CN111469996A - Anti-rolling gyroscope - Google Patents
Anti-rolling gyroscope Download PDFInfo
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- CN111469996A CN111469996A CN202010413325.8A CN202010413325A CN111469996A CN 111469996 A CN111469996 A CN 111469996A CN 202010413325 A CN202010413325 A CN 202010413325A CN 111469996 A CN111469996 A CN 111469996A
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- flywheel
- gyro
- resistive load
- precession
- controller
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- 238000005096 rolling process Methods 0.000 title claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims abstract description 22
- 238000005265 energy consumption Methods 0.000 claims abstract description 7
- 238000004804 winding Methods 0.000 claims abstract description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 abstract description 4
- 238000011105 stabilization Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 20
- 230000000694 effects Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- B63B39/04—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using gyroscopes directly
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/02—Additional mass for increasing inertia, e.g. flywheels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention belongs to the technical field of ship stabilization, and particularly discloses a stabilization gyro. Wherein, the anti-rolling top includes the base, rotates the flywheel frame of being connected with the base, rotates the flywheel of being connected with the flywheel frame, its characterized in that, still including the moment of torsion that is used for applying braking moment to the flywheel frame and applys the device, and the moment of torsion applys the device and includes: a motor shaft of the permanent magnet synchronous motor is coaxially connected with a precession shaft of the flywheel frame; the winding outgoing line of the permanent magnet synchronous motor is electrically connected with the resistive load to form an energy consumption braking circuit; a controller electrically connected to the resistive load and configured to adjust a resistance value of the resistive load to adjust the magnitude of the braking torque. The anti-rolling gyro and the ship provided by the invention can reduce the cost of the anti-rolling gyro, improve the safety and reliability of the anti-rolling gyro, and improve the seaworthiness and the comfort of passengers in the ship sailing process.
Description
Technical Field
The invention relates to the technical field of ship stabilization, in particular to a stabilization gyro.
Background
The anti-rolling gyroscope has the advantages of no influence of navigational speed on the anti-rolling effect, compact structure, small occupied space, good anti-rolling effect and the like, so the anti-rolling gyroscope is more and more widely applied to the field of ship anti-rolling.
The anti-rolling gyroscope is internally provided with a heavy flywheel, and the flywheel rotating at a high speed has momentum moment and precession physical effect of the gyroscope. The swinging motion of the ship body enables the rotating flywheel to generate precession torque to push the flywheel and the flywheel frame to precess together, meanwhile, the rotating flywheel generates anti-rolling torque during precession, and the anti-rolling torque is transmitted to the ship body through the flywheel frame and the base to inhibit the ship body from swinging.
Most anti-roll gyros have precession angles ranging from-90 to + 90. As the ship swings, the flywheel and the flywheel frame are pushed to precess. The torque applying device is used for controlling the precession angular velocity of the flywheel, and plays a role in limiting the precession angular range at the same time, so that impact caused by out-of-control precession and equipment damage caused by out-of-range precession are prevented.
At present, the torque applying device of the anti-rolling gyro is mostly a controllable hydraulic damping system, the structure of the torque applying device is complex, the risk of oil leakage exists, and the reliability of the anti-rolling gyro is reduced.
Disclosure of Invention
The invention aims to provide a stabilizing top, which simplifies the structure of a torque applying device in the stabilizing top and improves the operation reliability and the safety of the torque applying device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a roll-reducing top comprising a base, a flywheel frame rotatably coupled to the base, a flywheel rotatably coupled to the flywheel frame, and a torque-applying device for applying a braking torque to the flywheel frame, the torque-applying device comprising:
a motor shaft of the permanent magnet synchronous motor is coaxially connected with the precession shaft of the flywheel frame;
the winding outgoing line of the permanent magnet synchronous motor is electrically connected with the resistive load to form an energy consumption braking circuit;
a controller electrically connected with the resistive load and configured to adjust a resistance value of the resistive load to adjust a magnitude of the braking torque.
