Ship full speed range compound balancing system

Abstract

The application provides a ship full-speed-range composite balance system, and relates to the technical field of ships. The ship full-speed-range composite balance system comprises an execution device, a plurality of actuators connected to the pressure plate assembly, the plurality of actuators being adapted to drive the pressure plate assembly to perform water pressure movement to generate a water dynamic reaction force on the ship and to adjust the water-approaching angle of the pressure plate assembly to generate a water lifting force on the ship; a data acquisition device configured to obtain state data; and a control device configured to generate a control instruction according to the state data, wherein the execution device works in a plurality of roll reduction modes, including: a first speed mode, the execution device being configured to give greater weight to the water dynamic reaction force than to the water lifting force in the process of roll reduction work according to the control instruction; and a second speed mode, the execution device being configured to give less weight to the water dynamic reaction force than to the water lifting force in the process of roll reduction work according to the control instruction.

Description

Technical Field

[0001] This application relates primarily to the field of ship technology, and in particular to a composite balance system for ships across the entire speed range. Background Technology

[0002] Ships are subject to rolling and swaying due to external environmental factors, which in turn affects their stability and passenger comfort. Some related technologies reduce rolling by using the drag and added mass force generated by the active movement of ballast plates, while others use the airfoil lift of anti-roll fins.

[0003] However, these related technologies are applicable to different speed scenarios, making it difficult to achieve convenient and effective roll reduction for ships in a wide range of scenarios.

[0004] Therefore, there is an urgent need for a composite balance system for ships that can conveniently and stably reduce roll in various speed scenarios across the entire speed range. Summary of the Invention

[0005] The technical problem to be solved by this application is to provide a ship full-speed-range composite balance system that can conveniently and stably reduce rolling in various speed scenarios, so as to improve the stability of the ship and the comfort of passengers.

[0006] To address the aforementioned technical problems, this application provides a ship full-speed-range composite balancing system, applied to ships. The ship full-speed-range composite balancing system includes: an actuator comprising multiple sets of actuator units, each set of actuator units being respectively disposed on both sides of the ship; each actuator unit comprising a pressure plate assembly and multiple actuators connected to the pressure plate assembly; wherein the multiple actuators are adapted to drive the pressure plate assembly to perform water-pressurizing motion to generate hydrodynamic reaction force on the ship, and are adapted to adjust the angle of attack of the pressure plate assembly to generate water lift force on the ship, thereby achieving work to reduce the ship's roll; and a data acquisition device configured to acquire state data, including the ship's speed, ship attitude data, and other data. Ship load data and environmental data; control device, configured to generate control commands based on status data and transmit the control commands to the actuator, wherein the actuator operates in multiple roll reduction modes, each corresponding to a different speed range, including: a first speed mode, wherein the actuator is configured such that, during roll reduction work according to the control command, the weight of the hydrodynamic reaction force is greater than the weight of the water lift; and a second speed mode, wherein, during roll reduction work according to the control command, the weight of the hydrodynamic reaction force is less than the weight of the water lift, wherein the speed corresponding to the first speed mode is less than the speed corresponding to the second speed mode.

[0007] Optionally, the multiple roll reduction modes also include: a third speed mode, wherein the actuator is configured to perform roll reduction work through hydrodynamic reaction according to control commands, wherein the speed corresponding to the third speed mode is less than the speed corresponding to the first speed mode.

[0008] Optionally, the multiple roll reduction modes also include: a fourth speed mode, wherein the actuator is configured to perform roll reduction work through water lift according to control commands, wherein the speed corresponding to the fourth speed mode is greater than the speed corresponding to the second speed mode.

[0009] Optionally, multiple actuators are adapted to drive the pressure plate assembly to move in a straight line to perform water pressure motion. The pressure plate assembly includes at least one pressure plate with a rock-damping fin shape to generate water lift force.

[0010] Optionally, the pressure plate assembly includes two pressure plates, and the actuation unit further includes an opening adjustment assembly connected to the two pressure plates respectively. Before the plurality of actuators drive the pressure plate assembly to move in the positive direction of the linear direction to perform the water pressure movement, the opening adjustment assembly is adapted to drive the two pressure plates to form an opening in the positive direction; and / or before the plurality of actuators drive the pressure plate assembly to move in the negative direction of the linear direction to perform the water pressure movement, the opening adjustment assembly is adapted to drive the two pressure plates to form an opening in the negative direction.

[0011] Optionally, the status data also includes actuator load data, wherein when the load data is greater than a preset safety threshold and multiple actuators drive the pressure plate assembly to move in the positive direction of the linear direction to perform water pressure movement, the actuator is further configured to drive the two pressure plates to form an opening in the negative direction according to the control command of the opening adjustment assembly corresponding to the multiple actuators; and / or when the load data is greater than a preset safety threshold and multiple actuators drive the pressure plate assembly to move in the negative direction of the linear direction to perform water pressure movement, the actuator is further configured to drive the two pressure plates to form an opening in the positive direction according to the control command of the opening adjustment assembly corresponding to the multiple actuators.

