TW200800723A - A roll damping device for a ship - Google Patents

Abstract

This invention presents a roll damping device for a ship, which mainly uses a servomotor to drive the motion of a mass body and to let the main body of a ship generate a reacting torque as the roll damping torque. It uses a servomotor to drive a flywheel to accelerate rotationally and to generate a torque, to let the main body of a ship generate a corresponding reacting torque; or uses a mechanism of a linear servo motor to drive a balanced body, which moves in an accelerated condition repeatedly between the two sides of the ship, then to let the mass of the balance body generate a torque at the rotating center of a ship, and to let the main body of a ship generate a corresponding reacting torque. The reacting torque can be used to compensate the yaw torque generated by the waves, which acts on the main body of a ship, and to be as the roll damping. This invention can still to generate enough roll damping torque to achieve the roll damping effort in the low speed sailing or the motionless situation.

Description

200800723 IX. Description of the invention: ‘Technical field to which the invention pertains. The present invention relates to a ship anti-rolling device, and more particularly to a ship anti-rolling device for reducing the degree of roll of a ship. [Prior Art] When the ship is driving at sea, it is subject to wave slaps and the wind blowing shadows. It will make the hull unable to maintain a stable state and produce a sway::: id; shape, please refer to the eleventh figure, the ship The swing of the body can be divided into six degrees of freedom, which are the translational motion of the two-axis direction of the three-dimensional space such as the Surge, the Sway, and the Heave, and the roll (R〇 1丨), pitch (Pitch) and yaw (Yaw) are three-axis normal motion rotation, among which, the impact of the roll on the hull is the most, this is because the hull is swaying; , <, frequency and wave are similar, for some ships with smaller tonnage, even the wave height is less than i meters, the wind speed is less than 6 knots and the waves (M〇derate _ Sea), that is, three waves It will also cause considerable sway angle to the hull. Excessive knowledge, shaking, and not only the stomach caused the passengers on board to be uncomfortable, and the goods are tilted. 'For warships, it will also affect the accuracy of their weapons, and some fishing boats that transport live fish will also be caused by excessive roll angles. The fish body is injured by the impact, and the excessive tilting angle may even cause the ship to overturn. In order to mitigate the impact of rolling on the rolling stock, several anti-rolling devices have been developed in the related art. The anti-rolling devices can be divided into passive devices that cannot respond according to the roll angle of the hull, and actives that can react according to the roll angle of the hull. 4 200800723

