JPS5819518B2 - Floating body attitude/water fluctuation prediction device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in the attitude of a floating body such as a marine structure and a draught control device.

Conventionally, the attitude (left/right and front/back inclination) and swamp control of floating bodies such as marine structures has been controlled by knowing the tilt angle θ of the floating body 1 using a bubble level 3', as shown in Figures 1 and 2. , the front and rear inclination angle ψ is known by another similar means, and the apparent floatation and sinking amount ds of the floating body relative to the water surface is known from the water line indicating scale 4' provided on the outside of the floating body, and the floating and sinking amount is determined. ds and the above-mentioned inclination angle θ or the same φ, calculate the amount of floating and sinking for the inclination, and calculate the true water intake amount d by adding or subtracting it from the apparent floating amount ds, and combine this with the above two attitude values. Then, operate the valve 8' of the ballast tank 2' and the operation switch of the pump 7' provided on the front, rear, left, and right sides of the floating body (hereinafter referred to as "ballast operation"), and adjust the attitude angle by following the steps shown in the block diagram in Figure 3. It was common practice to control the water level and the stasis level.

In other words, first, visually measure to see where the current attitude angle and water level of the floating body are relative to the target value to be controlled, and then determine how much the front, rear, left, and right ballast tanks are filled. , predict which one should be reduced and to what extent, select the ballast operation circuit (pipe line) to be operated based on the prediction, and operate the ballast to increase or decrease the water in the specified ballast tank 2'. The attitude and stuttering were controlled by changing the balance of the floating body from side to side, front and rear, or by simultaneously pouring water into the front, rear, left and right tanks.

However, with this type of operation method, it usually takes several tens of seconds for a sufficient response to the floating body's attitude and sloshing water to appear after ballast operation is started, and the floating body has a target control attitude and sloshing water. If the ballast operation was completed by reading the occurrence of the ballast using a scale bubble level and the water scale, it would have already been an excessive operation, and the floating body would gradually change its attitude and water flow even after the ballast operation was completed, and eventually miss the target. In some cases, it ended up at a position that exceeded the value.

In addition, when the attitude of the floating body changes and its water intake changes, a certain degree of rocking (including vertical movement) is unavoidable, which makes it even more difficult to visually confirm whether the attitude and water intake values have reached the target values. I was doing it.

These problems are not limited to just that, but require a high level of intuition in operating techniques that take into account the time lag of the floating body response and the rocking period, and also force the operator to carefully and constantly monitor instruments and perform delicate ballast operations. This required a high level of skill and extreme tension.

As mentioned above, conventional devices have problems such as inefficiency, inaccuracy, and lack of simplicity.

The present invention provides an automatic attitude and water detector that automatically detects the attitude angle and water value of a floating body, a fluid flow meter that detects the flow rate of ballast water, and a floating body detected by the above-mentioned detector, which can eliminate such problems. A differentiation circuit that detects the dynamic components of the attitude angle and the hydration value as velocity components and acceleration components, and a differentiation circuit that detects the attitude angle at the start of ballast operation, the hydration value, and each velocity component and acceleration component detected by the above-mentioned differentiation circuit. A holding circuit holds the initial value, integrates the moving flow rate of ballast water for each of the above initial values to obtain the ballast correction amount, and integrates each velocity component and acceleration component input from the holding circuit to calculate the necessary correction amount. and a posture draught change prediction calculation circuit comprising a high-speed repetitive calculation circuit that obtains future posture angles and hiccup values by mutual addition of these, a signal converter that inputs each of the above-mentioned detection data to the same circuit, and the above-mentioned posture hiccup A floating body attitude and water fluctuation prediction device comprising a posture and water fluctuation prediction display device that displays the results obtained by a fluctuation prediction calculation circuit, and which automatically detects the current attitude angle and water height value of the floating body. The calculated data and the flow rate data of the control fluid due to the ballast operation process taken for attitude control are subjected to high-speed repetitive calculation processing by an arithmetic circuit. Future posture of a floating body.

