CN113879473B - X-type active anti-rolling water tank device and method - Google Patents
X-type active anti-rolling water tank device and method Download PDFInfo
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- CN113879473B CN113879473B CN202111162814.1A CN202111162814A CN113879473B CN 113879473 B CN113879473 B CN 113879473B CN 202111162814 A CN202111162814 A CN 202111162814A CN 113879473 B CN113879473 B CN 113879473B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 452
- 238000005096 rolling process Methods 0.000 title claims abstract description 171
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000003921 oil Substances 0.000 claims description 61
- 230000009467 reduction Effects 0.000 claims description 38
- 238000002347 injection Methods 0.000 claims description 9
- 239000007924 injection Substances 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 230000003247 decreasing effect Effects 0.000 claims description 6
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 239000007788 liquid Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 239000002828 fuel tank Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- 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
- B63B39/02—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses
- B63B39/03—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses by transferring liquids
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- Chemical & Material Sciences (AREA)
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to an X-shaped active anti-rolling water tank device and a method, wherein the anti-rolling water tank device comprises an upper left water tank, an upper right water tank, a lower left water tank, a lower right water tank, a left water guide pipeline, a right water guide pipeline, a hydraulic-water tank unit, a water tank driving hydraulic system and an anti-rolling control system; the left upper water tank and the left lower water tank are respectively arranged in an upper area and a lower area of the port of the ship body, and the right upper water tank and the right lower water tank are respectively arranged in an upper area and a lower area of the starboard of the ship body; when the anti-rolling control system controls the hydraulic-hydraulic cylinder unit to push left through the hydraulic cylinder driving hydraulic system, the left upper water tank and the left lower water tank drain water to the right lower water tank and the right upper water tank respectively; when the anti-rolling control system controls the hydraulic-hydraulic cylinder unit to push right through the hydraulic cylinder driving hydraulic system, the upper right water tank and the lower right water tank drain water to the lower left water tank and the upper left water tank respectively. The invention has low energy consumption and can doubly improve the anti-rolling effect.
Description
Technical Field
The invention relates to the technical field of ships, in particular to an X-shaped active anti-rolling water tank device and method.
Background
The anti-rolling water tank is one of devices for reducing the rolling of ships, can play a role at any navigational speed of the ships, and is widely applied to various ships. The research on the anti-rolling water tanks at home and abroad is quite different in structural form, but can be classified into two major types of U-shaped water tanks and groove-shaped water tanks. The anti-rolling slave working principle can be divided into a passive anti-rolling water tank, a passive controllable anti-rolling water tank and an active anti-rolling water tank, wherein the passive anti-rolling or passive controllable anti-rolling is mainly adopted. The passive controllable anti-rolling water tank mainly adopts variable pump, air compressor, blower and other equipment, controls the water tank side tank liquid level by adjusting valve switch, changes the oscillation period of water in the tank, and has low anti-rolling efficiency for large ships although the anti-rolling effect can be achieved. The active anti-rolling water cabin realizes the change of water in the cabin rapidly in real time through the control system according to the ship swinging condition, thereby actively achieving the anti-rolling effect, but the technical difficulty exists in specific realization due to large energy consumption.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an X-type active anti-rolling water tank device and an X-type active anti-rolling water tank method, which are equipment for actively controlling liquid to transfer in a ship water tank by utilizing an electrohydraulic servo system so as to reduce the rolling motion of the ship, solve the rolling problem of the ship during sailing and berthing, are different from the traditional U-type water tank and the groove-type water tank, and further improve the performance of the anti-rolling water tank.
The specific technical scheme of the invention is as follows:
the X-shaped active anti-rolling water tank device is characterized by comprising an upper left water tank, an upper right water tank, a lower left water tank, a lower right water tank, a left water guide pipeline, a right water guide pipeline, a hydraulic-water tank unit, a water tank driving hydraulic system and an anti-rolling control system;
the left upper water tank and the left lower water tank are respectively arranged in an upper area and a lower area of a port of a ship body, and the right upper water tank and the right lower water tank are respectively arranged in an upper area and a lower area of a starboard of the ship body; the left upper water tank is communicated with the right lower water tank through the left water guide pipeline; the right upper water tank is communicated with the left lower water tank through the right water guide pipeline; the left lower water tank and the right lower water tank are connected through the hydraulic-water tank unit;
when the anti-rolling control system controls the hydraulic-hydraulic cylinder unit to push left through the hydraulic cylinder driving hydraulic system, the left upper water tank and the left lower water tank drain water to the right lower water tank and the right upper water tank respectively; when the anti-rolling control system controls the hydraulic-hydraulic cylinder unit to push right through the hydraulic cylinder driving hydraulic system, the upper right water tank and the lower right water tank drain water to the lower left water tank and the upper left water tank respectively.
Further, the hydraulic-hydraulic cylinder unit comprises a left hydraulic cylinder, a right hydraulic cylinder, a long hydraulic cylinder and a piston structure; the left end and the right end of an oil cylinder piston rod of the long hydraulic oil cylinder are respectively connected with the left water cylinder and the right water cylinder through the piston structures, and the left water cylinder is embedded into the left lower water tank and is communicated with the left lower water tank; the right water tank is embedded in the right lower water tank and communicated with the right lower water tank; the long hydraulic cylinder drives the piston structure to push water in the left water tank or the right water tank through the cylinder piston rod, and the water quantity in the left upper water tank, the left lower water tank, the right upper water tank and the right lower water tank is regulated.
Further, the piston structure comprises a left clamp frame, a right clamp frame, a left extension push-pull rod, a right extension push-pull rod, a flange, a left water cylinder piston rod, a right water cylinder piston rod, a support, a left water cylinder piston and a right water cylinder piston;
the left end of the cylinder piston rod is in clamping connection with the left extension push-pull rod through the left clamp frame; the left extension push-pull rod is connected with the left water cylinder piston rod through the flange; the left water cylinder piston rod is connected with the left water cylinder piston through the support circumferentially arranged in a surrounding manner, and the left water cylinder piston is embedded and sleeved with the left water cylinder;
The right end of the cylinder piston rod is in clamping connection with the right side extension push-pull rod through the right clamp frame; the right side extension push-pull rod is connected with the right water cylinder piston rod through the flange; the right water cylinder piston rod is connected with the right water cylinder piston through the support circumferentially arranged in a surrounding mode, and the right water cylinder piston is embedded and sleeved with the right water cylinder.
