阅读说明：本技术 一种改良的适用于全航速可收放变形减摇鳍 (Improved retractable deformation fin stabilizer applicable to full navigational speed ) 是由 陈悦 崇健斌 谢仪 余佳豪 朱姣姣 赵新飞 于 2021-09-22 设计创作，主要内容包括：本发明提供一种改良的适用于全航速可收放变形减摇鳍,包括鳍体,鳍体设于船体(1)舷部的安装槽口内,鳍体包括主鳍组件(2)和副鳍组件(3),主鳍组件(2)设有用于容纳副鳍组件(3)的储存空腔(28),主鳍组件(2)包括转动组件、鳍轴(26)、鳍轴壳(29)和主鳍翼(27),还包括压力传感器(4)、角速度陀螺仪(5)和鳍角实时控制系统,压力传感器(4)和角速度陀螺仪(5)分别连接鳍角实时控制系统,角速度陀螺仪(5)设于主鳍翼(27)上；本发明既有船舶静止或低航速下的减摇作用,又有在中高航速下减摇的作用,能够通过实时升力的测量,进行调整,提高了减摇效果。(The invention provides an improved retractable deformation fin stabilizer applicable to full navigational speed, which comprises a fin body, wherein the fin body is arranged in an installation groove of a ship side of a ship body (1), the fin body comprises a main fin component (2) and an auxiliary fin component (3), the main fin component (2) is provided with a storage cavity (28) for accommodating the auxiliary fin component (3), the main fin component (2) comprises a rotating component, a fin shaft (26), a fin shaft shell (29) and a main fin wing (27), the fin body further comprises a pressure sensor (4), an angular rate gyroscope (5) and a fin angle real-time control system, the pressure sensor (4) and the angular rate gyroscope (5) are respectively connected with the fin angle real-time control system, and the angular rate gyroscope (5) is arranged on the main fin wing (27); the invention has the anti-rolling function under the static or low navigational speed of the ship and the medium and high navigational speed, and can be adjusted by measuring the real-time lifting force, thereby improving the anti-rolling effect.)

1. The utility model provides a be applicable to full navigational speed retractable deformation stabilizer of improvement, including the fin body, the fin body is located the mounting notch of hull (1) topside, the fin body includes main fin subassembly (2) and vice fin subassembly (3), main fin subassembly (2) are equipped with storage cavity (28) that are used for holding vice fin subassembly (3), main fin subassembly (2) are including rotating assembly, fin axle (26), fin axle shell (29) and main fin wing (27), fin axle shell (29) are passed to the one end of fin axle (26) and the output of the inside motor of hull (1) is connected through rotating assembly, main fin wing (27) are connected to the other end of fin axle (26), its characterized in that: still include pressure sensor (4), angular rate gyroscope (5) and fin angle real-time control system, angular rate gyroscope (5) are located on main fin wing (27), angular rate gyroscope (5) are used for surveying instantaneous ship rocking angle, be equipped with fine motion bearing (33) in fin axle (26), the both ends of fine motion bearing (33) are equipped with fine motion bearing support (34) respectively, and be equipped with pressure sensor (4) between fine motion bearing (33) and fine motion bearing support (34), in fin axle housing (29) is located in fine motion bearing support (34) and fin axle (26), pressure sensor (4) and angular rate gyroscope (5) are connected fin angle real-time control system respectively.

2. The improved full range retractable fin stabilizer of claim 1, wherein: under the condition of high navigational speed in the ship, the angle of a main fin wing (27) is adjusted through a fin angle real-time control system, and the specific adjustment angle is determined by a fin angle signal received by the fin angle real-time control system; the auxiliary fin wing (31) is opened at zero or low speed of the ship, and the auxiliary fin wing (31) is retracted at medium or high speed.