As an optional technical solution of the anti-roll gyro, the resistive load includes a plurality of braking resistors connected in parallel in the energy consumption braking circuit, and the controller controls on and off of the braking resistors respectively.
As an alternative to the anti-roll gyro, the torque application device further includes a speed-increasing transmission device configured to increase the precession power of the flywheel and reduce the torque transmitted to the permanent magnet synchronous motor.
As an optional technical scheme of the anti-roll gyro, the anti-roll gyro further comprises an angle sensor and/or a pose sensor electrically connected with the controller, the angle sensor is used for detecting a precession angle of the flywheel, the pose sensor is used for detecting a pose of a ship body, and the controller adjusts the resistance value of the resistance load according to a measurement value of the angle sensor and/or the pose sensor.
As an alternative solution of the anti-roll gyro, the anti-roll gyro is mounted on a ship, the base is fixedly connected with the ship body, and the anti-roll gyro is used for inhibiting the rolling motion of the ship.
The invention has the beneficial effects that:
the torque applying device provided by the invention is composed of an electromechanical system, applies the braking torque in an energy-consumption braking mode, is convenient to adjust, has no risk of oil leakage and the like, is high in operation safety and reliability, simple in structure and easy to install and maintain.
Drawings
FIG. 1 is a partial cross-sectional view of a roll top provided by an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a roll top provided by an embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of a torque application device provided by an embodiment of the present invention;
fig. 4 is a schematic partial structural diagram of a ship hull and a roll top provided in the embodiment of the present invention.
The figures are labeled as follows:
10-a stabilizing top; 20-a hull; 201-keel;
1-a flywheel; 2-flywheel frame; 3-driving a motor; 31-a motor rotor; 32-a motor stator; 4-precession axis; 41-shaft extension; 42-a flange portion; 5-a base; 6-torque applying means; 61-permanent magnet synchronous motor; 62-a controller; 63-resistive load; 631-brake resistance; 64-a control switch; 65-a speed increasing transmission device; 66-a rectifier;
7-a first bearing; 8-a second bearing; 9-an angle sensor; 110-pose sensor;
x-flywheel precession axis; y-the roll axis of the vessel; z-flywheel rotation axis.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Fig. 1 is a schematic structural diagram of a stabilizing gyro 10 according to an embodiment of the present invention, and as shown in fig. 1, the embodiment provides a stabilizing gyro 10 which is applied to a ship and can reduce the roll of the ship and improve the stability and comfort of the ship.
Specifically, the anti-roll gyro 10 provided in the present embodiment includes a flywheel 1, a flywheel frame 2, a base 5, a drive motor 3, and a torque application device 6. The flywheel 1 is rotatably connected with the flywheel frame 2 through a first bearing 7, so that the flywheel frame 2 forms a rotary support for the flywheel 1; the driving motor 3 is a frameless motor, a motor stator 32 of the driving motor is fixedly connected with the flywheel frame 2, a motor rotor 31 of the driving motor is fixedly connected with the flywheel 1, and the driving motor 3 can drive the flywheel 1 to rotate around an automatic rotation axis Z at a high speed; the base 5 is fixed on the ship body, the flywheel frame 2 is rotatably connected with the base 5 through a second bearing 8, so that when the ship swings around an axis Y, the flywheel 1 rotating at a high speed generates precession torque to drive the flywheel 1 and the flywheel frame 2 to rotate around a precession axis X relative to the base 5; the torque applying device 6 is used to apply a braking torque to the flywheel frame 2 to limit the precession angle and the angular velocity of the flywheel 1.
In the present embodiment, the driving motor 3 is preferably a frameless motor, which has a compact structure and requires a small installation space.
The structure of the frameless motor is the existing structure in the field, and in other embodiments, motors with other structures can be adopted as the driving motor 3.
