Intelligent ship active stabilizing device and control method therefor

Abstract

An intelligent navigation ship active stabilizing device and a control method therefor. A shaftless rim propelling device (2) is mounted at the position of a fin stabilizer (1) close to the root of a fin, on the basis of a roll angle, angular velocity information and angular acceleration information collected by a ship attitude sensor (6) and ship navigation speed information obtained by means of a DGPS system, and by controlling the fin angle of the fin stabilizer (1) and the rotation speed of the shaftless rim propelling device (2), a resistance moment is generated to reduce the roll motion of a ship. Different control methods can be used on the basis of navigation speeds. When the ship speed is lower than a certain value, the lifting force of the fin stabilizer is reduced, and the shaftless rim propeller (2) is used to generate thrust to reduce ship roll; when the ship speed is higher than a certain value, the lifting force of the fin stabilizer is high enough, and the fin stabilizer (1) is used to generate resistance to the roll; and when the ship speed is between the two values, the fin stabilizer and the shaftless rim propeller jointly generate resistance to achieve a stabilization effect, thereby achieving a good stabilization effect from zero to full navigation speed, the applicability is wide, the consumed energy is low, abrasion is not prone to occurring, and the durability is high.

Description

An intelligent ship active anti-rolling device and control method thereof Technical Field

[0001] The present invention relates to the field of ship roll reduction, and in particular to an active ship roll reduction system and a control method for an intelligent navigation ship. Background Art

[0002] Ships at sea are constantly subject to the effects of wind, waves, and surges, causing them to experience large roll and pitch motions that affect the comfort of crew and passengers. Improper control of these motions can endanger the safety of the ship's navigation and operations. Ship roll stabilization devices reduce the ship's roll amplitude in various ways, increasing the ship's seakeeping capabilities. Traditional fin stabilizers adjust the fin angle based on the ship's roll information, generating a resistance force and torque opposite to the environmental disturbance force for roll reduction. However, the generation of resistance requires fluid to flow through the fin surface at a certain speed. Therefore, traditional fin stabilizers are not very effective at low and zero speeds. Zero-speed fin stabilizers use a "rowing"-like motion to reduce roll at zero speed, which can easily wear the fin shaft and produce high noise levels. Therefore, there is a need for an active ship roll stabilization system and control method for intelligent navigation ships that can achieve ship roll reduction from zero to full speed, with a wide range of applicable speeds, high operating efficiency, good roll reduction effect, and strong durability.

[0003] Summary of the Invention

[0004] In response to the above problems, the present invention proposes an efficient and highly applicable active anti-roll device for intelligent sailing ships and a control method thereof, so as to solve the problems that traditional anti-roll fins have poor anti-roll effect at zero speed and low speed, and the fin shafts of zero-speed anti-roll fins are prone to wear and noisy.

[0005] The present invention is achieved through the following technical solutions:

[0006] An active roll stabilization device for an intelligent navigation ship includes a ship attitude sensor, a DGPS system, a ship roll stabilization control box, a roll stabilizer fin, a fin rotating device, a shaftless wheel rim propulsion device, a shaftless wheel rim propulsion control system, and a roll stabilizer control system. The shaftless wheel rim propulsion device is installed near the fin root of the roll stabilizer fin. The ship roll stabilization control box is connected to the roll stabilizer control system and the shaftless wheel rim propulsion control system through the ship roll stabilization control box IO unit and communication cables respectively; the ship roll stabilization control box is also connected to the ship attitude sensor and the DGPS system through the ship roll stabilization control box communication unit and communication cables respectively; wherein the ship attitude sensor is used to monitor the ship's roll angle φ, angular velocity p, and angular acceleration q in real time, and obtain the ship's roll angle φ and angular velocity p and angular acceleration q information is transmitted to the communication unit of the ship's roll stabilization control box; the DGPS system is used to obtain the ship's motion speed V in real time, and transmit the ship's motion speed V to the communication unit of the ship's roll stabilization control box through a communication cable. After receiving the ship's roll angle φ and angular velocity p, angular acceleration q, and speed V, the ship's roll stabilization control box calculates the fin angle α of the fin stabilizer and the speed n of the shaftless rim propulsion device through a distribution algorithm, and then sends the fin angle and speed information to the 10 unit of the ship's roll stabilization control box. The 10 unit of the ship's roll stabilization control box sends signals to the fin stabilizer control system and the shaftless rim propulsion system respectively. The fin stabilizer control system and the shaftless rim propulsion control system send the fin angle α and speed n information to the fin rotating device and the shaftless rim propulsion device respectively. The fin rotating device and the shaftless rim propulsion device control the fin angle and speed to generate a resisting torque to reduce the ship's roll motion.

