CN101792017B - Fin rotating mechanism capable of dynamically measuring fin lift force - Google Patents
Fin rotating mechanism capable of dynamically measuring fin lift force Download PDFInfo
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- CN101792017B CN101792017B CN2010101270565A CN201010127056A CN101792017B CN 101792017 B CN101792017 B CN 101792017B CN 2010101270565 A CN2010101270565 A CN 2010101270565A CN 201010127056 A CN201010127056 A CN 201010127056A CN 101792017 B CN101792017 B CN 101792017B
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Abstract
The invention provides a fin rotating mechanism capable of dynamically measuring fin lift force, which comprises a fin shaft, wherein an end fin sleeve of the fin shaft is provided with an anti-rolling fin; an end circle center position at the other end of the fin shaft is provided with a potentiometer type fin angle measuring transducer to form a fin angle feedback box to serve as a fin angle feedback mechanism; the fin shaft realizes double-support fixation through two bearings; a box body realizes dynamic seal with the fin shaft and is welded on a boat hull; the fin shaft is a hollow fin shaft, and a solid shaft core is arranged in the hollow fin shaft, is firmly connected with a jacket of the fin shaft close to a fin mounting position and can rotate along with the fin shaft; and a lift force measuring transducer is fixedly arranged at the tail end of the solid shaft core. The fin rotating mechanism designed by the invention can directly acquire the dynamic lift force of a fin, avoid the non-linear relationship between an angle of attack and the lift force, and reduce the phase lag caused by the angle of attack in an angle servo.
Description
Technical field
What the present invention relates to is the control setup of the fin of a kind of boats and ships and other ocean or space motion body.
Background technology
Conventional fixed formula stabilizer fin tilting gear is as shown in Figure 2; The fin axle is real mandrel in this mechanism; One end of fin axle is installed stabilizer through fin cover 1 among Fig. 2, and home position is installed the fin angular measurement sensor of potential device formula in fin axle other end end, constitutes fin angle feedback box 10 as fin angle feedback mechanism.The fin axle adopts bearing 4,15 realization double bracings to fix, and casing 5 is realized dynamic seal with the fin axle, and casing 5 is welded on the shell.Rocking arm 6 is driven by actuating unit, and drive the fin axle and rotate, thus the rotation of realization fin.Feedback mechanism dynamic measurement fin angle, fin angle can be passed through in this mechanism's operational process, but the dynamic lift characteristic of fin can not be obtained.
Current, the servocontrol of fin often adopts the angle feedback, and the lift on the fin is all estimated through angle.Because the dynaflow complexity that receives on the fin face receives the interference of various complicated factors, there is very big deviation in the lift that produces through angle estimation fin.For a long time, engineers attempts to avoid directly to measure the lift on the fin through this link of angle estimation lift always, overcomes the influence of various disturbing factors, improves the control efficiency of fin.
Summary of the invention
The object of the present invention is to provide and a kind ofly can realize hydrokinetic decomposition and measurement on the fin, the detection of dynamic of Project Realization fin raising force is used to constitute the fin tilting gear with fin lift dynamic measurement ability of fin lift feedback control system.
The objective of the invention is to realize like this:
Comprise the fin axle; The one end fin cover of fin axle is installed stabilizer; Home position is installed the fin angular measurement sensor of potential device formula in fin axle other end end, constitutes fin angle feedback box as fin angle feedback mechanism, and the fin axle is fixed by two bearings realization double bracings; Casing and fin axle are realized dynamic seal, and casing is welded on the shell; Said fin axle is a hollow fin axle, is furnished with a real axis core in hollow fin axle inside, and the real axis core tightly links to each other with the fin outer shaft sleeve near the fin installation site, and can rotate with the fin axle; End fixed installation lift measurement sensor at the real axis core.
The present invention can also comprise some architectural features like this:
1, said end fixed installation lift measurement sensor at the real axis core adopts the mounting means based on fin normal force, tangential force characteristic; The fin method of principal axes is installed to, tangential sensor block in the terminal upright position of real axis core; Two sensor blocks are terminal vertical and consistent with normal direction, the tangential direction of fin at the axle core; Two lift measurement sensors are non-contact displacement transducer, and two lift measurement sensors are installed in respectively on the sensor base, and sensor base and fin axle outer shroud are fixed; Can rotate with the fin axle, measure the feedback dress at fin angle and fix with the fin axle by the axle that continues.