3. The improved full range retractable fin stabilizer of claim 2, wherein: measuring an instantaneous ship swing angle through an angular rate gyroscope (5), and feeding back to a fin angle real-time control system; the fin angle real-time control system obtains a fin angle signal by combining a navigational speed signal, and finally drives the fins to rotate by the driving of a hydraulic unit so as to realize the angle change of the fin stabilizer and realize the stabilization; specifically, when wave torque acts on a ship, the ship generates a roll angle, an angular velocity gyroscope (5) in the fin stabilizer device measures the roll angle velocity and sends the roll angle velocity to a fin angle real-time control system for processing, meanwhile, a ship speed signal is also sent to the fin angle real-time control system to form a fin turning instruction signal to adjust an electro-hydraulic servo valve, and then a fin turning oil cylinder (25) is used for realizing the rotation of a fin shaft (26).

4. The improved full range retractable fin stabilizer of claim 3, wherein: the micro-motion bearing (33) drives the fin shaft (26) to make micro-motion after the main fin wing (27) is subjected to lift force, and is in contact with the micro-motion bearing supports (34) arranged on two sides, a pressure sensor (4) between the micro-motion bearing (33) and the micro-motion bearing supports (34) measures pressure value, namely actual lift force, and feeds back the actual lift force to the fin angle real-time control system, the fin angle real-time control system combines the actual lift force to adjust the electro-hydraulic servo valve, and then the fin rotating oil cylinder (25) is used for realizing rotation of the fin shaft (26).

5. The improved full range retractable fin stabilizer of claim 2, wherein: under zero or low navigational speed, after the auxiliary fin wing (31) is unfolded under the rotating shaft (32) driven by the motor, the swing angle and the swing period of the main fin wing (27) are controlled by the fin angle real-time control system, the angular velocity gyroscope (5) on the main fin wing (27) is transmitted to the fin angle real-time control system to obtain the swing period, and when the disturbance moment is larger, the angular velocity of the main fin wing (27) is larger, namely the swing period is smaller.

6. The improved full range retractable fin stabilizer of any one of claims 1 to 5, wherein: vice fin subassembly (3) are including vice fin wing (31), pivot (32), metal cover plate (36) and a plurality of electro-magnet (35), the tip of vice fin wing (31) is passed through pivot (32) and is connected in storage cavity (28), the tip of main fin wing (27) is located in storage cavity (28), the accent department of metal cover plate (36) swing joint storage cavity (28), the lateral part of vice fin wing (31) is equipped with a plurality of electro-magnets (35) that are used for adsorbing metal cover plate (36) and come to cover storage cavity (28).

7. The improved full range retractable fin stabilizer of claim 6, wherein: the auxiliary fin wings (31) adopt fan-shaped auxiliary fin wings (31).

8. The improved full range retractable fin stabilizer of any one of claims 1 to 5, wherein: the storage cavity (28) of the main fin wing (27) is provided with a brush (39), and the storage cavity (28) is respectively provided with an inflation valve (37) and a drainage hole (38).

9. The improved full range retractable fin stabilizer of any one of claims 1 to 5, wherein: the rotating assembly comprises a single-end output hydraulic device (21), a connecting rod (22), a rotating body (23), a main motor (24) and a fin rotating oil cylinder (25), the single-end output hydraulic device (21) is connected with the output end of the motor inside the ship body (1), the output end of the single-end output hydraulic device (21) is connected with the rotating body (23) through the connecting rod (22), the main motor (24) and the fin rotating oil cylinder (25) are arranged in the rotating body (23), and the main motor (24) is connected with the fin shaft (26) through the fin rotating oil cylinder (25).

10. The improved full range retractable fin stabilizer of any one of claims 1 to 5, wherein: the fin angle real-time control system adopts a PID controller, and the main fin wings (27) adopt parallelogram fin wings.

Technical Field

The invention relates to an improved retractable deformation fin stabilizer applicable to full navigational speed, and belongs to the technical field of ship equipment.

Background

The effect of stormy waves can be met in the marine navigation of boats and ships to produce and sway the phenomenon, this kind of phenomenon can seriously influence the normal navigation performance of boats and ships, and the structure of hull and the interior article of ship also can receive the influence, and the horizontal wabble of boats and ships can reduce the seaworthiness of boats and ships, damages hull structure, influences the normal work of equipment, instrument, still can lead to goods aversion or striking damage, also can cause adverse effect such as passenger fainting. Fin stabilizers, which are the most effective stabilizers at present, are often used as effective stabilizers for ships, however, the lift force generated on conventional fin stabilizers is approximately proportional to the square of the incoming flow velocity, resulting in that the fin stabilizer cannot provide sufficient stabilizing moment at zero low speed, and the fin stabilizer cannot stabilize at zero, low speed.