[0012] Optionally, the pressure plate assembly includes a first pressure surface and a second pressure surface opposite to each other, wherein, before the plurality of actuators drive the pressure plate assembly to move in the positive direction of the linear direction to perform the pressure water movement through the first pressure surface, the plurality of actuators are adapted to adjust the displacement of the pressure plate assembly respectively to maximize the projection of the first pressure surface in the linear direction; and / or before the plurality of actuators drive the pressure plate assembly to move in the negative direction of the linear direction to perform the pressure water movement through the second pressure surface, the plurality of actuators are adapted to adjust the displacement of the pressure plate assembly respectively to maximize the projection of the second pressure surface in the linear direction.

[0013] Optionally, the actuator is configured to adjust the water-facing angle of the pressure plate assembly by adjusting the displacement of each actuator on the pressure plate assembly.

[0014] Optionally, in the first speed mode and / or the second speed mode, the weight of the hydrodynamic reaction force decreases as the speed increases, while the weight of the water lift increases as the speed increases.

[0015] Optionally, the control device includes a PID controller, which is adapted to smoothly adjust the weights of the hydrodynamic reaction force and the lift force based on state data during the switching between two different anti-rolling modes.

[0016] Optionally, the control device is further configured to generate a stop operation command and transmit the stop operation command to the actuator; the actuator is further configured to drive multiple actuators to press the pressure plate assembly against the ship according to the stop operation command, so as to reduce the ship's sailing resistance.

[0017] Optionally, the hull of the vessel has a receiving slot for accommodating the pressure plate assembly, and the control device is further configured to generate a stop operation command and transmit the stop operation command to the actuator; the actuator is further configured to drive multiple actuators to retract the pressure plate assembly into the receiving slot according to the stop operation command.

[0018] Compared with existing technologies, this application has the following advantages: It can drive the pressure plate assembly to perform water pressure movement to generate hydrodynamic reaction force, and it can adjust the water-facing angle of the pressure plate assembly to generate water lift, thereby achieving roll reduction work on the ship. Based on this, by operating the actuator in multiple roll reduction modes and adjusting the weights of the hydrodynamic reaction force and water lift in each mode, the actuator can flexibly and effectively reduce the ship's roll according to its speed, enabling convenient and stable roll reduction at different ship speeds. Attached Figure Description

[0019] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings: Figure 1 This is a block diagram of a ship full-speed-range composite balance system according to an embodiment of this application; Figure 2 This is a schematic diagram of a ship and an actuator according to an embodiment of this application; Figure 3 yes Figure 2 A partial structural diagram of the execution unit; Figure 4 yes Figure 3 A schematic diagram showing the medium pressure plate assembly moving in the positive direction and forming the first opening through the opening adjustment assembly; Figure 5 yes Figure 3A schematic diagram showing the intermediate pressure plate assembly moving in the negative direction and forming a second opening through the opening adjustment assembly; and Figure 6 yes Figure 3 Side view of the intermediate pressure plate assembly. Detailed Implementation

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0021] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0022] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0023] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0024] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0025] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0026] It should be understood that when a component is referred to as "on another component," "connected to another component," "coupled to another component," or "in contact with another component," it can be directly on, connected to, coupled to, or in contact with that other component, or there may be an intervening component. In contrast, when a component is referred to as "directly on another component," "directly connected to," "directly coupled to," or "directly in contact with" another component, there is no intervening component. Similarly, when a first component is referred to as "electrically contacting" or "electrically coupled to" a second component, there is an electrical path between the first and second components that allows current to flow. This electrical path may include capacitors, coupled inductors, and / or other components that allow current to flow, even if there is no direct contact between the conductive components.

[0027] Reference Figure 1 and Figure 2 One embodiment of this application proposes a ship full-speed-range composite balance system 100 (hereinafter referred to as ship system 100), and the ship system 100 is applied to a ship 200. For example... Figure 1 and Figure 2 As shown, the ship system 100 includes an actuator 10, a data acquisition device 20, and a control device 30. In this embodiment, the control device 30 generates control commands for the ship at different speeds based on the data sent by the data acquisition device 20. This enables the actuator 10 to reduce the ship's roll according to the control commands, thereby reducing the degree of roll in various speed scenarios, thus improving the ship's stability and passenger comfort.

[0028] Continue to refer to Figure 1 and Figure 2 In this embodiment, the execution device 10 includes multiple sets of execution units 11, which are respectively disposed on both sides of the vessel 200. In this embodiment, the execution units 11 are located below the waterline of the vessel 200 and are fixedly connected to the vessel 200. In this embodiment, the waterline is the line formed by the intersection of the water surface and the hull of the vessel 200 when the vessel 200 is in the water. It should be noted that this application does not limit the position of the execution units 11; in other embodiments, the execution units 11 are fixedly connected to the vessel 200 above the waterline. Further reference... Figure 3 In this embodiment, the execution unit 11 includes a pressure plate assembly 111, two actuators 112 connected to the pressure plate assembly 111, and an opening adjustment assembly 113. The two actuators 112 are adapted to drive the pressure plate assembly 111 to perform water-pressing motion to generate a hydrodynamic reaction force on the vessel 200, and to adjust the water-facing angle of the pressure plate assembly 111 to generate lift on the vessel 200, thereby reducing roll on the vessel 200. Further, the two actuators 112 are adapted to drive the pressure plate assembly 111 to move along a straight line x to perform water-pressing motion. In addition, the pressure plate assembly 111 includes two pressure plates 1111, and the pressure plates 1111 have a roll-damping fin shape to generate lift. In this embodiment, the roll-damping fin shape is airfoil-shaped. For example, the lower surface of the pressure plate 1111 is a plane parallel to the horizontal plane, and the upper surface of the pressure plate 1111 is an arc surface with curvature. Furthermore, in this embodiment, the two pressure plates 1111 can be symmetrically arranged along the axis between the pressure plates 1111, so that the pressure plate assembly 111 has an axisymmetric shape.