Further, the piston structure further comprises a sealing ring, and the sealing rings are respectively arranged at the joint of the support and the left water cylinder piston and the joint of the support and the right water cylinder piston.
Further, the hydraulic-hydraulic cylinder unit also comprises a bracket, an oil cylinder support and a guide rail; the support is transversely arranged relative to the ship body and positioned in the middle of the hydraulic-hydraulic cylinder unit, two ends of the long hydraulic cylinder are respectively fixed on the support through the cylinder support, and two groups of guide rails are symmetrically paved on the left side and the right side of the upper surface of the support; the left clamp frame is arranged on the left side of the guide rail through a roller; the right clamp frame is arranged on the right side of the guide rail through the idler wheels.
Further, the hydraulic cylinder driving hydraulic system comprises an oil tank, a first hydraulic pump set, a second hydraulic pump set, a first high-pressure filter, a second high-pressure filter, a servo valve and an electromagnetic valve;
The input ends of the first hydraulic pump group and the second hydraulic pump group are respectively connected with the oil tank through oil ways; the output ends of the first hydraulic pump set and the second hydraulic pump set are respectively connected with the input oil paths of the first high-pressure filter and the second high-pressure filter through oil paths, and the output oil paths of the first high-pressure filter and the second high-pressure filter are respectively communicated with the servo valve and the electromagnetic valve;
the servo valve and the electromagnetic valve are respectively provided with a first output oil way and a second output oil way; the servo valve is communicated with the first output oil way of the electromagnetic valve and then connected with the long hydraulic oil cylinder, and the servo valve is communicated with the second output oil way of the electromagnetic valve and then connected with the long hydraulic oil cylinder.
Further, the anti-rolling control system comprises an anti-rolling control box, a hydraulic starting cabinet, a sensor group and a power supply device; the anti-rolling control box is respectively connected with the hydraulic starting cabinet, the sensor group and the hydraulic cylinder driving hydraulic system;
the anti-rolling control box receives the ship information acquired by the sensor group and controls the water cylinder to drive the hydraulic system to act; the hydraulic starting cabinet is respectively connected with the first hydraulic pump group and the second hydraulic pump group and is used for starting the first hydraulic pump group and the second hydraulic pump group; the sensor group is used for collecting state information of the ship; the power supply device is used for respectively supplying power to the anti-rolling control box, the hydraulic starting cabinet, the sensor group and the hydraulic cylinder driving hydraulic system.
Further, the anti-rolling control box is provided with a control panel, a display and an anti-rolling controller;
the control panel is used for inputting control instructions, and is provided with an automatic/manual change-over switch, a motor start/stop self-locking button, a rolling-resistant start/stop self-locking button, a rolling self-locking button, a left-tilting button and a right-tilting button; the motor start/stop self-locking button is connected with the hydraulic starting cabinet through a signal wire, and the automatic/manual change-over switch, the anti-rolling start/stop self-locking button, the shaking self-locking button, the left-tilting button and the right-tilting button are connected with the anti-rolling controller through signal wires;
the display is connected with the anti-rolling controller and used for displaying anti-rolling control information and the ship body state;
the anti-rolling controller is respectively connected with the control panel, the sensor group, the servo valve and the electromagnetic valve and used for controlling the opening sizes and directions of the servo valve and the electromagnetic valve.
The invention also discloses an active anti-rolling method of the X-type active anti-rolling water tank device, which is characterized in that the anti-rolling water tank device realizes the active anti-rolling method of the ship through an anti-rolling control system, and the method is as follows:
S1, a power supply device supplies power to a roll reduction control system, and after the roll reduction water tank device is checked to be abnormal, a first hydraulic pump set and a second hydraulic pump set are started;
s2, transmitting a left tilting signal or a right tilting signal for controlling the ship to a hydraulic cylinder driving hydraulic system by the anti-rolling controller, and driving a piston rod of the hydraulic cylinder to move by controlling the opening sizes and directions of the servo valve and the electromagnetic valve;
when a left tilting signal is received, a piston rod of the oil cylinder moves to the right side to push water of the right water cylinder to enter a lower right water tank, and water in the lower right water tank is injected into an upper left water tank through a left water guide pipeline; water in the upper right water tank enters the lower left water tank through the right water guide pipeline; after the left-hand tilting signal is released, stopping water injection of the upper left water tank and the lower left water tank of the port;
when a right tilting signal is received, a piston rod of the oil cylinder moves leftwards to push water of the left water tank to enter a left lower water tank, water in the left lower water tank is injected into a right upper water tank through a right water guide pipeline, and water in the left upper water tank enters the right lower water tank through the left water guide pipeline; after the right tilting signal is released, stopping water injection into the upper right water tank and the lower right water tank;
and S3, displaying the state information of the ship on a graphical form data interface displayed on a display in real time.
Further, the anti-rolling control system realizes active anti-rolling of the ship through a manual operation mode or an automatic balance operation mode; the control method for the movement of the cylinder piston rod in the automatic balance operation mode comprises the following steps:
s1, calculating a ship rolling trend phi' by a rolling reduction controller according to a ship rolling angle signal phi of a gyro sensor;
s2, the phase X of the motion of the cylinder piston rod is 180 degrees different from the rolling trend phi' of the ship, and the cylinder piston rod starts to move when the ship has the rolling trend; the anti-rolling controller drives the hydraulic system to control the piston rod of the oil cylinder to reciprocate through the water cylinder, and the process is as follows:
when the ship rolling trend phi ' is positive and has an increasing trend, the roll reducing controller controls the cylinder piston rod of the cylinder to rapidly move to the starboard through the hydraulic system driven by the water cylinder, and the ship rolling trend phi ' stops when the ship rolling trend phi ' reaches the maximum value; when the ship rolling trend phi 'is positive and has a decreasing trend, the anti-rolling controller controls the cylinder piston rod to rapidly move towards the port through the hydraulic system driven by the water cylinder, and when the ship rolling trend phi' is reduced to 0, the cylinder piston rod moves to the middle position of the stroke, and the displacement position X=0;
when the ship rolling trend phi ' is negative and the absolute value has an increasing trend, the roll reducing controller controls the cylinder piston rod of the cylinder to rapidly move rightwards through the hydraulic system driven by the water cylinder, and the ship rolling trend phi ' stops when the ship rolling trend phi ' reaches the maximum value; when the ship rolling trend phi 'is negative and the absolute value has a decreasing trend, the roll reduction controller controls the cylinder piston rod to rapidly move to the starboard through the hydraulic cylinder driving system, and when the ship rolling trend phi' is reduced to 0, the cylinder piston rod moves to the middle position of the stroke, and the displacement position X=0.