[0007] The fin stabilizer control system and the shaftless rim thruster control system feed back the fin angle α and speed n to the ship's roll stabilization control box IO unit through the communication cable. The ship's roll stabilization control box calculates the fin angle α and speed n at the next moment based on the fed-back fin angle and speed information, the ship's roll information, and the ship's speed. The fin stabilizer control system receives the fin angle information and passes it to the fin rotation device to rotate the fin stabilizer by a certain fin angle; the rim thruster control system receives the speed information and passes it to the control unit of the shaftless rim thruster.

[0008] The DGPS receiver in the DGPS system is connected to the satellite antenna through a lightning arrester. The satellite antenna transmits the ship speed information to the DGPS receiver, and the DGPS receiver transmits the ship speed V information to the communication unit of the ship roll stabilization device control box.

[0009] A control method for an active anti-rolling device for an intelligent ship, using the active anti-rolling device for an intelligent sailing ship, the method comprising:

[0010] (1) When the ship speed is greater than V up When the fin stabilizer can provide enough lift, the fin stabilizer is used to reduce the roll. The speed of the shaftless rim propulsion device is n=0, V upis the lower limit of the ship speed when the fin stabilizer works alone, which is related to the hydrodynamic characteristics of the fin stabilizer. The ship's roll control box synthesizes the fin angle signal α=K1*φ+K2*p+K3*q according to the ship's roll angle φ, angular velocity p and angular acceleration q, where K1, K2 and K3 are control parameters related to the characteristics of the ship. At this time, the anti-roll torque Mf generated by the fin stabilizer is 0.5*ρ*V 2 *A*l1*C α , where C α is the lift coefficient of the fin stabilizer at angle α, ρ is the density of the fluid, and l1 is the moment arm from the force center of the fin stabilizer surface to the center of gravity of the ship;

[0011] (2) When the ship's speed is lower than V down When the value is , the fin stabilizer generates almost no lift, and the thrust is completely generated by the shaftless rim propulsion device to resist the rolling motion of the ship. down is the upper limit of the ship speed when the rim thruster works alone, which is related to the hydrodynamic characteristics of the fin stabilizer. The ship's anti-roll control box synthesizes the speed signal n = K4*φ+K5*p+K6*q according to the ship's roll angle φ, angular velocity p, and angular acceleration q, where K4, K5, and K6 are control parameters related to the characteristics of the ship. The anti-roll torque M generated at this time p =2*K T *ρ*n 2 *D 4 *l2, l2 is the distance between the center of the rim propulsion device and the center of gravity of the ship;

[0012] (3) When the ship's speed is V down and V up When the lift generated by the fin stabilizer is insufficient to resist the rolling moment, the shaftless rim propulsion device starts to generate thrust as a supplement to the lift of the fin stabilizer to jointly resist the ship's rolling motion. At this time, the ship's roll stabilization control box uses the SQP algorithm to allocate the fin angle of the fin stabilizer and the speed n of the shaftless rim propulsion device. The optimization equation and conditions are as follows: F = C1α 2 +C2n 3 stM=0.5*ρ*V 2 *A*l1*C α +2*K T *ρ*n 2 *D4*l2, α≥α1, -α≥-α2, n≥n1, -n≥-n2.

[0013] F is the energy consumption equation, C1 and C2 are the energy consumption coefficients of the fin stabilizer and rim thruster respectively, M is the required resistance moment, K T is the thrust coefficient of the shaftless rim thruster, D is the diameter of the shaftless rim thruster, α1 and α2 are the minimum and maximum fin angles of the fin stabilizer, n1 and n2 are the minimum and maximum rotation speeds of the shaftless rim thruster, respectively;

[0014] The fin angle α of the fin stabilizer and the rotational speed n of the shaftless rim propulsion device are finally obtained through the above distribution equation. The fin angle and rotational speed thus distributed can minimize the energy consumption of the device.

