Anti-rolling gyroscope control system and adjusting method

Abstract

The invention provides an anti-rolling gyroscope control system and an adjusting method, and belongs to the technical field of floating type platform anti-rolling. Comprising an anti-rolling gyroscope device and a control assembly, the anti-rolling gyroscope device comprises an anti-rolling gyroscope body and a mounting base, a supporting shaft and a precession shaft are coaxially arranged on the two sides of the anti-rolling gyroscope body, and the anti-rolling gyroscope body is rotationally connected with the mounting base through the supporting shaft and the precession shaft. The control assembly comprises a stabilization permanent magnet motor and a damping adjustment control module, the stabilization permanent magnet motor is in transmission connection with the precession shaft, the damping adjustment control module comprises a controller and a load resistor group, the load resistor group is electrically connected with the stabilization permanent magnet motor, and the controller is electrically connected with the load resistor group. By adopting the anti-rolling gyroscope control system and the adjusting method, the wide-range adjustment of the damping coefficient of the anti-rolling gyroscope can be realized, and the adaptability to complex and changeable offshore anti-rolling scene requirements is improved.

Description

Technical Field

[0001] The invention relates to the technical field of anti-rolling of floating platforms, and in particular to an anti-rolling gyro control system and an adjustment method. Background Art

[0002] my country has a vast ocean area, and its deep-sea wind resources are more abundant and the quality of electricity generated is better. The development of deep-sea wind power is of great significance to alleviating my country's electricity consumption pressure and sustainable energy development. Deep-sea offshore wind power generation platforms have gradually been promoted and applied. Compared with traditional fixed offshore wind turbines, floating wind turbines have lower construction costs, simple disassembly, convenient towing, and are suitable for deep-sea areas. However, compared with traditional marine engineering platforms, they have a high center of gravity, small waterline area moment, poor stability, and are sensitive to wave excitation. Under the action of wind and waves, they are always in an unbalanced force and unsteady motion state, and platform stability is crucial to the safe operation of wind turbines.

[0003] In the related art, a gyro device is usually installed on a floating wind turbine platform to assist in stabilization, which mainly relies on the natural precession of the high-speed rotating rotor under the action of the external interference torque to generate a gyro torque to achieve the gyro precession effect. For the gyro precession control, a mechanical or hydraulic damping device is usually added to the gyro precession axis to limit the arbitrary precession of the gyro rotor to avoid precession loss of control.

[0004] The gyroscopic anti-roll system used in the relevant technology, although the additional mechanical or hydraulic damping device can achieve stable control of precession, its damping variation range is small. In low sea conditions, limiting precession reduces the anti-roll efficiency, and there is still a risk of precession loss of control in high sea conditions. In addition, the hydraulic damping system has the risk of oil leakage, insufficient pressure and other failures, and requires regular maintenance. For mobile platforms such as ships, it is easier to achieve shore maintenance, but for deep-sea floating wind power platforms, maintenance is extremely difficult and the maintenance cost is extremely high. Summary of the invention

[0005] The embodiment of the present invention provides a gyro control system and adjustment method, which can achieve wide-range adjustment of the gyro damping coefficient and improve the adaptability to complex and changeable offshore stabilization scene requirements. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present invention provides a gyro control system, including: a gyro device and a control component.

[0007] The anti-roll gyro device comprises an anti-roll gyro body and a mounting base, wherein a support shaft and a precession shaft are coaxially arranged on both sides of the anti-roll gyro body, and the anti-roll gyro body is rotatably connected to the mounting base through the support shaft and the precession shaft;

[0008] The control component includes a stabilization permanent magnet motor and a damping adjustment control module, the stabilization permanent magnet motor is drivingly connected to the precession shaft, the damping adjustment control module includes a controller and a load resistor group, the load resistor group is electrically connected to the stabilization permanent magnet motor, the controller is electrically connected to the load resistor group, and the controller is configured to adjust the resistance value of the load resistor group to change the output torque of the stabilization permanent magnet motor, thereby adjusting the damping coefficient of the precession shaft.

[0009] Optionally, the load resistor group includes a plurality of resistors connected in parallel with successively increasing resistance values, and the controller is configured to control the on and off of the plurality of resistors respectively.

[0010] Optionally, the difference between the successive resistance values ​​of the plurality of resistors is greater than or equal to 10 times.

