U.S. patent number 3,604,386 [Application Number 04/886,433] was granted by the patent office on 1971-09-14 for automatic installation for the transversal balancing of a ship.
This patent grant is currently assigned to Filotecnica Salmoiraghi, S.p.A.. Invention is credited to Edmondo Turci.
United States Patent |
3,604,386 |
Turci |
September 14, 1971 |
AUTOMATIC INSTALLATION FOR THE TRANSVERSAL BALANCING OF A SHIP
Abstract
In an automatic installation for balancing a ship by means of
the so-called "balanced tanks" method, the actual rate of flow of
the liquid being transferred from either tank to the other is
measured through the pressure differential between the two tanks.
The differential between the "ordered" rate of flow and the actual
rate of flow is computed by a comparison circuit. The instantaneous
value of the differential rate of flow is used for adjusting the
rate of flow of the variable delivery pump which is inserted in a
conduit connecting the two tanks serially.
Inventors: |
Turci; Edmondo (Cornaredo,
IT) |
Assignee: |
Filotecnica Salmoiraghi, S.p.A.
(Milan, IT)
|
Family
ID: |
11217542 |
Appl.
No.: |
04/886,433 |
Filed: |
December 19, 1969 |
Foreign Application Priority Data
|
|
|
|
|
Dec 30, 1968 [IT] |
|
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25725A/68 |
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Current U.S.
Class: |
114/125;
114/122 |
Current CPC
Class: |
G05D
1/0875 (20130101); B63B 39/03 (20130101) |
Current International
Class: |
B63B
39/03 (20060101); B63B 39/00 (20060101); G05D
1/08 (20060101); B63b 043/06 (); B63b 039/00 () |
Field of
Search: |
;114/122,125 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Primary Examiner: Blix; Trygve M.
Claims
The transducer of FIG. 3 has been shown and described herein to
illustrate how it is possible to measure the actuated rate of flow
of the pump 6 of FIG. 1 and to convert it into an electric signal
f(Q") which can be compared with the electric signal f(Q')
representative of the ordered rate of flow for the pump 6. It
should be clearly understood, however, that such actuated rate of
flow could also be measured otherwise, without departing from the
scope of the invention as defined by the appended claims.
1. An automatic installation for transversally balancing a ship, of
the kind comprising at least a couple of tanks situated on the same
perpendicular to the longitudinal vertical plane of symmetry of the
ship and at equal distances from said plane, said tanks containing
a liquid which can be transferred from either tank to the other at
an instantaneous rate of flow which is determined by a signal,
called ordered rate of flow signal, which is a function of the
angle of tilt, of the speed of tilt and the acceleration of tilt of
the ship with respect to the balanced trim thereof, characterized
in that it comprises means for measuring the actual rate of flow
through said duct and converting it into a signal analog to the
ordered rate of flow signal and comparing the signal thus obtained
with said ordered rate of flow signal so as to obtain a
differential signal whose instantaneous value determines the
instantaneous actuated rate of flow as given by said pumping
means.
2. An automatic installation according to claim 1, characterized in
that the function of transfer between said actual rate of flow and
the signal which can be compared with said ordered rate of flow
signal is the inverse of the function between said differential
signal and said actual rate of flow.
3. An automatic installation according to claim 3, characterized in
that the measurement of the actual rate of flow is obtained by
differentiation of the pressure differential between the two
tanks.
4. An automatic installation according to claim 3, characterized in
that said measurement is taken by means of an electronic device
comprising a differential amplifier and a differentiator connected
to one another in a cascade connection, the inputs of said
differential amplifier being fed with signals obtained by
translating the pressures in each of said two tanks.
5. An automatic installation according to claim 4, characterized in
that the output signal of said differentiator is applied as a
modulating signal to an AC-fed modulator.
6. An automatic installation according to claim 5, characterized in
that the modulated signal issuing from said modulator is power
amplified.
7. An automatic installation according to claims 1 to 6,
characterized in that the rate-of-flow signal is derived from the
tilt angle, the tilting speed and the tilt acceleration of the ship
by mixing the signals issuing from a bank indicator, a gyroscope
and an angular accelerometer installed on said ship.
