All-directional fluid momentum fin stabilizer, floating platform and its stabilizing control method
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- POWERCHINA HUADONG ENG CORP LTD
- Filing Date
- 2026-04-17
- Publication Date
- 2026-07-24
Smart Images
Figure CN122443643A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of marine engineering technology, and in particular to an all-wave-direction fluid momentum wheel anti-roll device, a floating platform, and an anti-roll control method thereof. Background Technology
[0002] To suppress the pitch and roll motion response of floating platforms under complex sea conditions and ensure their safe operation and efficient functioning, the commonly used roll reduction methods in the field of shipbuilding and marine engineering mainly include roll-damping fins, roll-damping rudders, roll-damping tanks, bilge keels, tuned mass dampers, and roll-damping gyroscopes.
[0003] Among them, anti-roll fins and anti-roll rudders have minimal anti-roll effect when the platform is stationary with no speed, and cannot be adapted to floating platforms that are moored for long periods of time; anti-roll tanks can control the anti-roll of platforms with no speed, but the anti-roll effect is limited, and the free surface inside them can easily cause loss of platform stability; bilge keels have a relatively weak anti-roll effect, and need to be installed on the outside of the floating platform, which is greatly affected by seawater impact and corrosion, and has a high risk of damage and failure; tuned mass dampers have a narrow effective wave response range, and as the anti-roll capability increases, their fixed ballast and travel increase significantly, making them poorly adaptable to floating platforms.
[0004] Solid anti-roll gyroscopes generate angular momentum through a rotating gyroscope rotor and obtain anti-roll torque by utilizing the precession effect. The anti-roll effect can reach more than 80%. However, large solid anti-roll gyroscopes are difficult to manufacture. The high-speed rotation of the rotor will cause severe wear on the bearings, making it difficult to increase their size and dimensions. This limits the improvement of anti-roll capability and engineering applications, and they can only be used on small yachts, and cannot be adapted to large floating marine platforms.
[0005] Based on the precession effect of marine anti-roll gyroscopes, existing technologies have proposed fluid momentum wheel anti-roll devices. These devices generate angular momentum through the high-speed circulation of fluid within a closed pipe. The anti-roll capability can be easily improved by increasing the closed volume. Furthermore, only a drive device is needed to achieve internal circulation, making maintenance convenient and production costs low. They are compatible with various floating platforms and can also accommodate ballast adjustment functions, thus possessing broad application prospects.
[0006] However, existing fluid momentum wheels generally use rigid pipes such as steel, which have the following drawbacks: First, rigid pipes are heavy and occupy a lot of fixed space. They cannot be stored when not in use, requiring large-scale structural modifications to the platform compartment, which increases the difficulty of layout and economic costs. Moreover, they are prone to high-frequency vibration during operation, causing noise and reduced lifespan. Second, existing fluid momentum wheels use a separate control scheme, with the precession shaft adjusted by rotating the base and the precession motion achieved by the hydraulic shaft. This requires bearings to be placed in the center of the annular flow channel, resulting in a complex transmission mechanism, large space occupation, and low reliability, which hinders practical engineering applications. Summary of the Invention
[0007] The technical problem to be solved by the present invention is to provide an all-wave-direction fluid momentum wheel anti-roll device, a floating platform and its anti-roll control method, in view of the above-mentioned problems.
[0008] The technical solution adopted in this invention is: an all-wave-direction hydrodynamic momentum wheel anti-roll device for anti-roll control of floating platforms, comprising: The supporting base is located on a floating platform; The fluid momentum wheel assembly is mounted on a support base via an installation component. It includes multiple interconnected flexible pipe sections that form an annular circulation channel. The flexible pipe sections are equipped with inlet and outlet water structures. The inlet and outlet water structures are used to fill the flexible pipe sections with fluid to put the fluid momentum wheel assembly into working condition and to discharge the internal fluid to allow the fluid momentum wheel assembly to be folded and stored. Multiple active precession telescopic components are located between the top of the floating platform and the bottom of the support base, and are arranged circumferentially at intervals along the bottom of the support base. They can drive the support base and the fluid momentum wheel assembly to perform omnidirectional tilting and rotational precession motion through differentiated telescopic stroke joint control. The circulation drive assembly is located inside the annular circulation channel and is used to drive the fluid in the annular circulation channel to flow circumferentially along the channel.
[0009] By employing the aforementioned technical means, a flexible pipe section is used to form an annular circulation channel. Combined with the inlet and outlet water structures, this enables water filling and drainage with folding storage, replacing the traditional rigid pipe wall design. This fundamentally solves the problems of heavy self-weight, high fixed space occupation, large-scale platform and cabin modifications, and high layout costs associated with rigid pipe walls. Simultaneously, the flexible pipe wall can absorb high-frequency vibrations generated by fluid circulation, reducing operating noise and extending the device's service life. By using multiple sets of circumferentially spaced active precession telescopic components, differentiated telescopic stroke control drives the fluid momentum wheel assembly to perform omnidirectional precession motion. This eliminates the need for bearings and rotating bases at the center of the annular flow channel, solving the problems of complex transmission structures, numerous failure points, low reliability, and large space occupation inherent in existing separate control schemes. Furthermore, it allows for omnidirectional precession axis adjustment, outputting a damping torque opposite to any wave-direction disturbance torque, thus addressing the poor omnidirectional adaptability of existing devices.
[0010] In some embodiments, the fluid momentum wheel assembly further includes a first connecting section, a second connecting section, and connectors. Connectors are provided at both ends of the first connecting section, the second connecting section, and the flexible tube segment. The flexible tube segment is mounted on the support base via the mounting component. Four flexible tube segments with 90° arcs are spliced together by connectors to form two 180° semi-circular arc tube segments. The two ends of the first connecting section are connected to the first ends of the two 180° semi-circular arc tube segments via connectors. The bottom of the first connecting section is connected to the top of the support base. The two ends of the second connecting section are connected to the second ends of the two 180° semi-circular arc tube segments via connectors. The first connecting section contains the circulation drive assembly, and the second connecting section contains a flow monitoring assembly for monitoring the fluid velocity within the annular circulation channel.
[0011] In some embodiments, the circulating flow drive assembly includes a shaftless rim drive pump and a straightener. The shaftless rim drive pump is embedded inside the first connecting section. The shaftless rim drive pump is used to drive the fluid in the annular circulating channel to form a high-speed circumferential circulating flow through the shaftless system structure. The outlet end of the shaftless rim drive pump is provided with a straightener with a grid structure. The straightener is used to rectify the high-speed circumferential circulating flow after driving.