In fact, the vessel will roll at standstill or at low speed, however, there are not many rolling reduction devices that can achieve a significant rolling reduction at standstill or at low speed. The existing fin stabilizer is received into a ship body by a retraction device when not in use, and is extended out of the ship body by the retraction device when in use. Ideally, if the fin control torque completely cancels the disturbance torque, the roll motion stops, and therefore the generation of precise control torque becomes the key to roll reduction.

The control torque needs to be determined according to disturbance, but the marine environment is abnormal and severe, and how to accurately and effectively detect the actual disturbance torque becomes a difficult problem. In the action of dynamic hydrodynamic force on the fin stabilizer, the lift force plays a role in stabilizing the ship body. The line of action of the lift force is perpendicular to the relative speed of the water flow and the axis of the fin stabilizer. The control problem of fin stabilizer systems therefore depends to a large extent on how accurately the actual lift is detected and applied. At present, a fin control system for fin stabilizer mainly obtains an approximate fin shaft rotation signal through PID system analysis according to the fin angle change of the ship body when rolling and the signal of the navigational speed, so that the stabilizing effect is realized, and the obtained lift force can not obtain the lift force which is consistent with the lift force through the control of the system.

The ship can shake under the condition of static or low speed, and how to design the fin stabilizer which can not only stabilize under the conditions of medium and high speed but also stabilize under the conditions of static or low speed is an urgent problem to be solved.

For example, the invention patent with the granted notice number of CN 109018238B and the name of "a ship fin stabilizer" describes a ship fin stabilizer, which comprises a fin stabilizer body, and further comprises a rotating body, a fin rotating oil cylinder, a rotating shaft, a first motor and a base, wherein the fin stabilizer body is connected with the rotating body, the fin stabilizer body comprises a body and wing plates, a storage cavity is formed in the body, an electromagnet is arranged at the bottom of the storage cavity, a permanent magnet is arranged on the wing plates, the permanent magnet and the electromagnet are oppositely arranged, sliding grooves are formed in two opposite side surfaces in the storage cavity, sliding blocks are arranged on two sides of the wing plates, the sliding blocks and the sliding grooves are in one-to-one correspondence, and the sliding blocks are slidably arranged in the corresponding sliding grooves, so that the stress area of the fin stabilizer body can be adjusted under different sea conditions, and the sailing safety of ships is further improved. The rectangular fins are adopted in the invention, so that the lift coefficient is low at medium and high navigational speeds, the induced resistance is high, the hydrodynamic performance is not ideal, and meanwhile, the rectangular fins are lack of a device for specifically measuring the lift, have certain errors and cannot accurately control the anti-rolling.

For another example, a patent with publication number CN 203727622U entitled "static fin for watercraft" describes a static fin for watercraft, which includes a hull, a fin shaft, fin wings, and a single-ended output push-pull hydraulic device. When the ship statically swings, the single-end output push-pull hydraulic device pushes or pulls the fin wings through the connecting rod, so that the fin wings swing up and down around the fin shaft, the swinging of the ship body is resisted by the acting force of the fin wings on water, and the fin wings can be kept at a certain position and fixed when the ship navigates, so that the swinging of the ship during navigation is reduced. However, the patent only considers the stabilization of the ship body in a static state, the stabilization effect is poor, meanwhile, a specific measurement device for the lift force is also lacked, certain errors exist, the stabilization control cannot be accurately carried out, and the device is not practical.

The above problems are problems that should be considered and solved in the design and processing of the fin stabilizer.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an improved retractable deformation fin stabilizer applicable to full navigational speed, which can adjust the rotation angle of a main fin wing and the expansion of an auxiliary fin wing according to the size of wind waves, navigational speed and the swaying amplitude of a ship to realize the stabilizing effect of the ship at the full navigational speed, and can finely adjust a stabilizing device according to the real-time lift force, thereby further improving the navigation safety of the ship and solving the problems of poor stabilizing effect and difficult and accurate stabilizing control in the prior art.