[0011] Optionally, the control component further comprises an angle detection module connected to the gyro body, for detecting the precession angle of the gyro body and the platform swing angle, and the controller is configured to control the on and off of the plurality of resistors based on the precession angle of the gyro body and the platform swing angle.

[0012] Optionally, a rotation limiting mechanism is also included, which includes a fixed seat, a rotating block and a limiting spring. The fixed seat is fixedly connected to the mounting base, the support shaft is rotatably connected to the fixed seat through the rotating block, and both ends of the limiting spring are respectively connected to the rotating block and the fixed seat to limit the maximum rotation angle of the rotating block.

[0013] Optionally, the rotating block is provided with two spring mounting grooves which are symmetrically arranged around the rotation center, and two limit springs are provided and respectively arranged in the two spring mounting grooves, one end of the limit spring is connected to the groove wall of the spring mounting groove, and the other end of the limit spring is connected to the fixed seat.

[0014] Optionally, a reducer is further included, the anti-roll permanent magnet motor is drivingly connected to the input end of the reducer, and the output end of the reducer is drivingly connected to the precession shaft.

[0015] Optionally, a vacuum pump is further included, and the vacuum pump is connected to the gyro body through a vacuum tube.

[0016] Optionally, a control cabinet is further included, wherein the control cabinet is arranged on the mounting base, and the damping adjustment control module is arranged in the control cabinet.

[0017] In a second aspect, an embodiment of the present invention provides a regulation method, which is implemented based on the gyro control system as described in the first aspect, and the method includes:

[0018] Detecting the precession angle of the anti-roll gyro and the swing angle of the platform;

[0019] Based on the magnitudes of the precession angle and the sway angle, the controller is used to adjust the resistance value of the load resistor group to change the output torque of the anti-sway permanent magnet motor, thereby adjusting the damping coefficient of the precession axis to achieve control and adjustment of the precession angle of the anti-sway gyro body and the sway angle of the platform.

[0020] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0021] By adopting the anti-roll gyro control system provided by the embodiment of the present invention, a wide range of adjustment of the anti-roll gyro damping coefficient can be achieved, so as to adapt to more complex and changeable anti-roll scene requirements and improve anti-roll efficiency. At the same time, in conjunction with the real-time adjustment of the damping coefficient of the precession axis by the control component, by setting a rotation limit mechanism at one end of the support shaft of the anti-roll gyro body, the maximum precession angle of the anti-roll gyro body can be limited while adjusting the damping coefficient of the precession axis to achieve adaptive adjustment of the anti-roll effect, ensuring that when the permanent magnet motor is in standby or fails, the anti-roll gyro device is prevented from precessing out of control, ensuring its safe and reliable operation, and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a schematic diagram of the three-dimensional structure of a gyro control system provided by an embodiment of the present invention;

[0024] Figure 2 1 is a schematic diagram of a top view of a gyro control system provided by an embodiment of the present invention;

[0025] Figure 3 1 is a schematic diagram of the side structure of a gyro control system provided by an embodiment of the present invention;

[0026] Figure 4 is a schematic structural diagram of a gyro body provided by an embodiment of the present invention;

[0027] Figure 5 is a control structure diagram of a damping adjustment control module provided in an embodiment of the present invention;

[0028] Figure 6 is a schematic diagram of the control structure of the damping adjustment component provided by an embodiment of the present invention;

[0029] Figure 7 is a diagram of the damping coefficient adjustment range corresponding to the control signal of the first power switch provided in an embodiment of the present invention;

[0030] Figure 8 is a diagram of the damping coefficient adjustment range corresponding to the control signal of the second power switch provided by an embodiment of the present invention;

[0031] Fig. 9 is a correspondence table of the maximum value of the platform sway angle and the maximum value of the precession angle of the anti-sway gyro body under different damping coefficients in the embodiment of the present invention;

[0032] Fig.10 It is a flow chart of an adjustment method provided by an embodiment of the present invention.

