CN103318378A - Longitudinal movement attitude control device for catamaran - Google Patents

Abstract

The object of the present invention is to provide a catamaran longitudinal motion attitude control device, which includes a deck, a first sheet and a second sheet are installed at the left and right ends of the deck, and the front ends of the first sheet and the second sheet are respectively installed with a second sheet. A front pillar and a second front pillar, the rear ends of the first sheet and the second sheet are respectively installed with the first rear pillar and the second rear pillar, and the lower ends of the first front pillar and the second front pillar are installed with a front hydrofoil, The lower end of the first rear pillar and the second rear pillar is equipped with a rear hydrofoil, and the rear end of the front hydrofoil is provided with a first flap and a second flap, and the first flap and the second flap are connected to each other through the first transmission shaft. The front hydrofoil is connected, and the rear end of the rear hydrofoil is provided with a third flap and a fourth flap. Both the third flap and the fourth flap are connected with the rear hydrofoil through the second transmission shaft, and the first transmission shaft and the second transmission shaft The two transmission shafts are respectively connected with respective servo systems. The invention can effectively reduce the pitch/heave motion of the ship when sailing at high speed and the heel angle when turning, and improve the stability of the ship.

Description

Attitude Control Device for Longitudinal Motion of Catamaran

technical field

The invention relates to a hydrofoil catamaran.

Background technique

Due to its high-speed performance, hydrofoil boats have great advantages in passenger transportation. With the development of hydrofoil, it has also shown considerable advantages in cargo transportation. However, due to the lifting effect of the hydrofoil, the movement posture of the hydrofoil boat becomes severe when driving at high speed, which limits its development.

Contents of the invention

The object of the present invention is to provide a catamaran longitudinal motion attitude control device that can effectively reduce the pitch/heave motion of the ship when sailing at high speed and the heel angle when turning, and improve the stability of the ship.

The purpose of the present invention is achieved like this:

The catamaran longitudinal motion attitude control device of the present invention includes a deck, and the left and right ends of the deck below are respectively equipped with a first sheet and a second sheet, and the feature is that: the front ends of the first sheet and the second sheet are respectively installed with a second sheet. A front pillar and a second front pillar, the rear ends of the first sheet and the second sheet are respectively installed with the first rear pillar and the second rear pillar, and the lower ends of the first front pillar and the second front pillar are installed with a front hydrofoil, The lower end of the first rear pillar and the second rear pillar is equipped with a rear hydrofoil, and the rear end of the front hydrofoil is provided with a first flap and a second flap, and the first flap and the second flap are connected to each other through the first transmission shaft. The front hydrofoil is connected, and the rear end of the rear hydrofoil is provided with the third flap and the fourth flap. Both the third flap and the fourth flap are connected with the rear hydrofoil through the second transmission shaft. The first-fourth flap The wings are connected to their respective servos.

The present invention may also include:

1. The rear ends of the first rear pillar and the second rear pillar are respectively provided with a first pillar wing and a second pillar wing, the first pillar wing is connected to the first rear pillar through the third transmission shaft, and the second pillar wing is connected through the fourth transmission shaft The second rear pillar is connected, and the third transmission shaft and the fourth transmission shaft are respectively connected to respective servo systems.

2. The ratio of the cross-sectional area of the column wing to the column is 0.3 to 0.4.

3. The installation angle of pillars and hydrofoils is 0-2°. Both hydrofoils and flaps are thin wings. The thickness ratio of the wing section is t=2y/C, where 2y is the maximum thickness of the wing section, and C is the chord length. t=0.09～0.2; the flap adopts NACA airfoil, the aspect ratio λ=b/C, b is the span length, λ is 1～6, and the projected area of the flap is 20% of the projected area of the hydrofoil. The rotation angle does not exceed ±10°, and the rotation speed is 3-4°/s.