Since the angle and future swamp value are immediately displayed by the attitude change prediction display device, the operator can immediately know the time when the attitude angle and swamp value of the floating body will reach the target values from the display, and when that time arrives, Even if the floating body attitude and water intake at that time have not yet reached the target values due to the time lag, it is sufficient to complete the ballast operation without considering this.

Even after the ballast operation is completed, the floating body continues to change its attitude angle and water intake value by the time lag, and due to transient phenomena, it slightly exceeds the target value, and this time, due to the reaction, it moves in the opposite direction, repeating the oscillation and dampingly reaches the target value. Calm down.

As described above, compared to conventional devices, the device of the present invention can be operated accurately in a shorter time, does not require unnecessary attention, and does not require any skill to operate, so it is easy for beginners to operate. It has the advantage of being highly efficient, accurate, and easy to operate.

Next, one embodiment of the present invention will be described with reference to the drawings.

FIG. 4 is a block diagram showing the procedure of ballast operation in an embodiment in which the attitude and water fluctuation prediction device of the present invention is used in a conventional floating body control device, and each block of the attitude and water change prediction device of the present invention is indicated by hatching. The figure is shown below.

The purpose of using the device in conjunction with the conventional device is to show that the device of the present invention does not harm the conventional device in terms of functionality, and functions without being harmed by the conventional device.

In the figure, each block is given both a number and a name to aid understanding.

The arrows connecting each block indicate that the procedure proceeds in the direction of the arrow.

Also, the subscript θ indicates the left and right inclination angle of the posture angle, and indicates that the block or arrow attached to it is related to the inclination angle θ, and the subscript φ also indicates the front and rear inclination. indicates that the block or arrow attached to it is related to its inclination angle φ.

In the same manner, d indicates the water hydration value, q indicates the flow rate of the control fluid, and the blocks or arrows attached to them indicate that they are related to each other.

In this diagram, first switch 1, switch 2
and 3, the device of the present invention is functionally coupled to a conventional floating body control device.

Then, the particle gyro 1 and the resistance type hoastness measuring device 2 of the automatic attitude hoisting detector 10 detect the attitude angle (left and right inclination θ and front and back inclination φ) and the hoistiness value d as changes in voltage or current, and the data is recorded. is sent to the signal converter 5 according to the arrows in the diagram, where it is converted into a predetermined voltage or current value necessary for calculation, and sent via the switch 1 to the posture stuttering fluctuation prediction calculation circuit 11, where it is input as an initial value.

At this time, the ballast operation has not yet been performed, so the data from the orifice flow meter 17 shown at the bottom of the figure is 0.

The above-mentioned initial values are input to the attitude/hiatus variation prediction calculation circuit 11, and at the same time are sent to the attitude/hiatus variation prediction/display device 8, which displays the current attitude angle and the hoistiness value of the floating body.

From this display, the operator of the floating body knows the difference between the target attitude angle and water value of the floating body he is trying to control and the current attitude angle and water value, and by judgment 9, he opens the ballast control circuit and closes it. Prediction of postural fluctuating changes 13
Based on this, the ballast operation circuit selection 14 is performed.

Then, ballast adjustment manual operation 15 is performed.

For example, if you want to deepen only the water intake, pour water evenly into the left and right front and rear ballast tanks (not shown), and if you want to tilt the floating body to the right or level it if it is tilted too far to the left, pour water evenly into the left ballast tank (not shown). Operate the pump and valve to move water from the tank to the right ballast tank.

These operations are generally performed by turning on and off operating switches for an electric motor and a solenoid valve.

As a result of this operation, fluid flows through the ballast pipe (hereinafter referred to as ballast circuit), the flow rate is detected by the orifice flowmeter 17 as a change in voltage or current, and the information is sent to the signal converter 5, where it is used for calculations described later. It is converted into a necessary predetermined voltage or current value and sent to the postural hiccup variation prediction calculation circuit 11 via the switch 2, and the flow rate becomes equal to the postural angle and hiccup value after a given time in seconds. The floating body's attitude angle and the stuttering value are calculated and subtracted from the attitude angle and the stuttering value inputted earlier, and the attitude angle and the stuttering value of the floating body are displayed on the attitude/housting change prediction display device 8.

