CN104229092A - Automatic control system and automatic control method for ship heeling balance - Google Patents
Automatic control system and automatic control method for ship heeling balance Download PDFInfo
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Abstract
The invention provides an automatic control system and an automatic control method for ship heeling balance. Multiple anti-heeling pumps capable of independently working and multiple pairs of anti-heeling ballast tanks are arranged in the automatic control system, so that rolling of a ship in a moored condition, at various navigational speeds, such as a medium-high navigational speed, a low navigational speed and a zero navigational speed and under various encounter wave directions can be effectively reduced, and heeling and trimming caused to the ship by various factors: loading unbalance, local cabin breakage and wind pressure, are rapidly compensated, so that special engineering ships like pipe-laying ships and the like have low economic risk, can adapt to severe environment conditions, and meanwhile, have the characteristics of operational safety of offshore working, and the like. The automatic control system and the automatic control method for the ship heeling balance have very good popularization and use value.
Description
Technical field
The present invention relates to a kind of boats and ships rolling balance autonomous cruise speed system and method, particularly for boats and ships rolling balance autonomous cruise speed system and the method for special engineered ship port operation and marine operation work, belong to technical field of ships.
Background technology
At present, the overall balance of the special engineered boats and ships such as pipelaying vessel is an ancient and vital problem.Pipelaying vessel is as a marine mobile working platform, particularly important to its overall balance.Along with the raising of the complexity of boats and ships mission and the application of high tech equipment, as the large-scale water surface boats and ships of movable decking on sea, require that its waving in wave is little as much as possible, can safety in working sea area operation and complete set task.Particularly all the more so for special engineered ships such as pipelaying vessels.Boats and ships inevitably produce various swaying in stormy waves, wherein remarkable with rolling, affect also maximum.Therefore, the active demand that rolling is modern day marine vessel designs is reduced as much as possible.
Along with the continuous expansion of human development ocean engineering scale of the project, the anti-heeling system of the special engineered ship such as pipelaying vessel, windmill vessel is when filling in Discharging Process and Shanghai operation runs, for keeping the balance in roll of boats and ships, ensure the visual plant filling unloading operation, Shanghai operation normally and run.Rolling balance control system, by detecting angle of heel, carrying out the water yield of trim tank tune year, produces righting moment and corrects ship inclination.As shown in Figure 1, allot in real time with the water storage of marine ballast water tank and control boats and ships in navigation way, in the work of dress Discharging Process neutralization operation, prestowage changes the lateral inclination caused, its principle is mainly by dialling the aqueous phase intermodulation in boats and ships port and starboard two trim tanks, make the weight of water in left-right balance water tank that corresponding change occur, thus produce the balance that the moment contrary with boats and ships heel corrects boats and ships, boats and ships are made to be in upright condition, thus ensure that the safety of navigation of boats and ships, but with stern loading, the boats and ships trim caused more greatly is differed for bow loading and can not carry out correlative compensation, trim is divided into trim by stem and tail to incline, especially Stability of Ship can be had a strong impact on after trim by stem, the speed of intensity and navigation, there is very large potential safety hazard.
But the existence of the boats and ships angle of lateral inclination under external force will make righting moment reduce, stability will reduce, unfavorable to boats and ships.Stabilizer is the most frequently used at present and the active antiroll stabilizer of the most successful boats and ships of application, stabilizing efficiency can reach more than 90%, but when stabilizer only has the speed of a ship or plane of boats and ships higher, just effectively can subtract and shake, under the low speed of a ship or plane or zero power test situation, stabilizer almost can not carry out subtracting shaking.And antirolling tank can make up the defect of this one side, but antirolling tank volume is large, weight is large, can only have good effect near the humorous swept frequency rate of boats and ships, and stabilizing efficiency generally can only reach about 50%, the balance index of boats and ships can not be met as a rule.In prior art, for stabilizer and antirolling tank defect separately, and be designed with ship load adjustment control system based on computer technology, this system is generally adopt the mutual prestowage mode of automatic and manual operation, and pump group in system and butterfly valve are linkage type, according to Ship Statics principle, require to carry out prestowage to the water yield of ballast chamber according to shipping work, to control the trim of boats and ships, heel etc., thus make boats and ships reach the requirement of safe operation, the demand that boats and ships will be caused can not to complete anti-heel but if any one pump in pump group or butterfly valve go wrong, there is very large potential safety hazard.And the operating mode of boats and ships hoisting crane in job engineering is complicated, particularly for large-tonnage boats and ships hoisting crane, the safety that artificial experience be relied on to adjust carry and meet operation and reliability very difficult.And this ship load adjustment control system that prior art provides generally designs for bulge carrier and oil carrier, because the working condition of bulge carrier and oil carrier is different from boats and ships hoisting crane, therefore, the ship load adjustment control system that prior art provides cannot be applied in boats and ships hoisting crane, make boats and ships hoisting crane that artificial experience can only be relied on to carry out tune to carry, reliability is low, poor stability, operating difficulties.
