A wave compensation ship and compensation method thereof

Abstract

The present invention discloses a wave compensation ship and a compensation method thereof. The ship comprises a ship-type main body for navigation, a deck platform, and a compensation device. The compensation device is used to compensate the deck platform for waves. The ship-type main body comprises a plurality of hull units and a buffer connection device. A compensation device is arranged between each hull unit and the deck platform. The buffer connection device comprises a first servo cylinder. The first servo cylinder comprises a fixed pair and a movable pair. A spring damper is sleeved on the movable pair. One end of the spring damper is connected to the fixed pair, and the other end is fixedly connected to the movable pair. The fixed pair is hinged to the side of one hull unit, and the movable pair is hinged to the side of another hull unit. A plurality of mutually connected hull units are arranged to compensate the deck platform respectively, so that the compensation is more flexible. A buffer connection device is adopted between the hull units. The lateral compensation can be realized by telescoping the buffer connection device, thereby increasing the compensation range and improving the ability of the hull to maintain stability when encountering strong lateral winds and waves.

Description

Technical Field

[0001] The invention relates to a new type of ship, in particular to a wave compensation ship and a compensation method thereof. Background Art

[0002] Ships are marine vehicles, and people and goods need to be transported by ships. The turbulence and shaking caused by the impact of wind and waves on ships greatly affect the operations of sailors and shipboard equipment. At present, many achievements have been made in the research of wave compensation for marine equipment, such as offshore lifting, offshore transportation and replenishment, and offshore recovery. These equipments compensate for a specific situation and demand, and improve the stability of the equipment's offshore operating environment. However, they are usually limited to one type of equipment, and there is little research on equipment for compensating the entire working platform of the ship.

[0003] In the prior art, such as patent application CN202110401036.0, a six-degree-of-freedom marine wave compensation multi-purpose boat and its wave compensation method are disclosed. The patent application includes a navigation hull, a deck and a six-degree-of-freedom electric wave compensation system. The deck is the whole that needs to be compensated for waves. The compensation method is usually by measuring the motion posture values ​​of the hull in six directions, and calculating the compensation value according to the inverse algorithm for compensation. However, when compensating, only the deck is compensated, and the other parts are not compensated. There is no corresponding compensation when encountering lateral wind and waves. The compensation range is limited and cannot adapt to various sea conditions. Summary of the invention

[0004] Purpose of the invention: In view of the above shortcomings, the present invention provides a wave compensation ship with a larger compensation range.

[0005] The invention also provides a compensation method for a wave compensation ship.

[0006] Technical solution: To solve the above problems, the present invention adopts a wave compensation ship, including a ship body for navigation, a compensation device and a deck platform arranged above the ship body, the compensation device connects the ship body and the deck platform, the compensation device is used to compensate for waves on the deck platform, the ship body includes a plurality of hull units and buffer connection devices for interconnecting the hull units, a compensation device is arranged between each hull unit and the deck platform, the buffer connection device includes a first servo cylinder, the first servo cylinder includes a fixed pair and a movable pair, a spring damper is arranged on the movable pair, one end of the spring damper is connected to the fixed pair, and the other end is fixedly connected to the movable pair, the fixed pair is hinged to the side of one hull unit, and the movable pair is hinged to the side of another hull unit.

[0007] Furthermore, the compensation device includes a second servo cylinder, and an output end of the second servo cylinder is hinged to the bottom of the deck platform.

[0008] Furthermore, the compensation device also includes a passive compensation device, the fixed end of the servo cylinder is connected to the hull unit through the passive compensation device, and the passive compensation device includes a compensation spring, one end of the compensation spring is fixedly connected to the hull unit, and the other end of the compensation spring is fixedly connected to the fixed end of the second servo cylinder.

[0009] Furthermore, the output end of the second servo cylinder is hinged to the bottom of the deck platform through a Hook hinge.

[0010] Furthermore, the ship-type body includes two hull units arranged in parallel.

[0011] Furthermore, each of the hull units is provided with a power device, and the power device is used to drive the hull unit to navigate.

[0012] Furthermore, two compensation devices are arranged on each of the hull units, and the two compensation devices are respectively located at the front and rear ends of the hull unit.

