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 mainly relates to the technical field of ships, and particularly relates to a full-speed range composite balance system for ships. Background Art

[0002] Ships will sway under the influence of external environmental factors, which will affect the stability of the ship and the comfort of passengers. In some related technologies, the resistance and added mass force generated by the active movement of the water plate are used to reduce sway, and in some other related technologies, the wing lift of the anti-rolling fin is used to reduce sway.

[0003] However, these related technologies are respectively applicable to different speed scenarios, and it is difficult to achieve convenient and effective anti-rolling for ships in a relatively wide range of scenarios.

[0004] Therefore, there is an urgent need for a full-speed range composite balance system for ships that can conveniently and stably reduce sway in multiple speed scenarios. Summary of the Invention

[0005] The technical problem to be solved by this application is to provide a full-speed range composite balance system for ships, which can conveniently and stably reduce sway in multiple speed scenarios to improve the stability of the ship and the comfort of passengers.

[0006] To solve the above technical problem, this application provides a full-speed range composite balance system for ships, which is applied to ships. The full-speed range composite balance system for ships includes: an execution device, which includes multiple groups of execution units. The multiple groups of execution units are respectively arranged on both sides of the ship. Each execution unit includes a pressing plate assembly and multiple actuators connected to the pressing plate assembly. Among them, the multiple actuators are adapted to drive the pressing plate assembly to perform water pressing motion to generate a hydrodynamic reaction force on the ship, and are adapted to adjust the water-facing angle of the pressing plate assembly to generate a water lift force on the ship, so as to achieve anti-rolling work on the ship; a data acquisition device, which is configured to acquire state data, and the state data includes the ship speed, ship attitude data, ship load data and environmental data; a control device, which is configured to generate a control instruction according to the state data and transmit the control instruction to the execution device. Among them, the execution device works in multiple anti-rolling modes, and each anti-rolling mode corresponds to a different speed range. The multiple anti-rolling modes include: a first speed mode, in which the execution device is configured that during the process of performing anti-rolling work according to the control instruction, the weight of the hydrodynamic reaction force is greater than the weight of the water lift force; a second speed mode, in which the execution device is configured that during the process of performing anti-rolling work according to the control instruction, the weight of the hydrodynamic reaction force is less than the weight of the water lift force, where the speed corresponding to the first speed mode is less than the speed corresponding to the second speed mode.

[0007] Optionally, the multiple anti-rolling modes further include: a third speed mode, in which the actuator is configured to perform anti-rolling work through hydrodynamic reaction according to a control instruction, where the speed corresponding to the third speed mode is less than the speed corresponding to the first speed mode.

[0008] Optionally, the multiple anti-rolling modes further include: a fourth speed mode, in which the actuator is configured to perform anti-rolling work through water lift according to a control instruction, where 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 pressing plate assembly to move in a straight line direction to perform a water pressing motion, the pressing plate assembly includes at least one pressing plate, and the pressing plate has a shape of an anti-rolling fin, so that the pressing plate assembly generates water lift.

[0010] Optionally, the pressing plate assembly includes two pressing plates, and the execution unit further includes an opening adjustment component respectively connected to the two pressing plates. Before the multiple actuators drive the pressing plate assembly to move in the positive direction of the straight line direction to perform the water pressing motion, the opening adjustment component is adapted to drive the two pressing plates to form an opening in the positive direction; and / or before the multiple actuators drive the pressing plate assembly to move in the negative direction of the straight line direction to perform the water pressing motion, the opening adjustment component is adapted to drive the two pressing plates to form an opening in the negative direction.

[0011] Optionally, the status data further includes the load data of the actuator. When the load data is greater than a preset safety threshold and the multiple actuators drive the pressing plate assembly to move in the positive direction of the straight line direction to perform the water pressing motion, the execution device is further configured to, according to the control instruction, make the opening adjustment component of the corresponding multiple actuators drive the two pressing plates to form an opening in the negative direction; and / or when the load data is greater than a preset safety threshold and the multiple actuators drive the pressing plate assembly to move in the negative direction of the straight line direction to perform the water pressing motion, the execution device is further configured to, according to the control instruction, make the opening adjustment component of the corresponding multiple actuators drive the two pressing plates to form an opening in the positive direction.