[0033] In the figure: 1-anti-roll gyro device; 2-control component; 3-rotation limit mechanism; 4-speed reducer; 5-vacuum pump; 6-control cabinet; 11-anti-roll gyro body; 12-mounting base; 21-anti-roll permanent magnet motor; 22-damping adjustment control module; 23-angle detection module; 31-fixed seat; 32a-disc structure; 32b-abutment part; 33-limit spring; 111-support shaft; 112-precession shaft; 221-controller; 222-load resistor group; 223-rectifier converter; 224-filter capacitor; 225-first power switch; 226-second power switch; 321-spring mounting groove. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0035] Figure 1 is a schematic diagram of the three-dimensional structure of a gyro control system provided by an embodiment of the present invention; Figure 2 1 is a schematic diagram of a top view of a gyro control system provided by an embodiment of the present invention; Figure 3 1 is a schematic diagram of the side structure of a gyro control system provided by an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the anti-roll gyro provided by the embodiment of the present invention Figure 5 is a control structure diagram of a damping adjustment control module provided in an embodiment of the present invention; Figure 6 is a schematic diagram of the control structure of the damping adjustment component provided by an embodiment of the present invention; Figure 7 is a diagram of the damping coefficient adjustment range corresponding to the control signal of the first power switch provided in an embodiment of the present invention; Figure 8 is a diagram of the damping coefficient adjustment range corresponding to the control signal of the second power switch provided by an embodiment of the present invention; Fig. 9 The correspondence between the maximum value of the platform rocking angle and the maximum value of the precession angle of the anti-roll gyro body under different damping coefficients in the embodiment of the present invention is as follows: Figures 1 to 9As shown, an embodiment of the present invention provides a gyro control system, including a gyro device 1 and a control component 2.

[0036] The gyro device 1 comprises a gyro body 11 and a mounting base 12. A support shaft 111 and a precession shaft 112 are coaxially arranged on both sides of the gyro body 11, and the gyro body 11 is rotatably connected to the mounting base 12 via the support shaft 111 and the precession shaft 112.

[0037] The control assembly 2 includes a permanent magnet anti-roll motor 21 and a damping adjustment control module 22. The permanent magnet anti-roll motor 21 is in transmission connection with the precession shaft 112, and the damping adjustment control module 22 includes a controller 221 and a load resistor group 222. The load resistor group 222 is electrically connected to the permanent magnet anti-roll motor 21, and the controller 221 is electrically connected to the load resistor group 222. The controller 221 is configured to adjust the resistance value of the load resistor group 222 to change the output torque of the permanent magnet anti-roll motor 21, thereby adjusting the damping coefficient of the precession shaft 112.

[0038] In an embodiment of the present invention, the main body of the gyro control system is composed of a gyro device 1 and a control component 2, wherein the gyro device 1 is integrated and installed on an offshore facility such as a floating wind turbine platform through a mounting base 12. The gyro body 11 is composed of conventional structures such as an upper shell cover 11a, a radial bearing, a gyro motor, a gyro rotor, a radial bearing, an axial bearing, a bottom shell cover, an upper cover body, and a lower cover body, and the embodiment of the present invention is not repeated here. The gyro body 11 is connected to the mounting base 12 through a support shaft 111 and a precession shaft 112 extending from the coaxial arrangement on both sides, ensuring that its body can rotate relative to the mounting base 12, so that when the offshore facility sways, the precession generates a swaying torque, which is transmitted to the offshore facility through the mounting base 12 to suppress the swaying. Among them, one side of the precession shaft 112 is connected to the swaying permanent magnet motor 21 through a reducer 4, and the swaying permanent magnet motor 21 is regulated and controlled by the damping adjustment control module 22. When the damping adjustment control module 22 is working, the corresponding angle detection module 23 will be used to detect the precession angle of the anti-roll gyro body and the platform swing angle. Based on the size of the precession angle and the swing angle, the damping adjustment control module 22 uses the controller 221 to adjust the resistance value of the load resistor group 222 to change the output torque of the anti-roll permanent magnet motor 21, and then adjust the damping coefficient of the precession axis 112 to achieve the output torque of the anti-roll permanent magnet motor 21 and the precession angle of the anti-roll gyro body 11. Among them, the working principle of adjusting the damping coefficient of the precession axis 112 to achieve the output torque of the anti-roll permanent magnet motor 21 and the precession angle of the anti-roll gyro body 11 is as follows:

[0039] The mechanical motion equation of the anti-roll permanent magnet motor 21 is:

[0040]

[0041] Wherein, J is the moment of inertia of the anti-shake permanent magnet motor 21, ω m is the real-time mechanical angular velocity of the permanent magnet motor 21, T L is the prime mover input torque, T e is the electromagnetic torque.