Description
This invention relates to an installation for the transversal
balancing of a ship.
Antirolling stabilizing installations for ships are known, of the
king comprising activated fins. In such installations, one or more
the kind of fins jut out of the sides of the ship and, being more
or less inclined with respect to the fluid fillets which impings of
the ship as it goes on, impart to the ship a torque intended to
counteract the heeling torque due to the sea waves.
The mechanical or electronic computer which controls the fins
generally comprises sensing members for the angular motion, such as
a bank indicator, a gyroscope and an angular accelerometer, which
detect at every instant of time, the heeling of the ship. The
computer sends to the fins a signal, as a function of the detected
values, said signal being called an "ordered thrust" signal which
is intended instantaneously to balance the motion of the ship. The
command for a certain thrust, sent by the computer to the
actuators, is translated into the rotation, through a certain
angle, of the two fins, the left and the right, obviously in
opposite directions so as to generate a torque for counteracting
the rolling motion of the ship. These actuated fin installations,
while are very satisfactory stabilizers at ship speeds near the
cruising speed, or, in limiting conditions, up to 10 knots
approximately, are inefficient when the ship is stationary or
travels at a reduced speed.
Stabilizing installations are also known, which are called
"balanced tank" installations, which provide for at least a couple
of tanks situated on the same perpendicular to the longitudinal
plane of symmetry of the ship and at equal distances therefrom
(more particularly arranged on the ship sides), said tanks being
filled with a liquid (preferably fresh water) which can be
transferred from either tank to the other through at least one
conduit equipped with pumping means adapted to transfer the liquid
from either tank to the other at an instantaneous rate of flow
which is determined by a signal, called"ordered rate of flow"
signal, which is a function of the angle of tilt, of the speed of
tilt and of the tilt acceleration of the ship with respect to the
balanced position of the ship. This signal is obtained, again, by
means of a bank indicator, a gyroscope, and an angular
accelerometer and is The ordered rate of flow signal which actuates
the pumping means (in practice a conventional variable delivery
pump) so that they transfer the liquid from either tank to the
other at such a rate as to counteract the tilting torque and to
restore the ship to its balanced trim.
These "balanced tank" installations, while are unable, at high
speeds, to replace the actuated fin installations due to the
greater power they require (which entail higher running costs), are
conversely very efficient when the speeds are low and when the ship
is stationary, more particularly whenever it is desired to embark a
line of railway cars which advance on a track placed laterally of
the ship, in the case of ferries, or, anyhow, when embarking very
heavy and unbalanced loads.
However, also in the case of such balanced tank installations, the
stabilization when the ship is stationary or is caused to advance
at a low speed, is not perfect, since it is not possible to provide
a hydraulic, variable delivery pumping means which is adapted to
give a sufficiently linear and repeatable law of variation, under
any working conditions, of the actuated rate of flow versus the
ordered rate of flow.
An object of the present invention is to provide a balanced tank
stabilizing installation, particularly adapted to provide a
balanced tank stabilizing installation, particularly adapted to
provide a balancing action when embarking heavy loads on a
stationary ship, which ensure an improved stabilizing effect by
reducing the influence of the unavoidable errors of actuated rate
of flow versus the ordered rate of flow on the stabilization.
The object of the invention is achieved by measuring the actuated
rate of flow and converting it into a signal which is compared with
the ordered rate of flow signal, the latter being in turn a
function of the tilt angle, the speed and acceleration of the
tilting motion, to originate a differential signal which is the
control signal for the pumping means aforementioned. It is apparent
that by so doing and rendering the transfer function from actuated
rate of flow and ordered rate of flow, a function which is inverse
with respect to that between the ordered rate of flow signal and
the actuated rate of flow signal, there is a comparison between the
signal relating to the ordered rate of flow and the signal related
to the actuated rate of flow, said comparison having a tendency
toward varying the control signal for the pumping means as a
function of the variation of the actuated rate of flow, as
originated by possible disturbances. On the other hand, the ship
itself, together with the bank indicator, the gyroscope and the
accelerometer, ensures the translation between the actuated rate of
flow and the signal of unbalance, so that there are two feedback
rings which ensure, as a whole, the stabilization, instant of time
for instant of time, of the ship against the unbalances due to the
embarkation of unbalancing loads and/or sea waves and against
possible disturbances which would tend to render the law, which
binds the actuated rate of flow to the ordered rate of flow,
variable.