[0012] In some embodiments, the flow monitoring component includes an electromagnetic flow meter mounted on the second connecting section, with the detection end of the electromagnetic flow meter extending into the interior of the annular circulation channel for monitoring the circulation velocity of the fluid inside the annular circulation channel.
[0013] In some embodiments, the inner wall of the flexible pipe section is embedded with a plurality of rigid annular skeletons, which are evenly spaced along the circumferential direction of the annular circulation channel. The rigid annular skeletons are used to limit the radial expansion deformation of the flexible pipe section. The connector includes a flange, bolts and a seal, and the seal includes a sealing gasket. The ends of the flexible pipe section, the first connecting section and the second connecting section are all provided with flanges, and sealing gaskets are provided between the flanges and connected by bolts.
[0014] In some embodiments, the mounting component includes a clamp and a clamp mounting plate fitted onto the middle position of the outer wall of the flexible pipe section. The clamp is used to provide radial limiting and fixing of the flexible pipe section. The clamp includes two semi-circular ring structures. One semi-circular ring structure is fitted onto the top of the outer wall of the flexible pipe section, and the other semi-circular ring structure is fitted onto the bottom of the outer wall of the flexible pipe section and fixedly installed on the support base by the clamp mounting plate. The two corresponding semi-circular ring structures are connected by bolts.
[0015] In some embodiments, the active precession telescopic assembly includes a hydraulic actuator, with at least three sets of hydraulic actuators evenly distributed at intervals along the circumferential direction on the bottom of the support base. The two ends of the hydraulic actuators are respectively hinged to the bottom of the support base and the top of the floating platform, so that the support base can be driven to rotate periodically under the joint control of multiple sets of hydraulic actuators.
[0016] In some embodiments, the water inlet and outlet structure includes an inlet pipe and an outlet pipe. The upper part of the outer wall of the flexible pipe section is provided with an inlet pipe and an outlet pipe. Both the inlet pipe and the outlet pipe are provided with control valves. The inlet of the inlet pipe and the outlet of the outlet pipe are connected to an external water source or the ballast water system of the floating platform.
[0017] Another technical solution adopted in this invention is: a floating platform, comprising: Platform body; The platform attitude sensor is installed on the platform body to acquire the platform body's six degrees of freedom motion information, wave direction information, and wave frequency information; Multiple pressure sensors are installed on the surface of the platform body and arranged at intervals along multiple points on the platform body to obtain real-time pressure information at each measuring point on the platform body. The all-wave-direction fluid momentum wheel anti-roll device is located in the central area of the platform body and is used to output anti-roll control torque to the platform body; The controller is electrically and / or communicatively connected to the platform attitude sensor, each pressure sensor, the flow monitoring component of the all-wave-direction fluid momentum wheel anti-roll device, the circulation drive component, and each active precession telescopic component. The controller is used to acquire the platform's six-degree-of-freedom motion information, wave direction information, wave frequency information, real-time pressure information at each measuring point, and fluid velocity information from the flow monitoring component. Based on the above information, the controller calculates the composite disturbance torque acting on the platform body, calculates the target control parameters using the fluid momentum wheel anti-roll principle, and outputs control commands to the circulation drive component and the active precession telescopic component according to the target control parameters, thereby realizing all-wave-direction adaptive closed-loop anti-roll control of the platform body.
[0018] Another technical solution adopted in this invention is: a method for reducing the roll of a floating platform, comprising the following steps: S1. Collect real-time data. The platform attitude sensor obtains the six-degree-of-freedom motion information, wave direction information, and wave frequency information of the platform body in real time. The pressure sensor arranged at multiple points obtains the real-time pressure information of each measuring point of the platform body in real time. The flow monitoring component obtains the actual fluid velocity information in the annular circulation channel of the fluid momentum wheel component in real time. S2. Solve the disturbance torque. Based on the real-time pressure information of each measuring point, reconstruct the pressure distribution field on the surface of the platform body, and calculate the composite disturbance torque vector acting on the platform body. S3. Solve the target control parameters. Based on the principle of fluid momentum wheel anti-roll, and combined with the composite disturbance torque vector, platform six-degree-of-freedom motion information, wave direction information and wave frequency information, calculate the target precession angular velocity vector required to counteract the composite disturbance torque, as well as the target flow velocity of the fluid in the annular circulation channel. S4. Solve the actuator control command. Based on the wave direction and the target precession angular velocity vector, the control algorithm converts the target precession motion into the target extension stroke and dynamic response parameters of each active precession extension component. At the same time, based on the target flow velocity and the actual fluid flow velocity information, the control algorithm generates the flow velocity drive command of the circulation drive component. S5. Synchronous execution control: The extension drive command of each active precession extension component and the flow velocity drive command of the circulating flow drive component are synchronously sent to the corresponding actuators for execution, and the precession control torque that is opposite to the composite disturbance torque is output. S6. Adaptive closed-loop correction: Real-time acquisition of platform attitude information, actuator status information and actual fluid velocity information after execution, and real-time feedback correction of the target extension stroke of the active precession extension component and the driving speed of the circulation drive component, to achieve adaptive closed-loop roll reduction control of the floating platform in all wave directions.
[0019] The beneficial effects of this invention are: 1. This application utilizes flexible pipe sections to form an annular circulation channel, which, in conjunction with the inlet and outlet water structures, enables water-filled deployment and drainage folding for storage. Compared to traditional rigid pipe-walled fluid momentum wheels, this significantly reduces the device's weight and manufacturing cost. In its idle state, it can be folded for storage, significantly reducing space occupation during non-operational periods. It eliminates the need for large-scale structural modifications to the floating platform's compartments, reducing the difficulty and economic cost of device layout. Simultaneously, the flexible pipe walls can absorb high-frequency vibrations generated by fluid circulation. Traditional rigid pipes induce pipeline vibrations during high-speed fluid circulation, and these vibrations are directly transmitted to the floating platform. The flexible pipe wall material has a damping and vibration-absorbing effect, reducing operating noise, minimizing vibration damage to the device structure, reducing the risk of system resonance, and thus extending the device's service life.