[0029] It should be noted that this application does not limit the number of actuators 112 in the execution unit 11. In some embodiments, one execution unit 11 includes three actuators 112, thereby increasing the upper limit of the force output by the execution unit 11 to the pressure plate assembly 111 without changing the output power of the actuators 112. This increases the upper limit of the frequency of the water pressure movement and shortens the time for adjusting the angle of attack, thereby improving the efficiency of generating hydrodynamic reaction force and water lift. Furthermore, this application does not limit the number of pressure plates 1111 in the pressure plate assembly 111. In some embodiments, the pressure plate assembly 111 includes one pressure plate 1111, thereby simplifying the structure of the pressure plate assembly 111 and reducing costs. This application does not limit the driving method and structure of the actuators 112. In some embodiments, the actuators 112 include an electric cylinder that drives the pressure plate assembly 111 electrically; in some embodiments, the actuators 112 include a hydraulic cylinder that drives the pressure plate assembly 111 hydraulically; and in some embodiments, the actuators 112 include a drive linkage that drives the pressure plate assembly 111 mechanically.

[0030] Understandably, when the actuator 112 drives the pressure plate assembly 111 to move in the water along the positive direction x+ of the straight line x, the pressure plate assembly 111 will be subjected to a force from the water along the negative direction x- of the straight line x, i.e., a hydrodynamic reaction force. Therefore, when the vessel 200 tilts to its left, any one or more actuators 11 can provide a rightward hydrodynamic reaction force to the vessel 200, which can suppress further tilting to its left or restore the vessel to its balanced posture. In this embodiment, the balanced posture refers to the tilt angle of the vessel 200 being within a preset tilt angle range; for example, the preset tilt angle is ±5 degrees. Understandably, because the pressure plate 1111 has a fin-like shape, when the pressure plate 1111 is in the water, and the vessel 200 is traveling at a certain speed, and the pressure plate assembly 111 has a certain angle of attack, the different water flow velocities on the upper and lower surfaces of the pressure plate 1111 create a pressure difference, thereby causing the pressure plate assembly 111 to generate a lateral force, i.e., a lift force. For example, when the vessel 200 is traveling at a certain speed and the vessel 200 is tilting to its right, the pressure plate assembly 111 located on the left side of the vessel 200 can generate an upward water lift force, and the pressure plate assembly 111 located on the right side of the vessel 200 can generate a downward water lift force, that is, to exert a rightward force on the vessel 200 to inhibit the vessel 200 from tilting further to its left or to restore the vessel to a balanced position.

[0031] Continue to refer to Figure 3In this embodiment, the opening adjustment assembly 113 is connected to two pressure plates 1111 respectively. Specifically, the opening adjustment assembly 113 includes a first connecting end 1131, a second connecting end 1132, and two opening adjustment motors 1133. The first connecting end 1131 and the second connecting end 1132 are rotatably connected to opposite ends of each pressure plate 1111 along the extending direction y of the pressure plates 1111, and the two opening adjustment motors 1133 are respectively connected to the first connecting end 1131 and the second connecting end 1132. Based on this, the two opening adjustment motors 1133 are adapted to drive the first connecting end 1131 and the second connecting end 1132 to rotate the two pressure plates 1111. It can be understood that by driving the two pressure plates 1111 to rotate through the two opening adjustment motors 1133, the rotational response speed of the two pressure plates 1111 can be improved, allowing the two pressure plates 1111 to form an opening that meets the requirements for opening direction and size more quickly. In this embodiment, an opening is formed between the two pressure plates 1111 to meet the requirements, which can generate sufficient hydrodynamic reaction force during the water pressure movement of the pressure plate assembly 111.

[0032] Further reference Figure 4 and Figure 5 In this embodiment, before the two actuators 112 drive the pressure plate assembly 111 to move along the positive direction x+ of the straight line x to perform the water-pressing motion, the opening adjustment assembly 113 is adapted to drive the two pressure plates 1111 to form an opening along the positive direction x+, i.e., a first opening 101. Correspondingly, before the multiple actuators 112 drive the pressure plate assembly 111 to move along the negative direction x- of the straight line x to perform the water-pressing motion, the opening adjustment assembly 113 is adapted to drive the two pressure plates 1111 to form an opening along the negative direction x-, i.e., a second opening 102. It can be understood that in this embodiment, the positive direction x+ is the direction in which the two actuators 112 drive the pressure plate assembly 111 away from the ship 200, and correspondingly, the negative direction x- is the direction in which the two actuators 112 drive the pressure plate assembly 111 towards the ship 200. It should be noted that since each actuator unit 11 can be located at different positions on the ship 200, the straight lines x corresponding to two pairs of actuator units 11 can intersect, i.e., not be parallel. Furthermore, this application does not limit the opening size of the first opening 101 and the opening size of the second opening 102. In some embodiments, the first opening 101 and the second opening 102 have the same opening size, while in other embodiments, the opening size of the first opening 101 and the opening size of the second opening 102 are different.