[0013] The present invention also adopts a compensation method for a wave compensation ship, comprising the following steps:

[0014] Step 1: Measure the attitude values ​​of the roll motion, pitch motion, and heave motion of the hull unit respectively;

[0015] Step 2: According to the attitude value of the hull unit, calculate the compensation value required for the deck platform;

[0016] Step 3: Control the compensation device to compensate the deck platform, and at the same time, buffer the telescopic movement of the connection device to ensure that the hull unit is in a normal non-angled posture;

[0017] Step 4: Measure the actual displacement value of the compensation device;

[0018] Step 5: Compare the actual displacement value with the compensation value to obtain the control deviation, and perform PID closed-loop control on the supplementary device based on the control deviation.

[0019] Furthermore, the roll motion attitude values ​​of the two hull units measured in step 1 are respectively a1 and a2, the pitch motion attitude values ​​of the two hull units measured are respectively b1 and b2, and the heave motion attitude values ​​of the two hull units measured are c1 and c2;

[0020] When a1=a2=b1=b2=0, and c1=c2≠0, the two hull units move synchronously, and the compensation devices of the two hull units are controlled to move synchronously to compensate for the heave of the deck platform;

[0021] When a1=a2=b1=b2=0, and c1≠c2≠0, the two hull units perform different heave motions, and the compensation devices on the two hull units are controlled to perform different heave compensations. At the same time, the buffer connection device telescopic motion ensures that the hull unit is in a normal non-angled posture;

[0022] When c1=c2=0, and a1, a2, b1, and b2 are not all zero, the two hull units perform different roll or pitch movements, and the compensation devices on the two hull units are controlled to perform different roll or pitch compensations. At the same time, the buffer connection device telescopes to ensure that the hull unit is in a normal, non-deflected attitude.

[0023] Beneficial effects: Compared with the prior art, the significant advantage of the present invention is that multiple hull units are arranged to compensate for the deck platform respectively, and the hull units are interconnected, making the compensation more flexible, more timely and simpler. Buffer connection devices are used between the hull units. When the hull encounters lateral wind and waves, lateral compensation can be achieved by retracting the buffer connection device, thereby increasing the compensation range and improving the ability of the hull to maintain stability when encountering strong lateral wind and waves. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shown is a schematic structural diagram of a wave compensation ship according to the present invention.

[0025] Figure 2 Shown is a front view of the wave compensation vessel of the present invention.

[0026] Figure 3 Shown is a schematic diagram of the connection between the ship-shaped body and the compensation device in the present invention.

[0027] Figure 4 Shown is a schematic structural diagram of the buffer connection device in the present invention.

[0028] Figure 5 Shown is a cross-sectional view of the compensation device in the present invention.

[0029] Figure 6 Shown is a schematic structural diagram of the deck platform in the present invention.

[0030] Figure 7 Shown is a schematic diagram of the active heave compensation control principle in the present invention. DETAILED DESCRIPTION

[0031] Example 1

[0032] like Figure 1 and Figure 2As shown, in this embodiment, a wave compensation ship comprises a ship body 1 for sailing, a buffer connection device 2, a compensation device 3 and a deck platform 4 arranged above the ship body 1. The ship body 1 comprises a plurality of hull units 11, and the hull units 11 comprise a power room, an operation room, a fuel storage room and a power device 12. Each hull unit 11 is provided with a power device 12, and the power device 12 is used to drive the hull unit 11 to sail. Figure 3 As shown, a rear deck 13 and a compensation support deck 14 are arranged on the upper surface of the hull unit 11, and a passage is arranged on the rear deck 13, and the passage connects the compensation support deck 14 and the inside of the hull unit 11. In this embodiment, two hull units 11 arranged in parallel are arranged, and two buffer connection devices 2 are arranged between the two hull units 11.

[0033] like Figure 4 As shown, the buffer connection device 2 includes a first connection part 21, a first servo cylinder, a spring damper 24 and a second connection part 25. The first servo cylinder includes a fixed pair 22 and a mobile pair 23. The mobile pair 23 is provided with a spring damper 24 to keep the distance between the hull units 11 in accordance with the working condition requirements and control the elongation and shortening of the mobile pair 23. One end of the spring damper 24 is connected to the fixed pair 22, and the other end is fixedly connected to the mobile pair 23. The other end of the fixed pair 22 connected to the spring damper 24 is hinged to the first connection part 21. The first connection part is fixedly connected to the side of one hull unit 11. One end of the mobile pair 23 is hinged to the second connection part 25, and the second connection part 25 is fixedly connected to the side of another hull unit 11. The buffer connection device 2 is a three-five degree of freedom mechanism. The buffer connection device 2 adjusts the elongation of the mobile pair according to the actual working conditions.