[0012] Optionally, the pressing plate assembly includes a first water pressing surface and a second water pressing surface that are opposite to each other. Before the multiple actuators drive the pressing plate assembly to move in the positive direction of the straight line direction to perform the water pressing motion through the first water pressing surface, the multiple actuators are adapted to respectively adjust the displacement amount of the pressing plate assembly, so that the projection of the first water pressing surface in the straight line direction is the largest; and / or before the multiple actuators drive the pressing plate assembly to move in the negative direction of the straight line direction to perform the water pressing motion through the second water pressing surface, the multiple actuators are adapted to respectively adjust the displacement amount of the pressing plate assembly, so that the projection of the second water pressing surface in the straight line direction is the largest.

[0013] Optionally, the execution unit is configured to adjust the water-facing angle of the pressing plate assembly by adjusting the displacement amount of each actuator on the pressing 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, and the weight of the hydrodynamic 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 hydrodynamic lift according to the state data during the switching process between two different anti-rolling modes.

[0016] Optionally, the control device is further configured to generate a stop working instruction and transmit the stop working instruction to the execution device; the execution device is further configured to, according to the stop working instruction, make multiple actuators drive the pressing plate assembly to closely adhere to the ship so as to reduce the navigation resistance of the ship.

[0017] Optionally, the hull of the ship has a receiving groove for accommodating the pressing plate assembly, and the control device is further configured to generate a stop working instruction and transmit the stop working instruction to the execution device; the execution device is further configured to, according to the stop working instruction, make multiple actuators drive the pressing plate assembly to be received in the receiving groove.

[0018] Compared with the prior art, the present application has the following advantages: the pressing plate assembly can be driven by an actuator to perform a water pressing movement to generate a hydrodynamic reaction force, and the water-facing angle of the pressing plate assembly can be adjusted by an actuator to generate a hydrodynamic lift, so as to achieve anti-rolling work on the ship. On this basis, by making the execution device work in multiple anti-rolling modes and adjusting the weights of the hydrodynamic reaction force and the hydrodynamic lift in the anti-rolling modes, the execution device can flexibly perform effective anti-rolling work on the ship according to the speed of the ship in different anti-rolling modes, so that the execution device can conveniently and stably perform anti-rolling on the ship in different speed scenarios of the ship. Description of the Drawings

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

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios according to these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the drawings represent the same structure or operation.

[0021] As shown in the present application and the claims, unless the context clearly indicates an exceptional situation, words such as "a", "an", "one" and / or "the" are not specifically singular and may also include plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0022] Unless otherwise specifically stated, the relative arrangements, numerical expressions and values of the components and steps described in these embodiments do not limit the scope of the present application. At the same time, it should be understood that for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant fields may not be discussed in detail, but in appropriate cases, the said technologies, methods and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0023] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Without contrary instructions, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be understood as a limitation on the protection scope of the present application; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0024] For ease of description, spatial relative terms, such as "above", "over", "on the upper surface", "upper", etc., may be used herein to describe the spatial positional relationship of one device or feature shown in the figures with other devices or features. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "beneath" the other devices or structures. Thus, the exemplary term "above" can include both orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations of the spatial relative descriptions used herein will be made.

[0025] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is merely for the convenience of differentiating the corresponding components. Without further statement, these terms have no special meaning, and thus should not be construed as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some of the terms mentioned in the specification of this application may be selected by the applicant according to his or her judgment, and their detailed meanings are described in the relevant parts herein. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

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

[0027] Referring to Figure 1 and Figure 2 , an embodiment of the present application provides a full-speed range composite balance system 100 for a ship (hereinafter referred to as the ship system 100), and the ship system 100 is applied to a ship 200. As Figure 1 andFigure 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 instructions for the actuator 10 for the ship at different speeds according to the data sent by the data acquisition device 20, so that the actuator 10 reduces the roll of the ship according to the control instructions, and further enables the ship to reduce the roll degree in a variety of speed scenarios, so as to improve the stability of the ship and the riding comfort of passengers.

