FR2613685A1 - System for monitoring and controlling the lift elements of a hydropter - Google Patents

Abstract

The invention provides a system for automatically controlling the lift elements of a hydropter. It consists of three submerged fins, independent of one another, widely spaced at the front and automatically controlled, which move at a chosen depth under the surface of the water. Observation by an analysis system of the behaviour of these three fins makes it possible: - to recognise the anomalies and dangers in the distribution of the external forces applied to the boat, - to remedy them totally or partially, a) by seeking a better distribution of the loads on the boat, b) by seeking the optimum inclination of the mast and of the sails which will make it possible to receive wind, the minimum capsising torque, the best aerodynamic lift and the best thrust, - to correct the attitude of the boat if it is on an air cushion.

Description

DESCRIPTION
The present invention relates to a system for controlling and controlling the lift elements of a hydrofoil.

 Some types of boats sometimes have adjustable lift elements: submerged wings, sails, of course, variable inclination of the mast, displacement of loads on the boat.

However, these settings are often docked because they are laborious and dangerous in navigation. The boat keeps, at sea, most of its characteristics, whatever: time and pace, always waiting for optimal conditions to "take off" finally.

The system according to the invention
10 CONTROL and CONTROL three immersed wings which, working independently of each other, have a constant depth, support the boat
20 ANALYSIS the behavior of the three submerged wings, which testifies to the quality of the adjustment of the external forces applied to the boat; -
30 CORRECTS the adjustment of these external forces applied to the boat, by commanding
a) a better distribution of loads on the boat,
b) has a correction of the trim of the boat, if its super
structure has a horizontal wing shape,
(c) the inclination of the mast, if it is a sailing boat.

 The control is permanent, and in automatic operation, the correction too; it is done until the optisisal setting is obtained, on the chosen element.

 Avoid loading or unloading a hull, or capsizing, delaying and mitigating harsh and rough sailing conditions, seeking speed, comfort and safety, by seeking the best balance, the least weight on the hull. water: the stable boat carried and pushed by the wind ... Harmony between the intelligent reactions of a "living" boat and the elements, are the objectives of the proposed automated system.

 According to a preferred embodiment aimed here at servoing the lift elements of a small boat (intended perhaps for the coastal family walk), one version is presented with sail, the other motor, and are given only As non-limiting examples, as supports for the servo system), the technological choices are essentially hydraulic. But this choice is not limiting.

 FIGURES AND BOARDS ILLUSTRATING THE INVENTION FIG. 1. Principle of operation of the submerged wing.

Fig. 2. Hydraulic control of the submerged wing.

Fig. 3. Principle of the system analyzing the balance of the boat on its three wings.

Fig. 4. Use to control the actuators of the system analyzing the balance of the boat on its three submerged wings.

pl. 5. Hydraulic servo diagram of the submerged wings and the mast.

pl. 6. schematic diagram of compensated guying. Sketching.

pl. 7. Possible application
- hydrofoil with submerged wings pl. 8. Possible application
- hydrofoil with submerged wings and with slave mast.

Figure 1 gives the principle of operation of the submerged wing. In front of the wing, fixed to the hull, a sensor locates the level of the surface of the water, under it, at a distance "1" in front of the immersed wing. The wing is oriented towards a point A, located at a predetermined distance below the surface point, or the surface element identified by the sensor beneath it.

Figure 2 gives a possible embodiment. The probe is a kind of rod whose hinge axis, at the top, is fixed to a length "1" in front of the wing, above the water. The lower part of the probe is in contact with the surface. Its inclination varies with the variation of the water level.

The oscillatory movement of the probe comes to pilot a hydraulic distributor. 4 holes, 3 positions, center closed, cylinder closed, supplied according to the hydraulic diagram pl. 5.

It should be noted that - the anticipation of the immersed wing on the movement of the surface of the water is regulated by the intervention on the dimension "1".

- the vigor of the reaction of the submerged wing is regulated by mo
V2 rating ratio - the depth chosen for the submerged wing can be adjusted by intervention on the dimension "p" and therefore, - increase "p" to the front and reduce it to the rear, returns to rearrange the boat and vice versa.

- Each wing has a movement independent of that of the other two wings and chose the appropriate incidence at any time, to maintain constant the rating "C".

Figure 3 gives the construction principle of the system analyzing the quality of the balance of the boat on its three submerged wings.