Summary of the invention
Object of the present invention is exactly that heel in order to overcome boats and ships and trim and stabilizer can not carry out subtracting shaking under the low speed of a ship or plane or zero power test situation, antirolling tank stabilizing efficiency is lower to be adjusted the potential safety hazard of the linkage type pump group in borne control system and butterfly valve with existing ship and can not be applied to boats and ships hoisting crane, and make boats and ships hoisting crane rely on artificial experience to carry out tune year, reliability is low, poor stability and the defect of operating difficulties, provide a kind of with stabilizer, the ship craft integrated balanced system of reversable axial flow pump control formula of the trim tank combination of antirolling tank and anti-heel and the integrated control method of intelligence, and in this overall balance system, be provided with the anti-heel pump and multipair anti-heel ballast tank that multiple stage can work independently, make boats and ships moored condition and the various speed of a ship or plane (in the high speed of a ship or plane, the low speed of a ship or plane and zero power test, various experience wave to) under effectively can reduce rolling, and compensate boats and ships fast owing to loading overbalance, the heel that the various factors such as the breakage of cabin, local and blast cause and trim, make the special engineered gears such as pipelaying vessel little for economic risk, severe environmental conditions can be adapted to, there is the features such as sea faring processing safety simultaneously.
A kind of boats and ships rolling balance autonomous cruise speed system, comprise anti-heel system, it is characterized in that, described anti-heel system comprises multiple anti-heel pump and multipair anti-heel wing ballast tank, described multipair anti-heel wing ballast tank is arranged in the left and right gunnel of ship, every a pair anti-heel wing ballast tank is connected by multiple cross link, is respectively provided with an anti-heel pump in each cross link, and the anti-heel pump of described multiple stage is mutually independently.
Described anti-heel pump is 3, and described anti-heel wing ballast tank is 3 right, and every a pair anti-heel wing ballast tank is connected by three cross links.Described anti-heel pump is axial reversible axial-flow pump, and flow is 2000 m
3/ h, pressure is 1.5 bar.
Described anti-heel system the carries out trim tank water yield by detecting angle of heel and trim angle is adjusted year, and the limit value of described angle of heel is 5 °.Described anti-heel system and liquid level measuring system, remote valve system, administration of ship system and direct or indirect being connected of the operation and control system of photoelectric oblique angle sensor, hoisting crane.
The design load of described hoisting crane rotation process is 1000 tonnes 30 meters, and speed of revolutions is 20 minutes an angle of 90 degrees.
Described boats and ships rolling balance autonomous cruise speed system is provided with safety system and warning, also comprises stabilizer and antirolling tank.
A kind of boats and ships rolling balance autocontrol method, it is characterized in that arranging multiple stage anti-heel pump and multipair anti-heel wing ballast tank forms anti-heel system, and multipair anti-heel wing ballast tank is arranged at the string limit, left and right of ship, by multiple cross link, every a pair anti-heel wing ballast tank is connected, one anti-heel pump is arranged with each cross link, and anti-for described multiple stage heel pump is set to mutually independently.
Described anti-heel pump is 3, and described anti-heel wing ballast tank is 3 right, and every a pair anti-heel wing ballast tank is connected by three cross links.