The purpose of the invention can be realized by the following technical scheme:

an improved retractable deformation stabilizer applicable to full navigational speed comprises a fin body, wherein the fin body is arranged in an installation groove of a ship board, the fin body comprises a main fin assembly and an auxiliary fin assembly, the main fin assembly is provided with a storage cavity for accommodating the auxiliary fin assembly, the main fin assembly comprises a rotating assembly, a fin shaft shell and a main fin wing, one end of the fin shaft penetrates through the fin shaft shell and is connected with the output end of a motor in the ship body through the rotating assembly, the other end of the fin shaft is connected with the main fin wing, the stabilizer further comprises a pressure sensor, an angular rate gyroscope and a fin angle real-time control system, the angular rate gyroscope is arranged on the main fin wing and is used for measuring the instantaneous ship rocking angle, a micro-motion bearing is arranged in the fin shaft, micro-motion bearing supports are respectively arranged at two ends of the micro-motion bearing, the pressure sensor is arranged between the micro-motion bearing and the micro-motion bearing support, the micro-motion bearing support and the fin shaft are arranged in the fin shaft shell, the pressure sensor and the angular rate gyroscope are respectively connected with the fin angle real-time control system.

Further, under the condition of high navigational speed in the ship, the angle of the main fin wing is adjusted through a fin angle real-time control system, and the specific adjustment angle is determined by a fin angle signal received by the fin angle real-time control system; and opening the auxiliary fin wing at zero or low navigational speed of the ship, and retracting the auxiliary fin wing at medium and high navigational speed.

Further, an instantaneous ship swing angle is measured through an angular rate gyroscope and fed back to the fin angle real-time control system; the fin angle real-time control system obtains a fin angle signal by combining a navigational speed signal, and finally drives the fins to rotate by the driving of a hydraulic unit so as to realize the angle change of the fin stabilizer and realize the stabilization; specifically, when wave torque acts on a ship, the ship generates a roll angle, an angular speed gyroscope in the fin stabilizer device measures the roll angle speed and sends the roll angle speed to a fin angle real-time control system for processing, and meanwhile, a ship speed signal of the ship is also sent to the fin angle real-time control system to form a fin rotating instruction signal to adjust an electro-hydraulic servo valve, so that the fin rotating oil cylinder realizes rotation of a fin shaft.

Furthermore, the micro-motion bearing drives the fin shaft to make micro-motion after the main fin wing is subjected to lift force, the micro-motion bearing is in contact with the micro-motion bearing supports arranged on two sides, a pressure value, namely actual lift force, is measured by a pressure sensor between the micro-motion bearing and the micro-motion bearing supports, the actual lift force is fed back to the fin angle real-time control system, the fin angle real-time control system is combined with the actual lift force to adjust the electro-hydraulic servo valve, and then the fin shaft is rotated by the fin rotating oil cylinder.

Further, at zero or low navigational speed, after the auxiliary fin wing is unfolded under the driving of the rotating shaft by the motor, the swinging angle and the swinging period of the main fin wing are controlled by the fin angle real-time control system, and the angular velocity gyroscope on the main fin wing transmits the swinging angle and the swinging period to the fin angle real-time control system to obtain the swinging period, wherein the larger the interference torque is, the larger the angular velocity of the main fin wing is, namely, the smaller the swinging period is.

Further, vice fin subassembly includes vice fin wing, pivot, metal covering plate and a plurality of electro-magnet, and the tip of vice fin wing is connected in the storage cavity through the pivot, and the tip of main fin wing is located to the storage cavity, and metal covering plate swing joint storage cavity's accent department, the lateral part of vice fin wing are equipped with a plurality of electro-magnets that are used for adsorbing the metal covering plate and come to cover the storage cavity.

Further, the secondary fin wings are fan-shaped secondary fin wings.

Furthermore, a brush is arranged in a storage cavity of the main fin, and an inflation valve and a drain hole are respectively arranged in the storage cavity.