[0028] Continue to refer to Figure 1 and Figure 2 , in this embodiment, the actuator 10 includes multiple groups of actuator units 11, and the multiple groups of actuator units 11 are respectively arranged on both sides of the ship 200. In this embodiment, the actuator unit 11 is located below the waterline of the ship 200 and is fixedly connected to the ship 200. In this embodiment, the waterline is the line formed by the intersection of the water surface and the hull of the ship 200 when the ship 200 is in the water. It should be noted that the present application does not limit the position of the actuator unit 11. In some other embodiments, the position where the actuator unit 11 is fixedly connected to the ship 200 is above the waterline of the ship 200. Further refer to Figure 3 , in this embodiment, the actuator unit 11 includes a pressing plate assembly 111, two actuators 112 connected to the pressing plate assembly 111, and an opening adjustment assembly 113. Among them, the two actuators 112 are adapted to drive the pressing plate assembly 111 to perform a water pressing movement to generate a hydrodynamic reaction force on the ship 200, and are adapted to adjust the water-facing angle of the pressing plate assembly 111 to generate a water lift force on the ship 200, so as to perform roll reduction work on the ship 200. Further, the two actuators 112 are adapted to drive the pressing plate assembly 111 to move along the straight line direction x to perform a water pressing movement. In addition, the pressing plate assembly 111 includes two pressing plates 1111, and the pressing plate 1111 has a shape of a stabilizer fin, so that the pressing plate assembly 111 generates a water lift force. In this embodiment, the shape of the stabilizer fin is an airfoil. Exemplarily, the lower surface of the pressing plate 1111 is a plane parallel to the horizontal plane, and the upper surface of the pressing plate 1111 is an arc surface with a curvature. In addition, in this embodiment, the two pressing plates 1111 can be symmetrically arranged along the axis between the pressing plates 1111, so that the pressing plate assembly 111 is an axisymmetric shape.

[0029] It should be noted that the present 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, so as to increase the upper limit of the force output by the execution unit 11 to the platen assembly 111 on the premise that the output power of the actuator 112 remains unchanged, thereby increasing the upper limit of the frequency of the water pressing movement and shortening the time for adjusting the water-facing angle, so as to improve the efficiency of generating hydrodynamic reaction force and hydrodynamic lift. In addition, the present application does not limit the number of platens 1111 in the platen assembly 111. In some embodiments, the platen assembly 111 includes one platen 1111, so as to simplify the structure of the platen assembly 111 and reduce costs. The present application does not limit the driving method and structure of the actuator 112. In some embodiments, the actuator 112 includes an electric cylinder to drive the platen assembly 111 electrically. In some embodiments, the actuator 112 includes a hydraulic cylinder to drive the platen assembly 111 hydraulically. In some embodiments, the actuator 112 includes a driving link to drive the platen assembly 111 through mechanical transmission.