[0042] When the internal resistance of the anti-shake permanent magnet motor 21 is ignored, its rectified voltage is proportional to the motor speed, see formula (1):

[0043] U=Kω m (1)

[0044] Wherein, U is the rectifier output voltage of the anti-rollover permanent magnet motor 21, K is a quantitative constant related to the electromagnetic topology of the anti-rollover permanent magnet motor 21, and if the rectifier side is connected to the load resistor R, the power of the anti-rollover permanent magnet motor 21 is as follows:

[0045]

[0046] From formula (1) and (2), we can get formula (3):

[0047]

[0048] Furthermore, the mechanical motion equation of the precession axis 112 of the gyro body 11 is shown in formula (5):

[0049]

[0050] In the formula, are the precession angle, precession angular velocity and precession angular acceleration of the anti-sway gyro body 11, I g is the moment of inertia on the precession axis 112, C g is the damping coefficient of the precession axis 112, K g is the restoring torque term of the precession axis 112, τ 进动 It is the natural precession torque caused by the shaking movement of platforms and other water facilities.

[0051] Furthermore, the anti-roll permanent magnet motor 21 is connected to the precession shaft 112 of the anti-roll gyro body 11 through the reducer 4, then:

[0052]

[0053] T 阻尼 =nT e (6)

[0054] Wherein, n is the reduction ratio of the reducer 4;

[0055] Furthermore, from formulas (3), (5), and (6), we can obtain formula (7):

[0056]

[0057] Furthermore, by substituting formula (7) into formula (4), we can obtain formula (8):

[0058]

[0059] in,

[0060]

[0061] It can be seen from formulas (8) and (9) that if the reduction ratio, voltage and load resistance are determined, the damping torque is linearly related to the precession angular velocity, so adjusting the load resistance is equivalent to changing the damping coefficient of the precession axis 112.

[0062] In summary, when the mechanical damping coefficient of the gyro itself C g When it is small or close to zero, the damping coefficient of the anti-roll gyro can be adjusted in a wide range by changing the access resistance through the control system.

[0063] Furthermore, the resistance value of the load resistor group 222 is adjusted by the controller 221 to change the output torque of the anti-roll permanent magnet motor 21, thereby adjusting the damping coefficient of the precession axis 112, and further combining the anti-roll gyro joint dynamics model and data as follows:

[0064]

[0065] Wherein θ(t) and φ(t) are the roll angle of offshore facilities such as floating wind turbine platforms and the precession angle of the anti-roll gyro 11, respectively; w(t) is the random wave disturbance torque; I1, C1, and K1 are the parameters of the floating wind turbine platform, representing the lateral inertia moment, roll damping coefficient, and roll restoring moment of the floating wind turbine platform, respectively; H g ,I g , C * g , K g are the gyro parameters, which respectively represent the angular momentum of the gyro body 11 on its main rotation axis, the moment of inertia on the precession axis, the damping coefficient and the restoring torque on the precession axis, and C * g Wide range adjustment is achieved by changing the equivalent load resistance connected to the anti-roll permanent magnet motor 21 through the damping adjustment control module 22. For a single gyro anti-roll device, m=1, and for a multi-gyro anti-roll device, m>1.

[0066] Optionally, the load resistor group 222 includes a plurality of resistors connected in parallel and having increasing resistance values, and the controller 221 is configured to control the on and off of the plurality of resistors respectively. Exemplarily, in an embodiment of the present invention, the load resistor group 222 is composed of three resistors R0, R1 and R2 whose resistance values ​​differ by more than or equal to 10 (R0>R1>R2), and is electrically connected to the winding in the anti-roll permanent magnet motor 21 together with the rectifier converter 223, the filter capacitor 224, the first power switch 225 and the second power switch 226 to form a braking circuit. Under the regulation of the controller 221, the load resistor group 222 can realize three-speed operation. When in the first gear, the resistors R1 and R2 disconnect the circuit, the rectifier converter 223 is only connected to a large resistor R0, the DC side is approximately open, and the precession axis 112 of the anti-roll gyro body 11 has only its own bearing friction damping, which is very small, equivalent to the free precession of the gyro rotor; the second gear is the small damping adjustment gear, and the first power switch 225 can realize fine linear adjustment of the small damping coefficient under the duty cycle change of the controller 221 input signal; the third gear is the large damping adjustment gear, and the second power switch 226 can realize a wide range of damping coefficient adjustment under the duty cycle change of the controller input signal. With the resistors with a resistance value difference of more than 10, and the comprehensive use of multiple gears, the damping coefficient can be finely adjusted in a wide range.

