EP2172394B2 - Automatisches Antirollstabilisierungssystem eines Wasserfahrzeugs - Google Patents

Automatisches Antirollstabilisierungssystem eines Wasserfahrzeugs Download PDF

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Publication number
EP2172394B2
EP2172394B2 EP09171591.2A EP09171591A EP2172394B2 EP 2172394 B2 EP2172394 B2 EP 2172394B2 EP 09171591 A EP09171591 A EP 09171591A EP 2172394 B2 EP2172394 B2 EP 2172394B2
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EP
European Patent Office
Prior art keywords
watercraft
electric motor
stabilizing fin
actuator assembly
designed
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EP09171591.2A
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English (en)
French (fr)
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EP2172394B1 (de
EP2172394B9 (de
EP2172394A1 (de
Inventor
Alessandro Cappiello
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CMC Marine SRL
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CMC Marine SRL
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Application filed by CMC Marine SRL filed Critical CMC Marine SRL
Priority to PL09171591T priority Critical patent/PL2172394T5/pl
Publication of EP2172394A1 publication Critical patent/EP2172394A1/de
Publication of EP2172394B1 publication Critical patent/EP2172394B1/de
Priority to HRP20120531TT priority patent/HRP20120531T4/hr
Publication of EP2172394B2 publication Critical patent/EP2172394B2/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
    • B63B39/061—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water by using trimflaps, i.e. flaps mounted on the rear of a boat, e.g. speed boat