The present invention has the advantage that two controllable flaps are symmetrically installed on the front hydrofoil, and two controllable flaps are also symmetrically installed on the rear side hydrofoil. When the hydrofoil catamaran is rotating, the rear flap is used to control the pitch/heave motion when the waves interfere, and the two front flaps are coordinated to reduce the heel, while the column wing Control the radius of gyration. It is realized that the pitch/heave motion can be reduced and the heel angle can be reduced during the slewing. A controllable column wing is installed on each of the left and right pillars on the rear side. When a small heading angle is required and the heading change is <60°, any one of the column wings can be rotated to achieve a change in heading; when a larger heading angle is required When the turning angle is 60°<course change<180°, the two columns and wings can be rotated synchronously to quickly realize the course change, reduce energy loss and improve efficiency. Since the two hydrofoils are installed at a certain distance from the bottom, the draft of the hydrofoils becomes larger, which prevents the hydrofoils from breaking away from the water surface and losing control when the pitching/heaving movement is severe.

Description of drawings

Fig. 1 is a bottom view of the overall structure of the present invention;

Figure 2 is a three-dimensional view of the front side hydrofoil-flaps;

Figure 3 is a three-dimensional view of the rear hydrofoil-flap-column wing;

Figure 4 is a cross-sectional view of the flap;

Figure 5 is a top view of the column wing.

Detailed ways

The present invention is described in more detail below in conjunction with accompanying drawing example:

As shown in Figure 1, the deck 1 of the hydrofoil catamaran, the two sheets 2 and 3 of the hydrofoil catamaran, and the pillars of the front and rear hydrofoils are respectively 4 and 5, 10 and 11, all installed below the deck, Connected to the bottom of the sheet. The front hydrofoil 6 is connected with the pillars 4, 5, and the rear hydrofoil 9 is connected with the pillars 10, 11. The front two flaps 7, 8 are connected to the hydrofoil 6 through a transmission shaft 16, and the shaft 16 is connected to the internal servo system. Column wings 12, 13 are connected to columns 10, 11 via shafts 17, 18, respectively. The flaps 14 , 15 are connected to the hydrofoil 9 via shafts 19 . The lengths of the pillars 4, 5, 10, and 11 mentioned above need to be selected according to the length of the pillar wings, and the area ratio of the pillar wings to the pillars is between 0.3 and 0.4. The installation angle of pillars and hydrofoils is selected to be 0-2°.

As shown in Figure 2, it is the structural diagram of the front side hydrofoil. This structure is a symmetrical structure with the midline of the hydrofoil as the symmetrical axis. The left and right flaps have the same function. The double-pillar structure can make the hydrofoil system stronger and more durable. . The two flaps are driven by their respective servo systems, and synchronous control can also be realized due to the existence of the synchronous compensator. The hydrofoils and flaps here are thin wings, and the thickness ratio of the wing section is t=2y/C (2y is the maximum thickness of the wing section, and C is the chord length), usually t=0.09～0.2. Such an airfoil will experience relatively little resistance and will have little effect on speed at high speeds.

As shown in Figure 3, it is the structural diagram of the rear hydrofoil. A controllable column wing is installed on the left and right pillars. The two column wings can also realize asynchronous control and synchronous control, which is determined by the actual steering and rotation angle. The rear hydrofoil also has two flaps that perform the same function as the front flaps. There are no strict regulations on the size of the flap, but usually 20% of the projected area of the hydrofoil is selected. When installing the hydrofoil, the influence of the angle of attack needs to be considered. Generally, the angle of attack should not be too large, preferably between 0° and 2°.

As shown in Figure 4, it is a cross-sectional view of the front and rear flaps. The shapes of the hydrofoils and flaps have been designed according to the knowledge of fluid mechanics. It is necessary to choose a suitable shape according to the ship type and actual application. For the designed flap, due to the limitation of the servo system and the actual mechanical device, the rotation angle of the flap cannot be very large, and the rotation speed should not be too large. For the flaps designed in this patent, the rotation angle is generally not more than ±10°, and the rotation speed is usually 3°/s, and the maximum is not more than 4°/s. Aspect ratio is an important technical indicator for flaps. Here we use NACA airfoil, and design aspect ratio λ=b/C (b is the span length) to choose between 1 and 6.

As shown in Figure 5, it is a top view of the column-wing structure. The column-wing is mainly used to control the radius of steering and slewing. It is similar to the rudder commonly used in ships, and has two control modes: differential and synchronous.