Described anti-heel system carries out interior shifting ballast water by the anti-heel cabin distributed, the liquid level signal that the ship inclination signal provided according to obliquity sensor and level sensor detect, automatic remote controls anti-heel pump and remote valve system, and in aided-detection device, show the operating mode of boats and ships heel and trimming condition and anti-heel system equipment in real time, realize controlling the balance of boats and ships heel and trim.
When the ship inclination signal that described obliquity sensor provides is heel signal, corresponding remote control butterfly valve is opened automatically, opens anti-heel pump, and the water yield of carrying out the anti-heel ballast tank in left and right according to actual conditions is alloted, until reach the balance of boats and ships, automatically close anti-heel pump and remote control butterfly valve.When described heel signal is left-leaning, anti-heel system by signal transmission to remote valve system, automatically remote control butterfly valve is opened, open anti-heel pump, and indicate " larboard → starboard ", the water barge of anti-for left side heel ballast tank is transported to right anti-heel ballast tank, correct the heel of boats and ships, until boats and ships balance, automatically stop transportation by lighter, close anti-heel pump and remote control butterfly valve; When described heel signal is Right deviation, anti-heel system by signal transmission to remote valve system, automatically remote control butterfly valve is opened, open anti-heel pump, and indicate " starboard → larboard ", the water barge of anti-for right side heel ballast tank is transported to left anti-heel ballast tank, correct the heel of boats and ships, until boats and ships balance, automatically stop transportation by lighter, close anti-heel pump and remote control butterfly valve.
When the ship inclination signal that described obliquity sensor provides is trim signal, corresponding remote control butterfly valve is opened automatically, open anti-heel pump, pump into seawater according to actual conditions to go forward side by side to navigate and first to allot with the water yield of the anti-heel ballast tank of stern, until reach the balance of boats and ships, automatically close anti-heel pump and remote control butterfly valve.When described trim signal is trim by stem, anti-heel system by signal transmission to remote valve system, automatically remote control butterfly valve is opened, open anti-heel pump, and indicate " bow → stern ", seawater is pumped into the anti-heel ballast tank close to stern simultaneously, correct the heel of boats and ships, until boats and ships balance, automatically stop transportation by lighter, close anti-heel pump and remote control butterfly valve; Described trim signal is that tail is when inclining, anti-heel system by signal transmission to remote valve system, automatically remote control butterfly valve is opened, open anti-heel pump, and indicate " stern → bow ", seawater is pumped into the anti-heel ballast tank close to bow simultaneously, correct the heel of boats and ships, until boats and ships balance, automatically stop transportation by lighter, close anti-heel pump and remote control butterfly valve.
Described aided-detection device comprises main control station, the administration of ship system be connected with main control station in addition and the remote control panel of goods control formula of band clinometer.Described main control station is also connected with loading computer, automatic control and management station and first level control station, second subprime control station, for the third time level control station.
Described control method has automatic control, the other manual and Remote three kinds of modes of machine.
Described boats and ships rolling balance autocontrol method, also comprise and be provided with stabilizer and antirolling tank compared with prior art, the invention has the beneficial effects as follows: the invention provides a kind of with stabilizer, the ship craft integrated balanced system of reversable axial flow pump control formula of the trim tank combination of antirolling tank and anti-heel and the integrated control method of intelligence, combine the advantage of stabilizer and antirolling tank, boats and ships are made to be issued to good stabilizing efficiency in various operating mode and the speed of a ship or plane, and in described ship craft integrated balanced system, be provided with the anti-heel pump and the multipair ballast tank that inclines that contends with that multiple stage works alone mutually, the heel not only produced under any boat feelings boats and ships and trim have good control, and multiple stage anti-heel pump and the multipair ballast tank that inclines of contending with have very high ageing, boats and ships can be made as early as possible to get back to best state of equilibrium, also be convenient to better operate accordingly crane, also mitigate stabilizer and antirolling tank combined stabilization device is entangling the burden in heel simultaneously, and boats and ships are held in navigate by water preferably attitude, improve the navigation performance of boats and ships, enhance the safety of marine operation personnel.