Conventional passive devices are commonly known as Bilge Keels and Fixed Fin. Please refer to Figure 12. The keel (6 1 ) is a slender plate on the hull. The left and right sides of the shell (6 〇) are near the bottom edge and extend laterally along the hull (6 〇). The bilge keel (6 1 ) creates a resistance between the hull and the water flow. This resistance can be used as a resistance. The rolling moment counteracts the rolling moment of a part of the hull and reduces the roll angle. However, the speed of the hull is also susceptible to the slowing down of the hull, and when the hull is at low speed, running or stationary, 舭The keel (6 workers) and the water flow ^^ cannot produce enough shaking torque, so that the anti-rolling effect is not good. Referring to the thirteenth figure, the stabilizing wings (6 2 ) are arranged in a flat shape at the near bottom edge of the left and right sides of the hull (60) of the hull, and extend to the outside of the hull (6 〇) to stabilize The wing (62) also generates a resistance between the hull and the water flow as a damping moment, which counteracts the rolling force of a part of the hull. However, the resistance also affects the speed of the hull. When the hull is running at a low speed or at rest, the stabilizer wing (6 2 ) and the water flow cannot generate sufficient damping torque, resulting in a significant reduction in the anti-rolling effect. The passive device described above can only provide a fixed damping torque to reduce the roll inclination angle, and cannot change the magnitude of the yaw moment according to the change of the roll inclination angle, and there is also a 吝 & β day + P bow date when the hull is moved forward. The sound π ΛΙ ΛΙ 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹 隹At present, the active device has an active Stabilizer Fin and an active shaker (Active a b), see Figure 14 a, the active stabilizer (6 3) Slabs are rotatably placed on the left side of the hull hull (6 〇) 5 200800723, near the bottom edge of the right side of the ship, and extend to the outside of the hull (60), and have a control of (6 4) electrical Connected to the two stabilizing wings (63), the control is used to sense the roll inclination of the hull by an angle sensor to control the stability wing according to the change of the hull roll angle (6). 3) The contact area with the water flow (as shown in Figure 14), so that the appropriate amount of resistance is generated between the water flow and the water flow as the rolling moment to resist the rolling moment of the hull, so the anti-shake effect is better. (4) The device is better. However, when the hull is running at a low speed, the helmet: ' flaps (6 34 and the water flow still can not effectively generate enough resistance, ..., > to solve the problem of poor swaying effect when the hull is running at low speed. The fifteenth figure A, φ _?,, the moving side "V + dynamic anti-rolling water tank system is a utilization The object type anti-rolling device is set in the hull of the hull, and the two control valve groups (71, including one type of water, μ Ά, 丄), and one feeding motor (7?) Control unit, the U-shaped water test (the two side cabins are respectively covered by the two ends of the bottom part of the bottom part - "the part and the opposite side of the U-shaped water grab (70) on the bottom of the bottom compartment) by y L "3 ) extends into the stern tank (7 is electrically connected to the servo motor (71), and the hull is sensed by the angle sensor (1 Μ two control valve group ( 71), roll tilt control two Control the wide group (the only purchase of the tilt angle, according to the direction and speed of rotation of (72), in the apricot = closed state with the servo motor tilting 'the servo motor (7 two (1 0) towards the side tank (7. In the liquid pumping: Wind Q, as shown in the figure of the fifteenth figure), 6 200800723 provides a reduction of the rolling moment to reduce the private + w β α > wind / limb roll angle, this active type of shaking water The pivoting provides different magnitudes of the yaw moment according to the roll angle of the hull, so as to achieve a better anti-rolling effect than the passive device, and the generated yaw moment is not affected by the hull (10) relative to the water flow. The degree of influence, so the boat can maintain its de-insertion effect when driving at low speed. However, this active anti-rolling water tank is not only expensive and bulky, but also drives the poly (73) to draw liquid at a speed that cannot keep up with the ship. The roll of the body (1〇) changes, so there is also a problem of insufficient response speed in the active shaker. [The invention] The main object of the present invention is to provide a new ship anti-rolling device, which can reduce the ship's The roll angle is not good, and the anti-rolling efficiency is not good when the vehicle is driven. The value is 2=2, which is placed at the low speed of the ship. The volume is large and the response speed is insufficient. The present invention includes a feeding motor and a wheel set. It is located on the II, 黄金, and 胄4 output shafts and is carried by the servo motor: the early 70 is electrically connected to the input end of the servo motor, and the 匕m is used to sense the ship. The roll angle of the body, the output end of which is electrically connected to the control unit, the angle sensor can produce a 'transmission: angle signal according to the roll angle of the hull to the control unit, the control unit makes a servo motor Speed and direction of operation, thereby driving The rim turns to produce a reading 杂 4 AcAc ^ X. 疋...torque, when the flywheel generates torque, the hull will also react-torque, this reaction torque can be applied to the hull as a wave or wind resistance Rolling _ £ arrival angle. Subtraction; hull swaying 200800723 The method of generating the yaw moment can also be based on the linear servo motor mechanism 'moving a balance body on the sides of the hull to reciprocate the acceleration movement' to make the balance body The mass forms a moment on the center of rotation of the hull, and causes the hull to generate a counter-acting torque of the hull. The wrong reaction torque resists the rolling moment of the hull and reduces the hull of the hull. W, such as the New York 榣 shaking angle, and the linear servo motor mechanism is also controlled by a single-handle tool ^ 兀 兀 兀 according to an angle sensor input angle signal control. The reduction control of the present invention is mainly related to the angular acceleration of the flywheel and the acceleration or the acceleration of the balance body and the temporary dango and Berry, and is not affected by the speed of the hull relative to the water flow. Therefore, the 1n w eight-shake effect is not affected by the fast moving speed of the hull. And the flywheel of the present invention