Buoyant anti-rolling device and anti-rolling control method thereof

Abstract

The application provides a buoy anti-rolling device and an anti-rolling control method thereof, and the buoy anti-rolling device comprises a buoy shell, two anti-rolling fins, two steering gears and two motors; the buoy shell is filled with gas; the two anti-rolling fins are arranged on the two sides of the buoy shell through fixing pins respectively; the steering gears are connected to the buoy shell through steering shafts to control the swinging of the anti-rolling fins; and the motors are connected to the steering gears to provide power for the swinging of the anti-rolling fins. By applying the opposite moments of force of the sea wave interference through the anti-rolling fins, the technical problem that the buoy in the prior art cannot realize the stable position state of itself under the condition of sea wave interference is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of buoy design, in particular to a buoy stabilizing device and a stabilizing control method thereof. BACKGROUND

[0002] At present, as a relay detection and cross-medium communication buoy, it is a relay communication node connecting sea (water surface), land, air and submarine (underwater) systems, and is a basic unit for realizing underwater unmanned combat platform and underwater networking. Among them, the stable control of the buoy is the premise for the smooth implementation of target detection and relay communication, and is the key to ensure the integrity of the combat network link. Currently, methods such as adjusting the weight characteristics of the buoy and increasing the water surface cross-sectional area are usually used to improve the floating stability of the buoy and enhance the working performance of the buoy in complex sea conditions. These methods are passive control measures. In order to further improve the floating stability of the buoy, an active control mechanism is installed on the buoy to actively control its floating stability, so that it can be adjusted and controlled according to different sea conditions, improve the environmental adaptability of the buoy, expand the application range of the buoy, and enable it to work in higher sea conditions and higher requirement environments.

[0003] Therefore, there is an urgent need for a buoy stabilizing device to stabilize its own position state under sea wave interference and effectively solve the technical problem that the buoy in the prior art cannot realize the stability of its own position state under sea wave interference. SUMMARY

[0004] In an embodiment, the present application also provides a buoy stabilizing device, which effectively solves the technical problem that the buoy in the prior art cannot realize the stability of its own position state under sea wave interference by applying a torque opposite to the sea wave interference by a stabilizing fin.

[0005] The buoy stabilizing device comprises a buoy shell, two stabilizing fins, two steering gears and two motors;

[0006] The buoy shell is filled with gas inside;

[0007] The two stabilizing fins are respectively arranged on both sides of the buoy shell through fixing pins;

[0008] The steering gears are connected to the buoy shell through steering shafts to control the swinging of the stabilizing fins;

[0009] The motors are connected to the steering gears to provide power for the swinging of the stabilizing fins.

[0010] In an embodiment, the buoy stabilizing device comprises two potentiometers;

[0011] The potentiometers are arranged on each steering gear.

[0012] In an embodiment, the buoy stabilizer device comprises a communication device;

[0013] The communication device is arranged on the buoy shell to realize the communication function.

[0014] In an embodiment, the present application also provides a stabilizing control method of a buoy stabilizer device, based on the buoy stabilizer device, the stabilizing control method comprises:

[0015] Obtaining disturbance torque state information of the buoy stabilizer device by a first sensor, wherein the disturbance torque state information comprises resultant torque of the buoy stabilizer device;

[0016] According to the disturbance torque state information, driving the stabilizing fins to swing in water to form opposite torque opposite to the resultant torque, so as to offset the resultant torque.

[0017] In an embodiment, after the step of according to the disturbance torque state information, driving the stabilizing fins to swing in water to form opposite torque opposite to the resultant torque, so as to offset the resultant torque, the method further comprises:

[0018] Obtaining frequency information of sea waves by a second sensor;

[0019] According to the frequency information, producing driving signals with the same frequency;

[0020] According to the driving signals, driving two stabilizing fins to swing by the steering gear to form the opposite torque.

[0021] In an embodiment, after the step of according to the driving signals, driving two stabilizing fins to swing by the steering gear to form the opposite torque, the method further comprises:

[0022] According to a predetermined rule of reducing the opposite torque, gradually reducing the force generated in the swinging of the stabilizing fins.

[0023] In an embodiment, before the step of according to a predetermined rule of reducing the opposite torque, gradually reducing the force generated in the swinging of the stabilizing fins, the method further comprises:

[0024] According to the frequency information, determining the period length of sea waves;

[0025] According to the period length and the maximum value of the force generated by the stabilizing fins, determining the rule.

[0026] In an embodiment, after the step of according to the period length and the maximum value of the force generated by the stabilizing fins, determining the rule, the method further comprises:

[0027] Storing the rule for later direct calling.

