Active driving magnetic suspension double-sliding-block stabilization device and control method thereof

Abstract

According to the active driving magnetic suspension double-sliding-block stabilization device and the control method thereof, by adopting the design of the double balance weight sliding blocks, when the device is started, through cooperative control over the double balance weight sliding blocks, the response time can be shortened, the control precision can be improved, the load pressure of a driving motor under a large inertia load is relieved, and the safety is further improved; when the device is stopped, due to the fact that the double mass blocks stop at the positions close to the two sides of the ship body, the transverse disturbance can still be restrained to a certain extent by means of the mass of the double mass blocks, meanwhile, the device adopts a self-adaptive controller based on current, the position and the acceleration, the position of the balance weight sliding block is dynamically adjusted according to a system model and an intelligent control algorithm, and the self-adaptive control is achieved. The device is irrelevant to ship speed, ship course, sea wave frequency, sea wave included angle, wind power and wind direction, so that the device is suitable for stabilizing the ship under all working conditions.

Description

Technical Field

[0001] The invention relates to the field of ship hull anti-rolling devices, and in particular to an actively driven magnetically suspended double-slider anti-rolling device and a control method thereof. Background Art

[0002] In order to meet the growing demand for freight under the "Belt and Road" initiative, ships are gradually developing in the direction of larger and more efficient. However, large ships are more susceptible to roll in complex sea conditions. The research and application of anti-roll devices have put forward higher requirements for the safety and operational efficiency of large ships. The anti-roll weight device can change the position of the center of gravity of the ship by moving heavy objects to achieve the effect of reducing roll. It is suitable for all working conditions, but the traditional anti-roll weight device has a high moving speed and requires the drive motor to have a high response speed. This makes the traditional anti-roll weight device consume a lot of energy and the response speed is not ideal. The safety during operation will also face great challenges. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes an actively driven magnetically suspended double slider anti-rolling device and a control method thereof. By adopting a double counterweight slider design, when the device is enabled, the response time can be shortened, the control accuracy can be improved, the load pressure of the driving motor under large inertia load can be reduced, and the safety can be further improved. When the device is disabled, since the double mass blocks stop at positions close to both sides of the hull, they can still rely on their own mass to play a certain role in suppressing lateral disturbances.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] An actively driven magnetically suspended double-slider anti-roll device is characterized in that it comprises a counterweight slider installed below the hull deck and above the center of gravity, a magnetically suspended guide rail, a linear motor secondary winding fixing frame and a linear motor secondary winding. The counterweight sliders are provided with two, respectively comprising a slider suspension, a counterweight block, a linear motor primary winding, a magnetic suspension device, a limit guide wheel bracket and a limit guide wheel. The slider suspension is in the shape of an "I" with a through hole in the middle. The counterweight blocks are provided with two and are evenly installed on both sides of the slider suspension. The linear motor primary winding is installed on both sides of the through hole.

[0006] The magnetic suspension device comprises a magnetic suspension device stator core and a magnetic suspension device stator winding, which are respectively installed at four vertex positions of the slider suspension and are independent of each other. The magnetic suspension guide rail is in a circular tube shape and is arranged through the inner side of the magnetic suspension device stator winding. When the magnetic suspension device stator winding is energized, an electromagnetic attraction is generated on the magnetic suspension guide rail. When the electromagnetic attraction reaches a preset value, the gravity of the counterweight slider is overcome, so that an air gap is maintained between the entire counterweight slider and the magnetic suspension guide rail, and the slider moves freely along the magnetic suspension guide rail.

[0007] The secondary winding fixing frame of the linear motor passes through the through hole of the slider suspension, and the secondary winding of the linear motor is attached to both sides of the secondary winding fixing frame of the linear motor.

[0008] The limit guide wheel bracket is installed on the outer wall of the magnetic suspension device, the limit guide wheels are respectively installed on the limit guide wheel bracket, and the protective plate is fixed on the inner wall of the hull. When the magnetic suspension device moves close to the inner wall of the hull, the protective plate, under the action of the limit guide wheel, keeps the air gap between the counterweight slider and the magnetic suspension guide rail within a safe limit.

