Active control system for ship attitude

Abstract

The invention relates to the technical field of ship fluid mechanics and hull motion control, in particular to a novel surface ship hull attitude control system. According to the system, the implementation attitude of the ship body is obtained through the attitude sensor and fed back to the controller, the controller predicts the motion of the ship body through a preset algorithm and sends an action command to the execution mechanism, the execution mechanism actively controls the attitude of the ship body after obtaining the command, and meanwhile the sensor monitors the attitude of the ship body in real time and feeds data back to the controller. Therefore, dynamic closed-loop control of the ship attitude is realized; by means of the ship posture active control system, rolling and heeling of the ship can be actively and accurately controlled, a stable operation environment is provided for ship operation, active anti-overturning moment can be provided when the ship faces overturning danger, and time is provided for pipe damage, rescue and evacuation.

Description

Technical Field

[0001] The present invention relates to the technical field of ship fluid mechanics and hull motion control, and in particular to a novel hull attitude control system for a surface ship. Background Art

[0002] There are long-term wind and waves in the marine environment. When ships are actually sailing, they are likely to sail in wind and waves, and the hull shaking is unavoidable. Movements such as hull rolling can cause seasickness and reduced operating capabilities for passengers. At the same time, some offshore operations have high requirements for the platform's attitude, requiring the platform to have strong hull attitude control capabilities. In the prior art, hull motion control mostly uses anti-roll fins and anti-roll water tanks. However, passive anti-roll fins and anti-roll water tanks have poor control effects; active anti-roll fins generate hydrodynamics through hydrofoils and incoming flow at high speeds. Although they can reduce the hull roll, at low speeds, the hull motion control effect is also poor due to the significant reduction in hydrodynamic effects and limited fin area; active anti-roll water tanks actively achieve anti-rolling effects by quickly realizing the changes in water in the cabin in real time according to the swaying of the ship through the control system, but due to the high energy consumption, it is difficult to implement and occupies a large amount of overall resources. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an active ship attitude control system, which can realize active control of the ship hull attitude, provide good working conditions for offshore operations, and provide active anti-capsulation moment when the ship is in danger of capsizing, thereby providing time for damage control, rescue and retreat.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A ship attitude active control system mainly comprises: an actuator 1, an attitude sensor 2 and a motion controller 3;

[0006] The actuator 1 includes a telescopic rod 7 arranged in a propeller storage compartment 9, the propeller storage compartment 9 is opened inside the hull 4, one end of the telescopic rod 7 is connected to a push rod 5, and a rim propeller 8 is fixedly installed on the other end, and the telescopic rod 7 is slidably arranged in a fixed guide groove 6, and the push rod 5 is used to drive the telescopic rod 7 to drive the rim propeller 8 to extend or retract into the propeller storage compartment 9;

[0007] The attitude sensor 2 is used to obtain the motion parameters of the hull 4 in real time and transmit the motion parameters to the motion controller 3. The motion controller 3 predicts the attitude changes of the hull according to the motion parameters and makes corresponding control decisions, and sends the control decision information to the actuator 1.

[0008] Furthermore, the motion parameters of the hull 4 include: motion displacement values ​​of the hull roll and pitch, angular acceleration values ​​of the hull roll and pitch, vertical acceleration values ​​of the bow, middle and stern of the hull, and draft of the bow, middle and stern of the hull.

[0009] Furthermore, the actuator 1 is arranged inside the hull below the waterline in a bilaterally symmetrical and front-to-back staggered manner.

[0010] Furthermore, the push rod 5 is specifically a hydraulic push rod or an electric push rod, and one end of the push rod 5 is fixedly installed in the hull 4, and the other end is connected to the telescopic rod 7, which is used to drive the telescopic rod 7 to move laterally along the fixed guide groove 6, thereby driving the rim thruster 8 to extend or retract into the thruster storage compartment 9.