Here, the attitude angle and the water intake value of the floating body at an arbitrary time t must be displayed for every time period up to the future time to be predicted, for example, 2 minutes, so it is necessary to calculate these values almost instantaneously over a time period of 2 minutes in the future. The calculation is a high-speed repetitive calculation.

By looking at the display above, the floater can immediately know how many seconds it will take for ballast to be completed on the left and right, front and back, or when the water ballast is completed. Even if it does not reach this point, it is due to a time lag, so the operation can be completed without any worries.

After the operation is completed, the floating body gradually reaches the target value, exceeds the target value somewhat due to inertia, and then reverses, a so-called transient phenomenon occurs, but eventually it returns to the target value.

If, on the other hand, a failure occurs in the device of the present invention, switch 1. Since the device of the present invention is functionally completely separated from the control system of the floating body by cutting 2 and 3, the ballast operation can be performed visually using the scale-type bubble level 3 and the hiccup indication scale 4, as in the past. good.

The outline of the present invention has been explained above using the procedure diagrams, and the structure and operation thereof will now be explained in more detail with reference to FIG. 5, which is a circuit diagram showing an embodiment of the present invention in a tire diagram.

In the figure, the orifice flowmeter 1 with the suffix q on the left end is a flowmeter that detects the flow rate q of ballast water flowing in the ballast circuit during ballast operation, and the system particle gyro with the suffix θ on the bottom left end 2 is a gyro that detects the left and right tilt angle θ of the floating body; 3 is a particle gyro with the subscript φ; 3 is a gyro that detects the front and rear tilt angle φ of the floating body; and a resistance type with the subscript d The stuttering measurement points 4 each indicate a stuttering measuring device that detects the stuttering value d by utilizing the change in electrical resistance depending on the water depth, and
All of these detected quantities are replaced with voltage or current quantities.

A signal converter 5 installed immediately downstream (on the right side of the figure) of each of the above-mentioned detectors converts the electrical signals obtained by each of the above-mentioned detectors to the level necessary to operate a predetermined circuit, which will be described later. It is a vessel.

The frame ■ indicates the attitude angle θ and φ of the floating body detected by each of the above detectors.
In order to detect the dynamic components of the hydration value d as velocity components and acceleration components corresponding to each system, for example, angular velocity and angular acceleration in the case of attitude angle, and velocity and acceleration in the case of hydration value. A differentiating circuit comprising a differentiator 1. 3 and 5 first differentiate the detected amount of each system to obtain the first-order differential amount, that is, a velocity component, and differentiators 2 and 4 and 6 further differentiate the components. This is to obtain a second-order differential quantity, that is, an acceleration component.

The holding circuit 7 holds the attitude angle θ and φ at the start of the no-last operation.

This is a circuit for inputting and holding the hydration value d and their respective velocity components and acceleration components as initial values of the integration circuit described later.

The area inside the box is the amount of ballast correction obtained by integrating the moving flow rate of ballast water for each of the above initial values, and the required correction amount by integrating each of the above initial values (each component), and the mutual addition of these. This is a high-speed iterative calculation circuit mainly consisting of an integrator to obtain future attitude angle and hydration values after t seconds, for example.

Here, since the adder for the above-mentioned addition also adds negative numbers, it actually plays the role of an adder/subtractor.

As explained in FIG. 4 showing the procedure, the high-speed repetitive arithmetic circuit 6 calculates the attitude angle and the stuttering value of the floating body after an arbitrary time, for example, for any instantaneous time up to 2 minutes in the future.
This is an iterative calculation circuit that performs calculations in a very short period of time, almost instantaneously.

Integrator 1 is an integrator of moving ballast water, and integrator 2 is an integrator of moving ballast water.
4 and 6 are integrators for each of the acceleration components inputted from the differentiating circuit, and integrators 3 and 6 are respectively connected to integrators 3 and 6. 5 and 7 are integrators for each velocity component, and adders 1. 3 and 5 are adders for performing addition in each group of each velocity component and each acceleration component integrated by each integrator, and an adder 6
In order to correct the apparent hydration value (including the slope component) obtained by the adder 5 to the true hydration value, an adder for adding it together with the information amount of each group of θ and φ is added to the adder 2. ．． Reference numerals 4 and 7 respectively indicate adders for adding the initial values of each group obtained by the above-mentioned particle gyro and the resistance type hydrostatic measuring device and the integral values of the above-mentioned respective groups.