can generate the braking torque by accelerating the rotation at a certain point, and the balance body can also be made in a short distance. Accelerating the movement to generate the yaw moment', so the invention does not need to be too large, two or two can be placed on the hull, and solves the problem that the conventional anti-shake device is bulky, and the present invention and the general The use of heavy objects to change the center of gravity of the ship, and the way in which the hull is used to reduce the rolling moment (such as the active anti-rolling water tank) is different. The invention uses the mass movement to make the hull corresponding to a reaction. The moment is used as the yaw moment, and since the force and the reaction force are generated in the same day, the hopper and the 蚪 产生 are produced, so the invention is obviously compared with the device which generally uses the weight moving method to achieve the purpose of reducing the purpose of the swaying. It has the advantage of fast response speed. [Embodiment] Referring to the first and second figures, a preferred embodiment of the ship anti-rolling device of the present invention is provided in the hull (1Q) ±, wherein the 0 point position shown in the figure is a ship. The rotation center of the body, the preferred embodiment comprises 8 200800723 a servo motor (2 i), a flywheel (2 2), a control unit (23), and an angle sensor (2 4 ), the servo The power output shaft (2 1 1 ) of the motor (2 1 ) is disposed along the ship's side line on both sides of the hull (1 〇), and the flywheel (2 2 ) is assembled on the power output shaft of the servo motor (2 1 ) ( 2 1 1 ), driven by the servo motor (2 1 ), the output end of the control soap element (23) is electrically connected to the servo motor (2丄), and the angle sensor (2 4 ) is used To sense the roll angle of the hull, the output end is electrically connected to the control unit (23), and the control unit (23) is determined according to the input of the angle sensor (2 4) The angle of reading... and 铷8 refers to the torque and running direction of the servo horse violation (2 1). e When the hull (10) is driving, the angle sensor (2, the guest sensing hull (JL 0) is shaken by the wave tapping temple, and based on the perceived roll angle: 拂: produced Crossing the control unit (1)), the control unit = degree signal to signal control of the servo motor (2 1 ), the military - according to the angle flywheel (2 2) rotation, | λ ^ # direction and torque, drive the To generate a torque, please refer to the first shoulder (2 2 ) quality will be clear, read a brother, when the hull moment and tilt counterclockwise, the control unit w shakes the force motor (2 1 ) to drive the flywheel (2 2 )...士2 3 ) control the torque of the servo wheel. If the hull (1 〇) and the = pin are rotated to generate the -reverse system, the flywheel produces a counterclockwise torque* (2 2 ) as According to the law of reaction force, a clockwise hull (10) is also used. The torque can be regarded as the preferred embodiment. The clockwise counter-moment is used to offset the hull (i 0). The σ ( 1 〇) of the yaw force of the kiln is reduced by the hull (1 9 200800723 〇) only when the inclination angle is as follows; when (4) f 1 π, the control unit (2 : When the roll angle changes, ' ^早兀 (23) according to the angle sensor 12 4) input the angle number ^ to change the servo motor (2) VZ 1 ; the speed or direction of the operation, so that the gas wheel (2 2 ) Produce a glimpse of the money, the field torque, and even if the hull produces a suitable reaction torque as the yaw moment to offset the rolling moment of the ship 丄〇 (丄〇), because of the servo motor The power output vehicle of (21) is provided by the (211) line along the ship's side of the ship's hull (1 0) to avoid the improper shaking effect caused by the torque generated by the flywheel (2 2 ) (4). The power output shaft (2 2 χ ) of the servo motor (2 1 ) is preferably passed through the center of rotation of the hull (〇). The control unit (23) of the preferred embodiment can be based on an angle sensor (2 4 ) The angle signal of the performance input is feedback control of the servo motor (2丄). The control block diagram of the preferred embodiment is as shown in the third figure, and the angle sensor (24) continuously senses the hull (横 〇) the roll angle, and input an angle signal to the control unit (2 3 ) according to the perceived roll angle, the control The unit (2 3 ) compares the angle signal with a built-in reference angle (Re f · 0 ), and converts the difference (0 — err ) obtained by the comparison into a voltage command input to the servo motor ( 2 1 ), And the servo motor (2 1 ) determines its steering and torque according to the voltage command, so that the flywheel (2 2 ) generates an appropriate torque, so that the hull (i 〇) produces an equal but opposite direction. The reaction torque resists the rolling moment applied by the wavy and wind to the hull (10), reducing the roll angle of the hull (1 〇). During this process, the angle sensor (2 4) maintains She senses the roll angle of the hull (10) and inputs the angle signal to the control unit. The control unit (23) may include an angle comparison operation circuit connected to the output end of the angle sensor (24), and a drive circuit connected to the output end of the angle comparison operation circuit, the drive circuit is connected To the input end of the motor (2 1 ), the angle comparison operation circuit compares the angle signal input by the angle sensor (2 4 ) with a built-in reference angle (Ref · 0 ), and The difference (Θ err) obtained after the comparison is input to the driving circuit, and the driving circuit converts the difference (a ❹ ❹ ting) into a voltage command input to the servo motor (2 丄), and controls the servo motor (21) ) Steering and torque. ...—^, 丄u 〈 Derivation of the equation of state: f First, please refer to the sixteenth figure, which is the free diagram of the hull (i 〇), where Μ is the slewing center of the hull (! Q), For the horizontal, stop the waterline, G is the center of gravity of the hull (1 〇), the distance from the hull / center of gravity to the center of the tilt, ^ is the hull (for the hull (... Hull (1 〇 heart rotation (Inertia' △ is the displacement of the hull (10), β is the hull (heart rotation. 杈Shake angle, 匕 is applied to the hull for the preferred embodiment ( Τ is applied to external force) The combined moment of the hull (丄〇), the moment of the moment (10), · Kao'an, Qin', ', / α know the ship's hull in the sea (1 0) 1 # Nearby The center of gravity (G), in order to simplify the derivation process,: 疋 ^ ^ 0) Center of gravity (G) as its rotation · χ hull (],, 疋 center, in the absence of wave shadow change τ body (10) moment Under the equilibrium equation b, then with .200800723 ·· · I0+Ce+AGZ + Tm =, 〇 where GZ = GMsin Θ (1)