 At the front of the boat a hydraulic sensor "measures" the incidence of each wing. These two "measurements" (amplified or not, but treated in a homogeneous manner) attack the two ends of a rudder, at 30 and 32. The rudder, witness by construction of the lateral balance, is articulated in its center 31 on a smooth shaft guided in translation by two bearings G1 and G2, so as to be able to cover the segment A1 C1 and the angles i, & the request of the two front immersed wings. The position of the spreader in the rectangle AO, CO, C2, A2, will indicate - the incidence of each front wing (pitched in the rear half of the rectangle, stitched in the front half), - the comparison between the two bearings by the angle d.

 At the rear of the boat, a hydraulic sensor "measures" the incidence of the rear wing. This measurement (amplified or not but treated in connection with the processing performed on the measurements made on the front fenders) attacks the end of a second lifter in D2.

The other end of this second spreader crosses the first spreader B1, sliding through a ball joint. When the incidence of the three immersed wings is zero, the two pedals are perpendicular. The second lifter, witness by construction of the longitudinal balance is articulated in its center D2 on a smooth shaft guided in translation by two bearings G2 and G3 so as to cover the segment D1 D3, and the angles ss, at the request of the submerged wing rear and that of the two wings immersed front.The position of the second spreader in the rectangle A4C4E3, Elyindiquera:
- the incidence of the rear wing and the average incidence of both
front fenders: pitch up in A1, B1, D2, E1, dive daniBi, Cl, E3, E2,
- the comparison between these two incidences by langle ss.

 NOTE: Bearings G1, G21G3tG4 are parallel.

NOTES
By a setting made on zero incidence of the three wings
immersed the pedals will be placed in the position they occupy on the diagram. Subsequently, in navigation, any modification of the icicle of the wings will result in linear or angular displacements, in the system of analysis, in sectors where one will read - the nature of the imbalance, - the (or) cause. (s) from which we will deduce - the remedies to bring.

Figure 4 gives the implementation of the principle stated in Figure 3.

 The angles a and # are "read" by distributors: 4 orifices 3 positions, closed center, closed cylinder, whose bodies materialize the pedals, and joysticks smooth shafts guided by the bearings Gl, G2, G3, and G4.

- The first mentioned distributor, witnessing the lateral imbalance by the anglei will control - either the displacement of the loads on the boat (laterally), - or the desired inclination of the mast, laterally (see Plate 5.).

By tests and experiments it will be possible to note the maximum imbalance acceptable before capsize of the boat, and to mark the maximum angle acceptable, on which one will place security sensors which, actuated, will cause the release of the plays of the sails concerned.

- The second mentioned distributor, witness of the longitudinal imbalance by the tab will control - either the displacement of the loads on the boat (- or the desired inclination of the mast, longitudinally (see Plate 5.).

NOTES
The analysis system runs continuously, but only commands the actuators (cylinders and motors) when the operator calls.

Figure 5 shows the hydraulic diagram of the control part of the automated system.

FUNCTIONAL DIAGRAM

<tb><SEP> system <SEP> at <SEP> rest,
<tb> navigation <SEP> under <SEP> sails <SEP> established,
<tb><SEP> cap <SEP> chosen.
<Tb>

<SEP> a <SEP> setting <SEP> of the <SEP><SEP> mast and <SEP> of the <SEP> sails <SEP> proving <SEP> necessary,
<tb><SEP> The <SEP> plays <SEP> are <SEP> removed <SEP> from <SEP> their <SEP> stops.
<Tb>

<SEP> activate <SEP> the <SEP> pulleys <SEP> winders <SEP> listening
<tb> F <SEP> 1
<tb><SEP> release <SEP> the <SEP> hangs <SEP> on <SEP> support <SEP> and <SEP> stay cables.
<Tb>

<SEP> the <SEP> sails <SEP> are <SEP> lined <SEP> by <SEP> tension <SEP> manual <SEP> of <SEP>
<tb><SEP><SEP> on <SEP> their <SEP>SEP> rollers,
<tb><SEP> I <SEP> order of <SEP><SEP><SEP><SEP> mast setting is <SEP> given <SEP>: <SEP> in <SEP> saab <SEP> or
<tb><SEP> in <SEP> automatic '
<tb> rl <SEP> L
<tb><SEP> the <SEP> mast <SEP> slest <SEP> stabilized, <SEP> lteroperator <SEP> having <SEP> found <SEP>
<tb><SEP> correct <SEP><SEP><SEP><SEP><SEP><sP> SEP
<tb><SEP><SEP> clocks are <SEP> placed.
<Tb>

<SEP> 5 <SEP> n <SEP> stop <SEP> the <SEP> rotation <SEP> of <SEP><SEP> sheaves,
<tb> cut <SEP> the <SEP> power of <SEP><SEP>SEP> Mast engines.
<Tb>

 Plate VI shows the extreme inclinations of the mast, the forestay and guying transformation chart and the calculation of the floating compensator.