[0020] 2. This application adopts multiple sets of circumferentially non-collinearly arranged active precession telescopic components. Through differentiated telescopic stroke joint control, the fluid momentum wheel component is driven to perform omnidirectional tilting and rotational precession motion. Compared with the existing separate precession control scheme, the active precession device of the fluid momentum wheel component is simplified, the installation and layout are more convenient, and the anti-rolling control in all wave directions can be realized.
[0021] 3. This application utilizes a circulating drive component to drive the fluid within an annular channel to form a high-speed circulating flow, generating angular momentum. Compared to solid gyroscopes, this method can increase angular momentum and anti-roll capability without rigidity upper limit by increasing the enclosed volume of the annular channel, overcoming the size limitations of solid gyroscopes and adapting to the anti-roll requirements of large floating platforms. Simultaneously, it eliminates the need for a high-speed rotating solid rotor and matching bearings, fundamentally avoiding bearing wear and manufacturing difficulties, and reducing the maintenance cost and manufacturing complexity of the device.
[0022] 4. This application, by embedding a rigid circular skeleton in the inner wall of the flexible pipe section and fitting a radial limiting clamp on the outer wall, in conjunction with a straightener at the outlet end of the circulation drive component, effectively suppresses the radial expansion and impact deformation of the flexible pipe section from two dimensions: mechanical limiting and flow field optimization. This solves the problems of easy deformation of the flexible pipe wall and unstable flow field. At the same time, the straightener can reduce energy dissipation caused by turbulence and improve circulation efficiency. The flow monitoring component can monitor the circulation velocity in real time, providing data support for precise control of the anti-rolling torque, and significantly improving the control accuracy and long-term operational reliability of the device.
[0023] 5. The inlet and outlet water structure of this application can be connected to the ballast water system of the floating platform. During the filling and draining process of the device, the adjustment of the platform's ballast water and the optimization of its center of gravity are realized simultaneously. On the basis of the core function of anti-swaying, the function of the ballast water tank is also taken into account, realizing the dual purpose of one device, reducing the redundancy of the platform's supporting equipment and the overall cost, and improving the engineering application value of the device. Attached Figure Description
[0024] Figure 1 This is a schematic diagram of the structure of this application.
[0025] Figure 2 This is a top view of the structure of this application.
[0026] Figure 3 This is a schematic diagram of the supporting base in this application.
[0027] Figure 4 This is a schematic diagram of the unfolded structure of the flexible pipe segment in this application.
[0028] Figure 5 This is a schematic diagram of the flexible tube segment in its folded and stowed state in this application.
[0029] Figure 6 This is a schematic diagram of the structure of the first connecting segment in this application.
[0030] Figure 7 This is a schematic diagram of the structure of the second connecting segment in this application.
[0031] Figure 8 This is a schematic diagram of the water inlet and outlet structure in this application.
[0032] Figure 9 This is a schematic diagram of the clamp structure in this application.
[0033] Figure 10 This is a schematic diagram of the active precession telescopic component in this application.
[0034] Figure 11 This is a schematic diagram of the ball joint structure within the active precession telescopic assembly in this application.
[0035] Figure 12 This is a cross-sectional schematic diagram of the ball joint structure within the active precession telescopic assembly in this application.
[0036] Figure 13 This is a schematic diagram of the hydraulic rod body structure of the electro-hydraulic actuator in this application.
[0037] Figure 14 This is a schematic diagram of the internal impeller of the shaftless rim-driven pump in this application.
[0038] Figure 15 This is a three-dimensional structural diagram of the straightener in this application.
[0039] Figure 16 This is a schematic diagram of the two-dimensional planar structure of the straightener in this application.
[0040] Figure 17 This is a logic block diagram of the control method in this application.
[0041] Explanation of reference numerals in the attached figures: 1. Flexible pipe section; 2. Electromagnetic flow meter; 3. Clamp; 4. First connecting section; 5. Support base; 6. Connector; 7. Active advance telescopic assembly; 8. Inlet pipe; 9. Outlet; 10. Second connecting section.
[0042] This specification includes references to "one embodiment" or "implementation". The use of the phrase "in one embodiment" or "in an embodiment" does not necessarily refer to the same embodiment. Specific features, structures, or characteristics may be combined in any suitable manner consistent with this disclosure.
[0043] The term "comprising" is open-ended. As used in the appended claims, it does not exclude additional structures or steps.
[0044] "First," "second," etc. As used in this article, these terms serve as labels for the nouns preceding them and do not imply any type of ordering (e.g., spatial, temporal, logical, etc.).
[0045] The term "based on," as used herein, describes one or more factors that influence the determination. This term does not exclude additional factors influencing the determination. That is, the determination may be based solely on these factors or at least partially on them. Consider the phrase "A is determined based on B." In this case, B is the factor influencing the determination of A, and such phrases do not exclude the possibility that the determination of A may also be based on C. In other instances, A may be determined solely on B. Detailed Implementation
[0046] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to specific embodiments.
[0047] Example 1: Combination Figures 1 to 16 As shown, this embodiment is an all-wave-direction fluid momentum wheel anti-roll device for anti-roll control of a floating platform. It includes a support base, a fluid momentum wheel assembly, multiple active precession telescopic components, and a circulation drive assembly. The support base is mounted on the floating platform. The fluid momentum wheel assembly is mounted on the support base via mounting components. The fluid momentum wheel assembly includes multiple interconnected flexible pipe sections that form an annular circulation channel. The flexible pipe sections are equipped with inlet and outlet water structures, which are used to fill the flexible pipe sections with fluid to put the fluid momentum wheel assembly into working condition or to discharge the internal fluid to allow the fluid momentum wheel assembly to fold and be stored. Multiple active precession telescopic components are located between the top of the floating platform and the bottom of the support base, and are arranged circumferentially at intervals along the bottom of the support base. The first end of each active precession telescopic component is hinged to the bottom of the support base, and the second end is hinged to the floating platform. Through differentiated joint control of the telescopic stroke, they can drive the support base and the fluid momentum wheel assembly to perform omnidirectional tilting and rotational precession motion, causing the fluid momentum wheel assembly to generate a precession anti-rolling torque opposite to the disturbance torque experienced by the floating platform. The circulation drive assembly is located inside the annular circulation channel and is used to drive the fluid in the annular circulation channel to flow circumferentially along the channel, forming a high-speed circulation to generate angular momentum along the rotation axis of the fluid momentum wheel assembly.
