A winch wire rope tension algorithm for a tiltable sail device

Abstract

The present invention belongs to the field of winch wire ropes of sailing devices, and relates to a winch wire rope tension algorithm for a tiltable sailing device, which is characterized by: including establishing a simplified force model of a tiltable sail according to the size and position of the components of the sailing device and the force condition of the sail body, determining the wire rope tension moment, and calculating the wire rope tension F(i) under different flip angles α(i) through the simplified force model under any flip angle α(i). The beneficial effect of the present invention is that according to the actual size of the tiltable sail, the actual position of each component and the overall force condition of the sail body, the force model is simplified based on simplified assumptions, while ensuring that the wire rope tension algorithm meets the accuracy requirements, the calculation efficiency is improved, and the problem that the wire rope tension cannot be calculated by formula theory is solved.

Description

Technical Field

[0001] The invention belongs to the field of winch wire ropes and relates to a winch wire rope tension algorithm for a tiltable sail device. Background Art

[0002] The international community has increasingly higher requirements for the green level of ships, and countries around the world are actively developing various energy-saving and emission-reduction technologies. Among them, with the research and development of information technology and modern sail theory, sail-assisted propulsion, as the oldest energy-saving technology, has returned to the stage of green application in shipping. In recent years, Dalian Shipbuilding Industry Corporation has used the second phase of the sail project to apply hard wing sails on ultra-large VLCC tankers for the first time. The sail-assisted propulsion "Kaili Lun" VLCC delivered by Dalian Shipbuilding Industry Corporation fully demonstrated the effectiveness of wing-shaped hard sails in ship energy conservation and emission reduction, marking that my country has made breakthrough progress in the promotion and application of ship sail resources. In 2019, Dalian Shipbuilding carried out engineering application research on the second phase of sails, increasing the number of wing-shaped sails from a pair of sails equipped on the "Kaili Lun" to two pairs of sails equipped on the "Xin Yidun", and upgrading the sail blades from metal to non-metallic carbon fiber materials. After actual ship testing, the application effect of the second phase of the sail-assisted propulsion project was significant. After years of product research and development, Dalian Shipbuilding has found that how to improve the lightweight and intelligent operation of sailing devices, improve maintenance convenience and ship applicability has become the key direction of future sail booster device research and development. The hard wing sail product adopts a mast and sail blade structure. By setting up a lifting system and a rotation system, the sail blades can be automatically raised and lowered and the angle adjusted, thereby effectively utilizing wind resources. During the lifting and lowering process of the hard wing sail, the mast and sail blades must be upright, which makes it difficult to maintain the sail, causing a series of problems such as limited driving vision and poor ship applicability for ship layout and navigation.

[0003] The prior art tiltable sail device can tighten and release the wire rope through the wire rope winch set on the common base of the sail to achieve the upright and tilting operation of the sail body. The change of the tension of the wire rope not only affects the wire rope calibration and winch selection, but also affects the tension load adjustment strategy of the winch during the sail body flipping stroke. Since the sail body flips around the flipping axis during the process of tilting to uprighting, and the wire rope is continuously tightened by the winch, the direction of the wire rope tension changes all the time as the sail body flips, and the tension direction angle has no relationship with the flipping angle, and the tension size has a nonlinear relationship with the flipping angle, which brings difficulty to the calculation and evaluation of the wire rope tension. Summary of the invention

[0004] The present invention aims to solve the problems that in the process of the sail of the tiltable sail device in the prior art, the sail body flips around the flip axis, and the wire rope is continuously tightened by the winch, the direction of the wire rope tension changes all the time as the sail body flips, and the tension direction angle has no relationship with the flip angle, the tension size has a nonlinear relationship with the flip angle, and the calculation of the wire rope tension is complicated. A winch wire rope tension algorithm for the tiltable sail device is provided, which is characterized by comprising the following steps:

[0005] Step 1:

[0006] According to the size and position of the components of the sail device and the stress of the sail body, a simplified stress model of the tiltable sail is established;

[0007] Step 2:

[0008] Determine the wire rope tension moment M OF ;

[0009] Step 3:

[0010] Determine the values ​​of the sail flipping initial angle α(initial) and the sail flipping termination angle α(final);

[0011] Step 4:

[0012] According to the values ​​of α(initial) and α(final), the simplified force model of any flip angle α(i) is determined;

[0013] Step 5:

[0014] Calculate the wire rope tension F(i) at different flip angles α(i).