[0009] It also includes a PID controller and an angle sensor, wherein the angle sensors are respectively installed on the hull and connected to the PID controller. When the device is disabled, the two counterweight blocks are respectively moved to the two sides of the magnetic suspension guide rail. When the hull is disturbed by the outside world and shakes horizontally, the PID controller detects the roll angle of the hull through the angle sensor, adjusts the current in the primary winding and the secondary winding of the linear motor, and makes the two counterweight sliders move linearly along the magnetic suspension guide rail, thereby changing the position of the overall center of gravity of the hull and keeping the hull level.

[0010] The transfer function model of the PID controller is:

[0011]

[0012] Where u(t) is the output of the PID controller, K p For the proportion link, is the integral part, T i is the integral link gain, T i The larger the score, the weaker the effect. is the incomplete differential link, T d is the differential link gain, ε<1.

[0013] As a preferred technical solution of the present invention: it also includes an end fixing frame, one side of which is fixed to the inner wall of the hull, and the ends of the magnetic levitation guide rail and the linear motor secondary winding fixing frame are respectively fixed to the other side of the end fixing frame.

[0014] As a preferred technical solution of the present invention: it also includes a buffer, the buffer includes a buffer spring and a limiting protrusion, one end of the buffer spring is fixed to the side of the end fixing frame, the limiting protrusion is fixed to the side of the slider suspension, and the limiting protrusion and the buffer spring are located on the same straight line.

[0015] As a preferred technical solution of the present invention: two or more magnetic levitation guide rails are provided, and the two or more magnetic levitation guide rails are evenly installed on the left and right sides or the upper and lower sides of the counterweight sliding block.

[0016] As a preferred technical solution of the present invention: the controller is an adaptive controller, which controls the position and acceleration of the counterweight slider according to the control system model and the feedback signal of the angle sensor.

[0017] As a preferred technical solution of the present invention: the electromagnetic attraction force is generated by the stator core and stator winding of the magnetic suspension device, and its magnitude is balanced with the gravity of the counterweight slider, that is:

[0018]

[0019] Among them, F i is the electromagnetic attraction generated by the i-th electromagnet core, μ 0 is the vacuum magnetic permeability, A is the cross-sectional area of ​​the winding core, N is the number of turns of the electromagnetic winding, I is the winding current, δ is the air gap between the stator core of the magnetic levitation device and the magnetic levitation guide rail, m is the mass of the single-sided counterweight, and g is the gravitational acceleration.

[0020] In the above structure: the present invention is installed below the hull deck and above the center of gravity, and includes a counterweight slider, a magnetic suspension guide rail, a linear motor secondary winding fixing frame, a linear motor secondary winding, a protective plate, a buffer and an end fixing frame, wherein there are two counterweight sliders, which respectively include a slider suspension, a counterweight block, a linear motor primary winding, a magnetic suspension device and a limit guide wheel. The slider suspension is in the shape of an "I" with a through hole in the middle. The counterweight blocks are evenly installed on both sides of the slider suspension, and the linear motor primary winding is installed on both sides of the through hole.

[0021] The magnetic suspension device includes a stator core and a stator winding, which are installed at the four vertices of the slider suspension and are independent of each other. The magnetic suspension rail is in the shape of a circular tube and passes through the inner side of the stator winding of the magnetic suspension device.

[0022] When the stator winding of the magnetic levitation device is energized, it can generate electromagnetic attraction on the magnetic levitation guide rail. When the electromagnetic attraction reaches a certain value, it can overcome the gravity of the counterweight slider, so that a certain air gap is maintained between the entire counterweight slider and the magnetic levitation guide rail, and it can move freely along the magnetic levitation guide rail.

[0023] When the device is disabled, the two counterweights move to the sides of the magnetic levitation guide rail. When the ship is disturbed by external factors and sways horizontally, the PID controller detects the ship's roll angle through the angle sensor and adjusts the current in the primary and secondary windings of the linear motor to make the two counterweight sliders move linearly along the magnetic levitation guide rail, thereby changing the position of the ship's overall center of gravity and keeping the ship level. The protective plate can keep the air gap between the counterweight slider and the magnetic levitation guide rail within a safe limit under the action of the limiting guide wheel.