[0030] It can be understood that when the actuator 112 drives the platen assembly 111 to move in the positive direction x+ of the straight line direction x in water, the platen assembly 111 will be subjected to the acting force of water in the negative direction x- of the straight line direction x, that is, the hydrodynamic reaction force. Thus, when the ship 200 tilts to its left side, any one or more execution units 11 can provide a hydrodynamic reaction force to the right for the ship 200 to inhibit the ship 200 from tilting further to its left side or to restore the ship to its balanced posture. Among them, the balanced posture in this embodiment is that the tilt angle of the ship 200 is within the preset tilt angle range. Exemplarily, the preset tilt angle is plus or minus 5 degrees. It can be understood that since the platen 1111 has the shape of a stabilizer fin, when the platen 1111 is in water, the ship 200 is traveling at a certain speed, and the platen assembly 111 has a certain water-facing angle, the water flow velocities on the upper and lower surfaces of the platen 1111 are different, resulting in a pressure difference, so that the platen assembly 111 forms a lateral force, that is, a hydrodynamic lift. Exemplarily, when the ship 200 is traveling at a certain speed and the ship 200 tilts to its right side, the platen assembly 111 on the left side of the ship 200 can generate an upward hydrodynamic lift, and the platen assembly 111 on the right side of the ship 200 can generate a downward hydrodynamic lift, that is, a force acting on the ship 2 rightward to inhibit the ship 200 from tilting further to its left side or to restore the ship to its balanced posture.

[0031] Continue to refer to Figure 3, in this embodiment, the opening adjustment component 113 is respectively connected to two pressing plates 1111. Specifically, in this embodiment, the opening adjustment component 113 includes a first connection end 1131, a second connection end 1132, and two opening adjustment motors 1133. Among them, the first connection end 1131 and the second connection end 1132 are respectively rotatably connected to opposite ends of each pressing plate 1111 along the extension direction y of the pressing plate 1111, and the two opening adjustment motors 1133 are respectively connected to the first connection end 1131 and the second connection end 1132. On this basis, the two opening adjustment motors 1133 are respectively adapted to drive the first connection end 1131 and the second connection end 1132 to drive the two pressing plates 1111 to rotate. It can be understood that by driving the two pressing plates 1111 to rotate through the two opening adjustment motors 1133, the rotation response speed of the two pressing plates 1111 can be increased, so that an opening that meets the requirements of the opening direction and opening size can be formed between the two pressing plates 1111 more quickly. In this embodiment, by forming an opening that meets the requirements between the two pressing plates 1111, sufficient hydrodynamic reaction force can be generated during the process of the pressing plate assembly 111 performing the water pressing movement.

[0032] Further refer to Figure 4 and Figure 5 , before the two actuators 112 drive the pressing plate assembly 111 to move in the positive direction x+ of the linear direction x to perform the water pressing movement in this embodiment, the opening adjustment component 113 is adapted to drive the two pressing plates 1111 to form an opening along the positive direction x+ i.e., the first opening 101. Correspondingly, before the multiple actuators 112 drive the pressing plate assembly 111 to move in the negative direction x- of the linear direction x to perform the water pressing movement, the opening adjustment component 113 is adapted to drive the two pressing plates 1111 to form an opening along the negative direction x- i.e., the 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 pressing 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 pressing plate assembly 111 close to the ship 200. It should be noted that since each execution unit 11 can be located at different positions of the ship 200, the linear directions x corresponding to two execution units 11 can intersect i.e., are not parallel. In addition, this application does not limit the opening sizes of the first opening 101 and the second opening 102. In some embodiments, the first opening 101 and the second opening 102 have the same opening size, and in other embodiments, the opening sizes of the first opening 101 and the second opening 102 are different.