[0048] In some implementation schemes, such as Figure 4 , 5As shown in Figures 6 and 7, the fluid momentum wheel assembly also includes a first connecting section, a second connecting section, and connectors. Connectors are provided at both ends of the first connecting section, the second connecting section, and the flexible tube segment. Four flexible tube segments with 90° arcs are joined together by connectors to form a 180° semi-circular arc tube segment, resulting in two symmetrical semi-circular arc tube segments. The two ends of the first connecting section are connected to the first ends of the two 180° semi-circular arc tube segments via connectors. The bottom of the first connecting section is connected to the top of the support base. The two ends of the second connecting section are connected to the second ends of the two 180° semi-circular arc tube segments via connectors. A circulation drive component is located inside the first connecting section, and a flow monitoring component is located inside the second connecting section for monitoring the fluid velocity within the annular circulation channel.
[0049] Specifically, the first connecting section includes a connecting pipe, a support plate, and a mounting plate. The mounting plate is bolted to the support base, and the connecting pipe is connected to the mounting plate via a pair of support plates. Semi-circular arc pipe sections are connected to both ends of the connecting pipe via connectors. The second connecting section includes a connecting pipe, with semi-circular arc pipe sections connected to both ends via connectors. A flow monitoring component is installed on the connecting pipe. Both the first and second connecting sections are made of rigid metal to ensure the stability of the installation structure. The inner diameter of the connecting pipe in both sections is consistent with the flow inner diameter of the flexible pipe section, ensuring a uniform flow cross-section in the annular circulation channel and avoiding throttling and turbulence.
[0050] By splicing multiple flexible pipe sections with rigid first and second connecting sections to construct an annular circulation channel, the core advantage of the flexible pipe sections being foldable and retractable is retained. At the same time, the rigid connecting sections provide a stable installation foundation for the circulation drive components and flow monitoring components, avoiding the impact of flexible pipe wall deformation on the operation of the drive and monitoring components. Furthermore, the segmented splicing structure makes disassembly, transportation, and maintenance more convenient.
[0051] In some implementation schemes, the flexible pipe section is made of polyurethane, but other polymer materials with flexibility, pressure resistance and seawater corrosion resistance may also be used depending on the working conditions.
[0052] Polyurethane is the core material for fire hoses. It is readily available, inexpensive to manufacture, and possesses excellent flexibility, corrosion resistance, and pressure resistance. It meets the flexibility requirements for folding and storing equipment while withstanding the internal pressure of fluid circulation, making it suitable for the complex environments of marine engineering. When filled with water, the flexible hose resembles a rigid hose in shape; in its retracted state, it is folded and stored, significantly reducing its space requirements.
[0053] In some implementation schemes, such as Figure 4As shown, multiple rigid annular skeletons are embedded in the inner wall of the flexible pipe section. The rigid annular skeletons are evenly spaced along the circumferential direction of the annular circulation channel. The rigid annular skeletons are used to limit the radial expansion deformation of the flexible pipe section.
[0054] Specifically, the rigid ring skeleton is made of lightweight and high-strength alloy material, and the spacing between adjacent rigid ring skeletons is uniformly set according to the length of the flexible pipe section to ensure that the entire flexible pipe section can obtain a uniform support effect.
[0055] A rigid circular frame provides circumferential support for the flexible pipe section, effectively counteracting the centrifugal force generated by the high-speed fluid circulation, limiting the radial expansion deformation of the flexible pipe section, enhancing the structural stability of the annular circulation channel, and also enhancing the stability of the fluid momentum wheel structure, without affecting the folding and storage performance of the flexible pipe section. Figure 4 and Figure 5 As shown, this illustrates the deployment and retraction / folding states of the flexible tube segment.
[0056] In some implementations, the connectors include flanges, bolts, and seals. The seals include gaskets. The ends of the flexible pipe section, the first connecting section, and the second connecting section are all provided with flanges, and gaskets are provided between the flanges and connected by bolts.
[0057] Specifically, the sealing gasket is made of rubber material resistant to seawater corrosion, and the mating surface of the flange is provided with a limiting groove that matches the sealing gasket to prevent misalignment of the sealing gasket and further improve the sealing performance.
[0058] By using flanges and bolts, flange connections are achieved between the first connecting section and the flexible pipe section, between the flexible pipe section and the second connecting section, and between the flexible pipe sections, ensuring the rigid connection and connection strength of each pipe section. At the same time, watertight seals are achieved at the connection points through sealing gaskets, avoiding problems such as loss of angular momentum and failure of anti-sway effect caused by fluid leakage. The system is easy to assemble and disassemble and has high sealing reliability.
[0059] In some implementation schemes, such as Figure 9 As shown, the mounting components include a clamp and a clamp mounting plate that are fitted onto the middle of the outer wall of the flexible pipe section. The clamp is used to provide radial limiting and fixing for the flexible pipe section. The clamp includes two semi-circular ring structures. One semi-circular ring structure is fitted onto the top of the outer wall of the flexible pipe section, and the other semi-circular ring structure is fixed to the support base by bolts through the clamp mounting plate. The other semi-circular ring structure is fitted onto the bottom of the outer wall of the flexible pipe section. The two corresponding semi-circular ring structures are connected by bolts.
[0060] Specifically, in this embodiment, four sets of clamps and clamp mounting plates are provided, which are respectively arranged at the middle of the arc of the four sets of flexible pipe sections with a 90° arc.
[0061] By using clamps to radially limit and fix the middle of the flexible pipe section, the radial deformation caused by the impact of fluid flow is effectively offset. At the same time, the clamp mounting plate stably connects the flexible pipe section to the support base, preventing the flexible pipe section from shaking or displacing during the device's movement, thus improving the stability of the device's operation.
[0062] In some implementation schemes, such as Figure 14 , Figure 15 and Figure 16 As shown, the circulating drive assembly includes a shaftless rim drive pump and a straightener. The shaftless rim drive pump is embedded inside the first connecting section. The shaftless rim drive pump is used to drive the fluid in the annular circulating channel to form a high-speed circumferential circulating flow through the shaftless system structure. The outlet end of the shaftless rim drive pump is provided with a straightener with a grid structure. The straightener is used to rectify the high-speed circumferential circulating flow after driving.