Furthermore, the rotating assembly comprises a single-end output hydraulic device, a connecting rod, a rotating body, a main motor and a fin rotating oil cylinder, the single-end output hydraulic device is connected with the output end of the motor inside the ship body, the output end of the single-end output hydraulic device is connected with the rotating body through the connecting rod, the main motor and the fin rotating oil cylinder are arranged in the rotating body, and the main motor is connected with the fin shaft through the fin rotating oil cylinder.

Furthermore, the fin angle real-time control system adopts a PID controller, and the main fin wings adopt parallelogram fin wings. Compared with the rectangular fin, the parallelogram fin can also improve the lift coefficient at medium and high navigational speeds, reduce the induced resistance and improve the hydrodynamic performance because the wing profile has a sweepback angle.

The invention has the following technical effects:

the improved retractable deformation fin stabilizer applicable to the full navigational speed has the functions of stabilizing a ship at a static state or a low navigational speed and stabilizing at a medium and high navigational speed, is adjusted by measuring the real-time lifting force, improves the stabilizing effect, and is simple in structure and easy to realize.

The improved retractable deformation fin stabilizer applicable to the full navigational speed realizes real-time measurement of the lift force by improving the fin shaft mechanism, combines the fin angle and the lift force obtained by navigational speed estimation, and further adjusts the difference between the actual lift force and the required lift force, thereby reducing the overall error of the system and achieving a better stabilizing effect.

Drawings

Fig. 1 is a schematic structural diagram of a modified full-speed retractable deformed fin stabilizer in accordance with an embodiment of the present invention.

Fig. 2 is a schematic structural view of the main fin, the rotor, and the hull in the embodiment.

Fig. 3 is a schematic structural diagram of a main fin element and a sub-fin element in an embodiment.

FIG. 4 is a schematic structural diagram of the primary fin, the fin axis, and the secondary fin assembly of an embodiment.

FIG. 5 is a schematic structural diagram of a fin shaft, a fin shaft shell, a micro-motion bearing and a micro-motion bearing support in an embodiment.

Fig. 6 is a schematic structural diagram of the secondary fin and the electromagnet in the embodiment.

Fig. 7 is a schematic structural view of the main fin and the sub fin in the embodiment.

FIG. 8 is a schematic diagram illustrating a system for real-time control of fin angle at high speed in an embodiment.

FIG. 9 is a schematic diagram illustrating a system for real-time control of fin angle at zero and low speed, according to an embodiment.

Fig. 10 is a schematic structural diagram of the fin-turning cylinder according to the embodiment.

In the figure, 1-ship hull, 2-main fin component, 3-auxiliary fin component, 4-pressure sensor and 5-angular rate gyroscope;

21-single-end output hydraulic device, 22-connecting rod, 23-rotator, 24-main motor, 25-fin rotating oil cylinder, 26-fin shaft, 27-main fin wing, 28-storage cavity and 29-fin shaft shell;

31-auxiliary fin wing, 32-rotating shaft, 33-micro-motion bearing, 34-micro-motion bearing support, 35-electromagnet, 36-metal cover plate, 37-inflation valve, 38-drain hole and 39-brush;

41-rack piston rod, 42-parallel cylinder, 43-piston, 44-gear and 45-oil port.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

An improved retractable deformation fin stabilizer applicable to full navigational speed, as shown in figures 1 and 2, comprises a fin body, wherein the fin body is arranged in an installation slot at the broadside of a ship body 1, the fin body comprises a main fin component 2 and an auxiliary fin component 3, the main fin component 2 is provided with a storage cavity 28 for accommodating the auxiliary fin component 3, as shown in figure 3, the main fin component 2 comprises a rotating component, a fin shaft 26, a fin shaft shell 29 and a main fin wing 27, one end of the fin shaft 26 penetrates through the fin shaft shell 29 and is connected with the output end of a motor in the ship body 1 through the rotating component, the other end of the fin shaft 26 is connected with the main fin wing 27, the fin body further comprises a pressure sensor 4, an angular rate gyroscope 5 and a fin angle real-time control system, the angular rate gyroscope 5 is arranged on the main fin wing 27, the angular rate gyroscope 5 is used for measuring the instantaneous ship swinging angle, as shown in figure 5, a micro bearing 33 is arranged in the fin shaft 26, and micro bearing supports 34 are respectively arranged at two ends of the micro bearing 33, and a pressure sensor 4 is arranged between the micro-motion bearing 33 and the micro-motion bearing support 34, the micro-motion bearing support 34 and the fin shaft 26 are arranged in the fin shaft shell 29, and the pressure sensor 4 and the angular rate gyroscope 5 are respectively connected with a fin angle real-time control system.