[0024] The buffer includes a buffer spring and a limit protrusion, which are respectively installed on the end fixing frame and the slider suspension and are arranged correspondingly, and can play a buffering role on the counterweight slider to prevent the counterweight slider from causing damage to the device and the hull.

[0025] One side of the end fixing frame is installed on the inner wall of the ship to fix the entire active drive magnetic suspension double slider anti-roll device, and the other side is used to fix the magnetic suspension guide rail, the linear motor secondary winding fixing frame and the buffer.

[0026] Multiple magnetic levitation guide rails can be used, and more magnetic levitation guide rails can be evenly installed on the left and right sides or the upper and lower sides of the counterweight slider to improve the overall supporting stiffness of the magnetic levitation guide rails and make the counterweight slider run more smoothly.

[0027] The present invention is based on adaptive control of current, position and acceleration, so the PID controller is an adaptive controller. The PID controller can accurately control the position and acceleration of the counterweight slider according to the control system model and the sensor feedback signal, and at the same time combine the intelligent control algorithm to achieve a good response effect.

[0028] The electromagnetic attraction is generated by the stator core and stator winding of the magnetic suspension device, and its magnitude is balanced with the gravity of the counterweight slider to ensure the stable suspension of the mating slider, that is:

[0029]

[0030] Among them, F i is the electromagnetic attraction generated by the i-th electromagnet core, μ 0 is the vacuum magnetic permeability, A is the cross-sectional area of ​​the winding core, N is the number of turns of the electromagnetic winding, I is the winding current, δ is the air gap between the stator core of the magnetic levitation device and the magnetic levitation guide rail, m is the mass of the single-side counterweight block, and g is the gravitational acceleration

[0031] The present invention adopts a double counterweight slider design. When the device is enabled, the coordinated control of the double counterweight slider can shorten the response time, improve the control accuracy, reduce the load pressure of the driving motor under large inertia load, and further improve the safety. When the device is disabled, since the double mass blocks stop at positions close to both sides of the ship, they can still rely on their own mass to play a certain inhibitory effect on lateral disturbances.

[0032] The control method of the actively driven magnetic suspension double slider anti-roll device is characterized by comprising the following steps:

[0033] When the stator winding of the magnetic suspension device is energized, it can generate electromagnetic attraction on the magnetic suspension guide rail. When the electromagnetic attraction reaches a predetermined value, it can overcome the gravity of the counterweight slider, so that an air gap is maintained between the entire counterweight slider and the magnetic suspension guide rail, and the slider can move freely along the magnetic suspension guide rail. The secondary winding fixing frame of the linear motor passes through the through hole of the slider suspension, and the secondary winding of the linear motor is attached to both sides of the secondary winding fixing frame of the linear motor. When the device is disabled, the two counterweight blocks are respectively moved to both sides of the magnetic suspension guide rail. When the hull is disturbed by the outside world and shakes horizontally, the controller detects the roll angle of the hull and adjusts the current in the primary winding and the secondary winding of the linear motor, so that the two counterweight sliders move linearly along the magnetic suspension guide rail, thereby changing the position of the overall center of gravity of the hull and keeping the hull level.

[0034] When the device is disabled, the two counterweight sliders move to the position close to the two sides of the hull and remain stationary. At this time, the counterweight sliders can still suppress the lateral disturbance by relying on their own mass;

[0035] When the device is enabled, the controller calculates the current angle of the hull inclination based on the signal fed back by the angle sensor, and then estimates the optimal position of the two counterweight sliders, controls the current in the primary winding and secondary winding of the linear motor, and moves the counterweight sliders to the predetermined position.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The present invention adopts a dual counterweight slider design. When the device is enabled, the coordinated control of the dual counterweight slider can shorten the response time, improve the control accuracy, reduce the load pressure of the driving motor under large inertia load, and further improve the safety. When the device is disabled, since the dual mass blocks stop at positions close to both sides of the hull, they can still rely on their own mass to play a certain inhibitory effect on lateral disturbances. At the same time, the device of the present invention adopts an adaptive controller based on current, position and acceleration. According to the system model and intelligent control algorithm, the position of the counterweight slider is dynamically adjusted, thereby dynamically adjusting the center of gravity position of the entire hull to achieve the effect of suppressing the hull roll, which is independent of the hull speed, hull heading, wave frequency, wave angle, wind force, and wind direction. Therefore, the device of the present invention is suitable for full-condition roll reduction of the hull. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a side view of the composition structure of the present invention;