[0033] It can be understood that through the above-mentioned opening adjustment component 113, a first opening 101 can be formed between the two pressing plates 1111 along the positive direction x+ or a second opening 102 can be formed along the negative direction x-, so that hydrodynamic reaction forces can be generated during the process of the actuator 112 driving the pressing plate assembly 111 to approach or move away from the ship 200. On this basis, the execution unit 11 can more flexibly generate hydrodynamic reaction forces in the scenario where the ship 200 rocks left and right, so as to reduce the rocking degree of the ship 200, that is, to achieve the anti-rolling effect. Specifically, in this embodiment, the process of the ship 200 tilting to one side from the self-balanced pose and then returning to the balanced pose and preparing to tilt to the other side is regarded as a single tilting process. Then, in this embodiment, the execution unit 11 can perform single or multiple anti-force anti-rolling on the ship 200 during a single tilting process. In single anti-force anti-rolling, the execution unit 11 performs a single water pressing movement. Exemplarily, when the ship 200 tilts to the left, the execution unit 11 located on the left side of the ship 200 forms a first opening 101 through the opening adjustment component 113, and drives the pressing plate assembly 111 to move along the positive direction x+ through the actuator 112 to generate a hydrodynamic reaction force to the right. When the ship then tilts to the right, the execution unit 11 located on the left side of the ship 200 forms a second opening 102 through the opening adjustment component 113, and drives the pressing plate assembly 111 to move along the negative direction x- through the actuator 112 to generate a hydrodynamic reaction force to the left. In multiple anti-force anti-rolling, the execution unit 11 performs multiple water pressing movements and return movements. During the return movement, the execution unit 11 makes the pressing plates 1111 approach each other through the opening adjustment component 113 to reduce the water resistance. Exemplarily, when the ship 200 tilts to the left, the execution unit 11 located on the left side of the ship 200 forms a first opening 101 through the opening adjustment component 113, and drives the pressing plate assembly 111 to move along the positive direction x+ through the actuator 112 to generate a hydrodynamic reaction force to the right. Subsequently, the execution unit 11 makes the pressing plates 1111 approach each other through the opening adjustment component 113, and drives the pressing plate assembly 111 to move along the negative direction x- through the actuator 112 to complete the return movement, so that the pressing plate assembly 111 can perform the next water pressing movement.

[0034] The method of reducing the roll of the ship 200 by making the pressing plate assembly 111 perform a water pressing movement through the opening adjustment component 113 and the actuator 112 to generate a hydrodynamic reaction force has been described in detail above. Next, continue to refer to Figure 3, the method of adjusting the water-facing angle of the pressing plate assembly 111 by the execution unit 11 will be described in detail. In this embodiment, the water-facing angle is the included angle formed by the water flow direction and the extension direction y of the pressing plate 1111. It can be understood that in this embodiment, the extension direction y of the pressing plate 1111 is also the extension direction of the pressing plate assembly 111. In addition, when the ship 200 is traveling, the water flow direction is the opposite direction of the traveling direction, and the water flow direction can be regarded as the horizontal direction. It can be understood that by adjusting the water-facing angle, the pressure difference generated by the pressing plate 1111 can be changed, so as to change the direction and magnitude of the hydrodynamic force generated by the pressing plate assembly 111. On this basis, in this embodiment, the execution unit 11 is configured to adjust the displacement of the pressing plate assembly 111 by adjusting each actuator 112, so as to adjust the water-facing angle of the pressing plate assembly 111. Specifically, in this embodiment, the two actuators 112 are respectively connected to the first connection end 1131 and the second connection end 1132, and the two actuators 112 can respectively perform telescopic movements along the straight line direction x, so as to drive the corresponding first connection end 1131 and the second connection end 1132 to move accordingly. Thus, in Figure 3 when one actuator 112 generates a large retraction movement on the first connection end 1131, that is, has a large displacement in the positive direction x+, and the other actuator 112 generates a small retraction movement on the second connection end 1132, that is, has a small displacement in the positive direction x+, the pressing plate assembly 111 rotates clockwise as a whole, and the water-facing angle changes accordingly.