Accompanying drawing explanation
Fig. 1 is the system adopting the aqueous phase intermodulation in port and starboard two trim tanks to dial in prior art;
Fig. 2 is that boats and ships rolling balance autonomous cruise speed system forms synoptic map;
Fig. 3 is boats and ships rolling balance autonomous cruise speed system composition module schematic diagram;
Fig. 4 is monitoring ancillary system schematic diagram;
Fig. 5 is monitoring ancillary system module diagram.
Detailed description of the invention
In first detailed description of the invention of the present invention, provide a kind of with the ship craft integrated balanced system of the trim tank of stabilizer, antirolling tank and anti-heel combination, in order to balance boats and ships to greatest extent.
The fin of stabilizer stretches out hull by hull two string, and be installed on underwater certain depth place, its profile is similar with rudder.A pair stabilizer should be arranged on the widest same cross-sectional plane of boats and ships, makes the fin shaft centre line of stabilizer and boats and ships shake axes intersect.When ship navigates by water generation rolling motion in stormy waves, fin is under the control of Control System of Ship Fin, corresponding rotation is done according to the rule of wave disturbance, after apparel stabilizer, natural frequency and the rolling damping of boats and ships can be changed by controller action in stabilizer, thus change boats and ships to the transverse cutting head of wave disturbance.
Antirolling tank is less in the impact of layout on rolling motion of boats and ships length direction, and antirolling tank layout in the vertical direction has a significant impact antirolling tank performance tool, antirolling tank arranges that disembark oceangoing ship rolling center is far away, the increment of the rolling maskant moment of inertia caused by liquid in cabin is larger, its righting arm is also larger, rolling recovery coefficient increment is also larger, and the natural frequency decrease of antirolling tank is also larger, thus provides maximum and subtract the amount of shaking.
This overall balance system can, in conjunction with the advantage of stabilizer and antirolling tank, make boats and ships be issued to good stabilizing efficiency in various operating mode and the speed of a ship or plane, and the volume of antirolling tank reduces relative to the volume of the single use antirolling tank of boats and ships simultaneously.And stabilizer and antirolling tank conbined usage, the safety factor of ship stabilization can be increased.When any one in stabilizer and antirolling tank two systems hesitate machinery or control system break down time, boats and ships also have and certain subtract the ability of shaking.When the low speed of a ship or plane of boats and ships, single water tank can not well subtract when shaking within some frequency band, installing multiple antirolling tank can make water tank can play good effect at wider frequency band, and state of equilibrium as better in needs installs the requirement of balance that one or more pairs of stabilizer can meet boats and ships additional.Meanwhile, the basis using stabilizer installs additional the combined stabilization of antirolling tank, and the control system of stabilizer only need change the software involved mutually with antirolling tank, and hardware unit is substantially constant, reduces equipment investment.
As shown in Figure 2, anti-heel system of the present invention is made up of anti-heel ballast tank and anti-heel pump 10 two elementary cells, specifically, as shown in Figure 3, the multipair ballast tank that inclines that contends with is provided with in the present invention, alleviate stabilizer and antirolling tank combined stabilization device is entangling the burden in heel, and boats and ships are held in navigate by water preferably attitude, improve the navigation performance of boats and ships.And multipair anti-heel ballast tank is arranged in the left and right gunnel of boats and ships, every a pair port and starboard heel wing ballast tank is connected by multiple cross link.Each cross manifold is provided with an anti-heel pump, be preferably axial flow reversible type pump, because general axial-flow pump can only one direction be fetched water, and the reversable axial flow pump that the present invention adopts not only can two-wayly be fetched water, and flow when two-way fetching water is substantially identical, can meet the demand of boats and ships Fast-Balance, the flow of anti-heel pump can reach 2000m
3/ h, pressure is 1.5bar, and the anti-heel pump of every platform is equipped with compression indicator 20, is arranged on the pipeline of anti-heel pump both sides, is used to indicate the mode of operation of anti-heel pump, and the anti-heel pump of multiple stage is completely independently.