The improved retractable deformation fin stabilizer applicable to the full navigational speed has the functions of stabilizing a ship at a static state or a low navigational speed and stabilizing at a medium and high navigational speed, and is adjusted by measuring the real-time lifting force, so that the stabilizing effect is improved, the structure is simple, and the implementation is easy.

Under the condition of high navigational speed in the ship, the angle of the main fin wing 27 is adjusted through the fin angle real-time control system, and the specific adjustment angle is determined by a fin angle signal received by the fin angle real-time control system. The auxiliary fin wing 31 is opened at zero or low navigational speed of the ship, and the auxiliary fin wing 31 is retracted at medium or high navigational speed, so that the maximum lifting effect is achieved, and a good stabilizing effect is achieved.

As shown in fig. 8, the main fin 27 is provided with an angular rate gyro 5 for measuring roll angular rate. Measuring an instantaneous ship swing angle through an angular rate gyroscope 5, and feeding back to a fin angle real-time control system; by combining the navigational speed signal, the fin angle real-time control system obtains a fin angle signal, finally the angle change of the fin stabilizer is realized, and the stabilization purpose is realized.

The principle of achieving roll reduction in a vessel at high navigational speeds is illustrated as follows: the rolling disturbance moment generated by the waves is M_BH is initial high heart rate; d is the displacement of the ship; gamma is the wave inclination angle. At medium and high navigational speeds, the fin stabilizer generates a stabilizing moment M_cr＝ρA_fV²C_L(alpha) R t. m wherein A is_fIs the area of the fin; v is the ship speed; c_LIs the fin lift coefficient. From the formula, the moment and the fin area A_fProportional to the square of the speed V. Under the condition of constant fin-type parameters and constant sailing speed, the rolling reduction moment M_crDetermined only by the rotor angle alpha. When M is_BAnd M_crWhen the moment of the rolling fin and the moment of the wave disturbance cancel each other, the rolling motion of the ship stops. If the fin parameters of a ship equipped with a fin stabilizer are determined to be constant, the stabilizing moment obtained by the fin will be determined only by the sailing speed and the angle of the fin. When the stable speed is maintained, the speed can be maintainedThe stabilizing moment is changed by changing the angle alpha of the rotating fin, so that the control of the stabilizing moment is achieved.

The micro-motion bearing 33 drives the fin shaft 26 to make micro-motion after the main fin wing 27 is subjected to the lifting force, and is in contact with the micro-motion bearing supports 34 arranged on two sides, the pressure sensor 4 between the micro-motion bearing 33 and the micro-motion bearing supports 34 measures the pressure value, namely the actual lifting force, and feeds the actual lifting force back to the fin angle real-time control system, so that a new fin angle signal is obtained, fine adjustment of the angle of the fin shaft 26 is carried out through the servo amplifier, the electro-hydraulic servo valve and the fin rotating oil cylinder again, and a better anti-rolling effect is achieved. The new fin angle signal may be calculated from the difference between the actual lift and the desired lift. The method comprises the steps of obtaining a preliminary fin angle alpha by the method in the previous step, measuring the actual lift force by a pressure sensor, obtaining a difference F between the actual lift force and the required lift force, obtaining a required moment difference M, and obtaining an adjusted fin angle alpha₁And the fin angle signal is transmitted to an electro-hydraulic servo valve through a fin angle signal conversion and transmission system, so that the fin rotating oil cylinder is controlled to finely adjust the angle of the fin shaft. The fin angle real-time control system is combined with an actual lifting force to adjust the electro-hydraulic servo valve. Thereby achieving better anti-rolling effect. The bearing support applies certain prestress to the sensor in the fin, so that the problem of dead zones caused by gaps is avoided, and the bearing support is stable in structure after balanced stress.

