬挂机构4连接的第二万向铰62，第二万向铰62分别用于连接前悬挂机构4中的2个活塞杆44；左、右浮体后部的2个球形旋转机构61的球面上设置有用于与后悬挂机构5连接的球铰66，球铰66分别用于连接后悬挂机构5中的2个工字形连杆51。
需要说明的是：第二万向铰62设置在左右浮体前部的2个球形旋转机构61的球面上，用以实现活塞杆44绕两端万向铰(第一万向铰45和第二万向铰62) 的三维无约束旋转运动；而球铰66设置在左右浮体后部的2个球形旋转机构61的球面上，只能实现后悬挂机构5中工字形连杆51在横剖面(图3所示平面)上绕球铰66的平面旋转运动。
进一步地，浮体7的艏部设置为球鼻艏9，能够减小船舶行驶过程中的船行波。
进一步地，上甲板1还搭载有作业设备3以及通讯天线2，作业设备3包括设置在通讯天线2下方的绞车32和与绞车32配套使用并固定设置在上甲板1上的A型架31。
再进一步地，推进装置8设置在浮体7艉部。
优选地，悬架41的材料为不锈钢合金方管；活塞杆44为自由型气弹簧；圆筒有4个。
本发明的无人船针对不同自由度的减摇方法如下：
纵摇：波浪沿船舶纵向传播，造成船舶艏艉高度不同，形成纵摇。耐波无人船通过将上甲板1与浮体7分离，遇到波浪时浮体7产生纵摇，通过前悬挂机构4和后悬挂机构5的伸缩运动，保证上甲板1的相对平稳，平衡控制机构6使得前悬挂机构4和后悬挂机构5可绕浮体发生相对转动，保证上甲板1不发生倾斜，通过2个悬挂机构中减震器等被动调节装置与平衡控制机构6中的主动调节装置，使得浮体7迅速恢复到原始状态，达到在纵摇尺度上减摇的目的。
横摇与升沉：波浪从船舶横向传来，造成船身倾斜，严重影响航行安全，耐波无人船采用双体船型，增大稳定力矩，同时左右2个浮体通过2个悬挂机构绕上甲板1相对转动，产生独立的升沉运动，上甲板1由于悬挂系统的减震作用，因而运动幅度较小，达到在横摇和升沉自由度上的减摇的目的。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。

Claims (10)

  1. 一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述无人船为双体船型，包括上甲板、与上甲板分离设置的浮体以及自适应减摇装置，所述浮体为无人船提供浮力并设置有推进装置，所述浮体为左右完全对称的2个浮体，所述上甲板上设置有倾角传感器、加速度计与陀螺仪，用于获得上甲板的转动角度、角加速度预测和趋势，并将其实时传送给控制系统，自适应减摇装置包括悬挂系统和平衡控制机构，所述悬挂系统不仅用于连接所述上甲板和浮体；同时通过减震器、活塞杆以及第一万向铰的连接结构能够自由转动、实现上甲板的平稳；所述平衡控制机构包括球形旋转机构、所述控制系统以及用于连接平衡控制机构和浮体的支架，所述球形旋转机构绕水平旋转轴旋转，所述水平旋转轴的两端固定在支架上，且水平旋转轴的一端设置有电机，并配设有编码器，能够检测转动角度和转速，在所述控制系统的控制下对球形旋转机构的转动角度进行反向调整，所述电机与球形旋转机构通过减速器连接，所述球形旋转机构的球面上设置有用于与悬挂系统连接的球铰；
    所述控制系统接收上甲板上倾角传感器测出的角度θ，以及加速度计与陀螺仪测得的角加速度预测和趋势，进而判断无人船的状态，当转动角度θ小于给定倾角时某一值时，控制系统判断无人船基本平稳，不做响应；当θ大于给定倾角时，系统判断无人船处于不平稳状态，需要做出调整，基于PID反馈控制方法，再采用卡尔曼滤波算法对下一时刻倾角进行预测，当前倾角θ加当前角速度ω乘以时间t等于下一时刻倾角，从而控制电机驱动模块对电机做出反向调整，提前响应，实现主动减摇，减少波浪引起的船体晃动。
  2. 根据权利要求1所述的一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述悬挂系统包括前悬挂机构和后悬挂机构，所述前悬挂机构包括悬 架、前减震器、活塞杆，所述悬架为呈上宽下窄的工字形整体结构，悬架的上部水平支架上设置有若干个圆筒，每一个所述圆筒内固定一个筒内弹簧，所述筒内弹簧与无人船上甲板相连接，能够实现悬架倾斜状态下上甲板的平稳，悬架上部水平支架的两端部各设置有一个前减震器，所述前减震器能够收缩拉长，并由前减震器内的弹簧和液压装置提供回复力，在伸缩后回复原始状态，2个所述前减震器的另一端分别通过一个连杆与一根活塞杆相连接，2个所述活塞杆的上端分别与悬架下部水平支架的两端部通过第一万向铰铰接，能够全方位转动，2所述活塞杆的下端分别与左、右2个浮体上的平衡控制机构通过第二万向铰铰接，能够全方位转动，所述活塞杆能够在最大行程范围内自由伸缩，实现活塞杆长度的变化。
  3. 根据权利要求2所述的一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述后悬挂机构包括不能够伸缩的工字形连杆和后减震器，所述工字形连杆一端与上甲板铰接，另一端与浮体上的平衡控制机构铰接，绕上甲板铰接点转动；所述后减震器的下端与工字形连杆中的横杆相连接，上端与上甲板铰接，限制连杆的转动范围。
  4. 根据权利要求3所述的一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述球形旋转机构有4个，分别设置在左、右两个浮体的前、后4个位置，左、右浮体前部的2个球形旋转机构的球面上设置有用于与前悬挂机构连接的第二万向铰，所述第二万向铰分别用于连接前悬挂机构中的2个活塞杆；左、右浮体后部的2个球形旋转机构的球面上设置有用于与后悬挂机构连接的球铰，所述球铰分别用于连接后悬挂机构中的2个工字形连杆。
  5. 根据权利要求1所述的一种带有水面自适应减摇装置的耐波无人船，其特 征在于：所述浮体的艏部设置为球鼻艏，能够减小船舶行驶过程中的船行波。
  6. 根据权利要求1所述的一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述上甲板还搭载有作业设备以及通讯天线，所述作业设备包括设置在通讯天线下方的绞车和与所述绞车配套使用并固定设置在上甲板上的A型架。
  7. 根据权利要求1所述的一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述推进装置设置在浮体艉部。
  8. 根据权利要求2所述的一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述悬架的材料为不锈钢合金方管。
  9. 根据权利要求2所述的一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述活塞杆为自由型气弹簧。
  10. 根据权利要求2所述的一种带有水面自适应减摇装置的耐波无人船，其特征在于：所述圆筒有4个。
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