[0028] In one embodiment, the method further comprises, after the step of storing the rules for later direct calling:

[0029] calling the pre-stored rules and gradually reducing the force generated in the swing of the fin by the called rules.

[0030] In one embodiment, the swing of the fin is in an accelerated manner. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 Fig. 1 is a schematic diagram of the force state of the buoy anti-rolling device in one embodiment of the present application;

[0032] Figure 2 Fig. 2 is a schematic diagram of the structure of the buoy anti-rolling device in another embodiment of the present application;

[0033] Figure 3 Fig. 3 is a schematic diagram of the control method of the buoy anti-rolling device in another embodiment of the present application;

[0034] REFERENCE NUMERALS

[0035] Buoy shell 1

[0036] Fin 2

[0037] Rudder 3

[0038] Motor 4

[0039] Fixed pin 5

[0040] Rudder shaft 6

[0041] Potentiometer 7

[0042] Communication device 8 DETAILED DESCRIPTION

[0043] The buoy is an important part of the marine device, as described above, but due to the structural characteristics of the buoy itself, it is filled with gas to float on the water surface, so it is easily affected by external factors such as sea waves. Among them, the torque generated by the sea waves is the most disturbing factor, which can make the buoy swing on the water surface, even roll over. In order to overcome the swing and roll, when we use the buoy as a communication relay or data node, the swing will cause poor signal, so an anti-rolling device for the buoy is urgently needed, which can provide a specific structure of a relatively stable self-position state.

[0044] In one embodiment, the present application provides a buoy anti-rolling device, which comprises a buoy shell 1 and two fins 2, as well as two rudders 3 and two motors 4.

[0045] The buoy shell 1 is filled with gas inside.

[0046] Two stabilizing fins 2 are arranged on both sides of the buoy shell 1 through fixing pins 5;

[0047] The steering engine 3 is connected to the buoy shell 1 through a steering shaft 6 to control the swing of the stabilizing fin 2;

[0048] The motor 4 is connected to the steering engine 3 to provide power for the swing of the stabilizing fin 3.

[0049] In the embodiment, a specific structure of the buoy stabilizing device is provided, the stabilizing fin 2 is arranged on the buoy shell 1 and is arranged on both sides, the stabilizing fin 2 swings in different directions in water to form a moment, and the moment is used to overcome the resultant moment generated by the sea wave and even the sea wave and the sea wind, which helps to solve the technical problem that the buoy in the prior art cannot realize the stable position state under the sea wave interference condition.

[0050] In an embodiment, the buoy stabilizing device comprises two potentiometers 7.

[0051] The potentiometer 7 is arranged on each steering engine 3.

[0052] In the embodiment, a specific implementation of the buoy stabilizing device with the potentiometer 7 is provided.

[0053] In an embodiment, the buoy stabilizing device comprises a communication device 8, and the communication device 8 is arranged on the buoy shell 1 to realize the communication function.

[0054] In the embodiment, a specific implementation of the buoy with the communication device 8 is provided, so that the buoy stabilizing device has the role of relay or data node.

[0055] In an embodiment, the application further provides a stabilizing control method of the buoy stabilizing device, which is based on the buoy stabilizing device, and the stabilizing control method comprises the following steps.

[0056] S101, obtaining disturbance moment state information of the buoy stabilizing device through a first sensor, wherein the disturbance moment state information comprises a resultant moment of the buoy stabilizing device.

[0057] In the step, a specific step of generating the resultant moment is provided.

[0058] S102, driving the stabilizing fin 2 to swing in water to form an opposite moment opposite to the resultant moment according to the disturbance moment state information, so as to offset the resultant moment.

[0059] In the step, an opposite moment is generated by the resultant moment.

[0060] The present embodiment provides a method for generating the opposite moment based on the above-mentioned anti-rolling device.

[0061] In one embodiment, after the step of driving the two pieces of anti-rolling fins 2 to swing to generate the opposite moment opposite to the resultant moment according to the disturbance moment state information, the method further comprises:

[0062] S201, obtaining frequency information of the sea wave by the second sensor.

[0063] The present embodiment provides a specific step of receiving the frequency information.

[0064] S202, generating a driving signal with the same frequency according to the frequency information.

[0065] The present embodiment provides a specific step of generating a driving signal with the same frequency according to the frequency information.

[0066] S203, driving the two pieces of anti-rolling fins 2 to swing to generate the opposite moment according to the driving signal by the steering gear 3.

[0067] The present embodiment provides a specific step of controlling the two pieces of anti-rolling fins 2 to generate the opposite moment according to the driving signal with the same frequency.

[0068] The present embodiment can predictively provide the resultant moment to cancel the hysteresis when the first sensor generates the moment.