Inside the box (2) is an attitude/swallowing change prediction display device that ultimately displays on a cathode ray tube the future attitude angle and stuttering value of the floating body calculated within the above-mentioned box (x).

However, the ``pointer indicator I'' shown at the lower left corner of the frame directly indicates the attitude angle θ, φ and the hydration value d of the floating body detected by the above two types of Vertiquake, Lugyro and resistance type hydration measuring device. This is a display that displays a guideline at the time, and is unrelated to the future attitude angle and hiccup value calculated within the above frame (3).

In other words, this display will display the instantaneous attitude angle and hiccup value of the floating body, including a time lag.

Note that only the stasis value is indicated by a line mark.

Within this frame ■, the ``time division circuit'' determines the display order of each group when displaying the attitude angles θ, φ, and water hydration value d after t seconds sent from within the frame ■ on a cathode ray tube (described later). A cathode ray tube display 8 is a cathode ray tube display for displaying the attitude angle θ, the attitude angle φ, and the hydration value d, which have passed through the time division circuit, in an oscillograph.

The horizontal axis of the display surface of the cathode ray tube display shows future time, the vertical axis shows the attitude angle in each angle, and the hiccup value in depth.

Since the attitude angle θ and φ and the water drop value d are obtained continuously as values at any time t after the ballast operation as described above, they are actually a series of points, that is, a continuous waveform.

will be displayed.

As described above, a change in posture inevitably involves a transient phenomenon, so the waveforms described above are a pitching curve, a rolling curve, and an ups and downs curve, each of which attenuates.

Subscripts θ, φ, d near each group in the entire diagram
and q are the attitude angles θ, φ, and φ of the system to which it belongs.
This indicates that the system transmits information regarding the stuttering value d and the ballast water flow rate q.

Similarly dw! The integral value of the instantaneous flow rate of the flow rate q system is δ
, small and mi are the first-order differential amounts (velocity components) of each system, θ, φ, and d are the second-order differential amounts (acceleration components) of each system, and Δθ.

Δφ is the sum of the integral values of the θ and φ systems, ΔZ is the sum of the integrals of the d system, and θ(t).

・φ(1) and a(t) indicate the voltage or current value that should be equalized to each attitude angle and water value of the floating body after an arbitrary time in seconds, and the wiring to which they are attached does not contain that information. are transmitted.

In the figure, [Ballast operation 1rONj, Ir0FFjJ] indicates the ballast operation, for example, when the electric motor of the ballast pump and the switch of the electromagnetic valve are electrically turned on.
"ON" means to start the operation, and "0FFj" means to complete the operation.
The dotted arrow indicates that the operation simultaneously inputs ON or OFF information into the circuit indicated by the arrow.

SWq, swθ, SW, φ, and miSWd each indicate a switch, and the subscripts q, θ, . . . indicate that the switch is a switch related to the system indicated by the above-mentioned subscript.

Here, these switches can be opened and closed when the ballast operation is OFF, but are automatically closed when the ballast operation is ON.

The two arrows and the subscripts OP and RE shown from the high-speed repetitive arithmetic circuit to each of the integrators described above clearly show that the operations and resets are repeated at high speed during the arithmetic operations. It is something that

The effect of the above embodiment will be explained using an example of correction in the case where the floating body is tilted from the reference attitude and sinks too much than the reference water intake.

When the operator of the floating body determines that the floating body is tilted and the water level has fluctuated from the standard value, the operator first turns on the switches SWθ and SWφ.
and SWd is closed, and the current attitude and hiccup value of the floating body are checked using the pointer indicator in the frame N.

Then, depending on the deviation of the attitude angle θ, the attitude angle φ, and the water intake value d from the standard values, it is determined which system of ballast tank water should be increased or decreased, and the switch for ballast operation (
(not shown).