The invention has the beneficial effects that:
the invention is different from the traditional U-shaped water tank and groove-shaped water tank, adopts an X-shaped water tank structure, improves the anti-rolling effect by times by utilizing a computer control technology, an electrohydraulic servo control technology and a water tank anti-rolling control technology, adapts to different rolling, has the advantage of good anti-complex sea condition rolling performance, and ensures that a ship has an active anti-rolling function no matter in static or sailing, and has an active rolling function.
According to the ship state information acquired by the sensor group, the anti-rolling control system provided by the invention adjusts the control instruction of the hydraulic cylinder driving hydraulic system in real time, and drives the cylinder piston rod of the long hydraulic cylinder to reciprocate left and right so as to adjust the water quantity of the port and starboard water tanks of the ship body, so that the anti-rolling effect can be rapidly and actively achieved in real time. In addition, the left clamp frame and the right clamp frame in the hydraulic-water cylinder unit are respectively arranged on the guide rail through rollers, and the energy consumption of a water cylinder driving hydraulic system can be reduced through rolling movement.
In addition, the invention adjusts the water quantity of the left upper water tank, the left lower water tank, the right upper water tank and the right lower water tank in the X-shaped water tank structure, adjusts the counter weights of the port board and the starboard of the ship, realizes the active anti-rolling of the ship, reduces the adjustment quantity of the water quantity in each water tank, improves the anti-rolling efficiency, shortens the stroke of the long hydraulic cylinder by utilizing the gravity and the suction, and saves the use cost. The manual and automatic modes of operation of the roll reduction control system may select a fast roll reduction mode for travel or berthing operations based on different sea conditions to improve roll reduction efficiency. And when in an automatic balance operation mode, the horizontal posture of the ship can be automatically and quickly adjusted in real time according to the sea condition by controlling the movement of the piston rod of the oil cylinder, so that the labor cost is greatly reduced.
Drawings
FIG. 1 is a block diagram of an X-type active anti-roll tank apparatus according to the present invention;
FIG. 2 is a schematic perspective view of an X-type active anti-roll tank device according to the present invention;
FIG. 3 is a schematic perspective view of a hydraulic-hydraulic cylinder unit of an X-type active anti-roll tank device;
FIG. 4 is a schematic view of a port tank-pod perspective structure according to the present invention;
FIG. 5 is a schematic diagram of a driving hydraulic system of an X-type active anti-roll tank device according to the invention;
FIG. 6 is a schematic diagram of an electronic control system of an active marine vessel platform attitude control device according to the present invention;
FIG. 7 is a schematic diagram of an X-type active anti-roll pod apparatus control box and a box panel according to the present invention;
FIG. 8 is a schematic diagram of an automatic roll reduction control strategy for an X-type active roll reduction tank apparatus according to the present invention.
Wherein: 1-upper left water tank, 2-right upper water tank, 3-lower water tank, 4-right lower water tank, 5-left water guide pipeline, 6-right water guide pipeline, 7-first lower opening, 8-second lower opening, 9-first upper side opening, 10-second upper side opening, 11-air guide pipe, 12-hull, 14-water leakage tank, 15-left water tank, 16-right water tank, 17-bracket, 18-long hydraulic cylinder, 19-cylinder support, 20-cylinder piston rod, 21-left clamp frame, 22-right clamp frame, 23-left extension push-pull rod, 25-flange, 26-left water cylinder piston rod, 28-support, 29-sealing ring, 30-left water cylinder piston, 32-guide rail 33-tank, 34-first hydraulic pump, 35-second hydraulic pump, 36-first motor, 37-second motor, 38-first high-pressure filter, 39-second high-pressure filter, 40-servo valve, 41-solenoid valve, 42-accumulator, 43-relief valve, 44-check valve, 45-roll reduction control box, 46-hydraulic starting cabinet, 47-sensor group, 48-power supply device, 49-operating panel, 50-display, 51-roll reduction controller, 52-automatic/manual change-over switch, 53-motor start/stop self-locking button, 54-roll reduction start/stop self-locking button, 55-roll self-locking button, 56-left-tilting button, 57-right-tilting button, 58-acceleration sensor, 59-gyro sensor, 60-displacement sensor.
Detailed Description
In order to better understand the technical solutions of the present application, the present invention will be further described in detail below with reference to the drawings and the embodiments.
The terms of upper, lower, left, right, front, rear, and the like in the present application are established based on the positional relationship shown in the drawings. The drawings are different, and the corresponding positional relationship may be changed, so that the scope of protection cannot be understood.
In the present invention, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, and may be, for example, fixedly connected or detachably connected, integrally connected or mechanically connected, electrically connected or communicable with each other, directly connected or indirectly connected through an intermediate medium, or communicated between two components, or an interaction relationship between two components. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The embodiment records an X-type active anti-rolling water tank device and a method, and the anti-rolling water tank device integrates a computer control technology, an electrohydraulic servo control technology and a water tank anti-rolling control technology, when in offshore operation, the water quantity of water tanks arranged on an upper layer and a lower layer and a left side and a right side of a ship is regulated, counter weights of the left side and the right side are redistributed, the left-right inclined one-dimensional horizontal posture of the ship is manually controlled, and the anti-rolling function of the ship at any navigational speed is realized.
As shown in fig. 1 and 2, the anti-rolling water tank device comprises a left upper water tank 1, a right upper water tank 2, a left lower water tank 3, a right lower water tank 4, a left water guide pipeline 5, a right water guide pipeline 6, an air guide pipe 11, a hydraulic-water tank unit, a water leakage tank 14, a water tank driving hydraulic system and an anti-rolling control system.
The upper left deck tank 1 and the lower left deck tank 3 are disposed in upper and lower regions of the port side of the hull 12, respectively, and the upper right deck tank 2 and the lower right deck tank 4 are disposed in upper and lower regions of the starboard side of the hull 12, respectively. The first lower end opening 7 of the upper left water tank 1 is communicated with the second upper side opening 10 of the lower right water tank 4 through the left water guide pipeline 5. The second lower end opening 8 of the upper right water tank 2 is communicated with the first upper side opening 9 of the lower left water tank 3 through the right water guide pipeline 6. The upper left water tank 1 is communicated with the upper part of the upper right water tank 2 through an air duct 11, a hydraulic-water tank unit is arranged in the middle area between the lower left water tank 3 and the lower right water tank 4, and a water leakage groove 14 is arranged on the ship 12 below the hydraulic-water tank unit so as to prevent overflowing water from scattering on the ship 12. The anti-rolling control system controls the hydraulic-hydraulic cylinder unit to adjust the water quantity in the port and starboard water tanks of the ship through the hydraulic cylinder driving hydraulic system.