The flywheel frame 2 comprises two half shells with sealing performance, the flywheel 1 can be protected from being corroded by external environment, meanwhile, disassembly and assembly are convenient, furthermore, in order to achieve the rotating connection of the flywheel frame 2 and the base 5, the two sides of the flywheel frame 2 are respectively provided with the precession shaft 4 along the X direction of the precession axis, specifically, the flange part 42 of the precession shaft 4 is fixedly connected with the two shells, and the shaft extension part 41 of the precession shaft 4 is rotatably connected with the base 5 through the second bearing 8. In this embodiment, the base 5 is a rectangular frame structure, and is provided with the split bearing seat structures on both sides, so that the flywheel frame and the second bearing 8 can be conveniently disassembled and assembled, the structure is simple, and the processing is convenient.
The swinging motion of the ship pushes the flywheel 1 and the flywheel frame 2 to precess together, meanwhile, the rotating flywheel 1 generates a stabilizing moment during the precession, and the stabilizing moment is transmitted to the ship body through the flywheel frame 2 and the base 5 to inhibit the ship from swinging. The torque application device 6 is used to control the precession angle range and angular velocity of the flywheel 1, preventing impact and equipment damage caused by the runaway precession.
Fig. 3 is an electrical schematic diagram of a torque application device 6 according to an embodiment of the present invention, and as shown in fig. 1 and 3, the torque application device 6 includes: a permanent magnet synchronous motor 61, a motor shaft of which is coaxially connected with the precession shaft 4 of the flywheel frame 2; the winding outgoing line of the permanent magnet synchronous motor 61 is electrically connected with the resistive load 63 to form an energy consumption braking circuit; a controller 62, the controller 62 being electrically connected to the resistive load 63, and the controller 62 being configured to adjust a resistance value of the resistive load 63 to adjust the magnitude of the braking torque.
In the torque applying device 6 provided by the embodiment, when the flywheel 1 precesses, precession power is transmitted to the permanent magnet synchronous motor 61 through the flywheel frame 2 to drive the permanent magnet synchronous motor 61 to rotate, the permanent magnet synchronous motor 61 converts mechanical energy into electric energy and generates heat through the resistive load 63 in the energy consumption braking circuit for consumption, and meanwhile, the permanent magnet synchronous motor 61 generates braking torque in the process, and the braking torque is transmitted to the flywheel 1 through the flywheel frame 2. The principle of dynamic braking is common knowledge in the field of electric traction technology, and is not described in detail herein. The controller 62 changes the resistance of the resistive load 63 to change the current of the dynamic braking circuit, thereby changing the braking torque generated by the permanent magnet synchronous motor 61. When the resistance value is larger, the braking torque generated by the permanent magnet synchronous motor 61 is smaller; the smaller the resistance value, the larger the braking torque generated by the permanent magnet synchronous motor 61.
Further, the resistive load 63 includes a plurality of braking resistors 631 arranged in parallel in the dynamic braking circuit, and the controller 62 can control on and off of each braking resistor 631 respectively. However, the invention is not limited to changing the resistance of the resistive load 63 by changing the number of the braking resistors 631 connected to the dynamic braking circuit, and other ways may be used to change the resistance of the resistive load 63, such as setting the resistive load 63 in the form of a variable resistor, such as a sliding rheostat, a varistor, etc. The resistance value can be regulated and controlled in real time according to the precession state of the flywheel 1 to regulate the magnitude of the braking torque, so that the precession angle and the angular speed of the flywheel are controlled, the anti-rolling effect is better, and the regulation is simple and convenient. In this embodiment, each circuit branch in which the braking resistor 631 is located is provided with a control switch 64 for controlling on/off of the circuit branch, and the control switch 64 is electrically connected to the controller 62. The control mode of the control circuit has the advantages of simple structure and convenience in control.
In this embodiment, the number of the braking resistors 631 connected in parallel in the dynamic braking circuit is three, and the resistances are equal, so that the 3-step adjustment can be performed. In other embodiments, the number of the braking resistors 631 connected in parallel may be two or more, and the resistance values of the braking resistors 631 may be the same or different. It can carry out self-setting according to the demand, and the quantity of brake resistance 631 is more, and the gear that can regulate and control is more. The more gears, the finer the adjustment of the braking torque. Further, in the present embodiment, the control switch 64 is a relay. In other embodiments, the control switch 64 may also be a triode or other electrical components capable of controlling the on/off of the circuit, and it is common knowledge to control the on/off of the resistor in the circuit by using a controller, and details are not described here.