[0011] Furthermore, the fixed guide groove 6 is fixedly installed inside the thruster storage compartment 9 to provide support and guidance for the corresponding telescopic rod 7.

[0012] Furthermore, the rim thruster 8 is fixedly mounted on the end of the telescopic rod 7 and is driven by the telescopic rod 7 to extend out or retract into the thruster storage compartment 9 .

[0013] Furthermore, the rim propeller 8 specifically adopts an integrated design of motor and blades.

[0014] Furthermore, a conformal hatch cover 10 is fixedly connected to the outer side of the rim thruster 8. When the rim thruster 8 is stored in the thruster storage compartment 9, the conformal hatch cover 10 conforms to the hull line in the area where the conformal hatch cover 10 is located.

[0015] Furthermore, the motion controller 3 predicts the change of the hull's attitude in real time according to the motion displacement values ​​of the hull's roll and pitch, the angular acceleration values ​​of the hull's roll and pitch, the vertical acceleration values ​​of the bow, middle and stern of the hull, the draft of the bow, middle and stern of the hull, and based on a preset hull attitude calculation formula, and generates corresponding hull attitude control instructions according to the predicted hull attitude information.

[0016] Furthermore, after receiving the hull attitude control instruction, the actuator 1 controls the corresponding telescopic rod 7 to drive the rim thruster 8 to extend out of the thruster storage compartment 9, and starts the rim thruster 8 to generate a preset vertical thrust and form a lateral torque to adjust the hull attitude.

[0017] Compared with the prior art, the present invention has the following main advantages:

[0018] 1. The present invention provides a retractable hull attitude active control system placed in the hull of a surface ship owner, which is composed of an actuator (including a push rod, a fixed guide groove, a telescopic arm, a rim thruster, a thruster storage compartment and a conformal hatch cover), an attitude sensor and a motion controller; the hull attitude is obtained by the attitude sensor and fed back to the controller, the controller predicts the hull movement through a preset algorithm and sends an action command to the actuator, and the actuator actively controls the ship's hull attitude after receiving the command, while the sensor monitors the hull attitude in real time and feeds back the data to the controller to achieve dynamic closed-loop control of the hull attitude; through the hull attitude active control system of the present invention, the hull roll and heel can be actively and accurately controlled to provide a stable working environment for operations on board, and when the ship is facing the danger of capsizing, it can provide active anti-capsulation torque to provide time for damage control, rescue and retreat.

[0019] 2. The present invention further improves the flexibility, initiative, agility and real-time performance of the ship motion control; and improves the active control capability of the ship attitude (motion) at zero speed and low speed; and takes up less overall resources, and can be used to build a stable operating platform at sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the composition of the active control system for ship attitude in an embodiment of the present invention;

[0021] Figure 2 Schematic diagram of the composition of the actuator in the embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the connection between the rim thruster and the telescopic arm of the actuator in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the actuator installed on the hull (working state) in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the actuator installed on the hull (storage state) in an embodiment of the present invention;

[0025] In the figure: 1-actuator, 2-attitude sensor, 3-motion controller, 4-hull, 5-push rod, 6-fixed guide groove, 7-telescopic rod, 8-rim thruster, 9-thruster storage compartment, 10-conformal hatch cover. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0027] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0028] Embodiment 1, this embodiment provides a ship attitude active control system, mainly comprising: mainly comprising: an actuator 1, an attitude sensor 2 and a motion controller 3;

[0029] The actuator 1 includes a telescopic rod 7 arranged in a propeller storage compartment 9, the propeller storage compartment 9 is opened inside the hull 4, one end of the telescopic rod 7 is connected to a push rod 5, and a rim propeller 8 is fixedly installed on the other end, and the telescopic rod 7 is slidably arranged in a fixed guide groove 6, and the push rod 5 is used to drive the telescopic rod 7 to drive the rim propeller 8 to extend or retract into the propeller storage compartment 9;

[0030] The attitude sensor 2 is used to obtain the motion parameters of the hull 4 in real time and transmit the motion parameters to the motion controller 3. The motion controller 3 predicts the attitude changes of the hull according to the motion parameters and makes corresponding control decisions, and sends the control decision information to the actuator 1.