[0039] Figure 2 It is a top view of the composition structure of the present invention;

[0040] Figure 3 It is a structural block diagram of the control system of the present invention.

[0041] List of reference numerals:

[0042] 1. Counterweight slider; 1-1. Slider suspension; 1-2. Counterweight block; 1-3. Primary winding of linear motor; 1-4. Magnetic levitation device; 1-41. Stator core of magnetic levitation device; 1-42. Stator winding of magnetic levitation device; 1-5. Limiting guide wheel bracket; 1-6. Limiting guide wheel; 2. Magnetic levitation guide rail; 3. Secondary winding fixing frame of linear motor; 4. Secondary winding of linear motor; 5. Protective plate; 6. Buffer; 7. End fixing frame. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0044] like Figure 1-2 As shown, the present invention proposes an actively driven magnetic suspension double slider anti-roll device, comprising a counterweight slider 1 installed below the hull deck and above the center of gravity, a magnetic suspension guide rail 2, a linear motor secondary winding fixing frame 3 and a linear motor secondary winding 4. The counterweight slider 1 is provided with two, respectively including a slider suspension 1-1, a counterweight block 1-2, a linear motor primary winding 1-3, a magnetic suspension device 1-4, a limit guide wheel bracket 1-5 and a limit guide wheel 1-6. The slider suspension 1-1 is in the shape of an "I" with a through hole in the middle. The counterweight block 1-2 is provided with two, which are evenly installed on both sides of the slider suspension 1-1, and the linear motor primary winding 1-3 is installed on both sides of the through hole.

[0045] The magnetic suspension device 1-4 includes a magnetic suspension device stator core 1-41 and a magnetic suspension device stator winding 1-42. The magnetic suspension device stator core 1-41 and the magnetic suspension device stator winding 1-42 are respectively installed at the four vertex positions of the slider suspension 1-1 and are independent of each other. The magnetic suspension guide rail 2 is in a circular tube shape and is arranged through the inner side of the magnetic suspension device stator winding 1-42. When the magnetic suspension device stator winding 1-42 is energized, an electromagnetic attraction is generated on the magnetic suspension guide rail 2. When the electromagnetic attraction reaches a preset value, the gravity of the counterweight slider 1 is overcome, so that an air gap is maintained between the entire counterweight slider 1 and the magnetic suspension guide rail 2, and the counterweight slider 1 moves freely along the magnetic suspension guide rail 2.

[0046] The linear motor secondary winding fixing frame 3 passes through the through hole of the slider suspension 1-1, and the linear motor secondary winding 4 is attached to both sides of the linear motor secondary winding fixing frame 3.

[0047] The position-limiting guide wheel bracket 1-5 is installed on the outer wall of the magnetic suspension device 1-4, the position-limiting guide wheels 1-6 are respectively installed on the position-limiting guide wheel bracket 1-5, and the protective plate 5 is fixed on the inner wall of the hull. When the magnetic suspension device 1-4 moves close to the inner wall of the hull, the protective plate 5, under the action of the position-limiting guide wheels 1-6, keeps the air gap between the counterweight slider 1 and the magnetic suspension guide rail 2 within a safe limit.

[0048] It also includes a PID controller and an angle sensor, the angle sensors are respectively installed on the hull, and the angle sensor is connected to the PID controller. When the device is disabled, the two counterweight blocks 1-2 are respectively moved to the two sides of the magnetic suspension guide rail 2. When the hull is disturbed by the outside world and shakes horizontally, the PID controller detects the roll angle of the hull through the angle sensor, adjusts the current in the primary winding 1-3 and the secondary winding of the linear motor, and makes the two counterweight sliders 1 move linearly along the magnetic suspension guide rail 2, thereby changing the position of the overall center of gravity of the hull and keeping the hull level.