[0033] Understandably, the opening adjustment component 113 allows the two pressure plates 1111 to form a first opening 101 in the positive direction x+ or a second opening 102 in the negative direction x-, thereby enabling the actuator 112 to generate hydrodynamic reaction force when driving the pressure plate assembly 111 towards or away from the vessel 200. Based on this, the actuator 11 can more flexibly generate hydrodynamic reaction force in scenarios where the vessel 200 is swaying left and right, thus reducing the degree of swaying and achieving a roll reduction effect. Specifically, in this embodiment, the process of the vessel 200 tilting from its equilibrium position to one side and then returning to its equilibrium position to prepare to tilt to the other side is considered a single tilting process. Therefore, in this embodiment, the actuator 11 can perform single-action or multiple-action roll reduction on the vessel 200 during a single tilting process. In a single-action roll reduction, the actuator 11 performs one water-pressing motion. For example, when the vessel 200 tilts to the left, the actuator 11 located on the left side of the vessel 200 uses the opening adjustment assembly 113 to form a first opening 101 in the pressure plate assembly 111, and drives the pressure plate assembly 111 to move in the positive direction x+ via the actuator 112 to generate a hydrodynamic reaction force to the right. When the vessel tilts to the right, the actuator 11 located on the left side of the vessel 200 uses the opening adjustment assembly 113 to form a second opening 102 in the pressure plate assembly 111, and drives the pressure plate assembly 111 to move in the negative direction x- via the actuator 112 to generate a hydrodynamic reaction force to the left. In the multiple reaction force roll reduction, the actuator 11 performs multiple water-pressing movements and return movements, wherein, during the return movement, the actuator 11 uses the opening adjustment assembly 113 to bring the pressure plates 1111 closer together to reduce water resistance. For example, when the vessel 200 tilts to the left, the actuator 11 located on the left side of the vessel 200 uses the opening adjustment assembly 113 to form a first opening 101 in the pressure plate assembly 111, and drives the pressure plate assembly 111 to move in the positive direction x+ via the actuator 112 to generate a rightward hydrodynamic reaction force. Subsequently, the actuator 11 uses the opening adjustment assembly 113 to bring the pressure plates 1111 closer together, and drives the pressure plate assembly 111 to move in the negative direction x- via the actuator 112 to complete the return motion, thereby enabling the pressure plate assembly 111 to perform the next water-pressing motion.

[0034] The foregoing has described in detail the method by which the pressure plate assembly 111 performs a water-pressing motion through the opening adjustment assembly 113 and the actuator 112 to generate a hydrodynamic reaction force, thereby reducing the roll of the ship 200. Next, refer to... Figure 3The method by which the execution unit 11 adjusts the water-facing angle of the pressure plate assembly 111 is described in detail. In this embodiment, the water-facing angle is the angle formed by the water flow direction and the extension direction y of the pressure plate 1111. It can be understood that in this embodiment, the extension direction y of the pressure plate 1111 is also the extension direction of the pressure plate assembly 111. Furthermore, when the ship 200 is traveling, the water flow direction is the opposite direction of travel, and the water flow direction can be considered as horizontal. It can be understood that by adjusting the water-facing angle, the pressure difference generated by the pressure plate 1111 can be changed, thereby changing the direction and magnitude of the hydrodynamic force generated by the pressure plate assembly 111. Based on this, in this embodiment, the execution unit 11 is configured to adjust the water-facing angle of the pressure plate assembly 111 by adjusting the displacement of each actuator 112 relative to the pressure plate assembly 111. Specifically, in this embodiment, two actuators 112 are respectively connected to the first connecting end 1131 and the second connecting end 1132, and the two actuators 112 can respectively perform telescopic movements along the linear direction x, thereby driving the corresponding first connecting end 1131 and the second connecting end 1132 to move accordingly. Thus, in Figure 3 When one actuator 112 produces a large retraction motion to the first connecting end 1131, i.e., a large displacement in the positive direction x+, and the other actuator 112 produces a small retraction motion to the second connecting end 1132, i.e., a small displacement in the positive direction x+, the pressure plate assembly 111 rotates clockwise as a whole, causing the water-facing angle to change accordingly.