Also, confirm that the water is sinking below the standard value, and at the same time operate the switch for surfacing.

Then, as described above, SWq automatically closes (switches SWθ, SWφ, and SWd are already closed), and the device enters the operating state.

The left and right tilt angles (attitude angles) θ, the front and rear tilt angles φ, and the hydration value d obtained by each particle gyro are transferred to the adder 2 in the box 2 through the holding circuit in the box 2. It is input as an initial value to 4 and 7.

At this time, if the floating body is rocking, the inclination angle θ and φ, or any one of them, will contain a dynamic component, so the differentiator 1 and 3 or any one of them will be The differentiator of the system containing the above-mentioned dynamic component detects the angular velocity component of the dynamic component, and after passing through the holding circuit, integrates the integrator 3 and 5 in the box (2), or the corresponding system of any one of them. The angular velocity and/or one of them is input into the device as an initial value.

Since these are angular velocities based on rocking, they always include an angular acceleration component, which is further detected by the differentiator 2 and 4, or any one of them corresponding to the above angular velocity system, and the holding circuit and then the integrators 2 and 4 in the box (■) or any one pair thereof.

The integrator of the corresponding system is given the angular acceleration θ and the same? Or input any one of them as the initial value.

These angular velocity components and angular acceleration components are calculated by the ballast tank (
(not shown) acts as a dynamic part of the ballast water requirement information.

On the other hand, the amount of ballast water transferred to or from the ballast tank is detected by the orifice flowmeter and sent as information q to the integrator 1, which serves as information for the ballast water supply.

The high-speed iterative calculation circuit performs high-speed iterative calculations all at once based on this information, and calculates the attitude angle θ(1) after an arbitrary time in seconds.
and φ(1), or any one thereof.

That is, when the ballast operation is rONJ for τ0, θa,
It is assumed that j' shows the values θA, '0A, and θA, respectively.

If the dynamic characteristics of a floating body due to ballast operation are determined experimentally, it is given by the following equation.

Iθθ+k・θθ10 to θθ2ωl...a1) Iθ
: Moment of inertia, θ: Coefficient l S equivalent arm length ω=p f6" q at ・" (2) ρ: Ballast fluid specific weight q: Ballast fluid flow rate (measured amount) constant Equation (1) is At t=τ0, θ is obtained by solving with θ2θA θ=θA θ=θA as an initial condition, and by performing high-speed calculation, it is possible to estimate the later assessment value after Δτ in real time.

Note that the product of the ballast operation time and the flow rate to achieve Δθ is the required amount of ballast water.

The same goes for the stuttering value; if the floating body is moving up and down, its velocity component 5 and acceleration component d are calculated by the differentiator 5. in frame I. It is detected by the integrator 6.6 and goes through the same process as in the case of the attitude angle described above. The adder 7 and adder 5 calculate the dynamic ballast amount by adding or subtracting the amount of ballast supplied from the integrator 1. This result is sent as ΔZ to the adder 6, and further corrected for the change in water due to the attitude angle. The dynamic ballast amount Δd of the true hydration value is sent to the adder 7, and is added to the initial value d that has been input in advance to calculate the hydration value d(t) after an arbitrary time in seconds.

Of course, the above process includes an operation to equalize the amount of ballast water to the attitude angle and the stuttering value, and this is performed by the above-mentioned high-speed repetitive calculation circuit.

Next, the attitude angle θ(1), the attitude angle φ(1), or one of their inclinations, and the hydration value d(t) are sent to the time division circuit in the frame l, where the temporal priority for displaying on the cathode ray tube is determined. The received information is sent to a cathode ray tube display, and each piece of information is independently displayed at a predetermined system position on the display surface.

Here, as mentioned above, the arbitrary time t is an arbitrary time in the future from the ballast operation start time, so if the length of the horizontal axis, that is, the time axis of the cathode ray tube display surface corresponds to, for example, two minutes, then the time t will be within that two minutes. Therefore, the display tube will display the future attitude angle and stuttering value of the floating body at all these times in a very short time.