[0063] Specifically, the shaftless rim-driven pump is installed inside the connecting pipe in the first connecting section. The impeller of the shaftless rim-driven pump has a uniformly arranged four-blade structure, and the outer edge of the impeller is connected to the inner wall of the first connecting section. The impeller is rotated by the circumferential electromagnetic drive of the shaftless rim-driven pump, and a circulating flow is formed inside the annular circulation channel under the drive of the shaftless rim-driven pump. In this embodiment, the grid spacing of the straightener is 0.075d, and the axial length is 0.45d, where d is the inner diameter of the annular circulation channel, ensuring optimal rectification effect.
[0064] By adopting a shaftless rim-driven pump, the complex shaft system of traditional drive pumps is eliminated, resulting in a simple structure, convenient installation, and high operational reliability, significantly reducing the space occupation and probability of failure of the drive structure. The straightener can rectify the swirling flow output by the impeller, greatly improving the flow field stability, reducing energy dissipation caused by turbulence, and reducing the deformation effect of fluid inertial impact on the flexible pipe wall, thereby improving the stability and control accuracy of the device operation.
[0065] In some implementations, the flow monitoring component includes an electromagnetic flow meter mounted on a second connection section, with the detection end of the electromagnetic flow meter extending into the interior of the annular circulation channel to monitor the circulation velocity of the fluid inside the annular circulation channel.
[0066] Specifically, the electromagnetic flowmeter is installed on the connecting pipe in the second connecting section. The measuring diameter of the electromagnetic flowmeter is the same as the inner diameter of the second connecting section, so it will not cause additional interference to the flow field. At the same time, the second connecting section can also provide some end support for the flexible pipe section, improving the structural stability of the annular flow channel.
[0067] Electromagnetic flowmeters can obtain the fluid circulation velocity in the annular circulation channel in real time and with high accuracy, providing core data support for the calculation of circulation angular momentum. This allows for dynamic adjustment of the drive pump speed according to the anti-sway requirements, achieving precise closed-loop control of the anti-sway torque.
[0068] In some implementations, the active precession telescopic assembly includes hydraulic actuators. At least three sets of hydraulic actuators are evenly distributed at intervals along the circumferential direction on the bottom of the support base, enabling the support base to rotate periodically under the joint control of multiple sets of hydraulic actuators. In this embodiment, three sets of hydraulic actuators are equally spaced and distributed circumferentially. Each set of hydraulic actuators includes two hydraulic actuators arranged side by side at close range along the circumferential tangential direction. This layout is a simple and stable parallel mechanism for the motion control of the support base. The precession angle is designed to be controlled within ±25°. An excessively large angle will deteriorate the stress state of the hydraulic actuators, resulting in excessive lateral force and easy mechanical interference.
[0069] Specifically, in this embodiment, the hydraulic actuator is arranged at the bottom of the support base, and the hydraulic actuator corresponds to the connection of the flexible pipe section, the first connecting section, the second connecting section, and the bottom of the clamp. For example... Figure 10 , 11 As shown in Figures 12 and 13, in this embodiment, the hydraulic actuator uses an electro-hydraulic push rod, which can achieve precise electric control of extension and retraction, raising or lowering different distances. Each hydraulic actuator is equipped with an independent control valve group and motor, enabling independent stroke and speed control, ensuring the flexibility and accuracy of the combined control. The hydraulic rod of the electro-hydraulic push rod is as follows... Figure 13 As shown in the figure, this is only a simplified schematic of the rod body. The top and bottom of the electro-hydraulic actuator are connected to the bottom of the support base and the top of the floating platform using a conventional ball joint structure. The ball joint structure is as follows: Figure 11 and Figure 12 As shown, the ball joint structure provides multiple rotational degrees of freedom and has advantages such as low installation height, large range of motion angles, and strong load capacity. To achieve large-angle deflection in all directions, both the upper and lower ball joints have inverted conical openings in their hinge seats. The angle between the generatrix of this inverted conical opening and the central axis is greater than the maximum deflection angle of the electro-hydraulic actuator. The diameter of the ball joint neck is smaller than the minimum diameter of the inverted conical opening, thus providing sufficient space compensation for the connecting rods when the support base tilts and rotates in all directions.
[0070] Based on the gyro precession principle, the fluid momentum wheel structure performs active precession via hydraulic actuators, generating precession torque to counteract the swaying torque caused by environmental loads, thereby achieving the purpose of roll reduction control for the floating platform. Through at least three sets of non-collinearly arranged hydraulic actuators, the tilt angle of the support base can be adjusted in all directions, eliminating the dead zone of the precession axis adjustment and ensuring that the device can adapt to the roll reduction requirements of most wave directions. The hydraulic actuators have large output torque and high control precision, allowing for precise adjustment of the extension stroke and extension frequency, ensuring accurate output of the roll reduction torque. Through the combined control of multiple hydraulic actuators, the support base rotates periodically, achieving precession motion of the fluid momentum wheel under different precession axes. This enables the output of precession torque in different directions, thereby counteracting the platform's swaying torque in different directions, achieving roll reduction control of the platform in different directions under complex sea conditions, and exhibiting good wave direction adaptability. Multiple hydraulic actuators also combine the precession device with the base rotation device, avoiding the bearing connection device at the center of the fluid momentum wheel, simplifying the active drive mechanism, improving the reliability of the anti-sway device, and making the design and installation convenient while occupying less space.
[0071] In some implementation schemes, the water inlet and outlet structure includes an inlet pipe and an outlet pipe. The upper part of the outer wall of the flexible pipe section is provided with an inlet pipe and an outlet pipe. Both the inlet pipe and the outlet pipe are equipped with control valves. The inlet of the inlet pipe and the outlet of the outlet pipe are connected to an external water source or the ballast water system of the floating platform.
[0072] Specifically, both the inlet and outlet pipes are made of rigid tubing, and the connections with the flexible pipe sections are reinforced with seals to prevent damage during folding and storage. The control valves are electrically operated, enabling remote automatic control and enhancing the automation level of the device.
[0073] Rapid filling and drainage of the annular circulation channel can be achieved through independent inlet and outlet pipes. Control valves allow for precise control of the filling and drainage flow rate. Because the flexible material pipes are easy to deploy and retract as fluid momentum wheels, they provide anti-roll torque during filling in harsh sea conditions and significantly save space after recovery in calm sea conditions, demonstrating excellent sea condition adaptability and economy. Furthermore, the circulation medium of the fluid momentum wheel assembly can be integrated with the ballast water system. When connected to the ballast water system of the floating platform, ballast adjustment and center of gravity optimization can be simultaneously achieved during the filling and drainage process, realizing the dual functions of anti-roll and ballast control.