[0015] The beneficial effects of the present invention are:

[0016] This invention provides an intelligent active ship roll stabilization device. A shaftless rim propulsion unit is installed near the base of the fin stabilizer to generate thrust and reduce ship rolling. The device adjusts the fin angle and the speed of the shaftless rim propulsion unit in real time based on ship speed information from DGPS and roll information from the ship's attitude sensor to achieve optimal roll reduction.

[0017] This invention provides an intelligent ship active roll reduction control method that employs different roll reduction strategies based on different ship speeds. When the ship's speed is below a certain value, a shaftless rim propulsion device generates thrust to counteract the ship's roll motion. When the ship's speed is above a certain value, fin stabilizers generate lift to counteract the ship's roll motion. When the ship's speed is between these two values, an SQP (Sequential Quadratic Programming) algorithm is used to allocate the fin angle and rotational speed, achieving the best roll reduction effect while minimizing energy consumption.

[0018] The present invention provides an intelligent ship active anti-roll device and control method thereof, which have wide applicability and overcome the defects of traditional anti-roll fin devices, such as poor anti-roll effect at low speeds, easy wear of zero-speed anti-roll fins, and high noise. Different anti-roll strategies can be adopted according to different ship speeds, achieving good anti-roll effect and low energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a cross-sectional structural diagram of an active anti-rolling device for an intelligent navigation ship according to an embodiment of the present invention;

[0020] FIG2 is a structural diagram of the fin stabilizer portion of the active roll stabilization device for an intelligent navigation ship according to an embodiment of the present invention;

[0021] FIG3 is a system diagram of an active anti-rolling device for an intelligent sailing ship according to an embodiment of the present invention;

[0022] In the figure: 1. Fin stabilizer, 2. Shaftless rim propulsion device, 3. Hull, 4. Fin rotating device, 5. Fin rotating device installation cabin, 6. Ship attitude sensor, 7. Ship roll stabilization control box, 8. Fin stabilizer control system, 9. DGPS satellite antenna, 10. DGPS lightning arrester, 11. DGPS receiver, 12. Ship roll stabilization control box communication unit, 13. Ship roll stabilization control box IO unit, 14. Shaftless rim propulsion control system, 15. Communication cable. DETAILED DESCRIPTION

[0023] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0024] As shown in Figures 1 to 3, an active roll stabilization device for an intelligent ship provided by an embodiment of the present invention includes a ship attitude sensor 6, a DGPS system, a ship roll stabilization control box 7, a fin stabilizer 1, a fin-turning device 4, a shaftless rim propulsion device 2, a shaftless rim propulsion device control system 14, a fin stabilizer control system 8, a communication cable 15, and a fin-turning device installation compartment 5. The ship roll stabilization control box 7 includes a ship roll stabilization control box communication unit 12 and a ship roll stabilization control box IO unit 13.

[0025] The fin-turning devices 4 are installed in the fin-turning device installation compartments 5 on both sides of the hull 3. The fin-turning devices 4 are connected to the roll stabilizer 1. The shaftless rim propulsion device 2 is installed on the part of the roll stabilizer 1 near the blade root. The roll stabilizer 1 and the shaftless rim propulsion device 2 respectively control the fin angle and rotation speed through the ship roll stabilization control box 7 to generate a resisting torque to reduce the ship's rolling motion.

[0026] The ship roll stabilization control box 7 is connected to the fin stabilizer control system 8 and the shaftless rim thruster control system through the ship roll stabilization control box IO unit 13 and the communication cable 15 respectively.

[0027] The ship roll stabilization control box 7 is further connected to the ship attitude sensor 6 and the DGPS receiver 11 via the ship roll stabilization control box communication unit 12 and the communication cable 15 . The DGPS receiver 11 is connected to the satellite antenna 9 via the communication cable 15 .

[0028] Satellite antenna 9 receives DGPS signals and connects to lightning arrester 10, transmitting ship speed information to DGPS receiver 11. DGPS receiver 11 transmits ship speed V to communication unit 12 of ship roll stabilization control box 7. Attitude sensor 6 transmits the ship's roll angle φ, angular velocity p, and angular acceleration q to communication unit 12 of ship roll stabilization control box 7 in real time. Ship roll stabilization control box 7 calculates fin angle α and rotation speed n of shaftless rim propulsion unit 2 based on an internal allocation algorithm. It then transmits these values ​​to fin stabilizer control system 8 and shaftless rim propulsion unit control system 14 via I / O unit 13, respectively. Fin stabilizer control system 8 transmits the received fin angle information to fin rotation device 4, causing fin stabilizer 1 to rotate a certain fin angle. Rim propulsion unit control system 14 transmits the received rotation speed information to control shaftless rim propulsion unit 2, causing it to generate a certain thrust to counteract the ship's roll motion.

