• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A hydrofoil boat control system comprising at least three static pressure and water velocity sensors submerged in the water and located on the submerged wings of the ship, an on-board electronic controller, an actuator for each submerged wing arranged to change the angle of attack of their respective wing. The control system allows hydrofoil boats to navigate safely and comfortably in any wave condition. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2764023A1
    申请号:ES201831137
    申请日:2018-11-23
    公开日:2020-06-01
    发明作者:Rondon Eloy Rodriguez；Castro Hugo Ramos；Fernandez Diego Alonso
    申请人:Eyefoil S L；
    IPC主号:
    专利说明:

    [0001] Hydrofoil sailboat control system
    [0002] Field of the Invention
    [0003] The present invention includes within the types of ships called hydrofoil (hydrofoil English). Specifically, the invention relates to a control system for hydrofoil sailing boats.
    [0005] Background of the Invention
    [0006] A hydrofoil (or hydrophoil in English) is basically a wing that works in water. The lift and resistance provided by a wing in any fluid meets the following expressions:
    [0008]
    [0011] Being:
    [0012] • L. Wing support (N). It depends on the geometry and Reynolds number.
    [0013] • D. Wing resistance (N). It depends on the geometry and Reynolds number.
    [0014] • p. Fluid density (kg / m3)
    [0015] • S. Wing plant area (m2)
    [0016] • V. Fluid velocity (m / s)
    [0017] • CL. Support coefficient (dimensionless). In incompressible regime, it depends on the angle of attack of the wing, and the Reynolds number.
    [0018] • CD. Resistance coefficient (dimensionless). In incompressible regime, it depends on the angle of attack of the wing, and the Reynolds number.
    [0020] As the density of water is approximately 1,000 times greater than that of air, two wings with the same geometry, moving at the same speed, one in water and the other in air, generate a lift 1,000 times greater than that immersed in water than that immersed in air . This is why a boat with a relatively small wing that stays below the surface of the water can generate enough lift to lift the hull out of the water. By removing the hull from the water, the drag of the boat decreases considerably and allows the boat to reach higher speeds.
    [0022] Hydrofoils have been in use on ships since the mid-20th century. Most sailing boats use two basic concepts to control the lift of the boats. hydrofoils and therefore make navigation viable, explained below:
    [0023] • Control by submerged surface.
    [0024] They adjust the lift of the bearing surfaces by changing the submerged surface and therefore bearing.
    [0025] • Control by angle of attack.
    [0027] They adjust the lift of the bearing surfaces by changing their angle of attack, always keeping them completely submerged.
    [0028] • Mixed Control.
    [0030] In mixed control the two lift adjustment systems mentioned above are combined so that the surface and angle of attack change.
    [0032] As the proposed invention is based on the state of the art of the angle of attack control, the operation of the flying moth type sailing boats is discussed in some detail below .
    [0034] As seen in Figures 1 and 2, this type of ship (100) has two supporting surfaces; one wing at the end of the rudder (101) and another at the keel (102). When the boat has a higher speed than the "takeoff", that is, the hull comes out of the water, both surfaces support upward, and therefore the sum of both supports compensates the weight of the crew plus the boat. Since the lift is proportional to the square of the speed and the angle of attack, the angle of attack of the keel wing (102) must change with the speed of the boat, in order to always give a lift equal to the weight of most crewed vessel. This is accomplished by a spoiler having the rudder wing (101). The spoiler is powered by a system called wand (103). The wand (103) is a system or sensor that measures the height of the hull to the water.
    [0036] In the theoretical case that the boat is going at a speed where all forces are compensated, if the speed of the boat increases, the lift increases and the boat would start to come out of the water, so the height of the hull above the water would increase. Therefore, when the boat begins to increase its height above the water, the angle of attack of the wing must be decreased, to prevent the wings from leaving the water or getting too close to the free surface. This height is measured by the wand (103), and consists of a rod with a float at the tip that follows the surface of the water. The rod is therefore a measure of the height above the water. This rod is connected to the rudder wing spoiler, and adjusts the wing spoiler, that is, it modifies its angle of attack.
    [0038] The wand (103), a mechanical measurement system, is often replaced by electronic sensors coupled to a controller that sends orders to the wing flaps.
    [0040] The balance of forces and moments on the rest of the axles is achieved by positioning the crew member and modifying the angle of attack of the rudder angle.