[0067] Optionally, the control component 2 further includes an angle detection module 23 connected to the anti-roll gyro body 11, which uses a built-in angle sensor to detect the swing angle of the platform under the action of waves and the precession angle of the anti-roll gyro body. Here, the platform refers to an offshore facility such as a floating wind turbine platform on which the anti-roll gyro body 11 and the entire anti-roll gyro control system are installed. The present invention does not limit the specific form of the platform. The controller 221 is configured to control the on-off of multiple resistors based on the precession angle and the swing angle, and adaptively adjust the damping coefficient of the precession axis 112 according to different sea conditions to ensure the best anti-roll effect.

[0068] Optionally, a rotation limiting mechanism 3 is also included, and the rotation limiting mechanism 3 includes a fixed seat 31, a rotating block 32 and a limiting spring 33. The fixed seat 31 is fixedly connected to the mounting base 12, and the support shaft 111 is rotatably connected to the fixed seat 31 through the rotating block 32. The two ends of the limiting spring 33 are respectively connected to the rotating block 32 and the fixed seat 31 to limit the maximum rotation angle of the rotating block 32. Exemplarily, in the embodiment of the present invention, the fixed seat 31 is a circular arc disc-shaped structure in the shape of a minor arc, which is arranged on the mounting base 12, and the rotating block 32 includes a disc structure 32a in the middle, which is coaxially rotatably connected to the top of the fixed seat 31 through the disc structure 32a, and the top of the disc structure 32a corresponding to the circular arc disc structure of the fixed seat 31 is also provided with a section of a minor arc-shaped abutment portion 32b protruding radially. The abutment portion 32b and the fixing seat 31 have a certain thickness in the axial direction of relative rotation, that is, in the axial direction of the support shaft 111. The abutment portion 32b and the fixing seat 31 define spring installation grooves 321 symmetrically arranged around the rotation center at both ends in the circumferential direction. Two limit springs 33 are provided and are respectively arranged in the two spring installation grooves 321 along the rotation direction. One end of the limit spring 33 is connected to the groove wall of the spring installation groove 321, and the other end of the limit spring 33 is connected to the fixing seat 31. When the anti-roll gyro body 11 precesses in the clockwise direction, the support shaft 111 on the other side drives the rotating block 32 to rotate clockwise. At this time, the right limit spring 33 is compressed and the left limit spring 33 is pulled. When the left and right limit springs 33 are stretched and contracted to the limit position, the rotating block 32 can no longer rotate, and the anti-roll gyro body 11 reaches the maximum precession angle. When the anti-roll gyro body 11 precesses counterclockwise, the spring state is opposite. By providing the rotation limiting mechanism 3, the maximum precession angle of the anti-roll gyro body 11 can be limited while the damping coefficient of the precession shaft 112 is adjusted to achieve adaptive adjustment of the anti-roll effect, thereby preventing the anti-roll gyro device 1 from precessing out of control when the permanent magnet synchronous motor 21 is in standby or fails, thereby ensuring its safe and reliable operation.

[0069] Optionally, the anti-roll gyro control system may further include a reducer 4, the anti-roll permanent magnet motor 21 is transmission-connected to the input end of the reducer 4, and the output end of the reducer 4 is transmission-connected to the precession shaft 112. Exemplarily, in the embodiment of the present invention, the reducer 4 is arranged between the anti-roll permanent magnet motor 21 and the precession shaft 112 for relay connection, and the transmission gear set with different transmission ratios inside the reducer is used to convert the high-speed running power into a low-speed high-torque output, so as to meet the different working requirements of the precession shaft 112.

[0070] Optionally, the anti-roll gyro control system may further include a vacuum pump 5, which is connected to the anti-roll gyro body 11 through a vacuum tube. Exemplarily, in the embodiment of the present invention, the anti-roll gyro body 11 adopts a sealed structure, and the interior is evacuated by an external vacuum pump 5, which can reduce the air resistance of the internal gyro rotor when it rotates, thereby ensuring the anti-roll effect.

[0071] Optionally, the anti-roll gyro control system may further include a control cabinet 6, the control cabinet 6 is disposed on the mounting base 12, and the damping adjustment control module 22 is disposed in the control cabinet 6. Exemplarily, in the embodiment of the present invention, the control circuit and electrical components and facilities such as resistors of the damping adjustment control module 22 are independently arranged and isolated by a dedicated control cabinet 6, so as to facilitate centralized inspection and maintenance.