[0035] The function of actuator 112 in adjusting the water-facing angle has been described in detail above. The following will continue to refer to... Figure 6 The function of actuator 112 in optimizing the pressure plate assembly 111 to perform water pressure motion is described in detail. For example... Figure 6As shown, in this embodiment, the pressure plate assembly 111 includes a first pressure surface 103 and a second pressure surface 104 facing each other. Since the pressure plate assembly 111 comprises two pressure plates 1111, the first pressure surface 103 includes the sides of the two pressure plates 1111 near the positive direction x+, and the second pressure surface 104 includes the sides of the two pressure plates 1111 near the negative direction x-. Furthermore, since the pressure plates 1111 are fin-shaped, the two opposing sides of the pressure plates 1111 along the straight direction x—the side near the negative direction x- and the side near the positive direction x+—have different extension directions, meaning the two sides are not parallel. Therefore, the first pressure surface 103 and the second pressure surface 104 are also not parallel. It can be understood that when the pressure plate assembly 111 moves along the positive direction x+, the first pressure surface 103, as the water-facing surface, is impacted by the water flow. At this time, the larger the water-facing area of ​​the first pressure surface 103, the greater the hydrodynamic reaction force generated. Correspondingly, when the pressure plate assembly 111 moves along the negative direction x-, the second pressure surface 104, as the water-facing surface, is impacted by the water flow. At this time, the larger the water-facing area of ​​the second pressure surface 104, the greater the hydrodynamic reaction force generated. In this embodiment, in one execution unit 11, two actuators 112 drive the pressure plate assembly 111 to move along the positive direction x+ of the straight line x. Before performing the water-pressing motion through the first pressure surface 103, the two actuators 112 are adapted to adjust the displacement of the pressure plate assembly 111 respectively, so that the projection of the first pressure surface 103 along the straight line x is maximized, thereby making the first pressure surface 103 form the largest water-facing area, and thus making the pressure plate assembly 111 generate the largest hydrodynamic reaction force in a single water-pressing motion. Accordingly, in one execution unit 11 of this embodiment, two actuators 112 drive the pressure plate assembly 111 to move along the negative direction x- of the straight line x. Before performing the water-pressing motion through the second water-pressing surface 104, the two actuators 112 are adapted to adjust the displacement of the pressure plate assembly 111 respectively, so that the projection of the second water-pressing surface 104 along the straight line x is maximized, thereby making the second water-pressing surface 104 form the largest water-facing area, and thus making the pressure plate assembly 111 generate the largest hydrodynamic reaction force in a single water-pressing motion. It should be noted that in this embodiment, the water-facing area is the surface area of ​​the object facing the water flow direction and in contact with the water.

[0036] Understandably, because the pressure plate 1111 has an anti-roll fin shape, the first water-pressing surface 103 and the second water-pressing surface 104 of the pressure plate assembly 111 are not parallel. Therefore, when the execution unit 11 simply controls the actuator 112 to drive the pressure plate assembly 111 to move along the straight direction x to generate hydrodynamic reaction force, the first water-pressing surface 103 and the second water-pressing surface 104, respectively acting as the water-facing surfaces, cannot both generate the maximum hydrodynamic reaction force. That is, when the pressure plate assembly 111, including the anti-roll fin shape, performs water-pressing motion, if multiple actuators 112 maintain the same displacement to drive the pressure plate assembly 111, the first water-pressing surface 103 and the second water-pressing surface 104 cannot both take the maximum projection in the positive direction x+ and the negative direction x-, causing some water to flow away along the inclined direction of the water-pressing surface, thus failing to obtain the maximum hydrodynamic reaction force. In this embodiment, before performing the water-pressing motion, the displacement of each actuator 112 relative to the pressure plate assembly 111 is controlled to adjust the posture of the pressure plate assembly 111. This ensures that the first water-pressing surface 103 or the second water-pressing surface 104, which serves as the water-facing surface, has the largest projected area in the direction of movement of the subsequent water-pressing motion. This guarantees the largest water-facing area and generates the maximum hydrodynamic reaction force, thereby improving the roll reduction effect on the vessel 200. In other words, this embodiment, through asymmetric displacement control between the actuators 112, enables the pressure plate 1111, shaped like a roll-damping fin, to be used for performing water-pressing motion and obtain the maximum hydrodynamic reaction force. This improves the hydrodynamic reaction force acquisition effect of the pressure plate assembly 111, which has a roll-damping fin function, thereby improving the roll reduction effect on the vessel 200 and achieving effective integration of the roll-damping fin and the pressure plate assembly 111.

[0037] The structure and function of the actuator 10 have been described above. The following will continue to refer to... Figure 1 Other devices in the ship system 100 are described. For example... Figure 1As shown, in this embodiment, the data acquisition device 20 is configured to acquire state data. This state data includes the ship's speed, attitude data, load data, and environmental data. In this embodiment, the speed can be acquired using a speedometer. Furthermore, the ship's attitude data includes the roll angle and roll rate, reflecting the degree of ship 200's rolling. In this embodiment, the ship's attitude data can be acquired using an IMU (Inertial Measurement Unit) attitude sensor. In addition, environmental data includes wind data, wave data, and other data reflecting the impact of environmental disturbances around the ship 200 on its rolling. In this embodiment, the control device 30 is configured to generate control commands based on the state data and transmit these commands to the execution device 10. Based on this, the execution device 10 operates in multiple roll reduction modes, each corresponding to a different speed range. These multiple roll reduction modes include: a first speed mode, a second speed mode, a third speed mode, and a fourth speed mode. In this embodiment, the speed corresponding to the third speed mode is lower than that of the first speed mode, the speed corresponding to the first speed mode is lower than that of the second speed mode, and the speed corresponding to the fourth speed mode is higher than that of the second speed mode. That is, the speeds corresponding to the third, first, second, and fourth speed modes increase sequentially. It should be noted that in this embodiment, the third speed mode includes the scenario where ship 200 is at berth (0 speed), and the fourth speed mode includes the scenario where ship 200 reaches its maximum speed limit.