[0049] The transfer function model of the PID controller is:

[0050]

[0051] Where u(t) is the output of the PID controller, K p For the proportion link, is the integral part, T i is the integral link gain, T i The larger the score, the weaker the effect. is the incomplete differential link, T d is the differential link gain, ε<1.

[0052] It also includes an end fixing frame 7, one side of which is fixed to the inner wall of the hull, and the ends of the magnetic suspension guide rail 2 and the linear motor secondary winding fixing frame 3 are respectively fixed to the other side of the end fixing frame 7.

[0053] It also includes a buffer 6, which includes a buffer spring and a limiting protrusion. One end of the buffer spring is fixed to the side of the end fixing frame 7, and the limiting protrusion is fixed to the side of the slider suspension 1-1. The limiting protrusion and the buffer spring are located on the same straight line.

[0054] The magnetic suspension guide rails 2 are provided with two or more, and the two or more magnetic suspension guide rails 2 are evenly installed on the left and right sides or the upper and lower sides of the counterweight sliding block 1.

[0055] The controller is an adaptive controller, which controls the position and acceleration of the counterweight slider 1 according to the control system model and the feedback signal of the angle sensor.

[0056] The electromagnetic attraction force is generated by the magnetic suspension device stator core 1-41 and the magnetic suspension device stator winding 1-42, and its magnitude is balanced with the gravity of the counterweight slider 1, that is:

[0057]

[0058] Among them, F i is the electromagnetic attraction generated by the i-th electromagnet core, μ 0 is the vacuum magnetic permeability, A is the cross-sectional area of ​​the winding core, N is the number of turns of the electromagnetic winding, I is the winding current, δ is the air gap between the stator core of the magnetic levitation device and the magnetic levitation guide rail, m is the mass of the single-sided counterweight, and g is the gravitational acceleration.

[0059] The present invention is installed below the hull deck and above the center of gravity, and includes a counterweight slider 1, a magnetic suspension guide rail 2, a linear motor secondary winding fixing frame 3, a linear motor secondary winding 4, a protective plate 5, a buffer 6 and an end fixing frame 7. Among them, there are two counterweight sliders 1, which respectively include a slider suspension 1-1, a counterweight block 1-2, a linear motor primary winding 1-3, a magnetic suspension device 1-4 and a limit guide wheel 1-6. The slider suspension 1-1 is in the shape of an "I" with a through hole in the middle. The counterweight block 1-2 is evenly installed on both sides of the slider suspension 1-1, and the linear motor primary winding 1-3 is installed on both sides of the through hole.

[0060] The magnetic suspension device 1-4 includes a stator core and a stator winding, which are installed at the four vertices of the slider suspension 1-1 and are independent of each other. The magnetic suspension rail 2 is in a round tube shape and passes through the inner side of the stator winding 1-42 of the magnetic suspension device.

[0061] When the stator winding 1-42 of the magnetic suspension device is energized, an electromagnetic attraction can be generated on the magnetic suspension guide rail 2. When the electromagnetic attraction reaches a certain value, it can overcome the gravity of the counterweight slider 1, so that a certain air gap is maintained between the entire counterweight slider 1 and the magnetic suspension guide rail 2, and the slider can move freely along the magnetic suspension guide rail 2.

[0062] When the device is disabled, the two counterweight blocks 1-2 move to the two sides of the magnetic suspension rail 2 respectively. When the ship is disturbed by the outside world and shakes horizontally, the PID controller detects the ship's roll angle through the angle sensor and adjusts the current in the primary winding 1-3 and the secondary winding of the linear motor to make the two counterweight sliders 1 move linearly along the magnetic suspension rail 2, thereby changing the position of the overall center of gravity of the ship and keeping the ship level. The protective plate 5 can keep the air gap between the counterweight slider 1 and the magnetic suspension rail 2 within the safety limit under the action of the limiting guide wheels 1-6.