[0015] According to the winch wire rope tension algorithm of the tiltable sail device described above, it is characterized in that in the step 1,

[0016] According to the actual size of the sail components, a simplified force model of the tiltable sail is established at a scale of 1:1.

[0017] According to the winch wire rope tension algorithm of the tiltable sail device described above, it is characterized in that in the step 4,

[0018] The value of α(initial) is 0°, and the value of α(final) is 90°.

[0019] According to the winch wire rope tension algorithm of the tiltable sail device described above, it is characterized in that in the step 1,

[0020] The simplified model of the tiltable sail force is based on the following assumptions:

[0021] 1) The friction resistance at the flip axis is not considered;

[0022] 2) Air thrust or resistance during the flipping process is not considered;

[0023] 3) Each simplified base point is the center, center of gravity or axis of the sail component, and slight distance deviations from the actual situation are ignored.

[0024] According to the winch wire rope tension algorithm of the tiltable sail device described above, it is characterized in that in the step 2,

[0025] M OF =F×L OE ≥M OG =G×L OA ;

[0026] Where: M OF is the wire rope tension torque;

[0027] F is the wire rope tension;

[0028] L OE The power arm of the wire rope tension F from the 0 point of the flip axis;

[0029] M OG is the drag torque caused by the weight of the sail;

[0030] G is the weight of the sail;

[0031] L OA The resistance arm L is the weight G of the sail from the turning axis O OA .

[0032] According to the winch wire rope tension algorithm of the tiltable sail device described above, it is characterized in that in the step 4,

[0033] Determine the incremental value △α of any flip angle α(i): In the interval α(beginning) to α(end), determine in sequence:

[0034] α(1)=α(initial)+△α;

[0035] α(2)=α(1)+△α;

[0036] …

[0037] α(end-1)=α(end-2)+△α;

[0038] α(end)=α(end-1)+△α; that is:

[0039] α(i)=α(i-1)+△α;

[0040] Draw the position relationship of the sail components under any flip angle α(i).

[0041] According to the above-mentioned winch wire rope tension algorithm of the tiltable sail device, it is characterized in that:

[0042] L OE =L OD ×sinβ

[0043] L OA =L OC ×cosα

[0044] in,

[0045] Point O is the center of the turning axis, and the sail body rotates around point O;

[0046] Point C is the center of gravity of the sail, and the weight G of the sail passes through point C and points vertically downward;

[0047] Point D is the wire rope connector, which is subject to the wire rope tension F in the direction of the wire rope;

[0048] Point B is the axis of the guide pulley at the top of the support rod structure 8;

[0049] L OA It is the distance from the turning axis center O to the gravity direction of the sail;

[0050] L OB The distance from the turning axis O to the axis of the guide pulley at the top of the support rod structure;

[0051] L OE It is the distance from the axis O of the flip shaft to the direction of the wire rope tension;

[0052] L OC is the distance from the turning axis center O to the center of gravity of the sail;

[0053] L OD is the distance from the turning axis center O to the wire rope connector 1;

[0054] α is the flip angle, the angle between OC and the horizontal line;

[0055] β is the angle between OD and the wire rope 3;

[0056] By M OF , L OE and L OA The calculation formula for the wire rope tension F is:

[0057] F ≥ G × L OC ×cosα / (L OD × sinβ).

[0058] According to the above-mentioned winch wire rope tension algorithm of the tiltable sail device, it is characterized in that:

[0059] The wire rope tension F(i) at any flip angle α(i) with increasing value △α is:

[0060] F(i)≥G×L OC ×cosα(i) / (L OD ×sinβ(i)).

[0061] According to the above-mentioned winch wire rope tension algorithm of the tiltable sail device, it is characterized in that:

[0062] The tiltable sail device adopts a labor-saving mechanism arrangement of 1 dynamic and 1 fixed pulley block and a wire rope threading method, and the wire rope tension of the winch is 1 / 3 to 1 / 6 times F(i).

[0063] According to the above-mentioned winch wire rope tension algorithm of the tiltable sail device, it is characterized in that:

[0064] The tiltable sail device adopts a labor-saving mechanism arrangement of 2 dynamic and 1 fixed pulley blocks and a wire rope threading method, and the wire rope tension of the winch is 1 / 4 times to 1 / 8 times of F(i).