    [0042] The boats have two types of movements or ways of facing or traversing the waves, one in which the height of the boat does not change with respect to the average surface of the sea, and another in which they contour the wave. These two movements are illustrated in figure 3. The main problem that current hydrofoil or hydrofoil boats have is that they do not navigate well or cannot navigate with waves. To illustrate why this is so, we assume a boat sailing in equilibrium and a flat sea sailing towards a solitary wave that is approaching. The first cause occurs because the height sensor measures in an area close to the vertical of its location, so the measurement is taken very close to the bow. This means that the controller sends a signal to the ailerons the moment the wave begins to pass below the bow. If the wave has a steep slope, the response time from the aileron to the bow is raised is insufficient for the wave not to touch the hull. When the hull touches the water the boat slows and the wings stop supporting the weight. The second cause is the difficulty of adequately measuring the height above the sea. A sea state is made up of a spectrum or time superposition of different waves of different amplitudes and frequencies. Due to the higher frequency and small amplitude waves, the most accurate electronic sensors available are not capable of adequately measuring the surface, and once that signal is filtered, the measurement does not have the required precision. Mechanical sensors are even more imprecise.
    [0044] Description of the Invention
    [0045] It is necessary to offer an alternative to the state of the art that covers the gaps found in it and, therefore, contrary to the existing solutions, this invention proposes a solution so that boats can navigate on hydrofoils in a greater range of waves. This would improve the behavior at sea of this type of boats and therefore allow them to navigate in sea, wind and wave conditions, in which today it is not possible to navigate and therefore navigate longer distances than today they cannot in case the waves worsen far from port.
    [0046] Specifically, the invention relates to a hydrofoil boat control system comprising:
    [0047] - at least three static pressure and water velocity sensors submerged in the water and located on the submerged wings of the ship,
    [0048] - an on-board electronic controller,
    [0049] - one actuator for each of the submerged wings arranged to change the angle of attack of its respective wing,
    [0050] where the electronic controller is arranged to periodically collect the information from the static pressure and water velocity sensors and act in real time on the actuators of said submerged wings, in such a way that, when there is a wave, the action on the Wings allows the boat to contour the surface of the sea and when there is no wave or it is small, the action allows the boat to be kept at a constant height above the sea surface.
    [0052] Brief description of the figures
    [0053] The foregoing and other advantages and features will be more fully understood from the following detailed description of embodiments, with reference to the following figures, which are to be considered in an illustrative and not limiting manner.
    [0055] Figure 1. Shows a schematic of a side view of a state-of-the-art flying moth boat , where the hydrofoils and the wand sensor for elevation control are observed.
    [0056] Figure 2. Shows a diagram of a front view of said state-of-the-art boat of the flying moth type , where the hydrofoils and the wand sensor for elevation control are observed.
    [0057] Figure 3. Shows two example graphs of the isobars of the total pressure under the wave, that is, of the current lines at different reference depths.
    [0058] Figure 4. Shows illustrations with the two modes of navigation of this type of boat, the constant height and the contour of the waves.
    [0059] Figure 5. Shows a diagram of high-level modules of the invention, with the controller and the sensors and actuators that comprise it.
    [0060] Figure 6. Shows a schematic of an example of a ship, type AC50, with the situation that the pressure sensors would occupy in the invention.
    [0062] Detailed description of the invention
    [0063] The invention substantially improves wave riding of ships on hydrofoil. The system is based on controlling the ship from the measurements of various pressure sensors (PL) and water velocity (VL) located in the lowest part of each appendix; keels and rudder.
    [0065] The objective of the control is that the boat manages to contour the wave without the hull touching the water. To this end, the control will act on the hydrofoils of the ship to keep the total pressure constant at the pressure and speed measurement points of the water. This will translate, as will be demonstrated, into keeping the depth of the measurement points with respect to the water surface h ( t), within a range that allows the boat to contour the wave without touching the hull. The total pressure, applying Bernoulli, to be kept constant at a measurement point is:
    [0067]
    [0069] Where:
    [0070] • PL = Local Pressure measured by the sensor at the measurement point.
    [0071] • VL = Local Speed measured by the sensor at the measurement point.
    [0072] • PO = Atmospheric Pressure.
    [0073] • p = Density of water.
    [0074] • ho = Reference depth below the surface of the water without wave.
    [0075] • VO = Reference speed in waveless navigation.
    [0076] • g = gravitational acceleration
    [0077] The total pressure is preserved along the stream lines. One of the current lines is that tangent to the profile where the sensor is located. The total pressure at any point where the sensor is located, assuming that the boat maintains the speed with respect to the calm water without current (Vo) in the case in which the wings are moving and therefore providing energy to the system will be:
    [0080]
    [0082] Where:
    [0083] • t e Time variable.
    [0084] • h (t) e Depth of the measurement point below the water surface.
    [0086]
    [0087] hw e Half-width of the wave.
    [0089] • Aw e Wavelength of the wave.
    [0091] P e Contribution to total pressure due to the influence of hydrofoil lift.
    [0093] í : '(H e Configuration of attack angles of hydrofoils that affect the measurement of the sensor.
    [0095]
    [0097]
    [0099] • = The negative sign (-) corresponds to the case in which the boat advances in the direction of the wave, and the positive (+) when it sails against the wave.
    [0100] • and frequency of the wave.
    [0101] • c e Wave train speed.