At zero or low speed, after the sub-fin wing 31 drives the rotating shaft by the motor to unfold, the fin wing swing angle and swing period of the main fin wing 27 are also controlled by the fin angle real-time control system, the angular rate gyroscope 5 on the main fin wing 27 is transmitted to the control system, the fin wing swing angle and swing period of the main fin wing 27 are calculated by combining the real-time speed, and then the rotation signal is transmitted to the fin shaft 26, so that the periodic swing of the main fin wing 27 is realized, the purpose of stabilizing the fin is realized, and the best stabilizing effect is achieved.

The principle of achieving roll reduction at zero or low speed is illustrated as follows: the angular velocity gyroscope on the main fin wing 27 transmits the angular velocity to the fin angle real-time control system, the fin angle effect of the fin stabilizer at zero navigational speed is negligible, the lift force is only related to the angular velocity, the rotation of the main fin wing 27 transmits the rotation period signal to the fin rotating oil cylinder 25 and drives the fin shaft 26, so that the swinging of the fin wing is realized, and the purpose of stabilizing is realized. The vertical plane of the up-and-down flapping of the fin stabilizer simplifies the flapping rule of the fin, neglects the influence of the ship rolling on the fin and considers the motion mode of the fin to be sine regular motion. The equation of the motion position of the fin can be roughly expressed in terms of angle of attack as: in the formula α (t) ═ Asin (ω t), a is the maximum included angle between the tangent plane in the fin stabilizer and the horizontal plane, ω is the angular frequency of the flapping cycle of the fin stabilizer, the time derivative is solved for the above formula, and the angular velocity equation of motion of the flapping of the fin is obtained as follows: d α (t)/dt ═ a ω cos (ω t). It can be known that when the flapping cycle is fixed, the bigger the flapping angle is, the larger the lift force generated on the fins is; when the flapping angle is fixed, the period is longer, and the generated lift force is smaller. In one flapping cycle of the fin stabilizer, the lifting force on the fin reaches the maximum value at T/4 and 3T/4, and the attack angle of the fin is zero, namely the fin is in a horizontal position. When the attack angle of the fin is zero, the angular velocity of the fin is the maximum at the moment, so that the lift force on the fin and the angular velocity of the fin have positive correlation corresponding relation, the device only considers the factor of the fin angular velocity under zero and low navigational speed, and when the disturbance moment is larger, the fin angular velocity is larger, namely the swing period is smaller.

As shown in fig. 3, 4 and 6, the sub-fin assembly 33 includes a sub-fin 31, a rotating shaft 32, a metal cover plate 36 and a plurality of electromagnets 35, wherein an end of the sub-fin 31 is connected to the storage cavity 28 through the rotating shaft 32, the storage cavity 28 is disposed at an end of the main fin 27, the metal cover plate 36 is movably connected to an opening of the storage cavity 28, and a plurality of electromagnets 35 for adsorbing the metal cover plate 36 to cover the storage cavity 28 are disposed at a side portion of the sub-fin 31. The subfin fin 31 is a fan-shaped subfin fin 31. Under the condition of zero or low speed running, the auxiliary fin wings 31 inside the main fin wings 27 rotate outwards through the rotating shafts 32 to increase the unfolding area of the main fin wings 27 and achieve the aim of better rolling reduction. Similarly, when the speed is at the middle or high speed, the secondary fins 31 inside the primary fins 27 are rotated inward by the rotating shaft 32, so that the secondary fins 31 are stored in the storage cavity 28, thereby achieving the best rolling reduction effect at the middle or high speed.

As shown in fig. 7, the metal cover plates 36 are installed on both sides of the opening of the storage cavity 28 of the main fin 27, and when the ship is at the middle and high cruising speed, the metal cover plates 36 on both sides are adsorbed on the auxiliary fin 31 through the electromagnet 35 on the auxiliary fin 31, so that the external water flow is prevented from entering the storage cavity at the middle and high cruising speed, and the stabilizing effect is prevented from being influenced by the water flow.