[0065] The advantages of the present invention compared with the prior art are:

[0066] 1. According to the actual size of the tiltable sail, the actual position of each component and the overall stress of the sail body, its force model is simplified based on simplified assumptions, which improves the calculation efficiency while ensuring the accuracy of the wire rope tension algorithm.

[0067] 2. The present invention establishes a simplified force model of the tiltable sail device according to the actual size of the sail device and the arrangement of each component, measures the force angle value of the wire rope, and calculates the minimum tension of the wire rope at different tilting angles based on the principle of torque balance, thereby solving the problem that the tension of the wire rope cannot be calculated by theoretical deduction of formulas. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 Flowchart of winch wire rope tension algorithm for a dumpable sail rig.

[0069] Figure 2 Schematic diagram of the structure of the tiltable sail device.

[0070] Figure 3 Simplified model of the forces acting on a tiltable sail.

[0071] Figure 4 Simplified force model of the tiltable sail with an increase in flip angle △α.

[0072] Figure 5 A scheme for a tiltable sail device with one moving and one fixed pulley block.

[0073] Figure 6A scheme for a tiltable sail device with 2 moving and 1 fixed pulley block.

[0074] In the figure: 1: wire rope connector; 2: guide pulley; 3: wire rope; 4: winch; 5: bottom common base; 6: flip axis; 7: pushing device; 8: support rod structure; C: center of gravity of sail; 10: first movable pulley at the top; 11: first guide pulley; 12: second guide pulley; 13: third guide pulley; 14: fourth guide pulley; 20: second movable pulley at the top; 30: fixed pulley at the bottom. DETAILED DESCRIPTION

[0075] Preferred Embodiments

[0076] like Figure 2 As shown, a wire rope connector 1 is embedded in the sail body. One end of the wire rope 3 is connected to the wire rope connector 1, and is connected to the winch 4 through the guide pulley at the top of the support rod structure 8. The winch 4 controls the opening and closing posture of the sail by tightening and loosening the wire rope 3. The wire rope tension F acts on the wire rope 3 connector, and the center of gravity of the sail is affected by the gravity of the sail. The winch 4 retracts the wire rope 3 to pull up the sail body, and the sail body rotates around the bottom turning axis O.

[0077] The winch wire rope tension algorithm for a tiltable sail device includes the following steps:

[0078] Step 1:

[0079] According to the size and position of the components of the sail device and the stress of the sail body, a simplified stress model of the tiltable sail is established;

[0080] Step 2:

[0081] Determine the wire rope tension moment M OF ;

[0082] Step 3:

[0083] Determine the values ​​of the sail flipping initial angle α(initial) and the sail flipping termination angle α(final);

[0084] Step 4:

[0085] According to the values ​​of α(initial) and α(final), the simplified force model of any flip angle α(i) is determined;

[0086] Step 5:

[0087] Calculate the wire rope tension F(i) at different flip angles α(i).

[0088] In the step 1,

[0089] According to the actual size of the sail components, a simplified force model of the tiltable sail is established at a scale of 1:1.

[0090] In step 4,

[0091] The value of α(initial) is 0°, and the value of α(final) is 90°.

[0092] In the step 1,

[0093] The simplified model of the tiltable sail force is based on the following assumptions:

[0094] 1) The friction resistance at the flip axis is not considered;

[0095] 2) Air thrust or resistance during the flipping process is not considered;

[0096] 3) Each simplified base point is the center, center of gravity or axis of the sail component, and slight distance deviations from the actual situation are ignored.

[0097] In the step 2,

[0098] M OF =F×L OE ≥M OG =G×L OA ;

[0099] Where: M OF is the wire rope tension torque;

[0100] F is the wire rope tension;

[0101] L OE The power arm of the wire rope tension F from the 0 point of the flip axis;

[0102] M OG is the drag torque caused by the weight of the sail;

[0103] G is the weight of the sail;

[0104] L OA The resistance arm L is the weight G of the sail from the turning axis O OA .

[0105] In the step 4,

[0106] Determine the incremental value △α of any flip angle α(i): In the interval α(beginning) to α(end), determine in sequence:

[0107] α(1)=α(initial)+△α;

[0108] α(2)=α(1)+△α;

[0109] …

[0110] α(end-1)=α(end-2)+△α;

[0111] α(end)=α(end-1)+△α; that is:

[0112] α(i)=α(i-1)+△α;

[0113] Draw the position relationship of the sail components under any flip angle α(i).