[0074] In some implementation schemes, such as Figure 3As shown, the support base is a polygonal bearing plate structure. The upper surface of the polygonal bearing plate structure is connected to the fluid momentum wheel assembly via an installation component. Specifically, the upper surface of the polygonal bearing plate structure is connected to the clamp mounting plate, and the lower surface of the polygonal bearing plate structure is connected to the output end of each hydraulic actuator. The polygonal bearing plate structure is used to evenly distribute the load of the entire device and avoid stress concentration at the connection point between the device and the floating platform.
[0075] The implementation principle of the all-wave-direction fluid momentum wheel anti-roll device in this embodiment is as follows: Multiple flexible pipe sections are spliced together with flanges to form a fluid momentum wheel assembly. The flexible pipe sections are then placed on clamps and fixed in place. Finally, the flexible pipes are filled with water, and the device can be used after commissioning.
[0076] When roll reduction operations are required in rough sea conditions, the control valves of the inlet and outlet structures are opened, and fluid is injected into the annular circulation channel enclosed by the flexible pipe section through the inlet pipe. This allows the flexible pipe section to fully expand and form a complete annular flow channel. After filling with fluid, the valves are closed, and the device enters the working state. When roll reduction operations are not required in calm sea conditions, the valves are opened, and all fluid in the annular circulation channel is discharged through the outlet pipe. After the flexible pipe section loses its internal pressure support, it can be disassembled and folded for storage, significantly reducing the space occupied by the device and eliminating the need to occupy fixed compartment space on the platform.
[0077] Once the device is in operation, the shaftless rim drive pump of the circulating drive assembly starts, driving the fluid in the annular circulating channel to flow at high speed along the channel. After rectification by the straightener, a stable high-speed circulating flow is formed, causing the fluid momentum wheel assembly to generate stable angular momentum along its rotation axis, i.e., the vertical axis of the center of the annular circulating channel, which is equivalent to a high-speed rotating gyroscope rotor, providing a physical basis for the generation of anti-rolling torque.
[0078] When a floating platform experiences rolling and pitching motions under the influence of waves, the platform's attitude sensors collect real-time data on the platform's direction, angle, and angular velocity of the swaying. Based on the sway reduction requirements, the control system controls multiple sets of active precession telescopic components to perform differentiated telescopic movements. In conjunction with the spherical hinge structure's rotary support, this drives the support base and fluid momentum wheel assembly to perform omnidirectional tilting and precession motions. This allows the fluid momentum wheel assembly's rotation axis to perform controllable gyroscopic rotation around the floating platform's precession axis. Based on the gyroscopic precession effect, the high-speed circulating fluid momentum wheel assembly generates a precession sway reduction torque that is equal in magnitude and opposite in direction to the wave disturbance torque experienced by the floating platform. This torque counteracts the wave disturbance torque on the platform, thereby suppressing the platform's swaying motion. By adjusting the direction of the precession axis, it can adapt to sway reduction requirements in any wave direction, achieving omnidirectional sway reduction control.
[0079] The fluid circulation velocity in the annular circulation channel is monitored in real time by an electromagnetic flowmeter. The real-time circulation angular momentum of the device is calculated based on the circulation velocity. Combined with the real-time attitude data of the floating platform, the control system dynamically adjusts the drive power of the shaftless wheel rim drive pump to change the circulation velocity and the magnitude of the angular momentum. At the same time, the extension stroke and frequency of the hydraulic drive are adjusted to change the precession angular velocity, so that the anti-rolling torque output by the device matches the anti-rolling requirements of the platform in real time, achieving precise and efficient closed-loop anti-rolling control.
[0080] By employing flexible materials, which not only facilitate folding and storage but also provide damping and vibration absorption, this application addresses the issue. Traditional rigid pipes induce vibrations during high-speed fluid circulation, which are directly transmitted to the floating platform. This application utilizes flexible pipe walls to achieve self-damping vibration reduction, absorbing pressure pulsations generated during high-frequency fluid precession and reducing the transmission of fluid noise to the floating platform structure. Furthermore, the flexible material allows the device to be folded and stored in its non-operating state, with the folded envelope volume being only 15-20% of its operating volume, significantly improving the space utilization of the offshore platform. The flexible pipe walls also absorb and dissipate high-frequency vibrations caused by high-speed circulation, effectively reducing the risk of system resonance.
[0081] Example 2: This embodiment is a floating platform, including a platform body, a platform attitude sensor, multiple pressure sensors, the omnidirectional fluid momentum wheel anti-roll device and controller described in Embodiment 1. The platform attitude sensor is mounted on the platform body and is used to acquire six-degree-of-freedom motion information, wave direction information, and wave frequency information of the platform body. Multiple pressure sensors are located on the surface of the platform body, spaced apart at multiple points along the platform body, and are used to acquire real-time pressure information at each measuring point on the platform body. The omnidirectional fluid momentum wheel anti-roll device is located in the central region of the platform body and is used to output anti-roll control torque to the platform body. The platform attitude sensor, each pressure sensor, the flow monitoring component, the circulation drive component, and each active precession and extension component of the omnidirectional fluid momentum wheel anti-roll device are all electrically and / or communicatively connected to the controller. The controller is used to acquire the platform's six-degree-of-freedom motion information, wave direction information, wave frequency information, real-time pressure information at each measuring point, and fluid velocity information from the flow monitoring component. Based on the above information, the controller calculates the composite disturbance torque acting on the platform body, calculates the target control parameters by combining the fluid momentum wheel anti-roll principle, and outputs control commands to the circulating drive component and the active precession extension component according to the target control parameters, thereby realizing the all-wave-direction adaptive closed-loop anti-roll control of the platform body.
[0082] In some implementation schemes, the platform body is any floating structure with offshore operation functions, such as an offshore floating production platform, an offshore wind power operation and maintenance platform, or an aquaculture vessel. The anti-roll device is fixedly installed in the central area of the platform body deck to ensure the uniform transmission of anti-roll torque and avoid additional eccentric torque on the platform body.
[0083] In some implementation schemes, the platform attitude sensor is fixedly installed directly above the center of gravity of the platform body to acquire the six degrees of freedom motion information of the platform body in real time, including the angle, angular velocity, and angular acceleration of roll, pitch, and yaw, as well as the displacement, linear velocity, and linear acceleration of sway, pitch, and heave. At the same time, it can calculate and output wave direction information, wave frequency information, etc., to provide core motion and environmental excitation data for roll reduction control.