If only the hull (1 Ω, (2) , / , , υ 做 is considered to be a small angle of swaying, Sin0 tends to recognize the shell |J(1) can be linearized as: Approaching ie+C0+AGM0 + Tm False, the transfer function of the control unit is c (—u, A (3) stands in the middle of kl, k2 is the control unit respectively, : /, the direct sound of the object stands # a 2 3 ) angular velocity, the angular skin Parameter, good number K, mi n CK system damping C and equivalent bomb W number K' · then the motor applied to the hull torque Tm = kie + kie θ substituting U) into equation (3) , can be obtained by (/) S+ (C + kl) 6? + (AGM + kl)e = 〇 command p = l

q = C + kl r = AGM + kl The formula U5) can be simplified as pO+qe+rO^O. We solve by (9). When 〆-4pr<〇·· % Θ = e2p (^(1X cos)

t + A2x sin

When V-4pr>0: .(4) (5)(6)(7)(8) (9)(10) 12 200800723 -q+^lq2-4pr ^ e = Alxe 2p 1 +A2xe 2p (1)) When g2-4W = 0: zlt z±t 0 = Alxe2p +A2xtxe2p (12) where parameters A1 and A2 can be obtained from the following two boundary conditions: θ = = initial angle of the hull

(9 = 0 when ^-4W<0 乂1 = 6>0 ^2== I -= θ〇^pr-q When ^-4pr>0 di = (can + 丨 - W 〇 2 q1- Apr

q 2^1 q2 - Apr When ^4 corpse r = 0Α1 = θ0) θ〇Α2-ίθ^ (13) (14) (15) (16) (17) (18) And if the hull (1) 0) When subjected to a regular periodic wave, then the moment balance equation of the hull (1) becomes IΘ+ΟΘ+ ΑΟΜΘ + Tm = Tw (1 9) Assume that 7 is a harmonic moment F. For wave strength, & for wave frequency 13 (20) (21) 200800723

Suppose the special solution is θρ=Α〇χβ^ by (13), (14), (15), and the 可-——————co p + v + qcoi can be solved. Therefore, it can be solved when ^ 4 pr < 0 Θ = square (Alx + Α2χήη^ΞΙ〇+ 2ρ 2ρ when "2-4pr> 0-g+'lq1 --q-'lq24pr t 0 = Alxe 2p +A2xe 2p + A0eio)t When the score is 2 - 4pr = 0 Zlt z±t 0 = Alxe2p + A2xixe2p + A0emi (22) (23) (24) (25) where parameters A1 and A2 can be obtained from the following two boundary 俺, θ = = initial angle of the hull

(26) — Α1-Α0ωΐ Θ = 0 When ^_4pr<0 AI = θ0 - Α0

When ^-4;7r>0 (27) ^1 = (1- ~q^f~4p-)^-Α〇)-Ί==Μ=Α〇ωί q2 - Apr ^Jq -Apr 14 (28 ) (29) 200800723 A2 q + ^jq2 l^sjq2 - Apr 〇~〆〇) + When f is 4pr = 0 Α1 = θ0 - A0 Α2τ=~^(β〇2 household 4q2 - 4pr Α0ωι (30) ( 31) The hull (1 0) roll sound y 廑 the moment of inertia I is composed of the mass moment of inertia 4 of the hull (1 Q ) itself and the attached b 7 ] inch plus the amount of moment of inertia 4, the former depends on The hull (1 〇) This I> body's shell-shaped distribution, the latter depends on the shape of the underwater part of the hull (10), such as the shape of the tongue and the position of the center of gravity, regardless of its mass distribution, 4 or The calculation of the hunger and peptidation mechanics method 4 is very complicated and not easy to calculate. 'Engineering on the change, the crane is estimated by the empirical formula. The calculation method adopted in the preferred embodiment is as follows: 、 The definition % is the hull ( 1 〇) γ Μ々ώ Μ U ) Natural frequency of 杈 shaking (Natural

Frequency), ~ for the hull (1 〇, Yi 丄υ) to buy the vibration period of the shaking (Damping

Period of Vibration), Bellow j 2π

AGM (32) (33) ^ ^ \ 〇〇 j Knowing that the seventeenth figure is the angle of the hull (i 〇 ) from the initial angle (8) under the wave of the free roll, the horizontal axis represents the time. It represents the roll angle of the hull, so that the vibration period of the hull roll can be obtained~ then 5 is the logarithmic attenuation of the hull (10) roll. · · ^ vLogar1thmi decrement), for the hull (1 〇)Dampir ratio, known by vibration mechanics theory 15 X! 200800723 δ = one 1η(·

X w+1 (34) (35) ζ 2π

KOD J can be obtained from (32), (34), (35), and the hull (丄, frequency 吒, then substituting (33), the hull (raw) is the amount I; then defined as the hull (i 〇) The volatility of the agricultural ranks ff. ·, ). The coefficient of damping of the boundary (Critlcal ❿ dampmg coefflclent), from the theory of vibration mechanics, the damping constant of Cc, 2Ico}1 ° and the hull (10) 36) It can be obtained by the formula (10) and substituted into the hull of (37) ((= the damping constant 〇 will be substituted (5) can be obtained as follows to explain the control of the preferred embodiment', Private. Function derivation process ··) transfer