In this embodiment, the hydraulic-hydraulic cylinder unit is arranged above the water leakage groove 14 of the middle platform of the lower cabin of the ship, and as shown in fig. 3 and 4, the hydraulic-hydraulic cylinder unit comprises a left hydraulic cylinder 15, a right hydraulic cylinder 16, a bracket 17, a long hydraulic cylinder 18, a cylinder support 19, a piston structure and a guide rail 32.
The bracket 17 is transversely arranged relative to the hull 12 and is positioned in the middle of the hydraulic-hydraulic cylinder unit, four guide rails 32 are divided into two groups, and the four guide rails are symmetrically paved on the left side and the right side of the upper surface of the bracket 17. The long hydraulic cylinder 18 and the ship body 12 are transversely arranged in the center of the upper surface of the bracket 17, and two ends of the long hydraulic cylinder 18 are respectively fixed on the bracket 17 through cylinder supports 19. The left and right ends of the cylinder piston rod 20 of the long hydraulic cylinder 18 are respectively connected with the left water cylinder 15 and the right water cylinder 16 through piston structures, and the long hydraulic cylinder 18 drives the piston structures to push water in the left water cylinder 15 or the right water cylinder 16 through the cylinder piston rod 20.
The piston structure in this embodiment includes a left clamp frame 21, a right clamp frame 22, a left extension push-pull rod 23, a right extension push-pull rod, a flange 25, a left cylinder piston rod 26, a right cylinder piston rod, a support 28, a seal 29, a left cylinder piston 30, and a right cylinder piston.
The left end of the cylinder piston rod 20 is in clamping connection with the right end of the left clamp frame 21, the left clamp frame 21 is arranged on the left guide rail 32 through rollers and can slide along the guide rail 32, the left end of the left clamp frame 21 is in clamping connection with the right end of the left extension push-pull rod 23, the left end of the left extension push-pull rod 23 is connected with the right end of the left cylinder piston rod 26 through a flange 25, the left end of the left cylinder piston rod 26 is connected with the left cylinder piston 30 through a support 28 circumferentially arranged in a surrounding manner, the joint is sealed through a sealing ring 29, and the left cylinder piston 30 is embedded and sleeved with the left cylinder 15. The left end of the left water tank 15 is embedded into the right end face opening of the left lower water tank 3 and is communicated with the left lower water tank 3.
The right end of the cylinder piston rod 20 is in clamping connection with the left end of the right clamp frame 22, the right clamp frame 22 is arranged on the right side guide rail 32 through rollers and can slide along the guide rail 32, the right end of the right clamp frame 22 is in clamping connection with the left end of the right extension push-pull rod, and the axial right end of the right extension push-pull rod is connected with the right cylinder piston rod through a flange 25. The right end of the right water cylinder piston rod is connected with the right water cylinder piston through a support 28 circumferentially arranged around, and the joint is sealed through a sealing ring 29, and the right water cylinder piston is embedded and sleeved with the right water cylinder 16. The right end of the right water tank 16 is embedded into the left end surface opening of the right lower water tank 4 and is communicated with the right lower water tank 4.
The hydraulic cylinder driving system is used for driving the long hydraulic cylinder 18 to move left and right by the cylinder piston rod 20, and as shown in fig. 5, the hydraulic cylinder driving system comprises a fuel tank 33, and the fuel tank 33 can be a stainless steel fuel tank. The oil tank 33 is connected to the left and right sides of the long hydraulic cylinder 18 through two oil passages, respectively.
On the two oil paths, the input ends of the first hydraulic pump set 34 and the second hydraulic pump set 35 are respectively connected with the oil tank 33 through the oil paths, and the first hydraulic pump set 34 and the second hydraulic pump set 35 respectively provide power through a first motor 36 and a second motor 37. The output ends of the first hydraulic pump group 34 and the second hydraulic pump group 35 are respectively connected with the input oil paths of the first high-pressure filter 38 and the second high-pressure filter 39 through oil paths, and the output oil paths of the first high-pressure filter 38 and the second high-pressure filter 39 are respectively communicated with a large-diameter servo valve 40 and an electromagnetic valve 41. Meanwhile, the output oil paths of the first high-pressure filter 38 and the second high-pressure filter 39 are communicated, and the two ends of the communicated oil paths are respectively connected with the energy accumulator 42 and the overflow valve 43. The servo valve 40 and the electromagnetic valve 41 are respectively provided with a first output oil way and a second output oil way, the first output oil ways of the servo valve 40 and the electromagnetic valve 41 are communicated and then connected with the long hydraulic cylinder 18, and the second output oil ways of the servo valve 40 and the electromagnetic valve 41 are communicated and then connected with the long hydraulic cylinder 18. The output ends of the servo valve 40 and the oil return port of the electromagnetic valve 41 and the overflow valve 43 are connected with the check valve 44 after being converged through the oil return pipeline, and the oil return pipeline enters the bottom of the oil tank 33 after passing through the check valve 44.
The anti-rolling control system is connected with the hydraulic cylinder driving system, and is used for outputting control instructions and displaying anti-rolling state parameters. As shown in fig. 1 and 6, the roll reduction control system includes a roll reduction control box 45, a hydraulic start tank 46, a sensor group 47, and a power supply device 48. The anti-rolling control box 45, the hydraulic starting cabinet 46, the sensor group 47 and the hydraulic cylinder driving hydraulic system are respectively powered by a power supply device 48.
The anti-rolling control box 45 is used for collecting control information of the ship and controlling the hydraulic cylinder to drive the hydraulic system to act according to the command signal. The anti-rolling control box 45 is respectively connected with a hydraulic starting cabinet 46, a sensor group 47 and a servo valve 40 and an electromagnetic valve 41 in the hydraulic cylinder driving hydraulic system, and the hydraulic starting cabinet 46 is connected with a first hydraulic pump set 34 and a second hydraulic pump set 35 in the hydraulic cylinder driving hydraulic system. The roll reduction control box 45 is provided with a control panel 49, a display 50, and a roll reduction controller 51, and the control panel 49 and the display 50 are connected to the roll reduction controller 51, respectively.