[0084] In some implementation schemes, multiple pressure sensors are arranged in a grid pattern at multiple points along the surface of the platform body, covering the sides, bottom, bow, and stern of the platform body, to acquire pressure information at each measuring point of the platform body in real time, providing basic data for the calculation of composite disturbance torque.
[0085] Example 3: This embodiment is a method for reducing the roll of a floating platform, applied to the floating platform in Embodiment 2, and includes the following steps: S1. Collect real-time data. The platform attitude sensor obtains the six-degree-of-freedom motion information, wave direction information, and wave frequency information of the platform body in real time. The pressure sensor arranged at multiple points obtains the real-time pressure information of each measuring point of the platform body in real time. The electromagnetic flow meter of the flow monitoring component obtains the actual fluid velocity information in the annular circulation channel of the fluid momentum wheel component in real time. All collected data are synchronously transmitted to the controller for preprocessing. S2. Solve the disturbance torque. Based on the real-time pressure information of each measuring point, reconstruct the pressure distribution field on the surface of the platform body, and calculate the composite disturbance torque vector acting on the platform body. S3. Solve the target control parameters. Based on the principle of fluid momentum wheel anti-roll, and combined with the composite disturbance torque vector, platform six-degree-of-freedom motion information, wave direction information and wave frequency information, calculate the target precession angular velocity vector required to counteract the composite disturbance torque, as well as the target flow velocity of the fluid in the annular circulation channel. The core calculation logic of the fluid momentum wheel anti-roll principle is as follows: The fluid circulation velocity *v* within the annular circulation channel is monitored by an electromagnetic flowmeter. The angular momentum of the fluid circulation flow within the fluid momentum wheel is calculated as *h* = *mRv²*, where *m* is the mass of the fluid inside the fluid momentum wheel, and *R* is the radius of curvature of the annular circulation channel. Based on the gyro precession effect, the precession control torque *M* that the fluid momentum wheel can output is... In the formula β is the precession angular velocity, and β is the precession tilt angle. This precession control torque is used to counteract the combined disturbance torque of the floating platform and achieve roll reduction control. S4. Solve the actuator control command. Based on the wave direction and the target precession angular velocity vector, the control algorithm converts the target precession motion into the target extension stroke and dynamic response parameters of each active precession extension component. For the parallel mechanism of multiple hydraulic actuators, the controller assigns corresponding dynamic response weights to each hydraulic actuator. Based on the weights, the decoupling allocation of the target precession motion is completed, and the target extension stroke, extension speed and extension acceleration of each hydraulic actuator are obtained. At the same time, based on the target flow velocity and the actual fluid flow velocity information, the control algorithm generates the speed drive command of the shaftless rim drive pump of the circulating drive component, i.e., the flow velocity drive command. S5. Synchronous execution control: The extension drive command of each active precession extension component and the flow rate drive command of the circulation drive component are synchronously sent to the corresponding hydraulic drive control valve group and the motor controller of the shaftless wheel rim drive pump for execution. The fluid momentum wheel component outputs a precession control torque that is equal in magnitude and opposite in direction to the composite disturbance torque, thereby suppressing the swaying motion of the platform. S6. Adaptive closed-loop correction: Real-time acquisition of platform attitude information, actuator status information, and actual fluid velocity information after execution. The deviation between the actual platform attitude and the ideal anti-roll attitude, and the deviation between the actual fluid velocity and the target velocity are used as feedback quantities and input into the closed-loop control algorithm. The target extension stroke of the active precession extension component and the driving speed of the circulating drive component are corrected in real time to eliminate control deviations caused by environmental disturbances and execution errors, and realize adaptive closed-loop anti-roll control of the floating platform in all wave directions.
[0086] Combination Figure 17 As shown, the processing logic of the anti-roll control method in this embodiment is as follows: Based on the platform attitude sensor and multi-point pressure sensors of the floating platform, the wave direction, frequency, and composite disturbance torque acting on the floating platform are acquired in real time. Further, based on the fluid momentum wheel anti-roll principle, the target precession angular velocity vector required to counteract the platform's rolling torque, as well as the flow velocity inside the pipe, are calculated. Depending on the wave direction, the controller converts the ideal platform motion attitude into the physical stroke of the hydraulic cylinders, assigning different dynamic response weights to each hydraulic actuator. Combined with the control of the shaftless rim-driven pump within the fluid momentum wheel, the flow velocity inside the pipe is controlled, thereby obtaining the precession control torque for different wave directions and amplitudes, achieving platform attitude control. The multi-hydraulic stroke and drive pump speed commands obtained from the control algorithm are synchronously transmitted to the motor controller for execution. Real-time acquisition of platform attitude and actuator status information after execution allows for real-time feedback correction of the hydraulic actuator stroke and drive pump speed, achieving adaptive closed-loop anti-roll control of the floating platform across all wave directions.
[0087] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.
Claims
1. A wave-directional fluid momentum wheel anti-roll device, characterized in that, Roll control for floating platforms includes: The supporting base is located on a floating platform; The fluid momentum wheel assembly is mounted on a support base via an installation component. It includes multiple interconnected flexible pipe sections that form an annular circulation channel. The flexible pipe sections are equipped with inlet and outlet water structures. The inlet and outlet water structures are used to fill the flexible pipe sections with fluid to put the fluid momentum wheel assembly into working condition and to discharge the internal fluid to allow the fluid momentum wheel assembly to be folded and stored. Multiple active precession telescopic components are located between the top of the floating platform and the bottom of the support base, and are arranged circumferentially at intervals along the bottom of the support base. They can drive the support base and the fluid momentum wheel assembly to perform omnidirectional tilting and rotational precession motion through differentiated telescopic stroke joint control. The circulation drive assembly is located inside the annular circulation channel and is used to drive the fluid in the annular circulation channel to flow circumferentially along the channel.
2. The all-wave-direction fluid momentum wheel anti-roll device according to claim 1, characterized in that: The fluid momentum wheel assembly further includes a first connecting section, a second connecting section, and connectors. Connectors are provided at both ends of the first and second connecting sections and the flexible tube segment. The flexible tube segment is mounted on the support base via the mounting components. Four flexible tube segments forming 90° arcs are spliced together by the connectors to form two 180° semi-circular arc tube segments. The two ends of the first connecting section are connected to the first ends of the two 180° semi-circular arc tube segments via connectors. The bottom of the first connecting section is connected to the top of the support base. The two ends of the second connecting section are connected to the second ends of the two 180° semi-circular arc tube segments via connectors. The first connecting section contains the circulation drive assembly, and the second connecting section contains a flow monitoring assembly for monitoring the fluid velocity within the annular circulation channel.