In the present embodiment, a rectifier 66 for converting ac power to dc power is further connected to the dynamic braking circuit, three-phase winding (U, V and W) outgoing lines of the permanent magnet synchronous motor 61 are respectively connected to three input terminals (A, B and C) of the rectifier 66, and an output terminal of the rectifier 66 is electrically connected to the resistive load 63. The dynamic braking circuit can be of many kinds, in other embodiments, other dynamic braking circuits can be used, and a rectifier may not be required, which is not limited herein.
In the present embodiment, since the angular velocity of the precession of the flywheel 1 is relatively low and the torque of the precession is relatively large, in order to better match the power of the permanent magnet synchronous motor 61, the torque applying device 6 further includes a speed increasing transmission device 65, and the speed increasing transmission device 65 is configured to increase the speed of the precession power of the flywheel 1 and reduce the torque transmitted to the permanent magnet synchronous motor 61. The low-speed end of the speed-increasing transmission device 65 is coaxially connected with the precession shaft 4, and the high-speed end of the speed-increasing transmission device 65 is coaxially connected with the motor shaft of the permanent magnet synchronous motor 61. Through setting up speed-increasing transmission 65, can improve PMSM 61's rotational speed and reduce the moment of torsion simultaneously, make PMSM 61's suitability better. Preferably, in this embodiment, the speed increasing transmission device 65 is a planetary gear transmission device, and the planetary gear transmission device has the advantages of compact structure, large transmission torque and the like. However, the present invention is not limited to the planetary gear transmission as the speed-increasing transmission device 65, and the speed-increasing transmission device 65 may also be other gear transmission devices, cycloidal-pin gear transmission devices, worm-and-gear transmission devices, chain or belt type transmission devices, or multi-stage transmission devices combining various types, and the present invention is not limited to the specific structure of the speed-increasing transmission device 65.
Further, the anti-roll gyro 10 further includes an angle sensor 9, and the angle sensor 9 is electrically connected to the controller 62 and is used for measuring the precession angle and the angular velocity of the flywheel 1 in real time. The controller 62 adjusts and controls the resistance value of the resistive load 63 in real time according to the measurement value of the angle sensor 9 to adjust the magnitude of the braking torque, so that the precession angle and the angular speed of the flywheel are controlled, and the anti-rolling effect is optimized.
In the present embodiment, the angle sensor 9 is coaxially connected to the precession axis 4, and the angle sensor 9 may adopt any device for detecting an angle in the prior art, which is not limited in the present invention.
More preferably, the anti-roll gyro 10 further comprises a pose sensor 110, the pose sensor 110 is electrically connected with the controller 62 and is used for detecting the roll pose of the ship body in real time, and the controller 62 adjusts and controls the resistance value of the resistance load 63 in real time according to the detection value of the pose sensor 110 so as to adjust the magnitude of the braking torque, thereby controlling the precession angle and the angular speed of the flywheel 1 and optimizing the anti-roll effect. Since the base 5 is fixedly connected to the hull, the attitude sensor 110 may be mounted on the base 5 or directly on the hull, and any device for detecting the attitude in the prior art may be used, which is not limited in the present invention. In the embodiment, the angle sensor 9 is arranged to detect the precession state of the flywheel in real time, the pose sensor 110 is arranged to detect the swing posture of the ship in real time, and the controller 62 comprehensively judges according to the measurement values of the angle sensor 9 and the pose sensor 110, so that the braking torque is adjusted in real time, the regulation and control are more accurate, and the anti-rolling effect is better. In other embodiments, only the angle sensor 9 or the posture sensor 110 may be provided.