[0029] According to the control method of the active anti-rolling device for an intelligent sailing ship of the present invention, the anti-rolling effect of the anti-rolling fin 1 is related to the speed of the ship. Different anti-rolling strategies are adopted according to the speed of the ship to achieve the optimal anti-rolling effect.

[0030] When the ship speed exceeds V up When the fin stabilizer 1 can provide sufficient lift, the fin stabilizer 1 is used for stabilization, and the speed of the shaftless rim propulsion device is n = 0. The ship's stabilization control box synthesizes the fin angle signal α = K1*φ+K2*p+K3*q according to the ship's roll angle φ, angular velocity p and angular acceleration q. The stabilization torque M generated by the fin stabilizer is f =0.5*ρ*V 2 *A*l*C α .

[0031] When the ship's speed is V down and V up When the lift generated by the fin stabilizers is insufficient to counteract the rolling moment, the shaftless rim propulsion system activates to generate thrust to supplement the lift of the fin stabilizers and counteract the ship's rolling motion. At this point, the ship's roll control box uses the SQP algorithm to allocate the fin angle α of the fin stabilizers and the speed n of the shaftless rim propulsion system. The optimization equation and conditions are as follows: F = C1α 2 +C2n 3 stM=0.5*ρ*V 2 *A*l1*C α +2*K T *ρ*n 2 *D 4 *l2, α≥α1, -α≥-α2, n≥n1, -n≥-n2.

[0032] The fin angle α of the fin stabilizer and the rotation speed n of the shaftless rim propulsion device are obtained according to the above optimization equation, which can minimize the energy consumption of the device.

[0033] When the ship's speed is lower than V down When the fin stabilizer 1 generates almost no lift, the thrust is completely generated by the shaftless rim propulsion device 2 to resist the ship's roll motion. The ship's roll control box synthesizes the speed signal n=K4*φ+K5*p+K6*q according to the ship's roll angle φ, angular velocity p and angular acceleration q. The anti-roll moment M generated at this time is p =2*K T *ρ*n 2 *D4*l2.

[0034] The present invention provides an active anti-roll device for intelligently sailing ships and a control method thereof. This device is a novel ship anti-roll device with a wide range of applications, excellent anti-roll effect, and low energy consumption. It addresses the problems of traditional anti-roll fins, which suffer from poor performance at low and zero speeds, and high cost and wear of active anti-roll devices. By adopting different anti-roll strategies at different speeds, the device achieves optimal energy-saving effects in different scenarios.

[0035] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An active anti-rolling device for intelligent navigation ships, characterized in that: It includes a ship attitude sensor, a DGPS system, a ship anti-rolling control box, anti-rolling fins, a fin turning device, a rim-driven thruster device, a rim-driven thruster control system, and an anti-rolling fin control system. The rim-driven thruster device is installed near the fin root of the anti-rolling fins. The ship anti-rolling control box is connected to the anti-rolling fin control system and the rim-driven thruster control system respectively through the ship anti-rolling control box IO unit and communication cables; the ship anti-rolling control box is also connected to the ship attitude sensor and the DGPS system respectively through the ship anti-rolling control box communication unit and communication cables; among them, the ship attitude sensor is used to monitor the roll angle φ, angular velocity p, and angular acceleration q of the ship in real time, and transmit the obtained roll angle φ, angular velocity p, and angular acceleration q information of the ship to the ship anti-rolling control box communication unit; the DGPS system is used to obtain the motion speed V of the ship in real time, and transmit the speed V of the ship's motion to the ship anti-rolling control box communication unit through the communication cable. After receiving the roll angle φ, angular velocity p, angular acceleration q, and ship speed V of the ship, the ship anti-rolling control box calculates the fin angle α of the anti-rolling fins and the rotation speed n of the rim-driven thruster device through the distribution algorithm, and then sends the fin angle and rotation speed information to the ship anti-rolling control box IO unit. The ship anti-rolling control box IO unit sends the signals to the anti-rolling fin control system and the rim-driven thruster control system respectively. The anti-rolling fin control system and the rim-driven thruster control system send the fin angle α and rotation speed n information to the fin turning device and the rim-driven thruster respectively. The fin turning device and the rim-driven thruster device control the fin angle and rotation speed to generate a resistance moment to reduce the roll motion of the ship.