The body (1 0 ) roll moment balance equation is AGMd = T gane π on (38) /, medium, Τ is applied to the hull by external force (work -i' πΓ Λ A ^ moment, the ship can be known by the formula The transfer number of the body (;L Ο ) is (38) + (C/I)s + (AGM/I). Because of the servo motor of the preferred embodiment (2, the transfer function can be assumed to be s + a According to the control block (40) of the preferred embodiment, the characteristic square butterfly (-see the third figure), can) = 1/r + (C/I)s + (AGM/I) (39) 1 ) Thrust control, 16 (41) 200800723 1 + C〇)GW〇)G» = 0 where C(4) is the transfer function of the control unit (2 3 ); assume that the three roots of the system characteristic equation are (42) (43) (44 ) (45) ~〇wc+~Έ2 -1 巧=- 4 = -10^>如邱2 + + ~2)〇y +10"called J 二〇

Substituting (39) (40) into (41) and comparing with (45) can obtain C(s)=:kls + k2 + k3- (46) If design C = 〇·7〇7, and use MATLAB software simulation According to different values, the hull (1 〇) with an initial angle of 15 degrees is used for the anti-rolling control. The simulation results are shown in Fig. 18 and Fig. 19, and the transfer function of the control unit is added. After k3, the spur of the sway angle is more obvious, so c(4) is corrected to (47) (23) C(s) = k\s + k2 where 'kl and k2 are the control units mentioned in (4) The parameters of the angular velocity and angle; the condition to be satisfied by (47) is _ 10C^c - 〇x(AGM/1), and (49) 甩(49) can be determined to obtain the parameter kl of c(8) and K2, please look at the twentieth picture, which is the change of the hull angle of the hull at .5. It can be seen that although the roll angle is increased to 2 degrees, the angle change is smoother, and the added angle is also acceptable. Therefore, using this method, the preferred anti-rolling system and controller parameters kl and k2 can be calculated. 17 200800723

In the above embodiment, a servo motor is used to drive a mass body to rotate the hull to generate a reaction torque as the yaw moment. In other embodiments of the present invention, the linear servo motor mechanism can also drive a mass body. On the sides of the hull, the ship (4) (4), (4) the body is made of acceleration and the material is formed on the hull rotation center - torque 'by this, the mass body can be controlled to reciprocate and move at the sides of the ship to generate - the appropriate amount of torque, thereby Corresponding to the moment of the hull and the moment of action as the yaw moment to resist the yaw moment of the hull, the manner of generating the yaw moment is such that the mass has a considerable moving speed' The movement of the position keeps up with the change of the sway angle of the hull 'avoiding the 纟 纟 纟 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; a control unit, and an angle sensor, the balance body is driven by the linear servo motor mechanism to laterally move between the sides of the ship on the sides of the hull, and the control moves in a single acceleration to rotate the hull Heart $ form suitable force, and jealous body corresponding to the moment generated as the reaction torque _ ⑨ reduced to a force, rolling moment ^ counteract the body suffered. The output end of the element is electrically connected to the linear servo motor mechanism, and the (four) degree sensor is used for sensing the roll angle of the hull, and the output end thereof is electrically connected to the control unit, and the control unit inputs according to the angle sensor. The angle signal is controlled by the linear servo motor mechanism to drive the balance body to reciprocate the two sides of the ship (4). The linear servo motor mechanism of the above embodiment has various embodiments, and the main function thereof is to drive the balance body for acceleration motion, so that The hull generates a reaction torque as the yaw moment corresponding to the mass of the balance body for the acceleration movement. The linear servo motor mechanism of the second preferred embodiment described above is a package 18 200800723 including a slide table, a servo motor and a screw. For a preferred embodiment of the present invention, please refer to the fourth and fifth figures. In the third preferred embodiment: the linear servo motor mechanism (3 〇) includes a sliding table (3 3 ), - 5 service motor (3) 1), and - screw (3 2 ), the sliding table (3 ^ laterally disposed on the sides of the ship (; L 〇) on both sides of the ship, the servo motor