It should be noted that the anti-roll gyro is divided into two structures, a vertical axis structure and a horizontal axis structure, according to the installation form of the flywheel. In this embodiment a vertical axis configuration. The invention is equally applicable to a roll top of horizontal axis configuration, as will be readily understood by those skilled in the art, and will not be described in detail herein.
Fig. 4 is a schematic view illustrating the installation of the anti-roll gyro 10 and the hull 20 according to the embodiment of the present invention, and as shown in fig. 4, the anti-roll gyro 10 is installed on the hull 20 to reduce the rolling of the ship. As shown in fig. 4, the base 5 of the anti-roll gyro 10 is screwed with the keel 201 through bolts, and the precession axis X is perpendicular to the longitudinal section of the ship, so that the rolling of the ship can be reduced. In other embodiments, when the precession axis X of the roll top 10 is mounted parallel to the midspan section of the vessel, the pitch of the vessel may be reduced.
The anti-roll principle of anti-roll gyros and their use on ships are prior art in this field and will not be described in detail here.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (5)
1. A stabilizing gyro comprising a base (5), a flywheel frame (2) rotatably connected to said base (5), a flywheel (1) rotatably connected to said flywheel frame (2), characterized by further comprising torque application means (6) for applying a braking torque to said flywheel frame (2), said torque application means (6) comprising:
a permanent magnet synchronous motor (61), the motor shaft of which is coaxially connected with the precession shaft (4) of the flywheel frame (2);
the winding outgoing line of the permanent magnet synchronous motor (61) is electrically connected with the resistive load (63) to form an energy consumption braking circuit;
a controller (62), the controller (62) being electrically connected with the resistive load (63), and the controller (62) being configured to adjust a resistance value of the resistive load (63) to adjust a magnitude of the braking torque.
2. Anti-roll gyro according to claim 1, characterized in that the resistive load (63) comprises a number of brake resistors (631) connected in parallel in the dynamic braking circuit, the controller (62) controlling the switching of the brake resistors (631) respectively.
3. A anti-roll top according to claim 1, characterized in that the torque application arrangement (6) further comprises a step-up gear (65), the step-up gear (65) being configured to step up the precession power of the flywheel (1) and to reduce the torque transmitted to the permanent magnet synchronous motor (61).
4. A roll damping gyro according to claim 1, characterized in that the roll damping gyro further comprises an angle sensor (9) and/or a posture sensor (110) electrically connected to the controller (62), the angle sensor (9) being adapted to detect a precession angle of the flywheel (1), the posture sensor (110) being adapted to detect a posture of a hull, the controller (62) adjusting the resistance of the resistive load (63) in accordance with a measurement value of the angle sensor (9) and/or the posture sensor (110).
5. A gyro according to any one of claims 1-4, characterised in that it is mounted on a ship, the base (5) being fixedly connected to the hull, the gyro being intended to dampen the rolling motion of the ship.
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| CN202010413325.8A CN111469996A (en) | 2020-05-15 | 2020-05-15 | Anti-rolling gyroscope |
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| CN202010413325.8A CN111469996A (en) | 2020-05-15 | 2020-05-15 | Anti-rolling gyroscope |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590482A (en) * | 2020-12-02 | 2021-04-02 | 微控物理储能研究开发（深圳）有限公司 | Vehicle suspension system and damping method thereof |
| CN113335470A (en) * | 2021-07-16 | 2021-09-03 | 中国船舶重工集团公司第七0七研究所九江分部 | Wave direction self-adaptive fluid momentum wheel active control stabilizing device |
| CN113428311A (en) * | 2021-07-16 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所九江分部 | Fluid momentum loop based on shaftless rim drive pump drive |
| CN113978639A (en) * | 2021-12-03 | 2022-01-28 | 上海舟加科技有限公司 | an anti-roll gyro |
| CN116118961A (en) * | 2023-04-17 | 2023-05-16 | 兴化市远洋机械有限公司 | Ship anti-rolling device |
| CN118144944A (en) * | 2024-03-15 | 2024-06-07 | 中国船舶科学研究中心 | Forced rolling gyro moment generator |
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