[0063] The buffer 6 includes a buffer spring and a limit protrusion, which are respectively installed on the end fixing frame 7 and the slider suspension 1-1 and are arranged correspondingly, and can play a buffering role on the counterweight slider 1 to prevent the counterweight slider 1 from causing damage to the device and the hull.

[0064] One side of the end fixing frame 7 is installed on the inner wall of the ship to fix the entire active drive magnetic suspension double slider anti-roll device, and the other side is used to fix the magnetic suspension guide rail 2, the linear motor secondary winding fixing frame 3 and the buffer 6.

[0065] A plurality of magnetic suspension rails 2 can be used, and more magnetic suspension rails 2 can be evenly installed on the left and right sides or the upper and lower sides of the counterweight slider 1 to improve the overall support stiffness of the magnetic suspension rails 2 and make the counterweight slider 1 run more smoothly.

[0066] The present invention is based on adaptive control of current, position and acceleration, so the PID controller is an adaptive controller. The PID controller can accurately control the position and acceleration of the counterweight slider 1 according to the control system model and the feedback signal of the angle sensor, and at the same time combine the intelligent control algorithm to achieve a good response effect.

[0067] The electromagnetic attraction force is generated by the magnetic suspension device stator core 1-41 and the magnetic suspension device stator winding 1-42, and its magnitude is balanced with the gravity of the counterweight slider 1 to ensure that the seeding slider is stably suspended, that is:

[0068]

[0069] Among them, F i is the electromagnetic attraction generated by the i-th electromagnet core, μ 0is the vacuum magnetic permeability, A is the cross-sectional area of ​​the winding core, N is the number of turns of the electromagnetic winding, I is the winding current, δ is the air gap between the stator core of the magnetic levitation device and the magnetic levitation guide rail, m is the mass of the single-sided counterweight block, and g is the gravity acceleration. When the above conditions are met, the counterweight slider can be stably suspended and maintain a certain air gap on the magnetic levitation guide rail.

[0070] Compared with conventional rotary motors, linear motors do not need to convert rotary motion into linear motion through gears or other mechanical structures, and can directly drive the counterweight slider 1 to move forward along the track. This reduces mechanical losses, improves transmission efficiency, and reduces maintenance requirements. It exhibits higher reliability during long-term, high-intensity operation, and the frequency and cost of maintenance are also reduced. In addition, in order to meet the requirements of reducing roll, the counterweight slider 1 needs to generate a higher moving speed. The design of the linear motor can achieve faster acceleration and a higher speed of the counterweight slider 1. Since it is not limited by mechanical transmission components, it can directly provide sufficient thrust to accelerate the counterweight slider 1, which makes it easier for the counterweight slider 1 to break through the speed limit of conventional rotary motors.

[0071] The control system structure diagram is as follows Figure 3 As shown in the figure, is the reference roll angle, is the actual roll angle of the ship fed back by the anti-roll device, and the PID controller adopts the PID controller with the structure shown in the dotted box in the figure to replace the ideal PID controller. The PID controller with this structure has the advantages of simple circuit, reliable performance, and convenient adjustment compared with the ideal PID controller.

[0072] The transfer function model of the PID controller is:

[0073]

[0074] Where u(t) is the output of the PID controller, K p For the proportion link, is the integral part, T i is the integral link gain, T i The larger the score, the weaker the effect. is the incomplete differential link, T d is the differential link gain, ε<1.

[0075] The adaptive control regulator of the present invention can make full use of the advantages of the PID controller and avoid the disadvantage of slow roll angle recovery within a certain period of time when using the traditional PID method for control to a certain extent. It can adjust the control parameters in real time according to knowledge, experience and feedback errors to achieve faster response speed and higher control accuracy.