[0072] Furthermore, taking a floating platform provided in an embodiment of the present invention as an example, the working mode and effect of the anti-roll gyro control system are further described.

[0073] The lateral inertia moment of a floating platform provided in an embodiment of the present invention is 180000 kg.m 2 The roll damping coefficient is 67500N.ms, the roll restoring moment is 283000Nm, the designed angular momentum of the main rotation axis of the anti-roll gyro rotor is 25000N.ms, and the moment of inertia on the precession axis 112 is 55.3kg.m 2 , the restoring torque on the precession shaft is 87.2Nms, and the friction damping coefficient of the bearing on the precession shaft 112 is approximately 0. The equivalent damping coefficient of the precession shaft 112 is mainly adjusted by the damping adjustment control module 22. The three resistor values ​​in the load resistor group 222 are R0=1250Ω, R1=50Ω, and R2=2Ω, respectively. Figure 4 When the duty cycle control signals of the first power switch 225 and the second power switch 226 are both 0, the damping coefficient of the precession axis 112 is 10. By adjusting the duty cycle control signals of the first power switch 225 and the second power switch 226 respectively, the damping coefficient of the precession axis 112 can be changed in a wide range, even reaching hundreds of times of the basic damping value, such as Figure 7 and Figure 8 shown.

[0074] Specifically, the frequency range of sea wave interference is generally 0.02 to 1.0 Hz. Taking the typical value of 0.15 Hz as an example, simulation calculation is performed, and the results are as follows: Fig. 9 shown.

[0075] Among them, when the amplitude of the wave interference torque is 15000Nm, if there is no anti-roll gyro, the maximum swing angle of the platform is 6.9°; when there is an anti-roll gyro, it is obvious that the damping coefficient is 10, and the anti-roll effect is the best. At this time, the swing angle is only 0.12° and the precession angle is 40°.

[0076] Furthermore, when the amplitude of the wave interference torque increases to 20000 Nm, the maximum swing angle of the platform is 9.2° when there is no anti-roll gyro device 1; when there is an anti-roll gyro device 1 and the damping coefficient is 10, the gyro precession angle exceeds 90° due to too small damping, which not only fails to achieve the anti-roll effect but increases the swing angle to 14.4°; in contrast, the anti-roll effect with a damping coefficient of 200 is the best, with a swing angle of only 0.60° and a precession angle of 56°.

[0077] Furthermore, when the amplitude of the wave disturbance torque continues to increase to 25000Nm, the damping coefficients of 10 and 100 will cause the gyro precession angle to exceed 90°, resulting in increased roll. At this time, the damping coefficient needs to be adjusted to 1000 to achieve a better roll reduction effect. At this time, the maximum swing angle of the platform is 3.8°, and the maximum precession angle of the gyro is 67°.

[0078] Fig. 9 FIG. 1 is a flow chart of a regulation method provided by an embodiment of the present invention. Fig.10 As shown, the embodiment of the present invention also provides a regulation method based on Figures 1 to 6 The gyro control system shown is implemented, comprising the following steps:

[0079] S1, detecting the precession angle and the platform swing angle of the anti-roll gyro body 11 under the action of the sea waves.

[0080] S2, based on the magnitude of the precession angle and the sway angle, the controller 221 is used to adjust the resistance value of the load resistor group 222 to change the output torque of the stabilization permanent magnet motor 21, and then adjust the damping coefficient of the precession shaft 112 to achieve control of the output torque of the stabilization permanent magnet motor 21 and the precession angle of the gyro body 11.

[0081] In summary, a larger external disturbance requires a larger damping coefficient of the precession axis 112 to ensure the anti-roll capability. Insufficient damping will cause the gyro precession angle to exceed 90°, resulting in uncontrolled precession, and then the anti-roll gyro loses its anti-roll capability. When the anti-roll gyro precession angle does not exceed 90°, the smaller the damping coefficient of the precession axis 112, the better the anti-roll effect. Therefore, a conventional anti-roll gyro with a fixed damping coefficient is difficult to adapt to the anti-roll demand under different external disturbances. The anti-roll gyro control system provided by the embodiment of the present invention, in conjunction with the above control method, can achieve a wide range of adjustment of the anti-roll gyro damping coefficient, thereby being able to adapt to more complex and changeable anti-roll scene requirements and improve anti-roll efficiency. At the same time, in cooperation with the control component 2 to adjust the damping coefficient of the precession shaft 112 in real time, by providing a rotation limiting mechanism 3 at one end of the support shaft 111, the damping coefficient of the precession shaft 112 can be adjusted to achieve adaptive adjustment of the anti-roll effect, while limiting the maximum precession angle of the anti-roll gyro body 11, to ensure that when the permanent magnet synchronous motor 21 is in standby or fails, the anti-roll gyro device 1 is prevented from precessing out of control, thereby ensuring its safe and reliable operation and reducing maintenance costs.