Preferably, as shown in Figure 3, anti-heel pump is P1, P2, P3 totally 3, anti-heel ballast tank is that anti-heel ballast tank 1, anti-heel ballast tank 2, anti-heel ballast tank 3 are totally 3 right, 3 antagonism heel ballast tanks are arranged in the left and right gunnel of boats and ships, and every a pair port and starboard heel wing ballast tank is connected by three cross links, and each cross link is provided with an anti-heel pump, totally 3 anti-heel pumps, and 3 anti-heel pumps work alone mutually.
Anti-heel system of the present invention is that the water yield of carrying out trim tank by detecting angle of heel and trim angle is adjusted year, therefore this system is connected with remote valve system with obliquity sensor, this obliquity sensor is photoelectric oblique angle sensor, by experiencing angle of heel and the casterangle of boats and ships, optical signal being become electric signal and sending main control station with clinometer in Fig. 4 to.The angle of heel limit value that control system of the present invention presets boats and ships is 5 °, when the "Left"-deviationist of ship state exceedes angle of heel restriction, the pointer of clinometer just can be tilted to the left, anti-heel system just by signal transmission to remote valve system, automatically remote control butterfly valve is opened, open anti-heel pump, and indicate " larboard → starboard ", the water barge of anti-for left side heel ballast tank is transported to right anti-heel ballast tank, correct the heel of boats and ships, until after reaching the best balance of boats and ships, automatic stopping transportation by lighter, close anti-heel pump and remote control butterfly valve, when ship state Right deviation exceedes heel startup angle, the pointer of clinometer is tilted to the right, anti-heel system by signal transmission to remote valve system, automatically remote control butterfly valve is opened, open anti-heel pump, and indicate " starboard → larboard ", the water barge of anti-for right side heel ballast tank is transported to left anti-heel ballast tank, correct the heel of boats and ships, until after reaching the best balance of boats and ships, automatic stopping transportation by lighter, close anti-heel pump and remote control butterfly valve, now clinometer pointer erects vertical position.
Anti-heel system of the present invention not only can play good anti-heel effect to the heel of boats and ships, and the trim for boats and ships also has good control effects.When the bow loading of boats and ships is more than stern, boats and ships can tilt to bow, when casterangle exceedes limit value, clinometer can make corresponding instruction, and signal transmission to remote valve system, is opened remote control butterfly valve by anti-heel system automatically, open anti-heel pump, and indicate " bow → stern ", also seawater is pumped into the anti-heel ballast tank close to stern, to make ship reach state of equilibrium faster simultaneously; When the stern loading of boats and ships is more than bow, boats and ships can tilt to stern, and when casterangle transfinites, clinometer makes the instruction contrary with during trim by stem, anti-heel system by signal transmission to remote valve system, automatically open remote control butterfly valve, open anti-heel pump, and indicate " stern → bow ", seawater is pumped in the anti-heel ballast tank close to bow simultaneously, until after reaching the best balance of boats and ships, automatically stop transportation by lighter, close anti-heel pump and remote control butterfly valve.
Anti-heel system of the prior art water pump used and butterfly valve are linkage type, if in the hoisting crane work of vessel motion or boats and ships, any one remote control butterfly valve, anti-heel pump are out of control or the appearance of cabin, local is damaged, boats and ships heel system works will be caused not normal, the safety of the staff on serious threat boats and ships and the huge economic loss that may bring.And 3 anti-heel pumps in the present invention work alone mutually, and to remote control butterfly valve corresponding separately, there is chain controlling functions, the heel of boats and ships and trim are all well controlled, so not only can accomplish three pump independent operation in anti-heel system, be independent of each other, ageing to improve, if wherein certain pump, butterfly valve work is not normal or the appearance of cabin, local is damaged, too serious impact can not be caused to the anti-heel of boats and ships and trim function, other anti-heel pump and anti-heel ballast tank still can work to ensure boats and ships stable and safety at work, greatly increase the safety performance of boats and ships, for the life security of marine operation personnel provides guarantee.