The features of the present invention will be better understood
from the following detailed description of its general layout and
of a preferred embodiment of the member which translates the
actuated rate of flow into a comparison signal with the unbalance
signal. Said description, which is given by way of example only and
is not a limitation, reference will be had to the accompanying
drawings, wherein:
FIG. 1 is a diagrammatical showing, in cross-sectional view, of a
ship equipped with a balanced tank installation according to this
invention.
FIG. 2 is a diagrammatical block showing of an installation
according to the invention.
FIG. 3 is a diagrammatical showing of a preferred embodiment of the
member which measures the actuated rate of flow and converts it
into the ordered rate of flow signal.
FIG. 1 shows a ship, 1, subjected to a tilting torque due to a load
2 (such as a train during embarkation) applied laterally with
respect to the plane of longitudinal vertical symmetry of the ship.
To the sides of the ship, and on the same perpendicular to said
plane of symmetry, are affixed two tanks 3 and 4 filled with fresh
water and in mutual communication by means of a duct 5 which
contains a pump 6 adapted to transfer variable rates of flow of
water from either tank to the other.
It is apparent that, under such circumstances, by actuating the
pump 6 so as to transfer thereby water from the tank 3, which lies
at a level lower than that of the tank 4, a balancing torque is
originated, which tends to balance the tilting torque due to the
action of the load 2. By increasing the volume of water transferred
through the duct 5, the balancing torque will be proportionally
increased; so that, since the larger is the tilting torque, the
larger the necessary balancing torque will be, the result is that
the larger is the tilting torque, the greater should be the rate of
flow through the duct 3 and thus the rate of flow of the pump 6 in
order to transfer the necessary volume of water within a given
time.
The stabilizing installation according to the invention has exactly
the function of establishing a connection between the tilting
torque and a pump-actuating signal so as to produce an increase of
the rate of flow as the tilting torque is increased, and vice
versa. Moreover, since it is virtually impossible, due to the
presence of unavoidable disturbances, to obtain a constant and
straightforward relationship between the rate of flow "ordered" to
the pump and the rate of flow which is obtained in practice, the
installation provides for a comparison between the ordered rate of
flow and the actual rate of flow, the result giving the
pump-actuating signal (or, better to speak, the signal for
operating the pump actuator). By so doing, the influence of said
disturbances of the operation of the pump are reduced by the
introduction of the feedback effect.
The general block diagram of an installation according to the
invention is shown in FIG. 2, where the general reference numeral 7
indicates a block which represents the ship as a whole: this block
receives at its input a tilting torque C' and a balancing torque C"
as determined by the actual rate of flow Q" through the duct 5, and
gives, at its output, an angle of tilt .phi., an angular or tilt
speed .phi. and an angular or tilt acceleration .phi.. More
particularly, the block 7 can be thought as being split into an
integrator 8, wherein the actual rate of flow Q" is integrated and
converted into the balancing torque C", a differentiator 9, where
the difference between the tilting torque C' and the balancing
torque C' is computed, and a block 10 wherein the differential C is
converted into an angle .phi., and angular speed .phi. and an
angular acceleration .phi..
Past the block 7 there is a block 11, which can be called a
"processor," where the outputs from the block 7 are converted into
an electric signal f(Q') indicating the rate of flow Q' as ordered
to the pump 6 to restore the ship to the desired trim. The block 11
comprises a bank indicator 12, which converts into an electric
signal f (.phi.) the angle of tilt .phi. of the ship, a gyroscope
13, which converts into an electric signal f (.phi.) the speed of
tilt of the ship, an angular accelerometer 14, which converts into
an electric signal f (.phi.) the tilting acceleration .phi. of the
ship, and lastly a mixer 15 which receives, as its inputs, said
signals f (.phi.), f (.phi.) and f (.phi.) and converts them into a
consolidated electric signal f ) which, as recalled above,
indicates the ordered rate of flow Q'.