[0082] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0083] The above descriptions are merely optional embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gyro control system, characterized in that: include: A gyro device (1) and a control component (2), The gyro device (1) comprises a gyro body (11) and a mounting base (12); a support shaft (111) and a precession shaft (112) are coaxially arranged on both sides of the gyro body (11), and the gyro body (11) is rotatably connected to the mounting base (12) via the support shaft (111) and the precession shaft (112); The control component (2) comprises a stabilization permanent magnet motor (21) and a damping adjustment control module (22); the stabilization permanent magnet motor (21) is transmission-connected to the precession shaft (112); the damping adjustment control module (22) comprises a controller (221) and a load resistor group (222); the load resistor group (222) is electrically connected to the stabilization permanent magnet motor (21); the controller (221) is electrically connected to the load resistor group (222); the controller (221) is configured to adjust the resistance value of the load resistor group (222) to change the output torque of the stabilization permanent magnet motor (21), thereby adjusting the damping coefficient of the precession shaft (112).

2. The gyro control system according to claim 1, characterized in that: The load resistor group (222) comprises a plurality of resistors connected in parallel and having resistance values ​​increasing in sequence, and the controller (221) is configured to control the on and off of the plurality of resistors respectively.

3. The gyro control system according to claim 2, characterized in that: The difference between the resistance values ​​of the plurality of resistors is greater than or equal to 10 times.

4. The gyro control system according to claim 2, characterized in that: The control component (2) further comprises an angle detection module (23) connected to the gyroscopic body (11) and used for detecting the precession angle of the gyroscopic body (11) and the swing angle of the platform, and the controller (221) is configured to control the on and off of the plurality of resistors based on the precession angle and the swing angle.

5. The gyro control system according to claim 1, characterized in that: The invention also comprises a rotation limiting mechanism (3), wherein the rotation limiting mechanism (3) comprises a fixed seat (31), a rotating block (32) and a limiting spring (33); the fixed seat (31) is fixedly connected to the mounting base (12); the support shaft (111) is rotationally connected to the fixed seat (31) via the rotating block (32); and two ends of the limiting spring (33) are respectively connected to the rotating block (32) and the fixed seat (31) to limit the maximum rotation angle of the rotating block (32).

6. The gyro control system according to claim 5, characterized in that: The rotating block (32) is provided with two spring installation grooves (321) symmetrically arranged around the rotation center, and two limit springs (33) are provided and are respectively arranged in the two spring installation grooves (321), one end of the limit spring (33) is connected to the groove wall of the spring installation groove (321), and the other end of the limit spring (33) is connected to the fixed seat (31).

7. The gyro control system according to claim 1, characterized in that: It also comprises a reducer (4), the anti-roll permanent magnet motor (21) is drivingly connected to the input end of the reducer (4), and the output end of the reducer (4) is drivingly connected to the precession shaft (112).

8. The gyro control system according to claim 1, characterized in that: It also includes a vacuum pump (5), which is connected to the gyro body (11) via a vacuum tube.

9. The gyro control system according to claim 1, characterized in that: It also comprises a control cabinet (6), wherein the control cabinet (6) is arranged on the mounting base (12), and the damping adjustment control module (22) is arranged in the control cabinet (6).

10. A regulation method, implemented based on the gyro control system according to any one of claims 1 to 9, comprising: Detecting the precession angle of the anti-roll gyro (11) and the swing angle of the platform under the action of sea waves; Based on the magnitudes of the precession angle and the swing angle, the controller (221) is used to adjust the resistance value of the load resistor group (222) to change the output torque of the anti-roll permanent magnet motor (21), thereby adjusting the damping coefficient of the precession shaft (112) to achieve control and adjustment of the precession angle of the anti-roll gyro body (11) and the platform swing angle.

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