It is arranged on the sliding table (3 3 ) - the end 'the screw (32) is arranged in parallel on the sliding table (33) ± and is connected with the power output shaft (31 Γ) of the servo motor (31) 'the balance body (5 1) slidably disposed on the sliding table (3 3 ) and wearing a screw hole. The screw (3 2 ) passes through the screw hole of the balance 胄 (") to drive the balance body (5 丄) along the sliding table (3 3) moving, the output end of the control unit (23) is electrically connected to the servo motor (3^ and controls the operation of the servo motor (3 1) according to the angle sensor (24) to the angle signal To control the acceleration of the balance body (5丄) reciprocating on the slide table (3 3 ). Since the screw hole of the balance body (5 1 ) is corresponding to the screw (3 2 ), the screw (3 2 ) When rotating, the balance body (5丄) advances or retreats with the direction of rotation of the screw I 2); please refer to the sixth figure, which is a control block diagram of the preferred embodiment, when the hull (i 〇) is generated When tilting the tilt angle, the control unit (23) compares the hull (10) roll angle input by the angle sensor (24) with its built-in normal angle (Ref, and compares the board The difference (Θ-err) controls the servo motor (3 1 ) to drive the screw (3 2 ) to rotate 'to control the acceleration of the balance body (5 1) on the slide table (33), so that the balance body The mass of (5 1) can generate the appropriate moment according to the sway angle of the hull, so that the hull (19 200800723 ο ) can be used as the yaw moment (3/) as the yaw moment (3/). Avoid the screw (the middle section of T is bent due to the weight of the balance body (5 1).) / Please refer to the seventh figure for the stress state diagram of the balance body (5 work) and the hull, where m is The balance body (the position of the center of the balance body (... from the hull. 0) = and the function of 2 flat, Z is the balance between the movement path of the balance body (51) and the hull (1^ between the centers of rotation, Θ For the hull swing angle and the time is suspected when the balance body (51) acceleration moves, the mass of the mass formed on the hull's two 'rotation center' is '("balance body, acceleration", and the balance body ( The weight of 5&quot; also forms a size of - _ on the center of the hull (where g is the acceleration of gravity: moment, this is better The main purpose of the application is to control the balance body (the magnitude of the torque generated by the acceleration of the Sichuan mass, ie, the size of the two: body two, 〇), to resist: limbs (1 0) the rolling moment received; and according to the balance body (5U position:: different, the torque generated by its weight may have a compensatory effect, = sixth and seventh figures, if the hull ( 10) subject to a rolling moment < 〇 而 而 逆 逆 h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h The hull (1 〇) produces a counterclockwise reaction torque of size ', against the roll, however, the body (5 η is still located on the left side of the hull (work 0), its weight is two-dimensional counterclockwise torque 'This-counterclockwise moment is the same as the direction of the hull (1 〇), so it will cause the shaking effect. At this time, the magnitude of the swaying moment 该 of the hull 20 200800723 I is ^ ^ COS0, in order to make the lifting effect generated by the movement of the second 5 1) to a minimum, and the same as the lifting torque M , The preferred embodiment may be by increasing the mass m of the equilibrate level and reduces the level of displacement from stealing _〆ς χ equilibrate Na Xi ten (51) the amount to reach this purpose. Further, if the balance body (5 1 ) is placed below the center of gravity, the magnitude of the yaw moment Μ is + .

The dynamic equation derivation process of the third preferred embodiment is the same as the first preferred embodiment. The third preferred embodiment applies the hull to the hull.

T

Mxz — mgxcosO (50)

The decision process of the transfer function of the control unit (23) of the third preferred embodiment is also the first preferred embodiment, the only difference being that the servo motor (2丄) of the first preferred embodiment is rotated. Moment control, but the servo motor (3 i ) of the third preferred embodiment is position (4), which transmits the position control to generate the required acceleration, and the servo motor of the position control mode will make its transfer function The servo motor adopting the torque control method has one more step, because the servo motor (3丄) transfer function of the third preferred embodiment is no longer one, but e

I + IV~+as + b^ type, in which case the product of two standard steps can be used to compare with the hull characteristic equation of (41), and the first preferred embodiment is obtained. The same way. Referring to the eighth and tenth drawings, a fourth preferred embodiment similar to the third preferred embodiment of the present invention has a linear servo motor mechanism (4 〇, a linear servo motor (4 1 ), The stator of the linear servo motor (4丄) is a slide table (43) laterally disposed on the hull (χ 〇) two submersible ships 21 200800723 in the side of the ship's mover is a carrier (4 2) along the The sliding table (43) is moved, the balancing body (5L) is disposed on the carrier (42), and the output end of the control unit (2 3 ) is electrically connected to the linear servo motor (4) Controlling the movement of the carrier (42) of the linear feeding motor (4 1 ) according to the angle signal of the angle sensor (2 4 ) to control the balance body (5 1 ) on the sliding table (4 3 ) The acceleration of the upper reciprocating movement. The control block diagram of the fourth preferred embodiment is as shown in the tenth figure. When the ship produces a roll angle of 1 ◦), the control unit (2 3 ) is compared; The hull (1〇) input by the detector (24) traverses the built-in angle (Refj) of the inclined disc, and controls the linear servo horse according to the difference (1) obtained after comparison. (4 i ) driving the acceleration of the balance body ( 5 1 ) to make the mass of the balance body (5 1 ) generate an appropriate torque according to the roll angle of the hull to cause the hull (10) to correspond The reaction torque can be used as the yaw moment and moderately offsets the yaw moment experienced by the hull Q 〇). When the hull (10) is longer than the ship on both sides, the advantage of using the linear feeding motor (4 1 ) is that the stator of the linear servo motor (4 丄) is modular, and can be used in an unlimited number of times. In connection with the fourth preferred embodiment, the length of the sliding table (43) and the running distance of the carrier (42) can be increased by the distance between the sides of the ship on both sides of the hull. The linear servo motor (4 work) of the fourth preferred embodiment adopts a direct drive mode. Compared with the third preferred embodiment, the speed of driving the balance body (5 1 ) is faster, which does not require Connecting the screw (3 2 ) can directly drive the balance body (5 1 ), so the mechanism complexity is low, and the balance 22 200800723 'but the fourth time is also lower than the position control of ( 5 1 ) The high precision embodiment is also high due to the use of the linear servo motor (4 1 ) in the third preferred embodiment. The structure of the fourth preferred embodiment is similar to that of the Μ 牧 牧 , , , , ^ ^ ^ ^ 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线 直线

