JPH0512154Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a ship equipped with a superstructure supported on a main hull via a buffer support device.

[Conventional technology]

Generally, in ships, the main hull (lower structure)
and the superstructure (including living quarters such as guest rooms and the bridge) are integrated. Therefore, the oscillation of the main hull directly causes the oscillation of the superstructure, and in times of stormy weather, etc., it is not possible to ensure sufficient habitability in the living quarters included in the superstructure.

In particular, it is desirable for hospital rooms and special rooms installed in the superstructure of a ship to not sway even when the ship is sailing through waves. In addition, it is desired that not only cabins but also helipads and the like be held horizontally, and not only ships but also floating structures on the sea require upper structures that are not affected by the rocking of lower structures that serve as floating bodies. .

Therefore, conventionally, superstructures including guest rooms, etc.
Separate from the main hull (lower structure that becomes a floating body),
A ship is used in which the main hull is supported via a buffer support device.

That is, by expanding and contracting the shock absorbing support device, the superstructure is stabilized regardless of the movement of the main hull.

Therefore, a ship as shown in FIG. 2 is also provided. In the figure, a main hull 5 that generates buoyancy and an upper structure 4 supported on the main hull 5 via a controllable shock absorbing support device 1 are provided.

In addition, as shown in FIG. 3, the buffer support device 1 includes a buffer 1a consisting of a spring and a damper (not shown), an accumulator 1b for holding the weight of the upper structure 4, and a buffer 1a that can move the buffer 1a itself up and down. The hydraulic cylinder 1c is driven to adjust the position of the support point of the upper structure 4 by the buffer support device 1. Pressure oil is supplied to the oil chambers above and below the piston in the hydraulic cylinder 1c via a servo valve 1d, and by controlling the opening degree of this servo valve 1d,
The amount of pressurized oil is adjusted, and the position of the support point of the above-mentioned upper structure 4 is controlled via the hydraulic cylinder 1c.

Note that at least three buffer support devices 1 are provided between the superstructure 4 and the main hull 5 so that the roll and pitch of the superstructure 4 can be controlled.

On the other hand, a vibration detector 2 is located at the center of gravity of the upper structure 4.
Vertical gyroscope 2A and displacement meter 2 as
The vertical gyro 2A and the displacement meter 2B measure the roll angle φ _C and pitch angle θ _C around the center of gravity of the upper structure 4, respectively.
and the vertical displacement _zCG of the center of gravity of the upper structure 4 are detected.

Furthermore, this control system includes an A/D converter 6 for converting the outputs (φ _C , θ _C , z _CG ) from the vertical gyro 2A and the displacement meter 2B from analog signals to digital signals. and receives the digital output (φ _C , θ _C , z _CG ) from the A/D converter 6 and calculates the displacement z _i (i=1 to N, N ≧
3), and PID control that outputs a control command signal _u1i to the servo valve 1d in order to control the position of the support point of the upper structure 4 based on the calculation result z _i. A section 8 is provided.

Note that the output (u _1i ) from the PID control unit 8 is D/
After the digital signal is converted into an analog signal by the A converter 9, it is output to the buffer support device 1.

Since the conventional superstructure support control type ship is configured as described above, when the superstructure 4 shakes, the displacement meter 2B detects the vertical displacement z _CG of the center of gravity of the superstructure 4, and A roll angle φ _C and a pitch angle θ _C around the center of gravity of the upper structure 4 are detected by the vertical gyro 2A.

Since these detection signals z _CG , φ _C , and θ _C are analog signals, they are converted into digital signals by the A/D converter 6 and then input to the support point displacement calculator 7 .

This support point displacement calculator 7 calculates the displacement z _i (i=1 to N, N≧3) of the support point of the upper structure 4 due to the buffer support device 1 using the following equation.

z _i =z _CG −(x _i −x _CG )・θ _C +(y _i −y _CG )・φ _C (i=1~N) ...(1) Here, the origin of the xy coordinate system is appropriate. In addition, (x _i , y _i ) are the xy plane coordinates of each known support point, (x _CG , y _CG ) is the known xy plane coordinates of the center of gravity of the upper structure 4, and N is the number of support points, that is, the number of buffer support devices 1 (3 or more).

The result z _i calculated based on equation (1) is input to the PID controller 8, and in this PID controller 8, the displacement
Based on z _i , servo valve 1 of each buffer support device 1
A control command signal u _1i to d is calculated by the following equation and output.

u〓u _1i = −K _Pi・(1+K _Ii /s+K _Di・s)・u〓 _i ...(2) Here, ~ indicates that it has been Laplace transformed,
s is the Laplace transform parameter, K _Pi is the proportional gain, K _Ii is the integral gain, K _Di is the differential gain,
These gains K _Pi , K _Ii , and K _Di are set for each buffer support device 1 .

In this way, the control command signal u _1i output from the PID control unit 8 is converted into analog by the D/A converter 9 and then output to the servo valve 1 d of each buffer support device 1 . Then, by controlling the opening degree of the servo valve 1d based on the control command signal u _i , the amount of pressurized oil to the hydraulic cylinder 1c is controlled, and the amount of pressure oil supplied to the hydraulic cylinder 1c and the shock absorber 1a is controlled by the buffer support device 1. The position of the support point of the superstructure 4 is controlled.

As a result, the movement of the upper structure 4 is reliably suppressed, the drive of the upper structure 4 is actively controlled so that it becomes horizontal, and the riding comfort inside the upper structure 4 is improved.