[0114] L OE =L OD ×sinβ

[0115] L OA =L OC ×cosα

[0116] in,

[0117] Point O is the center of the turning axis, and the sail body rotates around point O;

[0118] Point C is the center of gravity of the sail, and the weight G of the sail passes through point C and points vertically downward;

[0119] Point D is the wire rope connector, where the wire rope connector 1 is subjected to a pulling force F from the wire rope 3, the direction of which is along the direction of the wire rope 3;

[0120] Point B is the axis of the guide pulley at the top of the support rod structure 8;

[0121] L OA It is the distance from the turning axis center O to the gravity direction of the sail;

[0122] L OB The distance from the turning axis O to the axis of the guide pulley at the top of the support rod structure;

[0123] L OE It is the distance from the axis O of the flip shaft to the direction of the wire rope tension;

[0124] L OC is the distance from the turning axis center O to the center of gravity of the sail;

[0125] L OD is the distance from the turning axis center O to the wire rope connector 1;

[0126] α is the flip angle, the angle between OC and the horizontal line;

[0127] β is the angle between OD and the wire rope 3;

[0128] By M OF , L OE and L OA The calculation formula for the wire rope tension F is:

[0129] F ≥ G × L OC ×cosα / (L OD × sinβ).

[0130] The wire rope tension F(i) under the arbitrary flip angle α(i) increment value △α is:

[0131] F(i)≥G×L OC ×cosα(i) / (L OD ×sinβ(i)).

[0132] In the process of the sail body turning from the tilted state to the upright state, according to the actual situation, the relative positions of the three points O, C, and D do not change, that is, the distance between the OC point and L OC OD point distance L OD The length of the support rod structure 8 does not change, that is, the distance from point OB to point L OB No changes occur.

[0133] The angle α between OC and the horizontal line is the flip angle, which increases continuously, indicating that the sail changes from a tilted state to an upright state.

[0134] The angle β between OD and the wire rope increases as the flip angle α increases according to actual conditions.

[0135] According to the actual flipping of the sail, as the tiltable sail is erected, the flip angle α increases, the included angle β increases, and the other parameters remain unchanged. From the analysis, it is known that there is no obvious geometric relationship between the flip angle α and the included angle β. Therefore, in the actual calculation of the wire rope tension, it is impossible to establish a calculation formula for the wire rope tension F with the flip angle α as a variable, and the wire rope tension F changes nonlinearly with the angle α and the angle β. Considering that as the flip angle α increases, the angle β gradually increases, the cosα value decreases, and the sinβ value increases, therefore, the wire rope tension F will gradually decrease, that is, the maximum tension of the wire rope will appear in the F (initial) state, that is, the sail is in the initial state of complete tilting; the minimum tension of the wire rope will appear in the F (final) state, that is, the sail is in the final state of complete uprightness.

[0136] In order to obtain the tension value of the wire rope during the change from the completely tilted state to the upright state of the sail, different gradient change angles α(i) are given from the tilted state to the upright state with the flip angle α. According to the actual size of the sail and the flip angle position, the simplified actual force model is repeatedly established, and the actual angle β(i) is measured. The wire rope tension F(i) under different gradient flip angles α(i) can be calculated, and the incremental gradient value △α of the flip angle α(i) is determined. In the interval α(beginning) to α(end), the simplified force models under flip angles such as α(1) = α(beginning) + △α, α(2) = α(1) + △α... α(7) = α(6) + △α, α(8) = α(7) + △α are drawn in sequence.

[0137] Taking △α=10° as an example, the flip angle α(1) is increased by 10° on the basis of α(initial), the flip angle α(2) is increased by 10° on the basis of α(1), and the flip angle α(8) is increased by 10° on the basis of α(7), and the simplified force model schematics are drawn in sequence.

[0138] In the force model drawn under different flip angle α(i) gradients, measure the angle β(i) under different flip angles α(i) in turn. Substitute α(i) and β(i) into formula (5) and calculate F(i) to obtain the wire rope tension value under the target flip angle gradient.