2, said end fixed installation lift measurement sensor at the real axis core adopts the mounting means based on the fin lift efficiency; End fixed installation square drive link at the real axis core; On the shell of fin axle, cut open an arc-shaped gaps; The terminal sensor block that a circular arc is installed of drive link, the arc sensor block can rotate with the fin axle; Along fin lift direction, to open an aperture at the bearing gland sidewall and install and fix the lift measurement sensor, the lift measurement sensor adopts non-contact displacement transducer.
3, the fin axle adopts two fulcrums to fix, and promptly the fin axle is fixed through last backup bearing and lower supporting bearing, and on backup bearing and lower supporting bearing all be enclosed within on the fin outer shaft sleeve, the real axis core not with last lower supporting bearing direct contact.
The present invention is a kind of fin tilting gear with lift dynamic measurement ability.This mechanism utilizes the relative fixed property principle of normal force, tangential force position on the fin axle on indeformable principle or the fin of perpendicularity, flow direction of fin raising force and liquid motion direction; And the transitivity of fin hydrodynamic force in the fin tilting gear that the fin axle constitutes; Suppose that the fin axle is the elastic deformation rigid body; Under the hydrodynamism of indirect measurement fin, the deflection of fin axle on specific direction comes to record indirectly the dynamic lift characteristic of fin.
Normal force, tangential force characteristic on the fin
As shown in Figure 1, fin has an angle of attack with incoming flow in fluid, the dynaflow P that produces on the fin, and P can be decomposed into normal force N, tangential force T along the chord length direction and the normal direction thereof of fin; Longshore current body direction and can be decomposed into resistance D and lift L again in addition with the fluid vertical direction:
Wherein lift L has following relation between normal force N, tangential force T:
L＝Ncosα-Tsinα (1)
If measure normal force N, tangential force T and angle of attack thereof, then can become more readily available the lift on the fin.
By the couple relation, the normal force N that produces on the fin, tangential force T can be equivalent to the fin axle.Therefore can utilize the stressed relation on the fin axle to measure normal force, tangential force characteristic and fin angle thereof on the fin, obtain the dynamic characteristics of fin raising force then according to formula (1).
Lift efficiency on the fin
As shown in Figure 1, the control wing has an angle of attack with incoming flow in fluid, the dynaflow P that control produces on the wing, P longshore current body direction and can be decomposed into resistance D and lift L with the fluid vertical direction.Be not difficult to find that the lift L on the fin is vertical with flow direction all the time, and vertical with the fin axle.
By the couple relation, the lift that produces on the fin, resistance equally can be equivalent to the fin axle.When fin used in reality, no matter how fin rotated, and the flow direction that fin receives can be thought invariable, and the fin direction of principal axis is constant, and therefore, the lift L direction on the fin can not change.
The present invention utilizes the above-mentioned stressed relation on the fin axle, and the design fin tilting gear installs and measures sensor at the fin shaft end along the lift direction of fin, directly measures the deflection of fin axle in fin lift direction, thereby obtains the lift dynamic characteristics of fin in the fin rotation process.
Adopt the present invention, can effectively solve the effect of non-linear such as gap in the lift measurement, adopt the non-contact measurement sensor simultaneously, can avoid the bump of survey sensor, improve service life.Design-calculated fin tilting gear of the present invention, can directly obtain fin dynamic lift, avoid the nonlinear relationship between the angle of attack and the lift, reduce the phase delay that angle is caused by the angle of attack in servo.The present invention has solved the Project Realization problem of fin lift measurement well.Can realize hydrokinetic decomposition and measurement on the fin; The detection of dynamic of Project Realization fin raising force is used to constitute fin lift feedback control system, replaces fin angle feedback control system; Hydrokinetic nonlinear characteristic on the encapsulation fin; Reduce the cavity phenomenon on the wing, eliminate the hysteresis behaviour between the fin angle of attack and the fin raising force, improve the work efficiency of fin.Patent of the present invention can finely satisfy the requirement of engineering of the stabilizer and the relevant control wing thereof, can be used for the servocontrol of the wing simultaneously.