The processor 11 is followed, in turn, by a differentiator, 16,
wherein the differential is computed between the electric signal f
(Q') and another electric signal f (Q"): the latter is obtained, by
translation, carried out in a transducer 17 having a transfer
function which is inverse of that of the assembly formed by the
pump 6, the pump actuator and the duct 5, of the actual rate of
flow Q" as given by the pump 6. The electric signal E obtained by
the difference between the above-mentioned signals f (Q') and f
(Q") is applied to the input of a block 18 which represents the
assembly composed by the pump 6 (indicated herein by a block 20),
the pump actuator (indicated here at block 19) and the duct 5
(indicated herein by the block 21). The output from the block 18,
which is a function of the features of the component parts of the
block and the disturbances D connected therewith, represents the
actual rate of flow Q" through the duct 5 which connects the
balancing tanks 3 and 4.
The operation of the installation of FIG. 2 is as follows: as the
ship undergoes a tilting torque, such as that due to an unbalancing
load 2, as is the case in FIG. 1, it tends to heel on a side. The
instantaneous values of the angle, the speed and the acceleration
(signals .phi., .phi., .phi. emerging from the block 7 of FIG. 2)
are sensed by the bank indicator 12, the gyroscope 13 and the
angular accelerometer 14 included in the processor 11, whose
outputs determine, at the output of the processor an electric
signal f (Q') which represents the rate of flow ordered to the pump
6 to restore the ship's trim.
The signal f (Q') causes the actuator 19 to control the pump 6 so
as to transfer the water from the lower level tank (tank 3 in the
case of FIG. 1) to the higher level tank (tank 4 in the case of
FIG. 1) through the duct 5 at a rate of flow which, in theory at
least, should equal the ordered rate of flow Q'. The presence of
the disturbances D, however, acts in such a way that the actual
rate of flow through the duct 5 is Q", different from Q': as the
disturbances D are continually variable, the law binding Q" to Q'
is not always the same and the balancing action would not be quick
and accurate, as it is desirable, if there would be no feedback as
formed by the branch comprising the transducer 17. On the contrary,
the transducer senses the actual rate of flow Q" and converts it
into an electric signal f (Q") which is subtracted from the signal
f (Q') to produce a signal E of the actuation error of the actuator
19 and thus of the pump 6. The presence of the feedback formed by
the transducer 17, which has, as mentioned above, an inverse
function of transfer with respect to that of the block 18 so as to
render the signals f (Q') and f (Q") analog, tends to render linear
and constant the relationship which binds the actual rate of flow
to the ordered one.
The actual rate of flow Q", furthermore, is integrated by the
integrator 8 comprised in the block 7 which represents the ship and
the result of such an integration is a balancing torque C" which,
subtracted from the tilting torque C' gives a resultant torque C:
the latter determines the new angle of tilt of the ship and thus,
as described above, the new ordered rate of flow. The equality
between the torques C' and C" will indicate that the balancing has
taken place and the ship has been restored to its normal trim.
As has been repeatedly outlined in the foregoing, the novelty of
this invention with respect to the conventional balanced tank
installations consists in the introduction of the feedback between
the actuated rate of flow and the ordered rate of flow. The most
characteristic block of the diagram of FIG. 2 is thus formed by the
transducer 17 which converts the actuated rate of flow Q" into an
electric signal f(Q") which is representative of it. Said
transducer should thus include means for measuring the actuated
rate of flow and means for converting the measured rate of flow
into an electric signal. This rate of flow could be measured with a
flowmeter introduced into the duct 5, but it would be an
unacceptable mechanical resistance in that it would increase the
delay of the whole system. In the installation according to the
invention, the rate of flow is measured by deriving the level
differential between the two tanks, a difference of level which is
measured, in turn, by arranging on the bottom of the two tanks two
pressure transducers and computing the differential between the
outputs thereof.