[0069] In one embodiment, after the step of driving the two pieces of anti-rolling fins 2 to swing to generate the opposite moment according to the driving signal by the steering gear 3, the method further comprises:

[0070] Gradually reducing the force generated by the swinging of the anti-rolling fins 2 according to a predetermined rule for reducing the opposite moment.

[0071] The present embodiment provides a specific implementation of gradually generating the moment according to the rule, because the moment generated by the sea wave itself is gradually reduced, the rule can be set in advance, and the process of gradually reducing the force of the sea wave can be simulated by using the rule, and the opposite moment can be provided more timely by using this method.

[0072] In one embodiment, before the step of gradually reducing the force generated by the swinging of the anti-rolling fins 2 according to the predetermined rule for reducing the opposite moment, the method further comprises:

[0073] S301, determining the period length of the sea wave according to the frequency information.

[0074] The present embodiment provides a specific step of receiving the frequency information and calculating the period length of the sea wave.

[0075] S302, determining the rule according to the period length and the maximum value of the force generated by the fin 2.

[0076] In this step, a specific step of determining the rule according to the period length and the maximum value of the force is provided.

[0077] In this embodiment, a specific implementation of constructing the rule is provided.

[0078] In an embodiment, after the step of determining the rule according to the period length and the maximum value of the force generated by the fin 2, the method further comprises:

[0079] The rule is stored for later direct calling.

[0080] In this embodiment, a specific implementation of storing the rule is provided. Since the parameters in the rule can be different in different waters, the rule is stored for later calling, and the above calculation process is omitted.

[0081] In an embodiment, after the step of storing the rule for later direct calling, the method further comprises:

[0082] The pre-stored rule is called, and the force generated in the swing of the fin 2 is gradually reduced through the called rule.

[0083] In this embodiment, a specific implementation of calling the rule is provided.

[0084] In an embodiment, the swing of the fin 2 is in an acceleration mode.

[0085] In this embodiment, a new swing mode is provided.

Claims

1. A method for controlling the roll reduction of a buoy, characterized in that, Based on the buoy roll reduction device, the buoy roll reduction device includes: A buoy hull (1) is filled with gas; One or two anti-roll fins (2), the two anti-roll fins (2) are respectively set on both sides of the buoy shell (1) by fixing pins (5); One or two servo motors (3) are connected to the buoy housing (1) via rudder shafts (6) to control the swing of the anti-roll fin (2); One or two motors (4), the motors (4) being connected to the servo motor (3) to provide power for the oscillation of the anti-roll fin (2); Two potentiometers (7) are provided on each of the servo motors (3); A communication device (8) is installed on the buoy housing (1) to realize communication function; The anti-roll control method includes: The disturbance torque state information of the buoy roll reduction device is obtained by the first sensor, wherein the disturbance torque state information includes the resultant torque of the buoy roll reduction device. The anti-roll fin (2) is driven to swing in the water according to the disturbance torque state information to generate an opposite torque to the resultant torque, so as to counteract the resultant torque; After the step of driving the anti-roll fin (2) to swing in the water according to the disturbance torque state information to generate an opposite torque to the resultant torque, so as to counteract the resultant torque, the method further includes: The frequency information of ocean waves is obtained through a second sensor; Generate a drive signal with the same frequency according to the frequency information; According to the driving signal, the servo motor (3) drives the two anti-roll fins (2) to swing and generate the opposite torque; 2. The buoy roll reduction control method according to claim 1, characterized in that, After the step of driving the two anti-roll fins (2) to swing according to the drive signal via the servo motor (3) to generate the opposite torque, the method further includes: The force generated during the oscillation of the anti-roll fin (2) is gradually reduced according to the predetermined rule of reducing the opposite torque.

3. The buoy roll reduction control method according to claim 2, characterized in that, Before the step of gradually reducing the force generated during the oscillation of the anti-roll fin (2) according to a predetermined rule for reducing the opposite torque, the method further includes: The duration of the wave period is determined based on the frequency information. The rule is determined based on the cycle duration and the maximum force generated by the anti-roll fin (2).

4. The buoy roll reduction control method according to claim 3, characterized in that, After determining the rule based on the cycle duration and the maximum force generated by the anti-roll fin (2), the method further includes: The rules are stored for later direct invocation.

5. The buoy roll reduction control method according to claim 4, characterized in that, After storing the rules for later direct invocation, the method further includes: The pre-stored rules are invoked, and the force generated during the swing of the anti-roll fin (2) is gradually reduced through the invoked rules.

6. The buoy roll reduction control method according to claim 5, characterized in that, The oscillation of the anti-roll fin (2) is accelerated.

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