[0076] The control method of the actively driven magnetic suspension double slider anti-roll device comprises the following steps:

[0077] When the stator winding 1-42 of the magnetic suspension device is energized, an electromagnetic attraction can be generated on the magnetic suspension guide rail 2. When the electromagnetic attraction reaches a predetermined value, it can overcome the gravity of the counterweight slider 1, so that an air gap is maintained between the entire counterweight slider 1 and the magnetic suspension guide rail 2, and the counterweight slider 1 can move freely along the magnetic suspension guide rail 2. The linear motor secondary winding fixing frame 3 passes through the through hole of the slider suspension 1-1, and the linear motor secondary winding 4 is attached to both sides of the linear motor secondary winding fixing frame 3. When the device is disabled, the two counterweight blocks 1-2 are respectively moved to both sides of the magnetic suspension guide rail 2. When the hull is disturbed by the outside world and shakes horizontally, the controller detects the roll angle of the hull and adjusts the current in the primary winding 1-3 and the secondary winding of the linear motor, so that the two counterweight sliders 1 move linearly along the magnetic suspension guide rail 2, thereby changing the position of the overall center of gravity of the hull and keeping the hull level.

[0078] When the device is disabled, the two counterweight sliders 1 move to the positions close to the two sides of the hull and remain stationary. At this time, the counterweight sliders 1 can still suppress the lateral disturbance by their own mass.

[0079] When the device is enabled, the controller calculates the current angle of the hull tilt based on the signal fed back by the angle sensor, and then estimates the optimal position of the two counterweight sliders 1, controls the current in the primary windings 1-3 of the linear motor and the secondary winding 4 of the linear motor, and moves the counterweight slider 1 to the predetermined position.

[0080] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. Actively driven magnetic suspension double slider anti-roll device, characterized by: The invention comprises a counterweight slider (1) installed below the hull deck and above the center of gravity, a magnetic suspension guide rail (2), a linear motor secondary winding fixing frame (3) and a linear motor secondary winding (4). The counterweight slider (1) is provided with two, respectively comprising a slider suspension (1-1), a counterweight block (1-2), a linear motor primary winding (1-3), a magnetic suspension device (1-4), a limit guide wheel bracket (1-5) and a limit guide wheel (1-6). The slider suspension (1-1) is in the shape of an "I" character with a through hole in the middle. The counterweight block (1-2) is provided with two and is evenly installed on both sides of the slider suspension (1-1). The linear motor primary winding (1-3) is installed on both sides of the through hole. The magnetic suspension device (1-4) comprises a magnetic suspension device stator core (1-41) and a magnetic suspension device stator winding (1-42); the magnetic suspension device stator core (1-41) and the magnetic suspension device stator winding (1-42) are respectively installed at four vertex positions of the slider suspension (1-1) and are independent of each other; the magnetic suspension guide rail (2) is in a circular tube shape and is arranged to pass through the inner side of the magnetic suspension device stator winding (1-42); when the magnetic suspension device stator winding (1-42) is energized, an electromagnetic attraction is generated on the magnetic suspension guide rail (2); when the electromagnetic attraction reaches a preset value, the gravity of the counterweight slider (1) is overcome, so that an air gap is maintained between the entire counterweight slider (1) and the magnetic suspension guide rail (2), and the counterweight slider (1) moves freely along the magnetic suspension guide rail (2); The linear motor secondary winding fixing frame (3) passes through the through hole of the slider suspension (1-1), and the linear motor secondary winding (4) is attached to both sides of the linear motor secondary winding fixing frame (3). The position-limiting guide wheel bracket (1-5) is mounted on the outer wall of the magnetic suspension device (1-4), the position-limiting guide wheels (1-6) are respectively mounted on the position-limiting guide wheel bracket (1-5), and the protective plate (5) is fixed on the inner wall of the hull. When the magnetic suspension device (1-4) moves close to the inner wall of the hull, the protective plate (5) keeps the air gap between the counterweight slider (1) and the magnetic suspension guide rail (2) within a safe limit under the action of the position-limiting guide wheels (1-6). The device also comprises a PID controller and an angle sensor, wherein the angle sensors are respectively mounted on the hull and connected to the PID controller. When the device is deactivated, the two counterweight blocks (1-2) are respectively moved to the two sides of the magnetic suspension guide rail (2). When the hull is disturbed by the outside world and sways horizontally, the PID controller detects the rolling angle of the hull through the angle sensor and adjusts the current in the primary winding (1-3) and the secondary winding of the linear motor to make the two counterweight sliders (1) move linearly along the magnetic suspension guide rail (2), thereby changing the position of the overall center of gravity of the hull and keeping the hull level. The transfer function model of the PID controller is: Where u(t) is the output of the PID controller, K p For the proportion link, is the integral part, T i is the integral link gain, T i The larger the score, the weaker the effect. is the incomplete differential link, T d is the differential link gain, ε<1.