[0038] Specifically, in the first speed mode, the actuator 10 is configured such that, during the roll reduction work performed according to control commands, the weight of the hydrodynamic reaction force is greater than the weight of the water lift. In the second speed mode, the actuator 10 is configured such that, during the roll reduction work performed according to control commands, the weight of the hydrodynamic reaction force is less than the weight of the water lift. It can be understood that the roll reduction work in this embodiment can be quantified as the balancing torque generated by the actuator 10 on the vessel 200 through the hydrodynamic reaction force and the water lift. This balancing torque can be further divided into the hydrodynamic torque generated on the vessel 200 through the hydrodynamic reaction force and the water lift torque generated on the vessel 200 through the water lift. Based on this, the control device 30 can determine the weights of the balancing torque and the hydrodynamic reaction force and the water lift force according to the state data. Then, based on the balancing torque and the weights, it can determine the hydrodynamic torque and water lift torque required for this anti-sway work. Based on the hydrodynamic torque, it can determine the first output power data of the actuator 112 so that the pressure plate assembly 111 can continuously and periodically perform a preset displacement at a preset frequency to achieve water pressure movement. Correspondingly, based on the water lift torque, it can determine the second output power of each actuator 112 to adjust the water-facing angle of the pressure plate assembly 111.

[0039] Understandably, since the speed corresponding to the first speed mode is lower than that corresponding to the second speed mode, the actuator 10 is unlikely to generate a large amount of lift in the first speed mode. Therefore, in the first speed mode of this embodiment, the weight of the hydrodynamic reaction force is greater than the weight of the lift force, so that the ship 200 can generate a hydrodynamic torque that basically meets the roll reduction requirements through the hydrodynamic reaction force. On this basis, the magnitude of the entire balance torque is further adjusted by the hydrodynamic torque generated by the lift force, which can achieve precise roll reduction to improve the stability of the ship 200 and the passenger comfort. Correspondingly, since the speed corresponding to the second speed mode is greater than that corresponding to the first speed mode, the actuator 10 can obtain greater lift in the second speed mode. In this embodiment, the weight of the hydrodynamic reaction force in the second speed mode is less than the weight of the lift force, so that the ship 200 can generate a lift torque that basically meets the roll reduction requirements through the lift force. On this basis, the magnitude of the entire balance torque can be further adjusted by the hydrodynamic torque generated by the hydrodynamic reaction force, which can achieve precise roll reduction to improve the stability of the ship 200 and the passenger comfort, while avoiding excessive water pressure movement of the actuator 10 due to excessive ship speed, which increases the mechanical fatigue of the actuator 10, thereby improving the service life and reliability of the actuator 10.

[0040] In this embodiment, in both the first and second speed modes, the weight of the hydrodynamic reaction force decreases with increasing speed, while the weight of the lift force increases with increasing speed. It is understood that as speed increases, the actuator 10 can provide greater lift. Therefore, in this embodiment, the weight of the hydrodynamic reaction force is reduced and the weight of the lift force is increased with increasing speed. This satisfies the requirement for balancing torque while reducing the impact of water flow impact caused by increased speed on the pressure plate assembly 111's pressurization and return motions, thereby reducing mechanical fatigue and wear of the actuator 10 and improving its service life. In this embodiment, the weight of the hydrodynamic reaction force decreases with speed in an S-shaped curve, while the weight of the lift force changes linearly with speed. It should be noted that this application does not limit the way the weights of the hydrodynamic reaction force and the lift force change; in some embodiments, the weight of the lift force changes exponentially with speed.

[0041] In the third speed mode, actuator 10 is configured to perform roll reduction work through hydrodynamic reaction force according to control commands. Understandably, actuator 10 cannot generate effective lift in the third speed mode; therefore, when the vessel 200 is in the scenario corresponding to the third speed mode, actuator 10 relies entirely on hydrodynamic reaction force to reduce the roll of the vessel 200. In the fourth speed mode, actuator 10 is configured to perform roll reduction work through lift force according to control commands. Understandably, the lift force generated by actuator 10 in the fourth speed mode is sufficient to meet the roll reduction requirements of the vessel 200; therefore, when the vessel 200 is in the scenario corresponding to the fourth speed mode, actuator 10 relies entirely on lift force to reduce the roll of the vessel 200. It should be noted that this application does not limit the multiple roll reduction modes to include a third speed mode and a fourth speed mode. In some embodiments, multiple roll reduction modes may include a first speed mode and a second speed mode, but not a third speed mode and a fourth speed mode. Furthermore, in these embodiments, the weight of water lift in the first speed mode can be 0, thus allowing the first speed mode to include the third speed mode. Correspondingly, the weight of hydrodynamic reaction force in the second speed mode can be 0, thus allowing the second speed mode to include the fourth speed mode. In addition, in this embodiment, in the fourth speed mode, the opening adjustment component 113 makes the opening between the two pressure plates 1111 180°, so that the entire pressure plate component 111 presents a more standard roll reduction fin shape, thereby increasing the generated water lift. However, this application does not limit the opening size of the pressure plate component 111 in the fourth speed mode; in some embodiments, the opening of the pressure plate component 111 is 160°.

[0042] It should be noted that in this embodiment, the vessel 200 can accelerate or brake, causing the actuator 10 to switch between two different roll reduction modes. To address this, the control device 30 in this embodiment includes a PID controller 31. The PID controller 31 is adapted to smoothly adjust the weights of the hydrodynamic reaction force and the lift force based on state data during the switching process between the two different roll reduction modes. For example, the PID controller 31 determines the transition weights of the hydrodynamic reaction force and the lift force at each moment during the transition period based on the weights of the hydrodynamic reaction force and the lift force corresponding to the two different roll reduction modes, thereby enabling the actuator 10 to achieve a smooth transition and switching between different roll reduction modes.