FIG. 3 shows the diagram of a member which, from two pressure
measurements, just derives an electric signal relating to the
instantaneous rate of flow between the two tanks. The diagram
comprises a DC differential amplifier 22 having a high gain and
whose positive input is connected via a resistor 23 to an input
terminal 24, the latter being connected to the output of the
pressure transducer 65 applied to either tank of the ship, for
example to tank 4, as diagrammatically shown in FIG. 1, whereas the
negative input of the differential amplifier is connected, through
a resistor 25 to an input terminal 26 which is connected to the
output of the pressure transducer 66 applied to the other tank. The
two inputs of the amplifier 22 are then connected to one another by
a variable resistor 27. The feedback is established by a resistor
28 inserted between the output and the negative input of the
amplifier.
The output of the amplifier 22 is connected to the input of a
differentiator consisting of a differential amplifier 29, having a
high gain and equipped with an RC feedback, and an assembly
resistor 30-capacitance 31 whose constant of time determines the
constant of time of the differentiator. More exactly, the capacitor
31 is inserted between the output of the amplifier 22 and the
negative input of the amplifier 29, whereas the resistor 30 is
inserted between said negative input and the ground. The positive
input to the amplifier 29, in turn, is earthed through a resistor
32. Its output is also earthed through the set of two fixed
resistors 33 and 34 and a variable resistor 25. The feedback is
established by the parallel connection of a capacitor 36 and a
series formed by a fixed resistor 37 and a variable resistor 38,
said parallel being inserted between the negative terminal of the
amplifier 29 and the point of junction of the resistors 34 and
35.
The diagram of FIG 3 also comprises a ring modulator 39 comprises
two windings 40 and 41 mutually connected by four diodes 42, 43, 44
and 45, which are cross coupled. The winding 40, which has a
central earthed tap, is the secondary winding of a transformer 46
whose primary winding 47 is fed by an AC voltage (preferably, 115
volts, 400 c.p.s.) applied between an input terminal 48 and the
ground, through the series of two resistors 49 and 50, a resistor
51 being connected in parallel to the series formed by the resistor
50 and the winding 47. The winding 41, which has, in turn, a
central tap connected via a resistor 52 to the point of junction
between the resistors, 33 and 34, is, conversely, the primary
winding of a transformer 53 whose primary winding 54 is inserted in
series comprising also a resistor 55 which connects to ground the
negative input of a further high-gain differential amplifier 56
whose positive input is grounded through the resistor 57 and to the
negative input through a variable resistor 58. The feedback is
formed by the series connection of a fixed resistor 59 and a
variable resistor 60 connected between the output and the negative
input. The output of the assembly of FIG. 3 consists of a terminal
61 connected to the output of the amplifier 56 through a
transformer 62 having the two windings, i.e. the primary 63 and the
secondary 64 with an earthed terminal.
The operation of the assembly of FIG. 3 is as follows.
The block 67, which comprises the amplifier 22, computes the
difference between the two pressure signals sent to the inputs 24
and 26 from the pressure transducers 65 and 66, and the result of
this operation (which is a level differential) is differentiated
and converted into a measure of rate of flow by the differentiator
68, comprising the amplifier 29 and having as its constant of time
the product of the parameters of the resistor 30 and the capacitor
31. The sign of the differential coefficient will be either
positive or negative according to whether the pressure sensed by
the transducer 65 is increased or decreased over the one sensed by
the transducer 66.
The signal thus obtained goes to modulate the AC signal which is
present at the input of the ring modulator 39, originating an AC
modulated signal whose amplitude is proportional to the
differential coefficient of the difference of the signals emitted
by the pressure transducer. The modulating signal will be in phase
with the AC carrier when the output of the differentiator 68 is
positive (i.e. the pressure in the tank 4 is increased with respect
to that in the tank 3), whereas it will be in phase opposition when
the output of the differentiator 68 is negative (i.e. the pressure
in the tank 4 is decreasing with respect to that in the tank 3).
The reason why this modulation has been introduced is connected to
the fact that differential amplifiers and processors for AC signals
(more particularly 400c.p.s.) are available, which have already
been applied in the art and are an advantage over those operated
with DC. The block 69, comprising the amplifier 56, has the
function of supplying power to the signal f (Q") which is available
at the output 61.
* * * * *