 The outline shows, at the scale chosen, when the mast passes from the position O to the position 2 10 an overall shortening of the stays of 53.5 (&alpha; 10) (53.5) 6 32 20 an extension of the stay of 32.

If the shrinkage of the shrouds is absorbed by the lengthening of the strands stretched by the compensator, the displacement of the com pensator will be: 5305 = 5.35. The slack obtained from the strut is then 5.35 x 6 = 31.90. However, according to the outline, the theoretical extension required at the forestay is 32. The complement will be obtained by the extension of the spring "r". It will be here 0.1.

 If the boat shown here is 3 m wide, ech. 40/1000 the elongation of the spring will be in this case 1000 x 0.1 = 2.5 mm.

NOTES: 40 - the second function of the mainspring is to keep the guying taut under all circumstances - if we neglect the weight of the rigging and the sails, and the spring tension variation "r" and the effect of the wind, it can be said that the displacement of the mast in the useful zone 2. 3.4.5.

without any significant change in the tensions in the stays and in the stay, the oscillation of the compensator absorbs + 3 on the stays, it can also allow a wider lateral oscillation of the mast. This undesirable phenomenon will be eliminated by a damper on the oscillation of the compensator either by locking pulleys in bl and b2, for example.

 The plate VII represents a possible application of the first part of the servo system, according to the invention.

The hydrofoil is powered by an engine. The control he has of his wings immersed6 allows him to find the best balance on the water, by a good distribution of the loads, then, by a modification of the dimensions p (see figure 2), to seek, according to its speed, the best impact of its wing-shaped hull that will allow it to make the best use of the ground effect. An air cushion is located laterally enclosed under its hull, between two forms of parallel blades that extend its floats.

ITS PURPOSE: to make the best use of aerodynamic lift by controlling the hydrodynamic lift which must tend towards zero but remain positive.

ITS ADVANTAGES: comfort speed, security, versatility.

ITS APPLICATIONS: fishing, boardwalk, coastal surveillance, rapid interventions, underwater surveillance, search for objects, submarine funds, for diving, drowning, rapid transport, transport of wounded, military transport; difficult to locate, can easily be made submersible.

The same principle of analysis can be applied for the lateral forces exerted on the drifts and the rudders.

Claims (1)