[0139] like Figure 5 As shown, the tiltable sail device has 1 dynamic and 1 fixed pulley block scheme. With this labor-saving mechanism arrangement and wire rope threading method, the wire rope tension of a single winch is approximately 1 / 3 times the tension F(i). If a two-win solution is adopted, combined with two sets of the above-mentioned support rod structures and two sets of pulley blocks, the wire rope tension of a single winch is approximately 1 / 6 times the tension F(i).

[0140] like Figure 6 As shown, the tiltable sail device has 2 dynamic and 1 fixed pulley block scheme. With this labor-saving mechanism arrangement and wire rope threading method, the wire rope tension of a single winch is about 1 / 4 times the tension F(i). If a two-win solution is adopted, combined with two sets of the above-mentioned support rod structure and two sets of pulley blocks, the wire rope tension of a single winch is 1 / 8 times the tension F.

Claims

1. A winch wire rope tension algorithm for a tiltable sail device, characterized in that: The following steps are involved: Step 1: According to the size and position of the components of the sail device and the stress of the sail body, a simplified stress model of the tiltable sail is established; Step 2: Determine the wire rope tension moment M OF ; Step 3: Determine the values ​​of the sail flipping initial angle α(initial) and the sail flipping termination angle α(final); Step 4 According to the values ​​of α(initial) and α(final), the simplified force model of any flip angle α(i) is determined; Step 5: Calculate the wire rope tension F(i) at different flip angles α(i); In the step 1, According to the actual size of the sail component, a simplified force model of the tiltable sail is established at a scale of 1:1; in the step 4, The value of α(initial) is 0°, and the value of α(final) is 90°; In the step 1, The simplified model of the tiltable sail force is based on the following assumptions: 1) The friction resistance at the flip axis is not considered; 2) Air thrust or resistance during the flipping process is not considered; 3) Each simplified base point is the center, center of gravity or axis of the sail component, ignoring the slight distance deviation from the actual situation; in step 2, M OF =F×L OE ≥M OG =G×L OA ; Where: M OF is the wire rope tension torque; F is the wire rope tension; L OE The power arm of the wire rope tension F from the 0 point of the flip axis; M OG is the drag torque caused by the weight of the sail; G is the weight of the sail; L OA The resistance arm is the weight G of the sail from the turning axis O; In the step 4, Determine the incremental value △α of any flip angle α(i): In the interval α(beginning) to α(end), determine in sequence: α(1)=α(initial)+△α; α(2)＝α(1)+△α； …… α(end-1)=α(end-2)+△α; α(end)=α(end-1)+△α; that is: α(i)=α(i-1)+△α; Draw the position relationship of each sail component under any flip angle α(i); L OE =L OD ×sinβ L OA =L OC ×cosα in, Point O is the center of the turning axis, and the sail body rotates around point O; Point C is the center of gravity of the sail, and the weight G of the sail passes through point C and points vertically downward; Point D is the wire rope connector, which is subject to the wire rope tension F in the direction of the wire rope; Point B is the axis of the guide pulley at the top of the support rod structure (8); L OA It is the distance from the turning axis center O to the gravity direction of the sail; L OB The distance from the turning axis O to the axis of the guide pulley at the top of the support rod structure; L OE It is the distance from the axis O of the flip shaft to the direction of the wire rope tension; L OC is the distance from the turning axis center O to the center of gravity of the sail; L OD is the distance from the turning shaft axis O to the wire rope connector (1); α is the flip angle, the angle between OC and the horizontal line; β is the angle between OD and the wire rope (3); By M OF , L OE and L OA The calculation formula for the wire rope tension F is: F≥G×L OC ×cosα / (L OD ×sinβ); The wire rope tension F(i) at any flip angle α(i) with increasing value △α is: F(i)≥G×L OC ×cosα(i) / (L OD ×sinβ(i))。 2. The winch wire rope tension algorithm of the tiltable sail device according to claim 1, characterized in that: The tiltable sail device adopts a labor-saving mechanism arrangement of 1 dynamic and 1 fixed pulley block and a wire rope threading method, and the wire rope tension of the winch is 1 / 3 to 1 / 6 times F(i).

3. The winch wire rope tension algorithm of the tiltable sail device according to claim 2, characterized in that: The tiltable sail device adopts a labor-saving mechanism arrangement of 2 dynamic and 1 fixed pulley blocks and a wire rope threading method, and the wire rope tension of the winch is 1 / 4 times to 1 / 8 times of F(i).

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