The control panel 49 is used for inputting control instructions, and can be connected with the anti-rolling controller 51 in a wire control or remote control mode. As shown in fig. 7, the control panel 49 is provided with an automatic/manual change-over switch 52, a motor start/stop self-locking button 53, a anti-shake start/stop self-locking button 54, a start/shake self-locking button 55, a left-tilting button 56, a right-tilting button 57, etc., wherein the buttons of the motor start/stop self-locking button 53, the anti-shake start/stop self-locking button 54, the start/shake self-locking button 55, the left-tilting button 56, the right-tilting button 57, etc. can be buttons with indicator lamps, and the indicator lamps are turned on when the buttons are pressed. Wherein, the motor start/stop self-locking button 53 is connected with the hydraulic starting cabinet 46 through a signal wire, and the automatic/manual change-over switch 52, the anti-rolling start/stop self-locking button 54, the rolling self-locking button 55, the left-leaning button 56 and the right-leaning button 57 are connected with the anti-rolling controller 51 through signal wires.
The display 50 is used for displaying roll control information, and parameter information such as the status of the hull 12.
The stabilizer controller 51 is connected to the control panel 49, the sensor group 47, the servo valve 40, and the solenoid valve 41, and the stabilizer controller 51 controls the opening sizes and directions of the servo valve 40 and the solenoid valve 41 based on the information acquired by the control panel 49 and the sensor group 47.
The hydraulic starting cabinet 46 is used for starting the first motor 36 and the second motor 37 in the hydraulic cylinder driving hydraulic system.
Each sensor in the sensor group 47 is used to collect status information of the vessel. The sensor group 47 in this embodiment includes an acceleration sensor 58, a gyro sensor 59, a displacement sensor 60, a pressure sensor, a liquid level sensor, etc., the acceleration sensor 58 is installed on the port and starboard of the ship, the gyro sensor 59 is installed on the middle position between the port and starboard of the ship for monitoring the acceleration information of the port and starboard of the ship and the inclination angle information of the ship roll, the pressure sensors are installed at the positions of the left water tank 15 and the right water tank 16 near the water tanks respectively, the pressure sensors are used for detecting the water pressure in the water tanks, and the water level sensors are used for monitoring the water volume of the left upper water tank 1, the right upper water tank 2, the left lower water tank 3 and the right lower water tank 4 respectively.
The control mode of the anti-rolling water tank device for actively stabilizing the ship by utilizing the anti-rolling control system can be divided into: a manual operation mode and an automatic balance operation mode.
Before the operation of the anti-rolling water tank device, the power supply device 48 supplies power to the anti-rolling control system, the working state and the setting parameters of each device are displayed on the display 50, the motor start/stop self-locking button 53 is pressed, the first motor 36 and the second motor 37 are started, the corresponding first hydraulic pump set 34 and the corresponding second hydraulic pump set 35 are driven to operate, and after the motor start/stop self-locking button 53 is started, the indicator lights are always on.
Manual operation mode:
1. after the first and second hydraulic pump groups 34, 35 are activated, the automatic/manual change-over switch 52 is rotated to the manual operation mode.
2. Pressing the roll button 56 transmits a roll signal from the operation panel 49 to the roll controller 51. The anti-rolling controller 51 transmits a control ship left-leaning signal to the hydraulic cylinder driving system, and drives the cylinder piston 20 to move to the right side by controlling the opening sizes and directions of the servo valve 40 and the electromagnetic valve 41, and simultaneously drives the left cylinder piston 30 and the right cylinder piston to move to the right side together by the left clamp frame 21, the right clamp frame 22, the left extension push-pull rod 23, the right extension push-pull rod, the flange 25, the left cylinder piston rod 26 and the right cylinder piston rod.
When the right water cylinder piston moves rightward, water in the right water cylinder 16 is pushed into the lower right water tank 4 and is injected into the corresponding upper left water tank 1 through the left water guide pipeline 5. Simultaneously, the left water cylinder piston 30 moves rightwards, and water in the upper right water tank 2 enters the lower left water tank 3 through the right water guide pipeline 6 under the action of gravity and attractive force. At this time, the upper left water tank 1 and the lower left water tank 3 are both in a water injection state, the upper right water tank 2 and the lower right water tank 4 are in a water discharge state, and the water amount of the upper left water tank 1 and the lower left water tank 3 increases, and the water amount of the upper right water tank 2 and the lower right water tank 4 decreases, so that the ship is inclined to the left side. When the port button 56 is released, water injection to the port tank is stopped and the current water level in the port and starboard tanks is maintained.
Pressing the tilt right button 57 transmits a tilt right signal from the operation panel 49 to the roll reduction controller 51. The roll-reducing controller 51 transmits a control ship right-tilting signal to the hydraulic cylinder driving system, and drives the cylinder piston 20 to move leftwards by controlling the opening sizes and directions of the servo valve 40 and the electromagnetic valve 41, and simultaneously drives the left cylinder piston 30 and the right cylinder piston to move leftwards together by the left clamp frame 21, the right clamp frame 22, the left extension push-pull rod 23, the right extension push-pull rod, the flange 25, the left cylinder piston rod 26 and the right cylinder piston rod.
When the left water tank piston 30 moves leftwards, water pushing the left water tank 15 enters the left lower water tank 3 and is injected into the right upper water tank 2 through the right water guide pipeline 6, and meanwhile, the right water tank piston moves leftwards, and water of the left upper water tank 1 enters the right lower water tank 4 through the left water guide pipeline 5 under the action of gravity and attractive force. At this time, the upper right water tank 2 and the lower right water tank 4 are both in a water injection state, and the upper left water tank 1 and the lower left water tank 3 are in a water drainage state. The water amount of the upper right water tank 2 and the lower right water tank 4 of the ship is increased, and the water amount of the upper left water tank 1 and the lower left water tank 3 is reduced, so that the ship is inclined to the right side. When the right dump button 57 is released, the starboard water injection is stopped and the current water level in the two-board tanks is maintained.
3. During manual operation, the sensor group 47 collects information such as the liquid level signals of the port and starboard water tanks, the inclination angle signals of the port and starboard water tanks and the like, displays the information on the display 50 in real time on a graphical form data interface, and stores relevant detection information.
Automatic balancing operation mode:
1. after the first 34 and second 35 hydraulic pump sets are activated, the automatic/manual change-over switch 52 is rotated to an automatic balancing mode of operation.