[0031] Furthermore, the motion parameters of the hull 4 include: motion displacement values ​​of the hull roll and pitch, angular acceleration values ​​of the hull roll and pitch, vertical acceleration values ​​of the bow, middle and stern of the hull, and draft of the bow, middle and stern of the hull.

[0032] Furthermore, the actuator 1 is arranged inside the hull below the waterline in a bilaterally symmetrical and front-to-back staggered manner.

[0033] Furthermore, the push rod 5 is specifically a hydraulic push rod or an electric push rod, and one end of the push rod 5 is fixedly installed in the hull 4, and the other end is connected to the telescopic rod 7, which is used to drive the telescopic rod 7 to move laterally along the fixed guide groove 6, thereby driving the rim thruster 8 to extend or retract into the thruster storage compartment 9.

[0034] Furthermore, the fixed guide groove 6 is fixedly installed inside the thruster storage compartment 9 to provide support and guidance for the corresponding telescopic rod 7.

[0035] Furthermore, the rim thruster 8 is fixedly mounted on the end of the telescopic rod 7 and is driven by the telescopic rod 7 to extend out or retract into the thruster storage compartment 9 .

[0036] Furthermore, the rim propeller 8 specifically adopts an integrated design of motor and blades.

[0037] Furthermore, a conformal hatch cover 10 is fixedly connected to the outer side of the rim thruster 8. When the rim thruster 8 is stored in the thruster storage compartment 9, the conformal hatch cover 10 conforms to the hull line in the area where the conformal hatch cover 10 is located.

[0038] Furthermore, the motion controller 3 predicts the change of the hull's attitude in real time according to the motion displacement values ​​of the hull's roll and pitch, the angular acceleration values ​​of the hull's roll and pitch, the vertical acceleration values ​​of the bow, middle and stern of the hull, the draft of the bow, middle and stern of the hull, and based on a preset hull attitude calculation formula, and generates corresponding hull attitude control instructions according to the predicted hull attitude information.

[0039] Furthermore, after receiving the hull attitude control instruction, the actuator 1 controls the corresponding telescopic rod 7 to drive the rim thruster 8 to extend out of the thruster storage compartment 9, and starts the rim thruster 8 to generate a preset vertical thrust and form a lateral torque to adjust the hull attitude.

[0040] Embodiment 2: This embodiment provides a ship attitude active control system, comprising an actuator, an attitude sensor and a motion controller;

[0041] Wherein, the actuator includes a push rod, a fixed guide groove, a telescopic arm, a rim thruster, a thruster storage compartment and a conformal cabin cover.

[0042] Furthermore, the attitude sensor is used to obtain basic motion parameters of the hull such as roll and pitch motion displacement, vertical acceleration values ​​of the bow, middle and tail, roll and pitch angular acceleration values, and bow, middle and tail drafts.

[0043] Furthermore, the motion controller is used to receive the hull posture (motion) data from the sensor, predict the hull motion based on the data and make control decisions, and send the control decision commands to the actuator.

[0044] Furthermore, the actuator is specifically arranged in the hull below the waterline in a left-right symmetrical and front-back staggered manner.

[0045] Furthermore, the push rod of the actuator is specifically a hydraulic push rod or an electric push rod, and the push rod of the actuator is connected to the strong structure of the hull, and is used to drive the telescopic arm to drive the rim thruster to extend or retract into the hull.

[0046] Furthermore, the fixed guide groove of the actuator is used to accommodate the telescopic arm and provide guidance and support for the telescopic arm, and the fixed guide groove is connected to the strong structure of the hull.

[0047] Furthermore, the telescopic arm of the actuator can slide along the fixed guide groove, one end of which is connected to the push rod, and the other end is fixedly connected to the rim thruster. The push rod is used to push the telescopic arm to slide in the fixed guide groove, and extend or retract into the hull.