Referring to fig. 7, brushes 39 are provided in the storage cavity 28 of the main fin 27, and the brushes 39 are installed on the upper and lower sides of the inner wall of the storage cavity opening of the main fin 27 to help clean impurities on the surface of the sub fin 31 when the sub fin 31 is retracted or extended. The storage cavity 28 is provided with an inflation valve 37 and a drain hole 38, respectively. The air charging valve 37 is installed in the storage cavity in the main fin 27, and when the secondary fin 31 is received in the storage cavity 28 at the middle or high speed, air is charged into the storage cavity 28 through the air charging valve 37, and the air pressure is increased to discharge water and impurities in the storage cavity 28 through the water discharge hole 38, thereby improving the anti-rolling effect.

As shown in fig. 2 and fig. 3, the rotating assembly includes a single-end output hydraulic device 21, a connecting rod 22, a rotator 23, a main motor 24 and a fin rotating cylinder 25, the single-end output hydraulic device 21 is connected to the output end of the motor inside the hull 1, the output end of the single-end output hydraulic device 21 is connected to the rotator 23 through the connecting rod 22, the main motor 24 and the fin rotating cylinder are arranged in the rotator 23, and the main motor 24 is connected to the fin shaft 26 through the fin rotating cylinder. The fin bodies are folded and unfolded by controlling a motor in the ship body 1. When the rolling reduction is not needed, the hydraulic device can be used for retracting the ship body 1 to reduce the space occupation.

When the roll reducing device is used, the swivel 23 moves from the inside to the outside of the mounting notch of the ship hull 1 broadside through the hydraulic device 21 with single end output, and the whole fin body is unfolded.

The fin body is mounted on both sides of the side of the ship and the main fins 27 are mounted on the fin shaft 26. The fin axis 26 location is generally selected at a chord length from 1/6-1/5 from the leading edge of the main fin 27. The main fin 27 is a parallelogram fin, one end of the main fin 27 is connected with the rotator 23 through a fin shaft 26, and a rotating shaft 32 and a storage cavity 28 are arranged inside the main fin 27. Compared with the rectangular fin, the parallelogram fin can also improve the lift coefficient at medium and high navigational speeds, reduce the induced resistance and improve the hydrodynamic performance because the wing profile has a sweepback angle.

As shown in fig. 9, the fin-turning cylinder mainly comprises a rack piston rod 41, a parallel cylinder 42, a piston 43, a gear 44, an oil port 45, and the like. Two upper and lower pneumatic cylinders are independent each other, when fin angle real-time control system obtains fin angle signal transmission to the commentaries on classics fin hydro-cylinder, pressure oil lets in from hydraulic fluid port 45, the piston 43 of going up the jar moves to the left, the piston 43 of lower jar moves to the right, drive gear 44 anticlockwise rotation through rack piston rod 41, the input torque, rethread gear 44 and the key-type connection between the fin axle 26, pass the moment of torsion to fin axle 26, thereby realize the anticlockwise rotation of fin axle 26, when pressure oil is reverse, gear 44 clockwise turning, correspondingly, fin axle 26 also does clockwise rotation.

This kind of modified is applicable to the all-speed and can receive and release deformation stabilizer fin, and main fin wing 27 can rotate along with fin axle 26 under the main motor 24 effect in the rotation 23, and specific turned angle is confirmed according to specific navigational speed and stormy waves by fin angle real-time control system, and vice fin wing 31 realizes rotating through pivot 32 in main fin wing 27, can expand the vice fin wing 31 of storing in main fin wing 27 inside storage cavity 28 when zero navigational speed or lower navigational speed to increase fin wing area and reach better stabilizer effect. The outer secondary fins 31 can be stowed in the storage cavity 28 inside the primary fins 27 at medium and high speeds to achieve better roll reduction.

Those skilled in the art to which the invention relates may effect alterations, additions or substitutions in the described embodiments without departing from the spirit or ambit of the invention as defined in the accompanying claims.