Definitions

  • the present invention relates to an automatic anti-roll system for the stabilization of the rolling of a watercraft, comprising a stabilizing fin that can turn about an axis, sensor means for detecting the motions of roll of the watercraft, and a control device for governing rotation of said fin about said axis as a function of signals supplied by said sensor means.
  • Stabilizing fins are basically hydrodynamic profiles (similar to airfoil profiles), which are mounted in a transverse direction with respect to the hull in order to reduce the transverse motions of roll (rotations about the longitudinal axis of the hull) induced by the action of the waves.
  • the hydrodynamic profile impinged upon by the flow of water in relative motion with respect to the hull generates a force of hydrodynamic lift that varies, among other things, as a function of the angle of incidence of the profile.
  • the stabilizing fin is associated to a control device that varies the angle of incidence of the hydrodynamic profile as a function of signals indicating rolling of the watercraft.
  • the stabilizing fin is associated to a mechanical actuator having a rotating shaft, the bottom end of which comes out of the hull and is connected to the stabilizing fin.
  • the top part of the shaft of the mechanical actuator is fixed to a rocker, to which two hydraulic cylinders are mechanically connected.
  • the linear motion of the hydraulic cylinders is converted into a motion of rotation of the shaft of the mechanical actuator via the rocker, which also has the function of torque amplifier.
  • the motion of the hydraulic cylinders is ensured by an on-board hydraulic system governed by a proportional directional valve.
  • the proportional valve receives a voltage signal of +/-10 V processed by an electronic control system.
  • the electronic control system comprises a control panel containing a regulator of a PLC type.
  • the electronic control system is associated to a system of sensors for detecting motions of roll, comprising an inclinometer that measures the angle of roll and a gyroscope that measures the speed of roll.
  • the electronic regulator processes the signal supplied by the sensors and generates a voltage signal that determines opening of the proportional valve.
  • the flow of oil that traverses the proportional valve governs linear advance of the cylinders and hence rotation of the rocker. There follows a rotation of the axis of the mechanical actuator and hence of the stabilizing fin.
  • Corresponding to the presumed new angle of incidence is a new value of the force of hydrodynamic lift and hence of the rectifying moment generated on the watercraft. Said rectifying moment tends to offset the destabilizing moment generated by the impact of the waves on the watercraft.
  • the dynamic response of the electronic regulating system is certainly better than the performance required. Also the mechanical actuator in practice can yield good results in terms of dynamic response.
  • the critical aspect of the system is represented by the dynamic behaviour of the hydraulic system.
  • US-A-4926778 discloses a high speed planing watercraft including a pitch stabilization system having variable pitch airfoils controlled by a control system.
  • US-A-3371642 discloses a trim control device for boats including a pair of rearwardly extending plates on the stern of the boat, which form extensions on the bottom surface area thereof.
  • US-A-3020869 discloses an anti-roll stabilizing system for marine vessels including an anti-roll stabilizing fin driven by an hydraulic motor connected to an hydraulic pump by means of hydraulic lines.
  • GB 999 306 discloses an anti-roll stabilizing system for marine vessels including an anti-roll stabilizing fin driven by an electric motor.
  • the present invention relates to an automatic anti-roll system for the stabilization of the rolling of a watercraft according to the preamble of Claim 1, which is known, e.g. from EP 1 577 210 A1 .
  • the object of the present invention is to provide an automatic anti-roll system for the stabilization of the rolling of a watercraft that will enable the aforesaid problems to be overcome.
  • the electronic regulating system of the system according to the present invention is simpler and at the same time more flexible and powerful than the electronic systems used for control of oleodynamic systems.
  • the electronic control system associated to an electric motor enables creation of new, very sophisticated, and highly adaptive algorithms of regulation. This aspect is of fundamental importance for providing a stabilizing system at anchor without penalizing the system as a whole, as occurs in traditional solutions.
  • the stabilizing system 10 comprises a stabilizing fin 12, an actuator assembly 14 and an electronic regulating system 16.
  • the stabilizing fin 12 is able to turn about an axis 18 and is shaped according to a hydrodynamic profile.
  • the actuator assembly 14 is designed to govern rotation of the stabilizing fin 12 about the axis 18.
  • the actuator assembly 14 comprises a fixed support 20, rotatably supported within which is a shaft 22, to which the stabilizing fin 12 is fixed.
  • a shaft 22 to which the stabilizing fin 12 is fixed.
  • two taper bearings 24 are provided for support of the shaft 22.
  • the actuator assembly 14 comprises an electric motor 26 and a motor reducer28.
  • the electric motor 26 is preferably constituted by a permanent-magnet d.c. electric motor (brushless motor).
  • the motor reducer28 is preferably an epicyclic motor reducer with input and output at 90° apart.
  • the input shaft of the motor reducer 28 is fitted on the output shaft of the electric motor 26.
  • the output shaft of the motor reducer 28 is fixed with respect to the shaft 22 that bears the stabilizing fin 12.
  • the electronic regulating system 16 comprises sensor means 30 for detecting the motions of rolling of the watercraft, a microprocessor regulating unit 32, and a driving unit 34.
  • the sensor means 30 preferably comprise at least one sensor for detecting the angle of roll and at least one sensor for detecting the speed of roll.
  • the sensor of the angle of roll can be an inclinometer, and the sensor of the speed of roll can be a gyroscope.
  • the microprocessor regulating unit 32 receives the data on the motions of roll of the watercraft and processes the reference signals to be sent to the driving unit 34.
  • the driving unit 34 carries out a control of the angular position of the stabilizing fin 12 by means of an absolute encoder 36 mounted on the shaft of the electric motor 26.
  • the electronic regulating system 16 enables adjustment of the stabilizing fin 12 in a way that is far more sophisticated than is possible with electro-hydraulic systems according to the known art.
  • Traditional PLC regulators supply only a voltage signal corresponding to an angle of rotation of the fin, from which there is presumed a force of hydrodynamic lift generated by the profile and hence a torque that counters the torque of roll.
  • the regulating system 16 With the regulating system 16 according to the present invention it is possible to carry out control of different reference values of the electric motor 26, amongst which: power, torque, speed, position, power absorption/ load.
  • the electronic regulating system 16 can create algorithms and laws of control not only as a function of the disturbance generated by the waves but, above all, as a function of the actual responses of the watercraft. This aspect is fundamental for the construction of a good stabilizing system at anchor, without penalizing the system as a whole, as occurs in the known art.
  • the adjustment of the stabilizing fin 12 is based upon hydrodynamic laws, assuming that the actual operation approaches the calculated one. This approach, however, neglects a series of phenomena, amongst which the interference between the hull and the stabilizing fin, that are difficult to evaluate with numerical simulations or tank tests.
  • the system according to the present invention it is possible to monitor the operating parameters of the actuator assembly 14 easily (power, torque, speed, position, power absorption/load). This enables evaluation of the real dynamic behaviour of the stabilizing fin 12 and identification of its dynamics.
  • the real operating data enable identification of the hydrodynamic profiles used and enable the due modifications to be made.
  • the advantages that derive from the use of the stabilizing system according to the present invention are the following:

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  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Vibration Prevention Devices (AREA)
  • Control Of Transmission Device (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Vehicle Body Suspensions (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Paper (AREA)
  • Rolls And Other Rotary Bodies (AREA)
  • General Induction Heating (AREA)
  • Studio Devices (AREA)
  • Adjustment Of Camera Lenses (AREA)

Claims (3)