Design-calculated of the present invention has the fin tilting gear of dynamic lift measurement to be compared with traditional fixed type stabilizer fin fin tilting gear, and the characteristics of this mechanism are mainly reflected in:
1. the fin axle replaces traditional solid fin axle by quill shaft;
2. there is a core hollow fin axle inside, and axle core and fin axle be one, and rotates with the fin axle;
3. measure the next lift of measuring indirectly on the fin of axle core deflection that fin lift causes;
4. mechanism design is ingenious, can realize hydrodynamic dynamic decoupling of fin and measurement through changeing the fin physical construction;
5. adopt displacement pickup to replace pressure sensor, avoided sensor to contact, the service life of sensor and accuracy are guaranteed with the hard of fin axle;
6. avoid the influence in patent " the lift detecting device of the control wing " centre bearer gap, improved the accuracy of lift measurement greatly;
7. this mechanism does not influence the fin outer corner measurement;
8. the lift measurement sensor is easy for installation, is convenient to safeguard.
Description of drawings
The force diagram of Fig. 1 fin in fluid;
Fig. 2 conventional fixed formula stabilizer fin tilting gear scheme drawing;
Stressed and the analysis chart of Fig. 3 fin axle;
The structural representation of Fig. 4 first kind of embodiment of the present invention;
Fig. 5 is the part sectional view of Fig. 4;
The structural representation of Fig. 6 second kind of embodiment of the present invention;
Fig. 7 is the part sectional view of Fig. 6.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
The specific embodiment one:
In conjunction with Fig. 4 and Fig. 5; Change conventional fixed formula stabilizer on the basis of fin apparatus, the fin axle in the whole device adopts hollow fin axle 2, is furnished with a real axis core 7 in this fin axle inside; Axle core 7 tightly links to each other with the fin outer shaft sleeve near the fin installation site, and can rotate with the fin axle.To the fin axle, adopt two fulcrums to fix, promptly go up backup bearing 15, lower supporting bearing 4, and go up backup bearing 15, lower supporting bearing 4 all is enclosed within fin axle 2 outer putting, a core 7 not with last lower supporting bearing direct contact.In addition, axle sleeve 3 is used for fixing lower supporting bearing 4, and casing 5 is welded on the shell, is used for fixing whole fin physical construction.The rotation of fin is driven through actuating unit by the rocking arm among Fig. 26.
The lift measurement sensor adopts the mounting means based on fin normal force, tangential force characteristic
Under this mode, the fin method of principal axes are installed in the terminal upright positions of axle core 7 to, tangential sensor block 8-1,8-2, as shown in Figure 5, this two sensor block is terminal vertical at the axle core, and consistent with normal direction, the tangential direction of fin. Lift measurement sensor 13,14 is a non-contact displacement transducer; Can coil pickup and sensor block between the micro-displacement variable quantity; This two sensors is installed in respectively on the sensor base 6, and sensor base 9 is fixed through screw 11,12 and fin axle outer shroud, can rotate with the fin axle.Like this, when the fin axle rotated, sensor 13,14 and sensor block 8 all rotated with the fin axle, make sensor and sensor block relative fixed, did not have relative angular displacement to change.
The positioner 10 of measuring the fin angle is fixed through screw and fin axle by the axle 16 of continuing, and makes fin angle feedback transducer still be installed in fin shaft end shaft core position, can respond to the angle of fin axle rotation.
After the lift measurement sensor installs, cut the fin axle open, the position is as shown in Figure 5, and wherein 8-1,8-2 are respectively the survey sensor of installing along fin normal force, tangential force direction, are installed on the sensor base.7 is fin axle axle core, and 17 is fin axle housing, and 8-1,8-2 are respectively the sensor block that is installed in a core, and 18 is bearing gland.
Normal force, tangential force characteristic according to fin are carried out lift measurement, and with reference to Fig. 3, the method for calculating of fin raising force is following:
Wherein A, B are respectively the last backup bearing and the lower supporting bearing installation site of fin axle; Its axis core length is L1+L2; Axle core root is L1 to the distance of lower supporting bearing point; The rotational angle of axle core root is Δ θ, and the axle core is terminal to be Δ h along receiving the deflection of force direction, and the distance between A, the B strong point is L4.The distance that fin acts on the equivalent stress point distance axis core root of fin axle is L3.According to the shearing branching beam principle, the rotational angle Δ θ of axle core root does
Δθ＝Δh/(L1+L2-L1)＝Δh/L2 (2)
In addition, by formula
Can get an application force that core root C is ordered.
Ignore the influence of the strong point, divide at the B strong point with axle core and fin axle thereof dress fin to form the single-point supporting form,, can calculate the power P ' that fin acts on the equivalent stress point of fin axle and be according to the power P of axle core root C:
Wherein E is the modulus of elasticity of fin axle rigid body, and I is the equatorial moment of inertia at fin axle interface, and λ is the ratio of L1 and L4.