[Problem that the invention attempts to solve]

However, in order to improve this control performance, the superstructure must be made considerably lighter, and this reduces the rigidity of the superstructure itself, resulting in an increase in elastic vibration within the structure. .

The present invention was proposed in view of these circumstances, and is a superstructure support control type ship that can control elastic vibrations in areas that are greatly affected by elastic vibrations within the superstructure. The purpose is to provide

[Means for solving problems]

To this end, the present invention provides a ship consisting of a main hull and a superstructure supported on the same hull via a controllable buffer support device, in which a motion detector is installed on the superstructure or the main hull. a displacement calculator that receives the output of the vibration detector and calculates the displacement of the support point of the upper structure by the buffer support device; and a displacement calculator that calculates the displacement of the support point of the upper structure by the buffer support device, and and a PID controller for controlling the position of the superstructure, the displacement meter having a base fixed to the main hull and the other end located at the control position. The connected actuator, a rigid body component calculator that receives the output of the vibration detector and calculates the rigid body component ZA at the control position using the following formula, and the output of the calculator and the displacement meter placed at the control position. The present invention is characterized by comprising a comparator that calculates a receiving displacement difference, and a second PID control device that receives the output of the comparator and controls the actuator to suppress an increase in vibration due to elastic vibration.

_{Z A = Z C − ( X A − ​ ​} Y _A ) is the X-Y coordinate of the control position (X _C , Y _C ) is the X-Y coordinate of the vibration detector position. The displacement is measured with the desired control position set at the location where the displacement is to be suppressed as much as possible. On the other hand, the rigid body component at a desired position is calculated using the output of a motion detector placed at the center of gravity of the upper structure. The actuator is mounted at a position where the displacement of the desired position can be directly controlled, and the second PID
Controlled by a control device.

〔Example〕

Hereinafter, the present invention will be explained with reference to a ship according to an embodiment shown in FIG.
Explanation will be omitted.

In this embodiment, the motion detector 2 is a superstructure 4
and the main hull 5, and are each composed of a displacement meter 2A and a vertical gyroscope 2B (not shown).

10 is a displacement meter, which is installed at point A of the upper structure 4 where the influence of elastic vibration is large;
Find the actual displacement Ze. In addition, so that the actuator 11 can directly control this point A,
It is located.

Reference numeral 12 denotes a rigid body component calculator which receives the output of the vibration detector 2 and calculates the rigid body component Z _A of the displacement at point A using the following equation.

_{Z A = Z C − ( X A − ​ ​} , Y _A ) is the X-Y coordinate of point A. (X _C , Y _C ) is the X-Y coordinate of the vibration detector position. The difference ΔZ=Ze−Z A between the rigid component Z _A of the point _A and the actual displacement Ze at the point A, which is the output of the A/D converter 14 measured by the displacement meter 10, is calculated. Then, based on the displacement difference ΔZ, which is the influence of the elastic vibration at the point A, the second PID control device 13 performs PID control on the actuator 11.

Note that 15 is a D/A converter.

According to the ship of this embodiment, the point A where the influence of elastic vibration of the superstructure 4 is large is located at the actuator 10.
Since the vibration is directly controlled, an increase in vibration due to elastic vibration of the upper structure 4 can be suppressed.

[Effect of idea]

According to the superstructure support control type ship of the present invention,
Since it is possible to suppress elastic vibrations at points where the influence of elastic vibrations in the upper structure is large due to reduction in weight and rigidity, the ship ride comfort is improved and it is industrially useful.

[Brief explanation of the drawing]

FIG. 1 is a diagram of a ship showing an embodiment of the present invention, FIG. 2 is a diagram of a conventional ship, and FIG. 3 is an explanatory diagram of a shock absorbing support device. 1... Buffer support device, 2... Shake detector, 2a
... Vertical gyroscope, 2b... Displacement meter, 4...
...Superstructure, 5...Main hull, 6...A/D converter, 7...Support point displacement calculator, 8...PID controller, 9...D/A converter, 10...Displacement meter , 11
... Actuator, 12 ... Rigid body component calculator,
13...Second PID calculator, 14...A/D converter, 15...D/A converter, 16...Comparator.

Claims (1)

[Utility Model Claims] A ship consisting of a main hull and a superstructure supported on the hull via a controllable shock absorber, the ship having a motion detector disposed on the superstructure or the main hull, a displacement calculator which receives the output of the motion detector and calculates the displacement of the support point of the superstructure by the shock absorber, and a PID controller which controls the position of the support point by the displacement calculator so as to reduce the motion of the superstructure, the ship being characterized in that it further comprises a displacement meter disposed at a desired control position of the superstructure, an actuator whose base is fixed to the main hull and whose other end is connected to the control position, a rigid body component calculator which receives the output of the motion detector and calculates the rigid body component ZA of the control position using the following equation, a comparator which receives the outputs of the calculator and the displacement meter disposed at the control position and calculates the displacement difference, and a second PID control device which receives the output of the comparator and controls the actuator so as to suppress increase in vibration due to elastic vibration. _ZA = _ZC - (XA _{- XC} ) _θC + (YA _{- YC} ) _φC where _ZC is the displacement at the motion detector, _θC is the pitch at the motion detector, _φC is the roll at the motion detector, ( _XA , _YA ) are the X-Y coordinates of the control position, and ( _XC , _YC ) are the X-Y coordinates of the motion detector position.