  1. Automatisches Anti-Roll-System für die Stabilisierung des Rollens eines Wasserfahrzeugs vor Anker, aufweisend:
    - eine Stabilisierungsflosse (12), welche sich um eine Achse (18) herum drehen kann, wobei die Stabilisierungsflosse (12) dafür ausgelegt ist in einer Richtung quer in Bezug auf den Rumpf des Wasserfahrzeugs befestigt zu werden und wobei die Stabilisierungsflosse (12) ein hydrodynamisches Profil besitzt, welches im Betrieb von der Wasserströmung mit einer Relativbewegung in Bezug auf den Rumpf beaufschlagt wird, um eine hydrodynamische Hubkraft zu erzeugen;
    - eine Aktuatoranordnung (14), welche ausgebildet ist eine Rotation der Stabilisierungsflosse (12) um die Achse (18) zu regeln; und
    - ein Regulierungssystem (16), welches ausgebildet ist die Aktuatoranordnung (14) zu regeln als eine Funktion von Signalen, welche das Rollen des Wasserfahrzeugs anzeigen, wobei das Regulierungssystem (16) Sensormittel (30) aufweist, welche ausgebildet sind ein Signal bereitzustellen, welches ein Rollen des Wasserfahrzeugs anzeigt, wobei das Regulierungssystem (16) angeordnet ist, um eine Regelung der Winkellage der Stabilisierungsflosse (12) auszuführen mit Hilfe eines Encoders (36) und aufweist:
    - eine Mikroprozessorregelungseinheit (32), welche ausgelegt ist die Daten über das Rollen des Wasserfahrzeugs zu verarbeiten, welche von den Sensormitteln (30) bereitgestellt werden; und
    - eine Ansteuereinheit (34) zum Regeln des Elektromotors (16);
    dadurch gekennzeichnet, dass
    a) die Aktuatoranordnung (14) einen Elektromotor (26) aufweist, welcher über ein Planetenrad-Untersetzungsgetriebe (28) mit der Stabilisierungsflosse (12) verbunden ist; wobei eine Eingangswelle des Untersetzungsgetriebes (28) an einer Ausgangswelle des Elektromotors (26) angebaut ist und eine Ausgangswelle des Untersetzungsgetriebes (28) relativ zu einer Welle (22) befestigt ist, die die Stabilisierungsflosse (12) lagert, und das
    b) der Encoder (36) mit dem Elektromotor (26) verbunden ist.
  2. System gemäß Anspruch 1, dadurch gekennzeichnet, dass das Regulierungssystem (16) angeordnet ist, um eine oder mehrere der nachfolgenden Parameter des Elektromotors (26) zu regeln: Leistung, Drehmoment, Geschwindigkeit, Position, elektrische Eingangsleistung, Last.
  3. System gemäß Anspruch 1, dadurch gekennzeichnet, dass der Elektromotor (26) ein Permanentmagnet-Gleichstrommotor ist.
EP09171591.2A 2008-10-02 2009-09-29 Automatisches Antirollstabilisierungssystem eines Wasserfahrzeugs Active EP2172394B9 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL09171591T PL2172394T5 (pl) 2008-10-02 2009-09-29 Automatyczny układ stabilizacji przeciw-przechyłowej dla jednostki pływającej
HRP20120531TT HRP20120531T4 (hr) 2008-10-02 2012-06-27 Automatski protuljuljni stabilizacijski sustav plovila

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000725A ITTO20080725A1 (it) 2008-10-02 2008-10-02 Sistema automatico di stabilizzazione anti-rollio per imbarcazioni

Publications (4)

Publication Number Publication Date
EP2172394A1 EP2172394A1 (de) 2010-04-07
EP2172394B1 EP2172394B1 (de) 2012-04-04
EP2172394B2 true EP2172394B2 (de) 2016-07-13
EP2172394B9 EP2172394B9 (de) 2017-01-25

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EP09171591.2A Active EP2172394B9 (de) 2008-10-02 2009-09-29 Automatisches Antirollstabilisierungssystem eines Wasserfahrzeugs

Country Status (8)

Country Link
US (1) US20100083887A1 (de)
EP (1) EP2172394B9 (de)
AT (1) ATE552165T1 (de)
DK (1) DK2172394T4 (de)
ES (1) ES2384363T5 (de)
HR (1) HRP20120531T4 (de)
IT (1) ITTO20080725A1 (de)
PL (1) PL2172394T5 (de)