The control strategy of the present invention is described with reference to Fig. 1-Fig. 5 . The hydrofoil catamaran with this structure can not only realize high-speed straight heading, but also can perform fast turning motion. Specifically, the control on the four degrees of freedom of pitching/heave, slewing/rolling can be realized.

When sailing in a straight line, when there is a large wave interference, the hydrofoil catamaran will have a violent heave movement. When the rising displacement and rising speed of the hydrofoil catamaran are large, the flaps can be simultaneously reduced The angles of 7, 8 and 14, 15 make the change of heave smaller; on the contrary, if the hydrofoil catamaran is at the peak position of the waves, there is a possibility of rapid fall, at this time, it is necessary to increase the flap 7 synchronously, 8 and 14, 15 angles. Similarly, sea waves will cause severe pitching motion of the hydrofoil catamaran. When the bow is pitching upward, it is necessary to reduce the angles of flaps 7 and 8 synchronously, and increase the angles of flaps 14 and 15; When turning down, it is necessary to increase the angles of the small flaps 7 and 8 synchronously, and decrease the angles of the flaps 14 and 15 simultaneously. Since the rotation angles of the flaps are opposite when controlling the pitch and heave motions, it is necessary to coordinate the control of the rotation angles of the flaps to achieve the desired effect.

During the slewing motion, it is assumed that there is wave interference during the slewing motion. At this time, the heel and pitch/heave of the hydrofoil catamaran exist at the same time, which requires the coordinated control of the front and rear flaps and column wings. Assuming that the ship is turning to the left, first of all, both column wings need to have a turning angle to the right, and the angle of the column wing on the left is slightly larger than the angle of the column wing on the right, which can provide the maximum turning moment and turn around quickly. At this time, due to the serious heeling, the rotation angles of flaps 8 and 15 should be increased, and the rotation angles of flaps 7 and 14 should be decreased. At this time, there may be changes in pitch/heave, and the flaps should be controlled according to needs Wing rotation angle to realize pitch/heave, slew/roll coordinated control. This method of controlling the rotation/rolling and pitching/heaving movements of the front and rear flaps respectively has high efficiency, accuracy and convenience.

Claims (4)

1. catamaran longitudinal movement attitude-control device, comprise the deck, the first lamellar body is installed respectively at two ends, the left and right sides, below, deck, the second lamellar body, it is characterized in that: the leading section of the first lamellar body and the second lamellar body is installed respectively the first front standing pillar and the second front standing pillar, the rearward end of the first lamellar body and the second lamellar body is installed respectively the first back prop and the second back prop, hydrofoil before install the lower end of the first front standing pillar and the second front standing pillar, hydrofoil after install the lower end of the first back prop and the second back prop, the rearward end of front hydrofoil arranges the first wing flap, the second wing flap, the first wing flap all links to each other with front hydrofoil by the first transmission shaft with the second wing flap, the rearward end of rear hydrofoil arranges the 3rd wing flap, the 4th wing flap, the 3rd wing flap all links to each other with rear hydrofoil by second driving shaft with the 4th wing flap, and first-Di, four wing flaps connect respectively Fu separately.

2. catamaran longitudinal movement attitude-control device according to claim 1, it is characterized in that: the rear end of the first back prop and the second back prop arranges respectively the first post wing and the second post wing, the first post wing connects the first back prop by the 3rd transmission shaft, the second post wing connects the second back prop by the 4th transmission shaft, and the 3rd transmission shaft, the 4th transmission shaft connect respectively Fu separately.

3. catamaran longitudinal movement attitude-control device according to claim 2, it is characterized in that: the cross-sectional area ratio of the post wing and pillar is 0.3～0.4.

4. arbitrary described catamaran longitudinal movement attitude-control device according to claim 1-3, it is characterized in that: the setting angle of pillar and hydrofoil is 0～2 °, hydrofoil and wing flap all are to adopt thin wing, wing section Thickness Ratio t=2y/C, wherein 2y is the wing section maximum ga(u)ge, C is wing chord length, t=0.09～0.2; Wing flap adopts the NACA aerofoil profile, and aspect ratio λ=b/C, b are span length, and λ is 1～6, and the area of conter of wing flap is 20% of hydrofoil area of conter, and the corner of wing flap is no more than ± and 10 °, rotating speed is 3～4 °/s.

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