The linear servo j (41) having higher acceleration than the third preferred embodiment is adopted, so the derivation of the dynamic equation or the control unit (23) transfer of the fourth preferred embodiment: the design rule of the function, It is the same as the third embodiment, and will not be described here. For the preferred embodiments of the first, third and fourth preferred embodiments of the present invention, the physical verification contents of the swaying effect of the hull (^ 0) roll are as shown in Annex 1. The experimental results show the first and third aspects of the present invention. The preferred embodiment can reduce the sway angle of the hull by about 5%, and the fourth preferred embodiment can achieve more than 5%. It is known that the present invention has an excellent anti-rolling effect. The invention adopts a servo motor to drive a mass body movement, thereby causing the hull to generate a reaction damping moment corresponding to the mass body to resist the rolling moment of the hull, and the type may be one. The servo motor drives a flywheel to perform acceleration rotation to cause the hull to generate a reaction torque as the yaw moment, or a linear servo motor mechanism to drive a balance body to perform acceleration movement on the sides of the hull of the hull, so that the balance body The mass generates a moment to the center of rotation of the hull, and the corresponding reaction torque of the hull is used as the yaw moment; and the linear servo motor mechanism can be a linear servo motor, or a servo motor or a screw body The combination of slides. The main effects of the present invention are as follows: 23 200800723 1. The magnitude of the yaw moment generated by the present invention is mainly related to the mass and angular acceleration of the flywheel or the mass and acceleration of the balance body, which does not travel in the water flow of the hull body. The speed effect, so its anti-rolling effect can also play a role in the low speed or stationary of the hull. Second, the present invention can quickly rotate through the fixed point of the flywheel, or the balance body can quickly move at a distance to generate a damping torque, so it does not need to be too

The large space can be placed on the hull to solve the problem of the bulk of the conventional anti-rolling device. 3. The present invention transmits a counteracting moment through the mass as a reaction force simultaneously generating and disappearing. The swaying moment reacts with a fast response angle. The body moves on the hull so that the hull is subjected to the yaw moment. This utilizes the force and characteristics to make the present invention have the advantage of being applied to the hull, and can immediately explain the first figure according to the hull of the hull. The second figure, the third figure, the fourth figure, the fifth figure, the sixth figure, the seventh figure, the force state diagram, the eighth figure is a front view of the embodiment of the I month car father. This is a schematic diagram of the action of the preferred embodiment of U f &amp; A control block diagram of a first preferred embodiment of the present invention. A front view of the second preferred embodiment of the present invention. This is a control block diagram of the second preferred embodiment of the present invention. : The schematic diagram of the action of the first preferred embodiment of the present month. The balance body and the hull of the first embodiment of the present invention are a front view of the preferred embodiment of the fourth embodiment of the present invention. 24 200800723 The ninth figure is the fourth figure of the invention. The schematic diagram of the operation of the yoke and the four yoke yokes is the fourth figure of the present invention. ^ f 乂佺 only the control block of the example A picture is the intention of the six hulls of the hull. Figure 1: Schematic diagram of a conventional 4 keel anti-shake device placed on a hull. Thirteenth picture: a schematic diagram of one. Figure 14 A: ^ View from the schematic. Figure 14 B: Schematic diagram of the left. ... knowing the action of the active stable wing anti-shake device. Figure 15: A front view of a feather. ...The active anti-roller shaker is shown in the fifteenth figure B: A feather action diagram. "The active anti-roller shaker rupture diagram. The tenth, the figure is the free body of the hull of the first preferred embodiment of the present invention, the seventeenth figure is the invention, ^ ^ * a ^ The monthly liberation of the hull of the Li Jiajia example, in which the Mei I is placed by the ^. The axis is the day-to-day guard, and the vertical axis is the swing angle. Ten times is the first in the invention. The hull angle diagram of the hull of the preferred embodiment and the oscillating angle diagram of the nineteenth figure of the ninth embodiment are the stable wing of the hull soft body model of the first preferred embodiment of the present invention. The anti-shake device is disposed on the hull of the Baizhizhi active stabilizer anti-rolling device. The phantom is the hull soft phantom of the first preferred embodiment of the present invention. 25 200800723 The oscillating angle diagram [main (10 (21 (23 (23 (30 (31 (32 (40 (40 (40 (1) (1) hull (2 1 ) 马达 马达 motor 1) PTO (2 2 ) flywheel control Unit (2 4 ) Angle sensor) Linear servo motor mechanism) Servo motor (3 1 1 ) Power shaft output shaft) Screw (3 3 ) Slide table) Linear servo motor mechanism) Line Servo motor (4 2 ) carrier (5 1 ) balance body (6 1 ) 舭 keel (6 3 ) stabilizer wing C7 0 ) U-shaped water tank (7 2 ) servo motor) slide table) hull) stability wing) control Unit) control valve group) drive slurry: ship anti-rolling device implementation test 26