Anti-heel system of the present invention is also connected with liquid level measuring system, and level sensor is arranged on each anti-heel cabin, carries out level gauging, and passes the signal to control workstation, show the height of liquid level by level sensor.Level sensor also plays a part limit switch, for high and low liquid level switch, in left and right during anti-heel ballast tank transportation by lighter, as there is low liquid level switch action, showing that the liquid level of its corresponding anti-heel ballast tank is lower, refuting as continued tune, then anti-heel pump can suck air, cause damage, therefore low liquid level switch action, pump trip; If there is high level switch action during transportation by lighter; show that its corresponding anti-heel ballast tank will be expired; refute as continued tune; the overflow of anti-heel ballast tank will be caused; therefore high level switch action; also pump trip, the water yield of real-time oppositional heel ballast tank carries out monitoring and showing, to system protection of inclining of contending with.
Boats and ships rolling balance autonomous cruise speed system of the present invention also comprises hoisting crane, and the management of anti-heel system is by maximum load cycle applications and to perform take time as the operation of framework, this heel system guides and limits crane operation in the heel of boats and ships reality and the safe range of trim.The design load of rotation process is 1000 tonnes 30 meters, and speed of revolutions is 20 minutes an angle of 90 degrees.During modern box ship landing pier lift van, the heel of ship state, particularly boats and ships and trim degree constantly change, when heel exceedes certain angle, can produce larger friction between guide rail and casing, freight container just can not be lifted up into from the guide rail in large cabin or hang out again, even stuck; Crane also there will be stern when loading and unloading container and differs with bow cargo capacity the phenomenon causing more greatly trim by stem or tail to incline, and as boats and ships can not be made as early as possible to recover upright condition, boats and ships just can topple, crisis ship's staff life.Anti-heel system of the present invention can auto-compensation ship loading and unloading case time heel and trim, when deck is heavily hung in load weight work rotation process, the pump that inclines of contending with is alloted the seawater be pressed into by ballast pump mutually, from larboard to starboard or starboard to larboard, from bow to stern or from stern to bow, corresponding specific instructions can be made according to the situation of reality, ensure the balance of ship state, realize the normal allocation and transportation of freight container, and the anti-heel pump of distinctive 3 platform independent work in the present invention and 3 antagonism heel ballast tanks have very high ageing, boats and ships can be made as early as possible to get back to best state of equilibrium, be convenient to better operate accordingly crane simultaneously.
A kind of boats and ships rolling balance autocontrol method is provided in another embodiment of the present invention, the aided-detection device of anti-heel system as shown in Figures 4 and 5, this aided-detection device comprises the main control station of band clinometer, the administration of ship system be connected with main control station in addition and the remote control panel of goods control formula, administration of ship system directly can control the anti-heel ballast tank in left and right, and with the remote control panel of goods control formula all with reversible anti-heel pump, butterfly valve directly or indirectly connects, simultaneously, main control station also with loading computer, automatic control and management station and first level control station, second subprime control station, level control station is connected for the third time, such control method can control anti-heel system, liquid level measuring system, remote valve system, the control system that crane etc. are main, and connect simple between each system, in time easy to operate.By this control method, the liquid level signal that the ship inclination signal that can provide according to obliquity sensor and level sensor detect, automatic remote controls anti-heel pump and remote valve system, show the operating mode of boats and ships heel and trimming condition and anti-heel system equipment simultaneously at main control station 1 in real time, realize controlling the balance of boats and ships heel and trim.
Preferably, above-mentioned control method has automatic control, the other manual and Remote multiple control modes of machine.When system is in remote manual control operating mode, operator can direct manual start and stop heeling pump, and the water yield of carrying out the anti-heel ballast tank in left and right is alloted, and corrects the heel state of boats and ships; When system is in automatic control mode, by each system and aided-detection device, the water yield of automatically carrying out the anti-heel ballast tank in left and right is alloted, and the balance in roll realizing boats and ships controls; When system is in manual control mode, operator in cabin full voltage starting or remote start, can directly control the start and stop of anti-heel pump.For hoisting crane, mode is the same, can realize the operation of crane and the perfect cooperation of anti-heel system, improves handling efficiency.