Consider that the normal force N that fluid on the fin produces is vertical each other with tangential force T, can be similar to and think and be independent of each other.Inner at the fin axle, along fin normal plane, tangent plane direction two displacement measurement sensors are installed, the measurement axis core is along the deflection Δ h of fin normal plane, tangential face respectively
f, Δ h
q, the normal force, the tangential force that utilize following formula can conveniently obtain fin respectively are respectively
The lift that can be got the fin generation by formula (1) does
The specific embodiment two
In conjunction with Fig. 6 and Fig. 7, second kind of embodiment of the present invention is on the basis of first kind of embodiment, and the lift measurement sensor adopts the mounting means based on the fin lift efficiency.
When measuring based on the fin lift efficiency; End fixed installation square drive link 19 at axle core 7 cuts open an arc-shaped gaps in addition on the shell of fin axle, this arc-shaped gaps is enough big; Make drive link 19 not only can pass the fin axle, when rotating, can not run into the fin axle simultaneously with the fin axle.Drive link 19 ends are installed the sensor blocks 20 of circular arcs in addition, and this arc sensor block 20 can rotate with the fin axle.Along fin lift direction, open an aperture at bearing gland 18 sidewalls, install and fix lift measurement sensor 21, this sensor still adopts non-contact displacement transducer.
After the lift measurement sensor installs, cut the fin axle open along B-B among Fig. 6, the cross section is as shown in Figure 7, and wherein 21 for being fixed on the bearing gland 18 the survey sensor along the lift direction, and 7 is fin axle axle core, fixed conveyor bar 19.20 is the sensor block of arc; 22 arcuate sockets opened for the fin axial wall; 17 is fin axle outer wall, 18 bearing glands, and 7 is that drive link passes arcuate socket from the drive link of axle core transmitter shaft core deflection, and the other end links to each other with arc sensor block 20, in the gap of arc sensor block 20 between bearing gland 18 and fin axle.
Like this, after the fin axle rotated, sensor station was constant all the time; When the stressed bending of fin axle core, its deflection along the lift direction will pass to sensor with the arc sensor block through drive link, make sensor sensing to the deflection of fin axle axle core in the lift direction.
Consider that survey sensor installs along fin lift direction,,, can get the fin raising force and do according to formula (2)-(4) with reference to Fig. 3
Δ h wherein
LBe the deflection of fin axle along fin lift direction.
For the accurate infinitesimal deformation amount of measurement of inductance axle core, when the lift measurement sensor is installed, need the distance between careful adjustment sensor sensing head and the sensor block, make sensor be in optimum regime just.
Claims (4)
1. fin tilting gear with fin lift dynamic measurement ability; Comprise the fin axle; One end fin of fin axle overlaps installs stabilizer, and the fin angular measurement sensor of home position installation potential device formula, formation fin angle feedback box are as fin angle feedback mechanism in fin axle other end end, and the fin axle is fixed by two bearings realization double bracings; Casing and fin axle are realized dynamic seal, and casing is welded on the shell; It is characterized in that: said fin axle is a hollow fin axle, is furnished with a real axis core in hollow fin axle inside, and the real axis core tightly links to each other with the fin outer shaft sleeve near the fin installation site, and can rotate with the fin axle; Terminal position at the real axis core is provided with the lift measurement sensor.
2. the fin tilting gear with fin lift dynamic measurement ability according to claim 1; It is characterized in that: said terminal position at the real axis core is provided with the lift measurement sensor and adopts the mounting means based on fin normal force, tangential force characteristic; The fin method of principal axes is installed to, tangential sensor block in the terminal upright position of real axis core, two sensor blocks are terminal vertical and consistent with normal direction, the tangential direction of fin at the axle core, and two lift measurement sensors are non-contact displacement transducer; Two lift measurement sensors are installed on the sensor base respectively; Sensor base and fin axle outer shroud are fixed, and can rotate with the fin axle, measure the fin angle feedback box at fin angle and are fixed with the fin axle by the axle that continues.
3. the fin tilting gear with fin lift dynamic measurement ability according to claim 1; It is characterized in that: said terminal position at the real axis core is provided with the lift measurement sensor and adopts the mounting means based on the fin lift efficiency; End fixed installation square drive link at the real axis core; On the shell of fin axle, cut open an arc-shaped gaps, the terminal sensor block that a circular arc is installed of drive link, the arc sensor block can rotate with the fin axle; Along fin lift direction, to open an aperture at the bearing gland sidewall and install and fix the lift measurement sensor, the lift measurement sensor adopts non-contact displacement transducer.