3. The all-wave-direction fluid momentum wheel anti-roll device according to claim 2, characterized in that: The circulating flow drive assembly includes a shaftless rim drive pump and a straightener. The shaftless rim drive pump is embedded inside the first connecting section. The shaftless rim drive pump is used to drive the fluid in the annular circulating channel to form a high-speed circumferential circulating flow through the shaftless system structure. The outlet end of the shaftless rim drive pump is provided with a straightener with a grid structure. The straightener is used to rectify the high-speed circumferential circulating flow after driving.
4. The all-wave-direction fluid momentum wheel anti-roll device according to claim 2, characterized in that: The flow monitoring component includes an electromagnetic flow meter, which is installed on the second connecting section. The detection end of the electromagnetic flow meter extends into the interior of the annular circulation channel to monitor the circulation velocity of the fluid inside the annular circulation channel.
5. The all-wave-direction fluid momentum wheel anti-roll device according to claim 2, characterized in that: The inner wall of the flexible pipe section is embedded with multiple rigid circular skeletons. The rigid circular skeletons are evenly spaced along the circumferential direction of the annular circulation channel. The rigid circular skeletons are used to limit the radial expansion deformation of the flexible pipe wall. The connector includes a flange, bolts, and a seal. The seal includes a gasket. The ends of the flexible pipe section, the first connecting section, and the second connecting section are all provided with flanges. The flanges are connected by bolts and a gasket is provided between them.
6. The all-wave-direction fluid momentum wheel anti-roll device according to claim 2, characterized in that: The mounting components include a clamp and a clamp mounting plate that are sleeved on the middle position of the outer wall of the flexible pipe section. The clamp is used to provide radial limiting and fixing for the flexible pipe section. The clamp includes two semi-circular ring structures. One semi-circular ring structure is sleeved on the top of the outer wall of the flexible pipe section, and the other semi-circular ring structure is sleeved on the bottom of the outer wall of the flexible pipe section and fixedly installed on the support base by the clamp mounting plate. The two corresponding semi-circular ring structures are connected by bolts.
7. The all-wave-direction fluid momentum wheel anti-roll device according to claim 2, characterized in that: The active precession and telescopic assembly includes a hydraulic actuator. At least three sets of hydraulic actuators are evenly distributed at intervals along the circumferential direction at the bottom of the support base. The two ends of the hydraulic actuators are respectively hinged to the bottom of the support base and the top of the floating platform, so that the support base can be driven to rotate periodically under the joint control of multiple sets of hydraulic actuators.
8. The all-wave-direction fluid momentum wheel anti-roll device according to claim 2, characterized in that: The water inlet and outlet structure includes an inlet pipe and an outlet pipe. The outer wall of the flexible pipe section is provided with an inlet pipe and an outlet pipe. Both the inlet pipe and the outlet pipe are equipped with control valves. The inlet of the inlet pipe and the outlet of the outlet pipe are connected to an external water source or the ballast water system of the floating platform.
9. A floating platform, characterized in that, include: Platform body; The platform attitude sensor is installed on the platform body to acquire the platform body's six degrees of freedom motion information, wave direction information, and wave frequency information; Multiple pressure sensors are installed on the surface of the platform body and arranged at intervals along multiple points on the platform body to obtain real-time pressure information at each measuring point on the platform body. The omnidirectional fluid momentum wheel anti-roll device according to any one of claims 2 to 8 is located in the central region of the platform body and is used to output anti-roll control torque to the platform body; The controller is electrically and / or communicatively connected to the platform attitude sensor, each pressure sensor, the flow monitoring component of the all-wave-direction fluid momentum wheel anti-roll device, the circulation drive component, and each active precession telescopic component. The controller is used to acquire the platform's six-degree-of-freedom motion information, wave direction information, wave frequency information, real-time pressure information at each measuring point, and fluid velocity information from the flow monitoring component. Based on the above information, the controller calculates the composite disturbance torque acting on the platform body, calculates the target control parameters using the fluid momentum wheel anti-roll principle, and outputs control commands to the circulation drive component and the active precession telescopic component according to the target control parameters, thereby realizing all-wave-direction adaptive closed-loop anti-roll control of the platform body.
10. A method for reducing roll control of a floating platform according to claim 9, characterized in that, Includes the following steps: S1. Collect real-time data. The platform attitude sensor obtains the six-degree-of-freedom motion information, wave direction information, and wave frequency information of the platform body in real time. The pressure sensor arranged at multiple points obtains the real-time pressure information of each measuring point of the platform body in real time. The flow monitoring component obtains the actual fluid velocity information in the annular circulation channel of the fluid momentum wheel component in real time. S2. Solve the disturbance torque. Based on the real-time pressure information of each measuring point, reconstruct the pressure distribution field on the surface of the platform body, and calculate the composite disturbance torque vector acting on the platform body. S3. Solve the target control parameters. Based on the principle of fluid momentum wheel anti-roll, and combined with the composite disturbance torque vector, platform six-degree-of-freedom motion information, wave direction information and wave frequency information, calculate the target precession angular velocity vector required to counteract the composite disturbance torque, as well as the target flow velocity of the fluid in the annular circulation channel. S4. Solve the actuator control command. Based on the wave direction and the target precession angular velocity vector, the control algorithm converts the target precession motion into the target extension stroke and dynamic response parameters of each active precession extension component. At the same time, based on the target flow velocity and the actual fluid flow velocity information, the control algorithm generates the flow velocity drive command of the circulation drive component. S5. Synchronous execution control: The extension drive command of each active precession extension component and the flow velocity drive command of the circulating flow drive component are synchronously sent to the corresponding actuators for execution, and the precession control torque that is opposite to the composite disturbance torque is output. S6. Adaptive closed-loop correction: Real-time acquisition of platform attitude information, actuator status information and actual fluid velocity information after execution, and real-time feedback correction of the target extension stroke of the active precession extension component and the driving speed of the circulation drive component, to achieve adaptive closed-loop roll reduction control of the floating platform in all wave directions.