[0035] The function of the actuator 112 to adjust the water-facing angle has been described in detail above. Next, continue to refer to [[ID=⑥]] Figure 6 [[ID=⑦]]to describe in detail the function of the actuator 112 to optimize the water pressing movement of the pressing plate assembly 111. As [[ID=⑧]] Figure 6As shown, in this embodiment, the pressing plate assembly 111 includes opposite first water-pressing surfaces 103 and second water-pressing surfaces 104. Since the pressing plate assembly 111 comprises two pressing plates 1111, the first water-pressing surfaces 103 include the sides of the two pressing plates 1111 close to the positive direction x+, and the second water-pressing surfaces 104 include the sides of the two pressing plates 1111 close to the negative direction x-. On this basis, since the pressing plate 1111 is in the shape of a stabilizer fin, the two opposite sides of the pressing plate 1111 along the linear direction x, namely the side close to the negative direction x- and the side close to the positive direction x+, have different extending directions, that is, the two sides are not parallel. Thus, the first water-pressing surfaces 103 and the second water-pressing surfaces 104 are also not parallel. It can be understood that when the pressing plate assembly 111 moves along the positive direction x+, the first water-pressing surfaces 103 are subjected to water flow impacts as the water-facing surfaces. At this time, the larger the water-facing area of the first water-pressing surfaces 103, the greater the hydrodynamic reaction force generated. Correspondingly, when the pressing plate assembly 111 moves along the negative direction x-, the second water-pressing surfaces 104 are subjected to water flow impacts as the water-facing surfaces. At this time, the larger the water-facing area of the second water-pressing surfaces 104, the greater the hydrodynamic reaction force generated. In this regard, in an execution unit 11 of this embodiment, before the two actuators 112 drive the pressing plate assembly 111 to move along the positive direction x+ of the linear direction x to perform a water-pressing movement through the first water-pressing surfaces 103, the two actuators 112 are adapted to respectively adjust the displacement amounts of the pressing plate assembly 111 so that the projection of the first water-pressing surfaces 103 along the linear direction x is the largest, thereby enabling the first water-pressing surfaces 103 to form the largest water-facing area, and further enabling the pressing plate assembly 111 to generate the largest hydrodynamic reaction force during a single water-pressing movement. Correspondingly, in an execution unit 11 of this embodiment, before the two actuators 112 drive the pressing plate assembly 111 to move along the negative direction x- of the linear direction x to perform a water-pressing movement through the second water-pressing surfaces 104, the two actuators 112 are adapted to respectively adjust the displacement amounts of the pressing plate assembly 111 so that the projection of the second water-pressing surfaces 104 along the linear direction x is the largest, thereby enabling the second water-pressing surfaces 104 to form the largest water-facing area, and further enabling the pressing plate assembly 111 to generate the largest hydrodynamic reaction force during a single water-pressing movement. It should be noted that in this embodiment, the water-facing area is the surface area of an object facing the water flow direction and in contact with water. <>

[0036] It can be understood that, since the pressing plate 1111 has a stabilizer fin shape, the first water pressing surface 103 and the second water pressing surface 104 of the pressing plate assembly 111 are not parallel. Thus, when the execution unit 11 simply controls the actuator 112 to drive the pressing plate assembly 111 to move along the linear direction x to generate a hydrodynamic reaction force, the first water pressing surface 103 and the second water pressing surface 104 cannot both generate the maximum hydrodynamic reaction force when serving as the water-facing surfaces respectively. That is, when the pressing plate assembly 111 including the pressing plate 1111 with a stabilizer fin shape performs a water pressing motion, if multiple actuators 112 drive the pressing plate assembly 111 with the same displacement amount, since the first water pressing surface 103 and the second water pressing surface 104 of the pressing plate assembly 111 cannot both take the maximum projection in the positive direction x+ and the negative direction x-, part of the water flow flows away along the inclined direction of the water pressing surface, and thus the maximum hydrodynamic reaction force cannot be obtained. In this regard, in this embodiment, before performing the water pressing motion, by respectively controlling the displacement amounts of each actuator 112 on the pressing plate assembly 111, the pose of the pressing plate assembly 111 is adjusted, so that the first water pressing surface 103 or the second water pressing surface 104 serving as the water-facing surface has the maximum projected area in the moving direction of the subsequent water pressing motion, thereby ensuring the maximum water-facing area, and further realizing the generation of the maximum hydrodynamic reaction force to improve the anti-rolling effect on the ship 200. That is to say, in this embodiment, through the asymmetric displacement amount control between the actuators 112, the pressing plate 1111 with a stabilizer fin shape can be used to perform the water pressing motion and obtain the maximum hydrodynamic reaction force, improving the hydrodynamic reaction force acquisition effect of the pressing plate assembly 111 with a stabilizer fin function, thereby improving the anti-rolling effect on the ship 200 and realizing the effective integration of the stabilizer fin and the pressing plate assembly 111.