4. according to claim 1,2 or 3 described fin tilting gears with fin lift dynamic measurement ability; It is characterized in that: the fin axle adopts two fulcrums to fix; Be that the fin axle is fixed through last backup bearing and lower supporting bearing; And last backup bearing and lower supporting bearing all are enclosed within on the fin outer shaft sleeve, the real axis core not with upper and lower backup bearing direct contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101270565A CN101792017B (en) | 2010-03-18 | 2010-03-18 | Fin rotating mechanism capable of dynamically measuring fin lift force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101270565A CN101792017B (en) | 2010-03-18 | 2010-03-18 | Fin rotating mechanism capable of dynamically measuring fin lift force |
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| CN101792017A CN101792017A (en) | 2010-08-04 |
| CN101792017B true CN101792017B (en) | 2012-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101270565A Expired - Fee Related CN101792017B (en) | 2010-03-18 | 2010-03-18 | Fin rotating mechanism capable of dynamically measuring fin lift force |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102372074B (en) * | 2010-08-18 | 2014-01-15 | 中国船舶重工集团公司第七〇四研究所 | Combined supporting structure of fin actuating mechanism |
| CN102913627B (en) * | 2012-10-17 | 2016-01-27 | 哈尔滨工程大学 | Fin axle movable sealing structure |
| CN103569330B (en) * | 2013-11-01 | 2015-12-16 | 上海羽翼船舶设备有限公司 | Fin inhibiting device is turned for micro-miniature stabilizer |
| CN104354840B (en) * | 2014-09-23 | 2016-08-31 | 重庆华渝重工机电有限公司 | A kind of angle-feedback device and installation method thereof |
| CN107121232B (en) * | 2017-05-12 | 2019-07-16 | 哈尔滨工程大学 | A kind of fin shaft device and method based on laser ranging real-time detection dynamic lift |
| CN107253515B (en) * | 2017-06-19 | 2018-10-26 | 哈尔滨工程大学 | A kind of hydraulic drive type pitching stabilization T-type hydrofoil that the angle of attack is controllable |
| CN109131769B (en) * | 2018-09-18 | 2020-03-24 | 上海衡拓船舶设备有限公司 | Large-angle fin angle transmission mechanism for converting linear displacement into angular displacement |
| CN109625205A (en) * | 2019-01-09 | 2019-04-16 | 哈尔滨理工大学 | A kind of stabilizer feeds back the substep fusion method of lift signal more |
| CN219707288U (en) * | 2022-12-30 | 2023-09-19 | 中国船舶集团有限公司第七〇四研究所 | Stabilizer comprehensive loading test system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1983002515A1 (en) * | 1982-01-15 | 1983-07-21 | Preben Fischer | Method and apparatus for measuring and signalling of sea speed |
| JP2004154748A (en) * | 2002-11-01 | 2004-06-03 | Haruo Shibata | Self-swimming type fish-shaped water-immersed apparatus for agglomerating pollutant |
| EP1962163A1 (en) * | 2007-02-16 | 2008-08-27 | Rolls-Royce plc | Stall detection |
-
2010
- 2010-03-18 CN CN2010101270565A patent/CN101792017B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1983002515A1 (en) * | 1982-01-15 | 1983-07-21 | Preben Fischer | Method and apparatus for measuring and signalling of sea speed |
| JP2004154748A (en) * | 2002-11-01 | 2004-06-03 | Haruo Shibata | Self-swimming type fish-shaped water-immersed apparatus for agglomerating pollutant |
| EP1962163A1 (en) * | 2007-02-16 | 2008-08-27 | Rolls-Royce plc | Stall detection |
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Effective date of registration: 20170213 Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University Patentee after: Liang Lihua Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office Patentee before: Harbin Engineering Univ. |
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Effective date of registration: 20170315 Address after: 150001 Heilongjiang City, Nangang Province, Nantong street, Harbin, No. 258,, the world's largest ship, the western world, layer 410-3, No. four Patentee after: Harbin ship anti rolling automation equipment Co., Ltd. Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Patentee before: Science Park Development Co., Ltd. of Harbin Engineering University Patentee before: Liang Lihua |
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Granted publication date: 20120606 Termination date: 20210318 |