[0034] like Figure 5 As shown, the compensation device 3 includes a second servo cylinder 33 and a passive compensation device, the passive compensation device includes a compensation spring 31, the output end of the second servo cylinder 33 is hinged to the bottom of the deck platform 4 through a Hooke's hinge 34, one end of the compensation spring is fixedly connected to the hull unit 11, and the other end of the compensation spring is fixedly connected to the fixed end of the second servo cylinder 33, the fixed end of the servo cylinder 33 is connected to the hull unit 11 through the passive compensation device, the compensation device 3 is used to perform wave compensation on the deck platform according to actual working conditions, and the buffer connection device 2 for interconnecting the hull units 11, each hull unit 11 is provided with a compensation device 3 between the deck platform 4, in this embodiment, two compensation devices 3 are provided on each hull unit 11, and the two compensation devices 3 are respectively located at the front and rear ends of the hull unit 11.

[0035] The upper deck platform 4 includes a cabin 41, a deck 42 and a platform 43. The upper deck platform 4 is a living and working area for personnel and an equipment operation area. It is the same as the general hull configuration and will not be repeated here.

[0036] The wave compensation vessel in this embodiment adopts integral compensation to compensate the entire upper hull, thereby expanding the compensation range, and adopts a dual-powered vessel as the lower driving carrier. From the perspective of the ship type, the dual-powered vessel in this embodiment can be regarded as a compensating lower platform, which is arranged on both sides of the upper hull respectively. Therefore, the catamaran has better anti-rolling performance, and the dual-powered vessels have the function of compensating for the upper hull. When encountering lateral wind and waves, the connecting device between the power vessels can be retracted to make the lower hull tilt inward, thereby reducing the side impact force received by the entire ship, and realizing wave compensation under higher sea conditions.

[0037] Example 2

[0038] The wave compensation ship in the above embodiment 1 is provided with a posture sensor on the hull unit 11, and each second servo cylinder is provided with a linear displacement sensor. The ship receives the data of the sensor through the motion controller, performs calculation, and controls the compensation device according to the calculation result. The compensation method of the wave compensation ship specifically includes the following steps:

[0039] Step 1: The motion controller receives the attitude values ​​of the roll motion, pitch motion, and heave motion of the hull unit respectively measured by the attitude sensor in real time; in this embodiment, the roll motion attitude values ​​of the two hull units are measured as a1 and a2, the pitch motion attitude values ​​of the two hull units are measured as b1 and b2, and the heave motion attitude values ​​of the two hull units are measured as c1 and c2;

[0040] Step 2: According to the attitude value of the hull unit, the motion controller calculates the compensation value required for the deck platform;

[0041] Step 3: According to the compensation value, the motion controller controls the compensation device to compensate the deck platform, and at the same time, the buffer connection device telescopically moves to ensure that the hull unit is in a normal non-angled posture; in the two hull units set in this embodiment, when a1=a2= b1= b2=0, and c1= c2≠0, the two hull units move synchronously, and the compensation devices of the two hull units are controlled to move synchronously to compensate for the heave of the deck platform;

[0042] When a1= a2= b1= b2=0, and c1≠c2≠0, the two hull units perform different heave motions, and the compensation devices on the two hull units are controlled to perform different heave compensations. At the same time, the buffer connection device telescopic motion ensures that the hull unit is in a normal non-angled attitude;

[0043] When c1= c2=0, and a1, a2, b1, and b2 are not all zero, the two hull units perform different roll or pitch motions, and the compensation devices on the two hull units are respectively controlled to perform different roll or pitch compensations. At the same time, the buffer connection device telescopically moves to ensure that the hull unit is in a normal non-angled attitude;

[0044] Step 4: The linear displacement sensor on the second servo cylinder measures the actual displacement value of each second servo cylinder in the compensation device;

[0045] Step 5: The motion controller compares the actual displacement value with the compensation value to obtain the control deviation, and performs PID closed-loop control on the second servo cylinder of the compensation device according to the control deviation.