2. The active anti-rolling device for intelligent navigation ships according to claim 1, characterized in that: The anti-rolling fin control system and the rim-driven thruster control system feedback the fin angle α and rotation speed n to the ship anti-rolling control box IO unit through the communication cable. The ship anti-rolling control box will calculate the fin angle α and rotation speed n of the next moment according to the feedback fin angle and rotation speed information, ship roll information, and ship speed. After receiving the fin angle information, the anti-rolling fin control system transmits it to the fin turning device to make the anti-rolling fins rotate a certain fin angle; after receiving the rotation speed information, the rim-driven thruster control system transmits it to the rim-driven thruster device.

3. The active anti-rolling device for intelligent navigation ships according to claim 1, characterized in that: The DGPS receiver in the DGPS system is connected to the satellite antenna through a lightning arrester. The satellite antenna transmits the ship speed information to the DGPS receiver, and the DGPS receiver transmits the ship speed V information to the ship anti-rolling device control box communication unit.

4. An active anti-rolling control method for intelligent ships, using the active anti-rolling device for intelligent navigation ships, characterized in that, this method includes: (1) When the ship speed is greater than V up , the anti-rolling fin can provide sufficient lift. The anti-rolling fin is used for anti-rolling work, and the rotational speed n of the rimless wheel propulsion device is 0. V up is the lower limit of the ship speed for the anti-rolling fin to work alone and is related to the hydrodynamic characteristics of the anti-rolling fin. The ship anti-rolling control box synthesizes the fin angle signal α = K 1 * φ + K 2 * p + K 3 * q according to the rolling angle φ, angular velocity p, and angular acceleration q of the ship, where K 1 , K 2 and K 3 are control parameters related to the characteristics of the ship. At this time, the anti-rolling moment M f = 0.5 * ρ * V 2 * A * l 1 * C α , where C α is the lift coefficient of the anti-rolling fin at the α angle, ρ is the density of the fluid, and l 1 is the lever arm of the force center of the anti-rolling fin surface from the center of gravity of the ship; (2) When the ship speed is lower than the V down value, the anti-rolling fins hardly generate lift, and the thrust to resist the rolling motion of the ship is completely generated by the rimless propulsion device. V down is the upper limit of the ship speed when the rim propulsion works alone and is related to the hydrodynamic characteristics of the anti-rolling fins. The ship anti-rolling control box synthesizes the rotational speed signal n = K 4 * φ + K 5 * p + K 6 * q based on the rolling angle φ, angular velocity p, and angular acceleration q of the ship, where K 4 , K 5 and K 6 are control parameters related to the characteristics of the ship. At this time, the generated anti-rolling moment M p = 2 * K T * ρ * n 2 * D 4 * l 2 , l 2 is the distance between the center of the rim propulsion device and the center of gravity of the ship; (3) When the ship's speed is between V down and V up and the lift generated by the fin stabilizer is not sufficient to resist the rolling moment, the rim-driven thruster starts to generate thrust as a supplement to the lift of the fin stabilizer to jointly resist the rolling motion of the ship. At this time, the ship's roll control box uses the SQP algorithm to allocate the fin angle of the fin stabilizer and the rotational speed n of the rim-driven thruster. The optimization equations and conditions are as follows: F = C 1 α 2 + C 2 n 3 where M = 0.5 * ρ * V 2 * A * l 1 * C α + 2 * K T * ρ * n 2 * D 4 * l 2 , α≥α 1 ， -α≥-α 2 ， n≥n 1 , -n≥-n 2 . Let F be the energy consumption equation, C 1 and C 2 are the energy consumption coefficients of the fin stabilizer and the rim thruster respectively, M is the required resistance moment, K T is the thrust coefficient of the rim-driven thruster, D is the diameter of the rim-driven thruster, α 1 and α 2 are the minimum and maximum fin angles of the fin stabilizer respectively, n 1 and n 2 are the minimum and maximum rotational speeds of the rim-driven thruster respectively; Finally, the fin angle α of the anti-rolling fins and the rotation speed n of the rim-driven thruster device are obtained through the above distribution equation. The distributed fin angle and rotation speed can minimize the energy consumption of the device.

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