CLAIMS I - Control and control system of the sus tent elements of a hydrofoil, characterized in that it manages, on the one hand the incidence and therefore the lift of three wings immersed, independent, 2 at the front, widely spaced, the other at the back, so that in anticipation of the movements of the surface observed in front of them, they always remain at the desired depth, whatever the shape of the surface, the intensity and the direction of the charges applied at each moment on each wing (see Fig. 1 and 2). II - System according to claim 1, characterized in that, after having observed and analyzed the behavior of the immersed wings, and deduced from these observations the corrections to be made concerning the external forces applied to the boat, it manages, on the other hand a) the control (possibly) of a better-distributed loads on the deck (Front-Rear, or port-starboard), b) the control of the optimal inclination of the mast and the sails, (figs III and IV). III - System according to claim 1, characterized in that the anticipation of the submerged wing can be adjusted by intervention on the length "1" of the sensor arm (Fig. I): the vigor of the reaction of the wing immersed, by intervention on the sides Vl and V2 (Fig. 2); and finally, the depth chosen for the wing can be adjusted by intervention on the dimension "p" (Fig. 2). IV - System according to the preceding claims, characterized in that the behavior of the immersed wings, when they have received the appropriate settings, will testify to the quality of the adjustment of the external forces applied to the boat. V - System according to claim 11, characterized in that the measurement of the observed movement of the submerged wing can, if necessary, be amplified or reduced, for example by a conventional copying system, depending on (for example) the size chosen by the analysis system (pl.4). VI - System according to claim 11 characterized in that the analysis system 1 reports to the operator at each moment (pl.3) a) the incidence of each wing submerged, b) the imbalance between the two wings before,  (c) the imbalance between the two front wings and the rear wing,  (d) the fairness of the distribution of charges on the three wings,  e) the ideal situation for which the load on each wing is zero. 20 Can, "in automatic mode" order (pl.4 and 5)  a) possibly, to a better distribution of the loads on the boat,  b) engines tilting the AV mast in AR and vice versa and laterally. 30 In "manual mode" may allow the operator to control himself:  a) a better distribution of loads on the boat,  b) engines inclining the mast. VII - System according to claims II b) and VI (see pls 3 and 4) characterized in that the two equilibrium controls can be. the distributor bodies which, inclined on their "lever" by the imbalance of the loads on the wings, actuate directly (see plate 5) the cylinders and the motors which will correct the imbalance of the loads on the wings of the submerged, either  (a) by moving the loads of the boat,  b) tilting the mast, or both. VIII - System according to claims II and III characterized in that the compensated stay allows the controlled inclination of the mat, around his foot, in the range useful for navigation (see pls 6 and 7), (without a manual modification to adjust the length of stay or stay is necessary), separately or simultaneously in the longitudinal and lateral direction. IX - System according to claim VIII (see pl.5) characterized in that the shrouds constitute a closed loop, fixed to the mast where the guys are usually fixed; said ring of shrouds circulates between two families of pulleys (one driving, the other crazy). The first family of pulleys is attached to the boat. The second family of pulleys is fixed on the body of the compensator itself. Between the two families of pulleys, a determined number of strands. X - Device according to claim VIII (see pl.6) characterized in that the forestay, fixed to the mast, at the usual place where the struts are fixed, is taken as the shrouds, and flows between two families of pulleys (one driving, the other crazy). The first family of pulleys is fixed on the boat, the second family of pulleys is fixed on the body of the compensator. XI - Device according to claim VIII (see pl.6) characterized in that the boat being seen from the side, the loop formed by: the buckle of the shrouds, the strut, and the body of the compensator, is closed and tensioned by a spring "r". XII - Device according to claim VIII (see pl.6) characterized in that during the tilting of the mast back for example, the induced displacement of the floating compensator, stretched between the buckle of the stays and the strut, "resumes" at the loop of the shrouds and strut lengthwise respectively equal to the length of the induced displacement of the compensator multiplied by the number of strands, on the forestay or on the shrouds. The ratio of the number of strands can easily be calculated (see drawing 6). The difference between the theoretical ratio and the ratio of the number of strands is absorbed by the spring "r" whose second function is to keep the guying tight, under any circumstances. XIII - Device according to claim VIII characterized in that by construction, the range used by the spring "r", (pl.6) being low, the balance of the compensator between the strands (that the spring "r" solicits substantially constant) is very substantially the same, regardless of its position. The free movement of the compensator thus authorizing the inclination of the mast, without any appreciable modification of the stresses in the forestay and the stays. (We have ignored here the weight of the rigging). XIV - Device according to any one of claims VIII, IX, X, XI, XII, XIII, characterized in that the possible oscillation of the floating compensator which allows a lateral adjustment of the mast whose forestay is blocked, involves a blockage on the pulleys B1 and B2 (for example) to avoid the lateral oscillation of the mast after adjustment. XV-device according to claim VIII characterized in that the different families of pulleys shown here flat for better understanding (see pl.6) may be different for reasons of size, manufacture or balance. For example, the two families of pulleys on the forestay are advantageously materialized by two muffles. XVI - System according to the preceding claims characterized in that it may be applied in part or in whole on different types of boats, (The two examples presented here are not given as a limitation), for different purposes. The board 7 is the diagram of a trimaran, or catamaran according to the pace. The system enslaved the submerged wings and the mast; a propeller carried by the rear wing operates a high-pressure pump (see hydraulic diagram on page 5).  XVII-System according to any one of claims I, III, IV VI, XVI, characterized in that, placed on the motorized hydrofoil, represented pl. 8 as a nonlimiting example (and whose winged hull shape, ending under the floats by a kind of blade, is intended to use the maximum ground effect) it not only manages the lift submerged wings, but also by control and modification of the dimension "p" (figure 2) the incidence and therefore the aerodynamic lift of the hull on its air cushion. (If "p" increases at the front, the craft is pitching up, so in fast navigation when the front glide angle tends to zero, reduce "p" at the front (or increase the rear) gradually , allows to keep a very low hydrodynamic levitation, but) O. XVIII - System according to the set of claims characterized in that the various described functions of the automated system may be of different technologies. For example, the sensor, placed in front of the submerged wing, may be a kind of small radar capable of determining the average level of a line of defined length on the surface of the water; or the information circulating inside the automated system can be conveyed in different ways, etc., without the principle can be questioned. System according to claim 11, characterized in that it can also analyze the lateral work of the fins and rudders, and control for example a better centering of the wind forces on the sail.