2. After the anti-rolling start-stop self-locking button 54 is pressed and the indicator lamp of the anti-rolling start-stop self-locking button 54 is turned on, the anti-rolling controller 51 collects signals of the ship port and starboard acceleration sensor 58 and the gyro sensor 59, calculates a control command signal through the anti-rolling controller 51 and transmits the control command signal to the hydraulic cylinder driving hydraulic system, and the long hydraulic cylinder 18 drives the cylinder piston rod 20 to reciprocate through controlling the opening and the direction of the servo valve 40 and the electromagnetic valve 41, and the reciprocating motion of the cylinder piston rod 20 drives the left hydraulic cylinder piston 30 and the right hydraulic cylinder piston to reciprocate together on the guide rail 32 through the left clamp frame 21, the right clamp frame 22, the left extension push-pull rod 23, the right extension push-pull rod, the flange 25 and the left hydraulic cylinder piston rod 26.
The method of the roll reduction control system, specifically, automatically controlling the movement of the cylinder piston rod 20 is as follows:
the roll controller 51 receives the ship roll angle signal Φ from the gyro sensor 59, and calculates a ship roll trend Φ' by deriving the signal. The roll reduction controller 51 controls the reciprocation of the cylinder piston rod 20 (the cylinder piston rod intermediate position displacement X is 0) by the cylinder driving hydraulic system. As shown in fig. 8, during the control, the phase X of the movement of the cylinder piston rod 20 (curves X1, X2 in fig. 8, where the horizontal line value refers to the maximum displacement amount of the cylinder piston rod 20) is 180 ° different from the ship rolling trend Φ' (i.e., the movement direction of the cylinder piston rod 20 is opposite to the ship rolling trend), and the cylinder piston rod 20 starts to move when the ship has the rolling trend. When the ship rolls in a larger amplitude, the ship rolling trend phi ' is positive and has an increasing trend, the roll reducing controller 51 controls the oil cylinder piston rod 20 to rapidly move to the starboard through the hydraulic system driven by the water cylinder, and the ship rolling trend phi ' stops when the ship rolling trend phi ' reaches the maximum value; when the ship rolling trend Φ 'is positive and there is a decreasing trend, the roll reduction controller 51 controls the cylinder piston rod 20 to rapidly move to the port through the hydraulic cylinder driving system, and when the ship rolling trend Φ' decreases to 0, the cylinder piston rod 20 reaches the intermediate position of the stroke (x=0), that is, the intermediate position of the stroke of the cylinder piston rod 20 in the long hydraulic cylinder 18, which is also the initial position of the cylinder piston rod 20. When the ship rolling trend phi ' is negative and the absolute value has an increasing trend, the roll reduction controller 51 controls the oil cylinder piston rod 20 to rapidly move to the starboard through the hydraulic system driven by the water cylinder, and the ship rolling trend phi ' stops when the ship rolling trend phi ' reaches the maximum value; when the ship rolling trend Φ 'is negative and there is a decreasing trend in absolute value, the roll reduction controller 51 controls the cylinder piston rod 20 by the hydraulic system driven by the hydraulic cylinder, rapidly moves to the starboard side according to the curve shown in fig. 8, and when the ship rolling trend Φ' decreases to 0, the cylinder piston rod 20 reaches the intermediate position of the stroke (x=0). When the left and right sides of the ship are small in rolling amplitude, as shown in fig. 8, the rolling reduction water tank controller 51 controls the hydraulic system to reduce the movement speed of the oil cylinder piston rod 20 through the water cylinder, so that the purpose of small-amplitude rolling and rolling reduction of the ship is achieved.
The flow process of water in the water tank during automatic control is as follows:
when the left water tank piston 30 moves leftwards, water pushing the left water tank 15 enters the left lower water tank 3 and is injected into the right upper water tank 2 through the right water guide pipeline 6, and meanwhile, the right water tank piston moves leftwards, and water in the left upper water tank 1 enters the right lower water tank 4 through the left water guide pipeline 5 under the action of gravity and attractive force. When the ship rolls leftwards, the water amount of the upper right water tank 2 and the lower right water tank 4 is increased, and the water amount of the upper left water tank 1 and the lower left water tank 3 is reduced, so that the ship has a left roll resistance function.
When the right water cylinder piston moves rightwards, water pushing the right water cylinder 16 enters the right lower water tank 4 and is injected into the left upper water tank 1 through the left water guide pipeline 5, and meanwhile, the left water cylinder piston 30 moves rightwards, and water of the right upper water tank 2 enters the left lower water tank 3 through the right water guide pipeline 6 under the action of gravity and attractive force. When the ship rolls rightwards, the water quantity of the upper left water tank 1 and the lower left water tank 3 is increased, and the water quantity of the upper right water tank 2 and the lower right water tank 4 is reduced, so that the ship has the right roll resistance function.
The anti-rolling water tank device enables the water tank water quantity to be opposite to the ship rolling left-right leaning periodic change through actively controlling the periodic change of the port water tank water quantity and the starboard water tank water quantity so as to reduce the phenomenon of ship rolling, namely the anti-rolling function.
3. And the anti-rolling start-stop self-locking button 54 is pressed again, so that the automatic anti-rolling function is released, namely the automatic anti-rolling operation of the ship is canceled, and meanwhile, the indicator lamp of the anti-rolling start-stop self-locking button 54 is turned off.
4. When the self-locking button 55 is pressed, the indicator light of the self-locking button 55 is turned on. In contrast to the rolling control, if the original ship is at the equilibrium position and does not roll, the rolling controller 51 collects monitoring signals of the acceleration sensors 58 and the gyro sensor 59 on the port and starboard of the ship, and sends command signals for controlling the servo valve 40 and the electromagnetic valve 41 to the hydraulic cylinder driving system based on the sensor signals. When the ship rolls and has a right tilting trend, the servo valve 40 and the electromagnetic valve 41 control the oil cylinder piston rod 20 to move leftwards and drive the left water cylinder piston 30 and the right water cylinder piston connected with the oil cylinder piston to move leftwards, the upper right water tank 2 and the lower right water tank 4 of the starboard respectively start to fill water, and simultaneously, the upper left water tank 1 and the lower left water tank 3 of the starboard start to drain water, so that the tendency of rolling and tilting rightwards is increased.