[0043] Understandably, in this embodiment, by considering the different speed application conditions of the hydrodynamic reaction force and water lift of the actuator 10, multiple roll reduction modes are divided according to the speed of the ship 200, and the weights of the hydrodynamic reaction force and water lift of the actuator 10 in each roll reduction mode are determined. This allows the hydrodynamic torque and water lift torque to be effectively combined and generate a balancing torque that suppresses the roll of the ship 200, thereby achieving a better roll reduction effect. Furthermore, by setting multiple roll reduction modes, the hydrodynamic reaction force and water lift can be effectively used in the corresponding roll reduction modes, thereby improving the effectiveness of the balancing torque.

[0044] Continue to refer to Figure 1 In this embodiment, due to environmental influences or a malfunction of the actuator 10 itself, the load on the actuator 112 may exceed a preset upper limit. Obviously, prolonged operation of the actuator 112 in a scenario exceeding the preset upper limit will lead to damage to the actuator 112. Therefore, the status data in this embodiment also includes the load data of the actuator 112. Based on this, the control device 30 can generate control commands associated with the load data. Specifically, when the load data is greater than a preset safety threshold, and multiple actuators 112 drive the pressure plate assembly 111 to move along the positive direction x+ of the linear direction x to perform water pressure movement, the actuator 10 is also configured to, according to the control command, cause the opening adjustment assembly 113 corresponding to the multiple actuators 112 to drive the two pressure plates 1111 to form an opening along the negative direction x-. It can be understood that when the pressure plate assembly 111 forms... Figure 4 When the load data of the actuator 112 is greater than the preset safety threshold at the first opening 101, the opening adjustment component 113 converts the first opening 101 of the pressure plate assembly 111 into... Figure 5 The second opening 102 reduces the water flow resistance encountered by the actuator 112 when driving the pressure plate assembly 111 to move in the positive direction x+, thereby reducing the load on the actuator 112. Correspondingly, when the load data exceeds a preset safety threshold, and multiple actuators 112 drive the pressure plate assembly 111 to move in the negative direction x- of the linear direction x to perform water pressure movement, the actuator 10 is further configured to, according to a control command, cause the opening adjustment assembly 113 corresponding to the multiple actuators 112 to drive the two pressure plates 1111 to form an opening in the positive direction x+. It can be understood that when the pressure plate assembly 111 forms... Figure 5 When the load data of the actuator 112 is greater than the preset safety threshold, the opening adjustment component 113 converts the second opening 102 of the pressure plate assembly 111 into a second opening 102. Figure 4 The first opening 101 reduces the water flow resistance experienced by the actuator 112 when it drives the pressure plate assembly 111 to move in the negative x-direction, thereby reducing the load on the actuator 112.

[0045] Understandably, in this embodiment, the opening adjustment component 113 drives the pressure plate assembly 111 to adjust the opening direction. This allows the actuator 112 to quickly reduce the water flow resistance after the load on the actuator 112 exceeds a preset safety threshold during the water pressure movement driven by the pressure plate assembly 111, thereby reducing the load on the actuator 112 to below the preset safety threshold. Furthermore, the opening direction adjustment process using the opening adjustment component 113 utilizes water flow as a driving force, enabling faster opening direction adjustment and further improving the response speed of the actuator 112.

[0046] Continue to refer to Figure 1 In this embodiment, the control device 30 is further configured to generate a stop operation command and transmit the stop operation command to the execution device 10. Correspondingly, the execution device 10 is further configured to drive multiple actuators 112 to press the pressure plate assembly 111 against the vessel 200 according to the stop operation command, thereby reducing the navigation resistance of the vessel 200. It is understood that by pressing the pressure plate assembly 111 against the vessel 200, the exposed area of ​​the execution device 10 on the outside of the vessel 200 can be reduced, thereby reducing the navigation resistance experienced by the vessel 200 and reducing the force exerted on the execution device 10 by the water flow, thus reducing mechanical fatigue wear on the execution device 10 and improving its service life. In other embodiments, the hull of the vessel 200 has a receiving groove for accommodating the pressure plate assembly 111. Based on this, the control device 30 is further configured to generate a stop operation command and transmit the stop operation command to the execution device 10. Correspondingly, the actuator 10 is also configured to drive the multiple actuators 112 to house the pressure plate assembly 111 in the receiving groove according to the stop operation command, thereby further reducing the water flow resistance of the pressure plate assembly 111, thereby further reducing the navigation resistance of the ship 200 and further reducing the mechanical fatigue wear of the actuator 10.

[0047] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0048] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0049] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0050] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the essential spirit of this application will fall within the scope of the claims of this application.