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IT1401941B1 (it) * 2010-09-17 2013-08-28 Rodriquez Marine System Srl Dispositivo per imbarcazioni
ITTO20120472A1 (it) 2012-05-31 2013-12-01 Cmc Marine S R L Procedimento di controllo per la stabilizzazione anti-rollio di imbarcazioni, relativo sistema di stabilizzazione e prodotto informatico
CN105121272B (zh) * 2013-04-18 2017-06-23 罗尼·斯考恩 用于船舶的减摇鳍和主动式稳定系统
CN103803032A (zh) * 2014-02-28 2014-05-21 扬州市江都永坚有限公司 电驱动减摇鳍装置
JP6479397B2 (ja) * 2014-10-09 2019-03-06 三菱重工業株式会社 フィンスタビライザ及びフィンスタビライザの作動油の脱水方法
US9944363B2 (en) * 2014-10-29 2018-04-17 Naiad Maritime Group, Inc. Electric fin stabilizer
FR3032683B1 (fr) 2015-02-17 2017-05-26 Elisabeth Fournier Systeme de stabilisation d'un navire
US10322778B2 (en) 2015-05-22 2019-06-18 Humphree Ab Adjustable device and a boat provided with a stabilizing device
ITUB20169851A1 (it) 2016-01-07 2016-04-07 Psc Eng S R L Metodo di attenuazione dell’oscillazione di una imbarcazione.
ITUB20160510A1 (it) * 2016-01-25 2017-07-25 Aroldo Trivelli Complesso elettromeccanico per il controllo di una struttura a pinna stabilizzatrice per imbarcazioni
CN105775064B (zh) * 2016-04-01 2017-08-11 江苏科技大学 一种带有半主动控制式惯容结构的船舶减摇鳍
PT3658453T (pt) 2017-07-24 2022-03-08 Cmc Marine S R L Sistema de estabilização para uma embarcação
US10625831B2 (en) * 2017-12-15 2020-04-21 Naiad Maritime Group, Inc. Fin stabilizer
US11685485B2 (en) 2017-12-15 2023-06-27 Naiad Maritime Group, Inc. Fin stabilizer
IT201800007927A1 (it) * 2018-08-07 2020-02-07 Verme Projects Srl Apparato di stabilizzazione per imbarcazioni
CN110015387B (zh) * 2019-04-28 2021-08-20 哈尔滨工程大学 一种适用于低速船舶的减摇装置
CN110356525A (zh) * 2019-08-07 2019-10-22 上海衡拓船舶设备有限公司 带减速器的电驱减摇鳍装置
EP3936425A1 (de) * 2020-07-10 2022-01-12 Naiad Maritime Group, Inc. Flossenstabilisator
DE102020208771B4 (de) * 2020-07-14 2022-07-14 Skf Marine Gmbh Antriebsvorrichtung und Flossenstabilisator
DE102020208773A1 (de) * 2020-07-14 2022-01-20 Skf Marine Gmbh Flossenlagerung für einen Flossenstabilisator
DE102020208770B4 (de) 2020-07-14 2025-06-26 Skf Marine Gmbh Vorrichtung
IT202000021328A1 (it) 2020-09-09 2022-03-09 MVM Holding Srl Apparato di stabilizzazione per imbarcazioni
CN112937790A (zh) * 2021-03-29 2021-06-11 上海衡拓船舶设备有限公司 基于锥齿轮传动的无人艇减摇鳍执行机构
NO346599B1 (en) * 2021-08-02 2022-10-24 Sleipner Motor As Vessel stabilizer
KR102673066B1 (ko) * 2022-01-04 2024-07-08 주식회사 비에스이 태양광 발전으로 운영되는 세일요트
CN119336082B (zh) * 2024-10-15 2025-07-15 哈尔滨工程大学 一种减摇陀螺的可控进动控制方法、装置及存储介质

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Also Published As

Publication number Publication date
ATE552165T1 (de) 2012-04-15
ES2384363T5 (es) 2017-01-03
ES2384363T3 (es) 2012-07-04
DK2172394T3 (da) 2012-06-18
ES2384363T9 (es) 2017-11-30
HRP20120531T1 (en) 2012-07-31
EP2172394B1 (de) 2012-04-04
PL2172394T3 (pl) 2012-08-31
US20100083887A1 (en) 2010-04-08
EP2172394B9 (de) 2017-01-25
DK2172394T4 (en) 2016-11-07
ITTO20080725A1 (it) 2010-04-03
HRP20120531T4 (hr) 2016-12-30
PL2172394T5 (pl) 2018-04-30
EP2172394A1 (de) 2010-04-07

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