When the ship needs to lean left after the ship is about to cross the maximum dip angle, the anti-rolling controller 51 sends a left-leaning instruction signal to the servo valve 40 and the electromagnetic valve 41, drives the oil cylinder piston rod 20 to move rightwards, drives the left water cylinder piston 30 and the right water cylinder piston connected with the oil cylinder piston to move rightwards together, and starts water injection from the left upper water tank 1 and the left lower water tank 3 of the starboard respectively, and simultaneously starts water drainage from the right upper water tank 2 and the right lower water tank 4 of the starboard, so that the tendency of tilting left of the ship is increased.
The anti-rolling water tank device actively controls the period change of the water quantity in the port water tank and the starboard water tank, so that the water quantity in the water tank is consistent with the period change of the rolling left and right inclination of the ship, and a resonance phenomenon is generated, so that the ship has a rolling function.
5. And pressing the self-locking button 55 again, releasing the self-locking function, namely canceling the ship self-locking operation, and extinguishing the indicator lamp of the self-locking button 55.
6. In the two working modes of automatic operation, namely anti-rolling and raw-rolling, the sensor group 47 collects information such as a liquid level signal of the port and starboard water tanks, a port and starboard inclination angle signal and the like, displays the information on a graphical form data interface displayed by the display 50 in real time, and stores relevant detection information.
While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it should be understood by those skilled in the art that the foregoing embodiments are merely illustrative of the implementations of the invention and are not intended to limit the scope of the invention. The details of the embodiments are not to be taken as limiting the scope of the invention, and any obvious modifications based on equivalent changes, simple substitutions, etc. of the technical solution of the invention fall within the scope of the invention without departing from the spirit and scope of the invention.
Claims (10)
1. The X-shaped active anti-rolling water tank device is characterized by comprising a left upper water tank (1), a right upper water tank (2), a left lower water tank (3), a right lower water tank (4), a left water guide pipeline (5), a right water guide pipeline (6), a hydraulic-water tank unit, a water tank driving hydraulic system and an anti-rolling control system;
the upper left water tank (1) and the lower left water tank (3) are respectively arranged in an upper area and a lower area of a port of a ship body (12), and the upper right water tank (2) and the lower right water tank (4) are respectively arranged in an upper area and a lower area of a starboard of the ship body (12); the left upper water tank (1) is communicated with the right lower water tank (4) through the left water guide pipeline (5); the right upper water tank (2) is communicated with the left lower water tank (3) through the right water guide pipeline (6); the left lower water tank (3) and the right lower water tank (4) are connected through the hydraulic-water cylinder unit;
when the anti-rolling control system controls the hydraulic-hydraulic cylinder unit to push left through the hydraulic cylinder driving hydraulic system, the left upper water tank (1) and the left lower water tank (3) drain water to the right lower water tank (4) and the right upper water tank (2) respectively; when the anti-rolling control system controls the hydraulic-hydraulic cylinder unit to push right through the hydraulic cylinder driving hydraulic system, the upper right water tank (2) and the lower right water tank (4) drain water to the lower left water tank (3) and the upper left water tank (1) respectively.
2. The X-type active anti-roll pod device according to claim 1, wherein the hydraulic-hydraulic cylinder unit comprises a left hydraulic cylinder (15), a right hydraulic cylinder (16), a long hydraulic cylinder (18), a piston structure; the left end and the right end of an oil cylinder piston rod (20) of the long hydraulic oil cylinder (18) are respectively connected with the left water cylinder (15) and the right water cylinder (16) through the piston structures, and the left water cylinder (15) is embedded into the left lower water tank (3) and is communicated with the left lower water tank (3); the right water tank (16) is embedded in the right lower water tank (4) and is communicated with the right lower water tank (4); the long hydraulic cylinder (18) drives the piston structure to push water in the left water tank (15) or the right water tank (16) through the cylinder piston rod (20) to adjust the water quantity in the left upper water tank (1) and the left lower water tank (3), the right upper water tank (2) and the right lower water tank (4).
3. The X-type active anti-roll pod device according to claim 2, wherein the piston structure comprises a left clamp frame (21), a right clamp frame (22), a left extension push-pull rod (23), a right extension push-pull rod, a flange (25), a left water cylinder piston rod (26), a right water cylinder piston rod, a support (28), a left water cylinder piston (30), a right water cylinder piston;
The left end of the cylinder piston rod (20) is in clamping connection with the left extension push-pull rod (23) through the left clamp frame (21); the left extension push-pull rod (23) is connected with the left water cylinder piston rod (26) through the flange (25); the left water cylinder piston rod (26) is connected with the left water cylinder piston (30) through the support (28) circumferentially arranged in a surrounding manner, and the left water cylinder piston (30) is embedded and sleeved with the left water cylinder (15);
the right end of the cylinder piston rod (20) is in clamping connection with the right side extension push-pull rod through the right clamp frame (22); the right side extension push-pull rod is connected with the right water cylinder piston rod through the flange (25); the right water cylinder piston rod is connected with the right water cylinder piston through the support (28) circumferentially arranged in a surrounding mode, and the right water cylinder piston is embedded and sleeved with the right water cylinder (16).
4. An X-type active anti-roll pod device according to claim 3, wherein the piston structure further comprises sealing rings (29), the sealing rings (29) being provided at the connection of the support (28) and the left water cylinder piston (30) and at the connection of the support (28) and the right water cylinder piston, respectively.
5. An X-type active anti-roll pod device according to claim 3, wherein the hydraulic-hydraulic cylinder unit further comprises a bracket (17), a cylinder support (19), a guide rail (32); the support (17) is transversely arranged relative to the ship body (12) and positioned in the middle of the hydraulic-hydraulic cylinder unit, two ends of the long hydraulic cylinder (18) are respectively fixed on the support (17) through the cylinder support (19), and two groups of guide rails (32) are symmetrically paved on the left side and the right side of the upper surface of the support (17); the left clamp frame (21) is arranged on the left guide rail (32) through rollers; the right clamp frame (22) is arranged on the right side of the guide rail (32) through rollers.