Claims (1)

200800723 X. Patent application scope: The hurricane H argon ship anti-rolling device is arranged on a hull, which comprises a servo motor, a #4 η m ^ ^ m control unit, and an angle sensor, $ 佝The power of the motor is σσ -I , the axis is along the middle of the ship's side of the hull and the wheel is set on the servo g, + force and the armor, and the flying, the control unit's private mountain The detector is configured to sense electrical connection to the servo motor, and the angle control unit is configured to perform D. The output of the yip angle is electrically connected to the speed of the servo motor according to the angle of the angle sensor input. Called · i month degree t唬 control 2. A boat pull-down swing set is set in a hull linear servo motor mechanism, a 匕 s has a ^, g I „ 射射技术钊 unit, and a corner 変 sensing state, Balance I# Helmet 4 Dan / ^ ^ ^, ~, "Linear servo motor mechanism can be driven on both sides of the hull of the boat on the side of the hull. ° ^ ώ Move, the output of the control unit is electrically connected to The linear servo motor machine traces &amp; -, electrically relocates to the tilt angle, and pulls out the '~ angle and the sensor is used to sense the roll angle of the hull, and the power transmission is electrically connected to the (four) unit angle sensor. Input 隹 _ 咕 ^ ^ 钔 钔 钔 钔 钔 钔 钔 钔 钔 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制3. The ship anti-rolling device according to item 2 of the material range, wherein: ehai linear servo motor mechanism ^ β table, a servo motor, and a screw, the sliding table is laterally disposed ^ mountain is placed on the two limbs In the side of the side ship, the servo motor is again on the slide table, and the screw is driven by ^^, and the 仃1 is connected to the power output shaft of the servo motor on the side of the slide table, and the 兮I I 接 4 4 thousand The balance body is slidably disposed on the sliding table and is provided with a screw hole, and the screw threaded through the screw hole of the + balance body to drive the balance body to move along the slide table, and the control unit outputs the power It is connected to the servo motor 27 200800723 p and controls the operation of the servo motor according to the angle sensing 11 input angle signal to control the acceleration of the balance body on the sliding table. 4. The ship anti-rolling device according to the second aspect of the invention, wherein the linear servo motor mechanism comprises a linear servo motor, wherein the linear servo motor is a slide table laterally disposed on both sides of the hull In the case of a boat, the mover is - the carrier can be moved along the slide, the balance body is disposed on the carrier, and the output end of the control unit 7G is electrically connected to the linear servo motor and is based on the sense of angle The angle signal of the input of the detector controls the movement of the carrier of the linear clothing/motor to control the acceleration of the balance body moving on the sliding table. 5 The ship anti-rolling device according to item 1 of the patent application scope, wherein. ,. The control unit includes an _ angle comparison operation circuit connected to the output end of the angle sensing genre and a driving circuit connected to the output end of the scholastic comparison operation circuit, the driving circuit is connected to the input end of the servo motor, The corner mouth comparison operation circuit has a reference angle built therein for comparing the angle sense, the angle of the rounding, and the reference angle, and inputting the difference _ ^ difference to the driving circuit, The drive circuit converts the difference into a voltage command input to the servo motor to control the steering and speed of the servo motor. 6. The ship anti-rolling device of claim 3, wherein the °H control unit comprises an angle comparison operation circuit connected to the wheel sensed end of the angle sensing and a driving circuit connected to the angle comparison An output end of the operation circuit, the driving circuit is connected to the input end of the servo motor, and the σHai angle comparison operation circuit has a reference angle built therein, and the angle signal of the angle sensing input is compared with the reference angle, and The difference obtained after the comparison is input to the driving circuit, and the driving circuit converts the difference into electric power. 28200800723 The pressure command input to the servo motor controls the steering and the rotation speed of the servo motor. The ship anti-rolling device according to the fourth aspect of the invention, wherein the X-drawing unit comprises an angle comparison operation circuit connected to the angle sensing-wheel-out terminal and a driving circuit connection Up to the output end of the angle comparison operation circuit, the driving circuit is connected to the input of the linear servo motor, and the δH angle comparison operation circuit has a reference angle built therein for using the angle The angle signal input by the sensor is compared with the reference angle, and the difference obtained after the comparison: the value is input to the driving circuit, and the driving circuit converts the base value into a voltage command input to the servo motor to control the linear servo. Motor steering and speed. XI. Schema: as the next page 29