[0048] Furthermore, the rim thruster of the actuator adopts an integrated design of motor and blades, which is fixed to the telescopic arm and driven by the telescopic arm to extend or retract into the thruster storage cabin.

[0049] Furthermore, the propeller storage compartment is embedded in the hull to store the rim propeller.

[0050] Furthermore, the conformal hatch cover is conformal to the hull lines of the area where it is located, maintaining the streamlined design of the area and reducing the hull resistance.

[0051] Specifically, Figure 1 As shown, the attitude sensor 2 of the present invention can be used to obtain basic motion parameters of the hull 4 such as roll and pitch motion displacement, vertical acceleration values ​​of the bow, middle and tail, roll and pitch angular acceleration values, and bow, middle and tail drafts.

[0052] like Figure 1 As shown, the motion controller 3 of the present invention can receive the hull posture (motion) data from the sensor 2, predict the hull motion based on the data and make control decisions, and send the control decision commands to the actuator 1.

[0053] like Figure 2 , Figure 4 and Figure 5 As shown, the push rod 5 of the actuator 1 can be a hydraulic push rod or an electric push rod. The push rod 5 of the actuator 1 is connected to the strong structure of the hull 4 and can drive the telescopic arm 7 to drive the rim thruster 8 to extend or retract into the hull 4.

[0054] like Figure 2 and Figure 4 As shown, the fixed guide groove 6 of the actuator 1 is used to receive the telescopic arm 7 and provide guidance and support for the telescopic arm 7, and the fixed guide groove 6 is connected to the hull 4 structure.

[0055] like Figure 2 , Figure 4 and Figure 5 As shown, the telescopic arm 7 of the actuator 1 can slide along the fixed guide groove 6, one end of which is connected to the push rod 5 and the other end is fixed to the rim propeller 8. The push rod 5 can push the telescopic arm 7 to slide in the fixed guide groove 6, and extend or retract into the propeller storage compartment 9.

[0056] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the rim thruster 8 of the actuator 1 adopts an integrated design of motor and blades, is fixed to the telescopic arm 7, and is driven by the telescopic arm 7 to extend or retract into the thruster storage cabin 9.

[0057] like Figure 4 and Figure 5 As shown, the propeller storage compartment 9 is embedded in the hull 4 to accommodate the rim propeller 8.

[0058] like Figure 4 and Figure 5 As shown, the conformal hatch cover 10 is conformal to the hull lines of the area where it is located, maintaining the streamlined design of the area and reducing the hull resistance.

[0059] During operation, when the ship is sailing in the wind and waves, the sensor 2 measures the instantaneous posture (motion) data of the hull and sends it to the controller 3. The controller 3 sends a command to the actuator 1, and the push rod 5 pushes the telescopic arm 7 along the fixed guide groove 6 to drive the rim thruster 8 to extend out of the hull 4; the rim thruster 8 starts to work after reaching the required lateral position, generates vertical thrust, forms lateral torque, and adjusts the posture of the hull 4.

[0060] Furthermore, all parts involved in this application that are not described in detail are the same as the prior art or are implemented using the prior art.

[0061] In summary:

[0062] 1. The present invention provides a retractable hull attitude active control system placed in the hull of a surface ship owner, which is composed of an actuator (including a push rod, a fixed guide groove, a telescopic arm, a rim thruster, a thruster storage compartment and a conformal hatch cover), an attitude sensor and a motion controller; the hull attitude is obtained by the attitude sensor and fed back to the controller, the controller predicts the hull movement through a preset algorithm and sends an action command to the actuator, and the actuator actively controls the ship's hull attitude after receiving the command, while the sensor monitors the hull attitude in real time and feeds back the data to the controller to achieve dynamic closed-loop control of the hull attitude; through the hull attitude active control system of the present invention, the hull roll and heel can be actively and accurately controlled to provide a stable working environment for operations on board, and when the ship is facing the danger of capsizing, it can provide active anti-capsulation torque to provide time for damage control, rescue and retreat.