6. The X-type active anti-roll sump device according to claim 1, wherein the cylinder driven hydraulic system comprises an oil tank (33), a first hydraulic pump set (34), a second hydraulic pump set (35), a first high pressure filter (38), a second high pressure filter (39), a servo valve (40), a solenoid valve (41);
the input ends of the first hydraulic pump group (34) and the second hydraulic pump group (35) are respectively connected with the oil tank (33) through oil ways; the output ends of the first hydraulic pump unit (34) and the second hydraulic pump unit (35) are respectively connected with the input oil paths of the first high-pressure filter (38) and the second high-pressure filter (39) through oil paths, and the output oil paths of the first high-pressure filter (38) and the second high-pressure filter (39) are respectively communicated with the servo valve (40) and the electromagnetic valve (41);
The servo valve (40) and the electromagnetic valve (41) are respectively provided with a first output oil circuit and a second output oil circuit; the servo valve (40) is communicated with the first output oil way of the electromagnetic valve (41) and then is connected with the long hydraulic oil cylinder (18), and the servo valve (40) is communicated with the second output oil way of the electromagnetic valve (41) and then is connected with the long hydraulic oil cylinder (18).
7. The X-type active anti-roll pod device according to claim 6, wherein the anti-roll control system comprises an anti-roll control box (45), a hydraulic start-up cabinet (46), a sensor group (47), a power supply device (48); the anti-rolling control box (45) is respectively connected with the hydraulic starting cabinet (46), the sensor group (47) and the water cylinder driving hydraulic system;
the anti-rolling control box (45) receives ship information acquired by the sensor group (47) and controls the water cylinder to drive a hydraulic system to act; the hydraulic starting cabinet (46) is respectively connected with the first hydraulic pump unit (34) and the second hydraulic pump unit (35) and is used for starting the first hydraulic pump unit (34) and the second hydraulic pump unit (35); the sensor group (47) is used for acquiring state information of the ship; the power supply device (48) is used for respectively supplying power to the anti-rolling control box (45), the hydraulic starting cabinet (46), the sensor group (47) and the hydraulic cylinder driving hydraulic system.
8. The X-type active anti-roll pod device according to claim 7, wherein the anti-roll control box (45) is provided with a control panel (49), a display (50), an anti-roll controller (51);
the control panel (49) is used for inputting control instructions, and an automatic/manual change-over switch (52), a motor start/stop self-locking button (53), a rolling start/stop self-locking button (54), a rolling self-locking button (55), a left tilting button (56) and a right tilting button (57) are arranged on the control panel (49); the motor start/stop self-locking button (53) is connected with the hydraulic starting cabinet (46) through a signal line, and the automatic/manual change-over switch (52), the anti-shake start/stop self-locking button (54), the raw-shake self-locking button (55), the left-tilting button (56) and the right-tilting button (57) are connected with the anti-shake controller (51) through signal lines;
the display (50) is connected with the anti-rolling controller (51) and is used for displaying anti-rolling control information and the state of the ship body (12);
the anti-rolling controller (51) is respectively connected with the control panel (49), the sensor group (47), the servo valve (40) and the electromagnetic valve (41) and is used for controlling the opening sizes and directions of the servo valve (40) and the electromagnetic valve (41).
9. Active roll reduction method of an X-type active roll reduction pod device according to any of claims 1 to 8, characterized in that the roll reduction pod device implements an active roll reduction method of a vessel by means of a roll reduction control system as follows:
s1, a power supply device (48) supplies power to a roll reduction control system, and after the roll reduction water tank device is checked to be abnormal, a first hydraulic pump set (34) and a second hydraulic pump set (35) are started;
s2, transmitting a left tilting signal or a right tilting signal for controlling the ship to a hydraulic cylinder driving system by the anti-rolling controller (51), and driving a cylinder piston rod (20) to move by controlling the opening sizes and the opening directions of the servo valve (40) and the electromagnetic valve (41);
when a left tilting signal is received, an oil cylinder piston rod (20) moves to the right side to push water of a right water cylinder (16) to enter a lower right water tank (4), and water in the lower right water tank (4) is injected into an upper left water tank (1) through a left water guide pipeline (5); the water in the upper right water tank (2) enters the lower left water tank (3) through the right water guide pipeline (6); after the left-hand tilting signal is released, stopping water injection of the left upper water tank (1) and the left lower water tank (3) of the port;
when a right tilting signal is received, an oil cylinder piston rod (20) moves leftwards to push water of a left water cylinder (15) to enter a left lower water tank (3), water in the left lower water tank (3) is injected into a right upper water tank (2) through a right water guide pipeline (6), and water in the left upper water tank (1) enters a right lower water tank (4) through a left water guide pipeline (5); after the right tilting signal is released, stopping water injection to the upper water tank (2) and the lower water tank (4) at the right;
And S3, displaying the state information of the ship on a graphical form data interface displayed on a display (50) in real time.
10. The active roll reduction method of an X-type active roll reduction pod apparatus of claim 9, wherein the roll reduction control system achieves active roll reduction of the vessel in either a manual mode of operation or an automatic balancing mode of operation; the control method for the movement of the cylinder piston rod (20) in the automatic balance operation mode comprises the following steps:
s1, calculating a ship rolling trend phi' by a rolling reduction controller (51) according to a ship rolling angle signal phi of a gyro sensor (59);
s2, the phase X of the motion of the cylinder piston rod (20) is 180 degrees different from the rolling trend phi' of the ship, and the cylinder piston rod (20) starts to move when the ship has the rolling trend; the anti-rolling controller (51) controls the oil cylinder piston rod (20) to reciprocate through the hydraulic system driven by the water cylinder, and the process is as follows:
when the ship rolling trend phi ' is positive and has an increasing trend, the roll reducing controller (51) controls the oil cylinder piston rod (20) to rapidly move to the starboard through the hydraulic system driven by the water cylinder, and the ship rolling trend phi ' is stopped when the ship rolling trend phi ' reaches the maximum value; when the ship rolling trend phi 'is positive and has a decreasing trend, the anti-rolling controller (51) controls the oil cylinder piston rod (20) to rapidly move towards the port through the hydraulic cylinder driving system, and when the ship rolling trend phi' is reduced to 0, the oil cylinder piston rod (20) moves to the middle position of the stroke, and the displacement position X=0;
When the ship rolling trend phi ' is negative and the absolute value has an increasing trend, the roll reducing controller (51) controls the oil cylinder piston rod (20) to rapidly move to the starboard through the hydraulic system driven by the water cylinder, and the ship rolling trend phi ' is stopped when the ship rolling trend phi ' reaches the maximum value; when the ship rolling trend phi 'is negative and the absolute value has a decreasing trend, the roll reduction controller (51) controls the oil cylinder piston rod (20) to rapidly move to the starboard through the hydraulic cylinder driving system, and when the ship rolling trend phi' is reduced to 0, the oil cylinder piston rod (20) moves to the middle position of the stroke, and the displacement position X=0.
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