Preferably; in another specific embodiment of the present invention; safety system and warning is provided with in this ship craft integrated balanced system; not only there is the protections such as the overflow of anti-heel ballast tank, anti-heel pump cavitation, motor overload, motor moisture-proof; also there is leaning angle overload alarm, motor overload, dead electricity alarm, anti-heel ballast tank two position warning device; safe navigation for boats and ships provides more fully monitors, and improves the safety of ship's staff.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a boats and ships rolling balance autonomous cruise speed system, comprise anti-heel system, it is characterized in that, described anti-heel system comprises multiple anti-heel pump and multipair anti-heel wing ballast tank, described multipair anti-heel wing ballast tank is arranged in the left and right gunnel of ship, every a pair anti-heel wing ballast tank is connected by multiple cross link, is respectively provided with an anti-heel pump in each cross link, and the anti-heel pump of described multiple stage is mutually independently.
2. boats and ships rolling balance autonomous cruise speed system according to claim 1, described anti-heel pump is 3, and described anti-heel wing ballast tank is 3 right, and every a pair anti-heel wing ballast tank is connected by three cross links.
3. boats and ships rolling balance autonomous cruise speed system according to claim 1, described anti-heel pump type is axial reversible axial-flow pump.
4. boats and ships rolling balance autonomous cruise speed system according to claim 1, described anti-heel system the carries out trim tank water yield by detecting angle of heel and trim angle is adjusted year, and the limit value of described angle of heel is 5 °.
5. boats and ships rolling balance autonomous cruise speed system according to claim 1, described anti-heel system and liquid level measuring system, remote valve system, administration of ship system and direct or indirect being connected of the operation and control system of photoelectric oblique angle sensor, hoisting crane.
6. a boats and ships rolling balance autocontrol method, it is characterized in that arranging multiple stage anti-heel pump and multipair anti-heel wing ballast tank forms anti-heel system, and multipair anti-heel wing ballast tank is arranged at the string limit, left and right of ship, by multiple cross link, every a pair anti-heel wing ballast tank is connected, one anti-heel pump is arranged with each cross link, and anti-for described multiple stage heel pump is set to mutually independently.
7. boats and ships rolling balance autocontrol method according to claim 6, described anti-heel pump is 3, and described anti-heel wing ballast tank is 3 right, and every a pair anti-heel wing ballast tank is connected by three cross links.
8. boats and ships rolling balance autocontrol method according to claim 6, described anti-heel system carries out interior shifting ballast water by the anti-heel cabin distributed, the liquid level signal that the ship inclination signal provided according to obliquity sensor and level sensor detect, automatic remote controls anti-heel pump and remote valve system, and in aided-detection device, show the operating mode of boats and ships heel and trimming condition and anti-heel system equipment in real time, realize controlling the balance of boats and ships heel and trim.
9. boats and ships rolling balance autocontrol method according to claim 8, when the ship inclination signal that described obliquity sensor provides is heel signal, corresponding remote control butterfly valve is opened automatically, open anti-heel pump, the water yield of carrying out the anti-heel ballast tank in left and right according to actual conditions is alloted, until reach the balance of boats and ships, automatically close anti-heel pump and remote control butterfly valve.
10. the boats and ships rolling balance autocontrol method according to any one of claim 6-9 claim, when described heel signal is left-leaning, signal transmission to remote valve system, is opened remote control butterfly valve by anti-heel system automatically, opens anti-heel pump, and indicate " larboard → starboard ", the water barge of anti-for left side heel ballast tank is transported to right anti-heel ballast tank, corrects the heel of boats and ships, until boats and ships balance, automatic stopping transportation by lighter, closes anti-heel pump and remote control butterfly valve; When described heel signal is Right deviation, anti-heel system by signal transmission to remote valve system, automatically remote control butterfly valve is opened, open anti-heel pump, and indicate " starboard → larboard ", the water barge of anti-for right side heel ballast tank is transported to left anti-heel ballast tank, correct the heel of boats and ships, until boats and ships balance, automatically stop transportation by lighter, close anti-heel pump and remote control butterfly valve.
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