Therefore, since the display is a series of dots, or a line, the operator of the floating body can understand how many seconds later the line will touch the control target value (in this case, the reference value), and when that time is reached. Complete by turning off the ballast operation of that system.

As mentioned above, due to the time lag, the floating body has not yet recovered to its standard attitude and hiccups, but there is no need to take this into consideration.

Above, we have described an example of correction when the attitude of the floating body and the water intake deviate from the standard value. If you consciously tilt the floating body to adjust the height, or if you want to change only the hiccups to the required value, you can select the above reference value as the target value, and then follow the same procedure as above. You can achieve your goals.

Further, although the ballast operation has been described as being electrically ON/OFF, it is not necessarily necessary to use an electric switch, and the valve may be directly opened and closed manually, and the pump may be operated separately.

However, in that case, it is necessary to start the operation of the orifice flowmeter simultaneously with the start of valve operation.

In addition, the valve does not have to be fully open or fully closed, but may be of a type in which the opening degree is adjusted by keeping the operating time constant.

In this case, the integral circuit factor replaces the valve opening from time 7, and the operation time is the time required to control the floating body's maximum attitude angle (inclination angle) and maximum hiccup displacement. Although it takes some time because it is set in a high-speed repetitive calculation circuit, the ballast operation can be automatically turned off when that time is reached, which has the advantage of eliminating the need for the floating body operator to turn off the ballast.

In addition, other instruments may be used as long as the orifice flowmeter and the resistance type water meter can be expected to have high accuracy and can convert the detected amount into an electrical signal.

As explained above in detail with regard to the embodiments of the present invention, the instantaneous future attitude angle and swamp value of the floating body can be determined at the same time as the start of ballast operation, so the operator can avoid ballast time lag and transient phenomena as before. The ballast operation can be completed when the desired future time shown on the cathode ray tube display is reached without having to worry about excessive ballast. Moreover, since it does not require any skill to operate, even beginners can operate it, and it has the advantage of improving safety, efficiency, simplicity, etc.

Furthermore, the present invention has the advantage of being easily implemented on conventional manually operated floating bodies, and having extremely high responsiveness since its functions can be freely connected and disconnected from conventional functions by simply operating a switch. .

[Brief explanation of the drawing]

Figure 1 is a principle diagram showing a conventional floating body's attitude angle and hydration detection means in a vertical section. Figure 2 is a plane view showing the left and right tanks and their circuits from a generally used ballast tank for reference. Fig. 3 is a block tire diagram showing the procedure of conventional ballast operation of a floating body, and Fig. 4 shows the procedure of ballast operation of an embodiment of the present invention corresponding to Fig. 3 above. block tire gram diagram,
FIG. 5 is a circuit diagram showing an embodiment of the present invention in a tire diagram. 1... Orifice flow meter, 2... Particle gyro, 3... Particle gyro, 4... Resistance type water meter, 5... ...
Signal converter, 6... High-speed repetitive arithmetic circuit, 7.
...Holding circuit, 8...Cathode-ray tube display.

Claims (1)

[Claims] 1. An automatic attitude and water detector that automatically detects the attitude angle and water value of the floating body, a fluid flow meter that detects the flow rate of ballast water, and a dynamic detection system for the attitude angle and water value of the floating body detected by the above-mentioned detectors. a differentiation circuit that detects the components as a velocity component and an acceleration component; a holding circuit that retains the attitude angle at the start of ballast operation, the hiccup value, and each of the velocity components and acceleration components detected by the differentiation circuit as initial values; and each of the above. The ballast correction amount is obtained by integrating the moving flow rate of ballast water with respect to the initial value, and each velocity component input from the above holding circuit,
A posture and water fluctuation prediction calculation circuit is equipped with a high-speed repetitive calculation circuit that integrates the acceleration component to obtain the necessary amount of correction, and obtains the future posture angle and water value by mutual addition of these, and the above-mentioned detection data is input to the same circuit. A signal converter for input,
An apparatus for predicting attitude/hiatus fluctuations of a floating body, comprising: an attitude/hiatus fluctuation prediction/display device for displaying the results obtained by the attitude/hiatus fluctuation prediction calculation circuit.