Claims

1. A composite balance system for ships across the entire speed range, characterized in that, Applied to ships, the ship full-speed-range composite balance system includes: The actuator includes multiple sets of actuators, which are respectively disposed on both sides of the vessel. Each actuator includes a pressure plate assembly and multiple actuators connected to the pressure plate assembly. The multiple actuators are adapted to drive the pressure plate assembly to perform water-pressing motion to generate hydrodynamic reaction force on the vessel, and are adapted to adjust the water-facing angle of the pressure plate assembly to generate water lift force on the vessel, so as to perform anti-rolling work on the vessel. A data acquisition device is configured to acquire status data, including the ship's speed, ship attitude data, ship load data, and environmental data. A control device configured to generate control commands based on the status data and transmit the control commands to the execution device. The actuator operates in multiple roll reduction modes, each corresponding to a different speed range. These multiple roll reduction modes include: In the first speed mode, the actuator is configured such that, during the roll reduction work performed according to the control command, the weight of the hydrodynamic reaction force is greater than the weight of the water lift force. In the second speed mode, the actuator is configured such that, during the roll reduction work performed according to the control command, the weight of the hydrodynamic reaction force is less than the weight of the water lift force, wherein the speed corresponding to the first speed mode is less than the speed corresponding to the second speed mode.

2. The ship full-speed-range composite balance system as described in claim 1, characterized in that, The various anti-roll modes also include: In the third speed mode, the actuator is configured to perform roll reduction work through the hydrodynamic reaction according to the control command, wherein the speed corresponding to the third speed mode is less than the speed corresponding to the first speed mode.

3. The ship full-speed-range composite balance system as described in claim 1, characterized in that, The various anti-roll modes also include: In the fourth speed mode, the actuator is configured to perform roll reduction work by means of water lift according to the control command, wherein the speed corresponding to the fourth speed mode is greater than the speed corresponding to the second speed mode.

4. The ship full-speed-range composite balance system as described in claim 1, characterized in that, The plurality of actuators are adapted to drive the pressure plate assembly to move in a straight line to perform the water pressure motion, the pressure plate assembly including at least one pressure plate having a rock-damping fin shape to generate the water lift force.

5. The ship full-speed-range composite balance system as described in claim 4, characterized in that, The pressure plate assembly includes two pressure plates, and the execution unit further includes an opening adjustment assembly connected to each of the two pressure plates. Before the plurality of actuators drive the pressure plate assembly to move in the positive direction of the linear direction to perform the water pressure motion, the opening adjustment assembly is adapted to drive the two pressure plates to form an opening along the positive direction; and / or Before the plurality of actuators drive the pressure plate assembly to move in the negative direction of the linear direction to perform the water pressure movement, the opening adjustment assembly is adapted to drive the two pressure plates to form an opening in the negative direction.

6. The ship full-speed-range composite balance system as described in claim 5, characterized in that, The status data also includes the load data of the actuator, wherein, When the load data exceeds a preset safety threshold, and the plurality of actuators drive the pressure plate assembly to move in the positive direction of the linear direction to perform the water pressure movement, the actuator is further configured to, according to the control command, cause the opening adjustment assembly corresponding to the plurality of actuators to drive the two pressure plates to form an opening in the negative direction; and / or When the load data is greater than a preset safety threshold, and the plurality of actuators drive the pressure plate assembly to move in the negative direction of the linear direction to perform the water pressure movement, the actuator is further configured to drive the opening adjustment assembly corresponding to the plurality of actuators to form an opening in the positive direction according to the control command.

7. The ship full-speed-range composite balance system as described in claim 4, characterized in that, The pressure plate assembly includes opposing first and second water-pressing surfaces, wherein... Before the plurality of actuators drive the pressure plate assembly to move in the positive direction of the linear direction to perform the water-pressing motion through the first water-pressing surface, the plurality of actuators are adapted to adjust the displacement of the pressure plate assembly respectively to maximize the projection of the first water-pressing surface along the linear direction; and / or Before the plurality of actuators drive the pressure plate assembly to move in the negative direction of the straight line to perform the water-pressing motion through the second water-pressing surface, the plurality of actuators are adapted to adjust the displacement of the pressure plate assembly respectively so as to maximize the projection of the second water-pressing surface along the straight line.

8. The ship full-speed-range composite balance system as described in claim 1, characterized in that, The execution unit is configured to adjust the water-facing angle of the pressure plate assembly by adjusting the displacement of each of the actuators on the pressure plate assembly.

9. The ship full-speed-range composite balance system as described in claim 1, characterized in that, In the first speed mode and / or the second speed mode, the weight of the hydrodynamic reaction force decreases as the speed increases, while the weight of the lift force increases as the speed increases.

10. The ship full-speed-range composite balance system as described in claim 1, characterized in that, The control device includes a PID controller, which is adapted to smoothly adjust the weights of the hydrodynamic reaction force and the water lift force based on the state data during the switching process between two different anti-roll modes.

11. The ship full-speed-range composite balance system as described in claim 1, characterized in that, The control device is further configured to generate a stop operation command and transmit the stop operation command to the execution device; The actuator is also configured to drive the plurality of actuators to press the pressure plate assembly against the vessel in accordance with the stop operation command, thereby reducing the vessel's sailing resistance.

12. The ship full-speed-range composite balance system as described in claim 1, characterized in that, The hull of the vessel has a receiving groove for accommodating the pressure plate assembly, and the control device is further configured to generate a stop operation command and transmit the stop operation command to the execution device; The actuator is further configured to cause the plurality of actuators to drive the pressure plate assembly to be housed in the receiving slot according to the stop operation command.

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