2. The actively driven magnetically suspended double-slider anti-roll device according to claim 1 is characterized in that: It also comprises an end fixing frame (7), one side of which is fixed to the inner wall of the hull, and the ends of the magnetic suspension guide rail (2) and the linear motor secondary winding fixing frame (3) are respectively fixed to the other side of the end fixing frame (7).

3. The actively driven magnetically suspended double-slider anti-roll device according to claim 1 or 2, characterized in that: It also includes a buffer (6), the buffer (6) including a buffer spring and a limiting protrusion, one end of the buffer spring is fixed to the side of the end fixing frame (7), the limiting protrusion is fixed to the side of the slider suspension (1-1), and the limiting protrusion and the buffer spring are located on the same straight line.

4. The actively driven magnetically suspended double-slider anti-roll device according to claim 1 is characterized in that: Two or more magnetic suspension guide rails (2) are provided, and the two or more magnetic suspension guide rails (2) are evenly installed on the left and right sides or the upper and lower sides of the counterweight sliding block (1).

5. The actively driven magnetically suspended double-slider anti-roll device according to claim 1 is characterized in that: The PID controller is an adaptive controller, which controls the position and acceleration of the counterweight slider (1) according to the control system model and in coordination with the angle sensor feedback signal.

6. The actively driven magnetically suspended double-slider anti-roll device according to claim 1 is characterized in that: The electromagnetic attraction force is generated by the magnetic suspension device stator core (1-41) and the magnetic suspension device stator winding (1-42), and its magnitude is balanced with the gravity of the counterweight slider (1), that is: Among them, F i is the electromagnetic attraction generated by the i-th electromagnet core, μ0 is the vacuum magnetic permeability, A is the cross-sectional area of ​​the winding core, N is the number of turns of the electromagnetic winding, I is the winding current, δ is the air gap between the stator core of the magnetic levitation device and the magnetic levitation guide rail, m is the mass of the single-sided counterweight, and g is the acceleration of gravity.

7. The control method of the active drive magnetic suspension double slider anti-roll device according to any one of claims 1 to 6, characterized in that: The steps include: When the stator winding (1-42) of the magnetic suspension device is energized, an electromagnetic attraction force can be generated on the magnetic suspension guide rail (2). When the electromagnetic attraction force reaches a predetermined value, the gravity of the counterweight slider (1) can be overcome, so that an air gap is maintained between the entire counterweight slider (1) and the magnetic suspension guide rail (2), and the counterweight slider (1) can move freely along the magnetic suspension guide rail (2). The linear motor secondary winding fixing frame (3) passes through the through hole of the slider suspension frame (1-1), and the linear motor secondary winding (4) is attached to both sides of the linear motor secondary winding fixing frame (3). When the device is deactivated, the two counterweight blocks (1-2 ) are moved to both sides of the magnetic suspension rail (2) respectively. When the hull is disturbed by the outside world and shakes horizontally, the PID controller detects the roll angle of the hull and adjusts the current in the primary winding (1-3) and the secondary winding of the linear motor, so that the two counterweight sliders (1) move linearly along the magnetic suspension rail (2), thereby changing the position of the overall center of gravity of the hull and keeping the hull level. When the device is disabled, the two counterweight sliders (1) move to positions close to both sides of the hull and remain stationary. At this time, the counterweight sliders (1) can still suppress lateral disturbances by relying on their own mass. When the device is enabled, the PID controller calculates the current angle of inclination of the hull based on the signal fed back by the angle sensor, thereby estimating the optimal position of the two counterweight sliders (1), and controls the current in the primary winding (1-3) of the linear motor and the secondary winding (4) of the linear motor, so that the counterweight slider (1) moves to a predetermined position.

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