[0037] The structure and function of the execution device 已对执行装置10的结构和功能进行相应说明,接下来继续参照 Figure 1 对船舶系统100的其他装置进行说明。如 Figure 1 It should be noted that there seems to be an incomplete expression in "The structure and function of the execution device 已对执行装置10的结构和功能进行相应说明,接下来继续参照 ", but the translation is carried out according to the original text as much as possible.As shown, in this embodiment, the data acquisition device 20 is configured to acquire status data. Among them, the status data includes the ship speed of the ship 200, the ship attitude data, the ship load data, and the environmental data. In this embodiment, the ship speed can be acquired by a speedometer. Further, the ship attitude data includes the roll angle and the roll angular velocity, so as to reflect the degree of shaking of the ship 200. In this embodiment, the ship attitude data can be acquired by an IMU (Inertial Measurement Unit) attitude sensor. In addition, the environmental data includes wind force data, wave data, etc., which reflect the degree of influence of the environmental interference around the ship 200 on the shaking of the ship 200. In this embodiment, the control device 30 is configured to generate a control instruction according to the status data and transmit the control instruction to the execution device 10. On this basis, the execution device 10 operates in multiple anti-rolling modes, and each anti-rolling mode corresponds to a different ship speed range. Among them, the multiple anti-rolling modes include: the first ship speed mode, the second ship speed mode, the third ship speed mode, and the fourth ship speed mode. Among them, the ship speed corresponding to the third ship speed mode is less than the ship speed corresponding to the first ship speed mode, the ship speed corresponding to the first ship speed mode is less than the ship speed corresponding to the second ship speed mode, and the ship speed corresponding to the fourth ship speed mode is greater than the ship speed corresponding to the second ship speed mode. That is, the ship speeds corresponding to the third ship speed mode, the first ship speed mode, the second ship speed mode, and the fourth ship speed mode increase in sequence. It should be noted that in this embodiment, the third ship speed mode includes the scenario where the ship 200 is at anchor, that is, the ship speed is 0, and the fourth ship speed mode includes the scenario of the upper limit of the ship speed of the ship 200.

[0038] Specifically, in the first ship speed mode, the execution device 10 is configured such that during the process of performing anti-rolling work according to the control instruction, the weight of the hydrodynamic reaction force is greater than the weight of the hydrodynamic lift force. In the second ship speed mode, the execution device 10 is configured such that during the process of performing anti-rolling work according to the control instruction, the weight of the hydrodynamic reaction force is less than the weight of the hydrodynamic lift force. It can be understood that in this embodiment, the anti--rolling work can be quantified as the balance torque generated by the execution device 10 on the ship 200 through the hydrodynamic reaction force and the hydrodynamic lift force. Among them, the balance torque can be further divided into the hydrodynamic torque generated by the hydrodynamic reaction force on the ship 200 and the hydrodynamic lift torque generated by the hydrodynamic lift force on the ship 200. On this basis, the control device 30 can determine the balance torque and the weights corresponding to the hydrodynamic reaction force and the hydrodynamic lift force according to the status data, and then determine the hydrodynamic torque and the hydrodynamic lift torque required for this anti-rolling work according to the balance torque and the weights, so as to determine the first output power data of the actuator 112 according to the hydrodynamic torque to make the pressing plate assembly 111 continuously and periodically execute a preset displacement amount at a preset frequency to realize the water pressing movement. Correspondingly, the second output power of each actuator 112 is determined according to the hydrodynamic lift torque to adjust the water-facing angle of the pressing 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. 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.

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 includes at least one pressure plate with a fin-like shape to generate the water lift force. The fin-like shape is airfoil-shaped.

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 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.

11. 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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