[0063] 2. The present invention further improves the flexibility, initiative, agility and real-time performance of the ship motion control; and improves the active control capability of the ship attitude (motion) at zero speed and low speed; and takes up less overall resources, and can be used to build a stable operating platform at sea.

[0064] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A ship attitude active control system, characterized in that: It comprises an actuator (1), a posture sensor (2) and a motion controller (3); The actuator (1) comprises a telescopic rod (7) arranged in a propeller storage compartment (9), wherein the propeller storage compartment (9) is opened inside the hull (4), one end of the telescopic rod (7) is connected to a push rod (5), and a rim propeller (8) is fixedly installed on the other end, and the telescopic rod (7) is slidably inserted into a fixed guide groove (6), and the push rod (5) is used to drive the telescopic rod (7) to drive the rim propeller (8) to extend or retract into the propeller storage compartment (9); The attitude sensor (2) is used to obtain the motion parameters of the hull (4) in real time and transmit the motion parameters to the motion controller (3). The motion controller (3) predicts the attitude change of the hull based on the motion parameters and makes corresponding control decisions, and sends the control decision information to the actuator (1).

2. A ship attitude active control system according to claim 1, characterized in that: The motion parameters of the hull (4) include: the motion displacement values ​​of the hull roll and pitch, the angular acceleration values ​​of the hull roll and pitch, the vertical acceleration values ​​of the bow, middle and stern of the hull, and the draft of the bow, middle and stern of the hull.

3. The active ship attitude control system according to claim 1, characterized in that: The actuator (1) is arranged inside the hull below the waterline in a left-right symmetrical and front-back staggered manner.

4. The active ship attitude control system according to claim 1, characterized in that: The push rod (5) is specifically a hydraulic push rod or an electric push rod, and one end of the push rod (5) is fixedly installed in the hull (4), and the other end is connected to the telescopic rod (7), and is used to drive the telescopic rod (7) to move laterally along the fixed guide groove (6), thereby driving the rim thruster (8) to extend or retract into the thruster storage compartment (9).

5. The active ship attitude control system according to claim 1, characterized in that: The fixed guide groove (6) is fixedly installed inside the thruster storage compartment (9) and is used to provide support and guidance for the corresponding telescopic rod (7).

6. The active ship attitude control system according to claim 1, characterized in that: The wheel rim propeller (8) is fixedly mounted on the end of the telescopic rod (7) and is driven by the telescopic rod (7) to extend out or be retracted into the propeller storage compartment (9).

7. The active ship attitude control system according to claim 6, characterized in that: The wheel rim propeller (8) specifically adopts an integrated design of motor and blades.

8. The active ship attitude control system according to claim 6, characterized in that: A conformal hatch cover (10) is fixedly connected to the outside of the rim thruster (8); when the rim thruster (8) is stored in the thruster storage compartment (9), the conformal hatch cover (10) conforms to the hull line in the area where it is located.

9. The active ship attitude control system according to claim 2, characterized in that: The motion controller (3) predicts the change of the hull's attitude in real time based on the motion displacement values ​​of the hull's roll and pitch, the angular acceleration values ​​of the hull's roll and pitch, the vertical acceleration values ​​of the hull's bow, middle and stern, the drafts of the hull's bow, middle and stern, and based on a preset hull attitude calculation formula, and generates corresponding hull attitude control instructions based on the predicted hull attitude information.

10. The active ship attitude control system according to claim 9, characterized in that: After receiving the hull attitude control instruction, the actuator (1) controls the corresponding telescopic rod (7) to drive the rim thruster (8) to extend out of the thruster storage compartment (9), and starts the rim thruster (8) to generate a preset vertical thrust and form a lateral torque to adjust the hull attitude.

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