Claims

1. A wave compensation ship, comprising a ship body (1) for navigation, a compensation device (3) and a deck platform (4) arranged above the ship body (1), wherein the compensation device (3) connects the ship body (1) and the deck platform, and the compensation device (3) is used to perform wave compensation on the deck platform, and is characterized in that: The ship-type body (1) comprises a plurality of hull units (11) and a buffer connection device (2) for interconnecting the hull units (11); a compensation device (3) is provided between the top of each hull unit (11) and the deck platform (4); the buffer connection device (2) comprises a first servo cylinder; the first servo cylinder comprises a fixed pair (22) and a movable pair (23); a spring damper (24) is sleeved on the movable pair (23); one end of the spring damper (24) is connected to the fixed pair (22), and the other end is fixedly connected to the movable pair , the fixed pair (22) is hinged to the side of one hull unit, and the movable pair (23) is hinged to the side of another hull unit; the compensation device (3) comprises a second servo cylinder (33) and a passive compensation device, the output end of the second servo cylinder (33) is hinged to the bottom of the deck platform (4), and the fixed end of the second servo cylinder (33) is connected to the hull unit (11) through the passive compensation device; each of the hull units (11) is provided with a power device (12), and the power device (12) is used to drive the hull unit (11) to sail; The buffer connection device is a three to five degree-of-freedom mechanism, which adjusts the elongation of the moving pair according to the actual working conditions. A double-powered boat is used as the lower driving carrier, and the double-powered boat is regarded as a compensating lower platform, which is arranged on both sides of the upper hull. Therefore, the catamaran has better anti-rolling performance, and the double-powered boat has the function of compensating for the upper hull. When encountering lateral wind and waves, the buffer connection device is contracted to make the lower hull tilt inward, thereby reducing the side impact force received by the entire ship.

2. The wave compensation ship according to claim 1, characterized in that: The passive compensation device comprises a compensation spring, one end of the compensation spring is fixedly connected to the hull unit (11), and the other end of the compensation spring is fixedly connected to the fixed end of the second servo cylinder (33).

3. The wave compensation ship according to claim 2, characterized in that: The output end of the second servo cylinder (33) is hinged to the bottom of the deck platform (4) through a Hooke's hinge (34).

4. The wave compensation ship according to claim 1, characterized in that: The ship-type body comprises two hull units (11) arranged in parallel.

5. The wave compensation ship according to claim 4, characterized in that: Two compensation devices (3) are arranged on each of the hull units (11), and the two compensation devices (3) are respectively located at the front and rear ends of the hull unit (11).

6. A compensation method for a wave compensation ship according to claim 5, characterized in that: The following steps are involved: Step 1: Measure the attitude values ​​of the roll motion, pitch motion, and heave motion of the hull unit respectively; Step 2: Calculate the compensation value required for the deck platform according to the attitude value of the hull unit; Step 3: Control the compensation device to compensate the deck platform, and at the same time, buffer the telescopic movement of the connection device to ensure that the hull unit is in a normal non-angled posture; Step 4: Measure the actual displacement value of the compensation device; Step 5: Compare the actual displacement value with the compensation value to obtain the control deviation, and perform PID closed-loop control on the compensation device based on the control deviation.

7. The compensation method for a wave compensation ship according to claim 6, characterized in that: In the step 1, the roll motion attitude values ​​of the two hull units measured are a1 and a2 respectively, the pitch motion attitude values ​​of the two hull units measured are b1 and b2 respectively, and the heave motion attitude values ​​of the two hull units measured are c1 and c2; When a1= a2= b1= b2=0, and c1= c2≠0, the two hull units move synchronously, and the compensation devices of the two hull units are controlled to move synchronously to compensate for the heave of the deck platform; When a1= a2= b1= b2=0, and c1≠c2≠0, the two hull units perform different heave motions, and the compensation devices on the two hull units are controlled to perform different heave compensations. At the same time, the buffer connection device telescopic motion ensures that the hull unit is in a normal non-angled attitude; When c1= c2=0, and a1, a2, b1, and b2 are not all zero, the two hull units perform different roll or pitch motions, and the compensation devices on the two hull units are controlled to perform different roll or pitch compensations. At the same time, the buffer connection device telescopes to ensure that the hull unit is in a normal, non-angled posture.

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