    [0102] Because it is of an order lower than the kinetic energy of the boat, the contribution to the kinetic energy provided by the speed of the water induced by the wave has been neglected. Identifying terms we have:
    [0105]
    [0107] Where:
    [0109] • £ p = Contribution at the end of the potential energy of the total pressure due to the influence of the hydrofoil lift.
    [0111] • -¿V = Contribution at the end of the kinetic energy of the total pressure due to the influence of the hydrofoil lift.
    [0113] • MP = Contribution to the term of potential energy of the total pressure due to the influence of the torque that is applied to the hydrofoil to change its angle of attack.
    [0115] • M v = Contribution to the potential energy term of the total pressure due to the influence of the torque that is applied to the hydrofoil to change its angle of attack.
    [0116] Therefore, if the total pressure is held constant, the pressure sensor will follow the path of a constant Total Pressure stream line. The different fluid stream lines are determined by the reference condition:
    [0118] PT = P 0 + p - g - h 0 + - one - p - V 0 9 two
    [0120] The equation above indicates that for a constant boat speed Vo, if the total reference pressure is raised, the sensor will follow a deeper current line and if the total reference pressure is lowered it will be shallower.
    [0121] Figure 3 shows the current lines for different total pressures for different reference depths h : 1, 1.2, 1.4, 1.6 and 1.8 meters. Due to the exponential in the pressure differential expression, it is observed that as the reference depth increases, the current lines or trajectories of the sensor become flatter.
    [0122] In view of Figure 3, it can be concluded that a control system that aims to keep the total pressure of a point on the wing constant, will force the trajectory of that wing to be a current line and therefore contour the wave. In order to implement this system, the pressure and speed sensors must be located on the submerged wings, as shown in Figure 6. If these sensors are on all the wings, the helmet, being solidly attached to the wings, will follow the path of the isobars of the wings, therefore, with the appropriate configuration of the controller, the boat will be able to follow a path that contours the wave. In the event that there is no wave, the boat will remain at a constant height since the depth will be the same as the reference ho Figure 4 shows a sine wave when the ocean waves are a wave spectrum. However, the current lines will follow trajectories similar to those in figure 3, so the sea wave boat will also contour the wave.
    [0123] The equation corresponding to the total pressure of a wave spectrum has the same form as the already detailed equation. Therefore, with several sequential measurements of pressures and velocities, the greater amplitudes of the wave spectrum can be characterized. This means that while surfing, the control system can calculate at all times which wave train is to be found.
    [0124] Having the wave spectrum that the boat is sailing in, the controller can be adjusted so that the variation of wing attack angles over time allows hydrodynamic forces to respond in time to raise and lower the bow / stern contouring the wave and that the hull of the boat does not touch the water.
    [0125] The control system necessary to implement this control methodology requires at least three sensors located on the wings that are submerged, an on-board processor on which the control algorithm runs in real time, and the actuators. Figure 5 shows a very high level diagram of the location of the pressure sensors of the invention in a typical ship.
    权利要求:
    Claims (3)
    [1]
    1. Control system for hydrofoil boats characterized in that it comprises: - at least three static pressure and water velocity sensors submerged in the water and located on the submerged wings of the boat,
    - an on-board electronic controller,
    - one actuator for each of the submerged wings arranged to change the angle of attack of its respective wing,
    where the electronic controller is arranged to periodically collect the information from the static pressure and water velocity sensors and act in real time on the actuators of said submerged wings, in such a way that, when there is a wave, the action on the wings It allows the boat to contour the surface of the sea and when there is no wave or it is small, the action allows the boat to be kept at a constant height above the sea surface.
    [2]
    2. Control system for a hydrofoil boat according to claim 1, characterized in that said submerged wings of the boat are the keels and / or rudder of the boat.
    [3]
    3. Hydrofoil boat control system according to claim 1, characterized in that the controller acts on the actuators of said submerged wings in such a way that the total pressure of the static pressure and speed sensors is maintained, following the following formula:
    1 9
    P t = Po P ' 3 ‘ K two • P ‘ vo
    where:
    - P t = Total measured sensor pressure
    - P o = atmospheric pressure
    - p = water density
    - ho = reference depth below the surface of the waveless water at which the sensor is located on the wing.
    - g = gravitational acceleration
    - V o = reference speed in waveless navigation.
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    同族专利:
    公开号 | 公开日
    ES2764023B2|2021-07-19|
    US20200172213A1|2020-06-04|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3175526A|1961-02-27|1965-03-30|North American Aviation Inc|Automatic altitude control system for a hydrofoil vessel|
    US3364892A|1966-10-10|1968-01-23|Asea Ab|Control means for hydrofoil craft|
    WO2015187102A1|2014-06-02|2015-12-10|Rcj D.O.O.|Device for a vertical control of a vessel|
    GB2527055A|2014-06-10|2015-12-16|Thales Holdings Uk Plc|Systems and methods for predicting wave impacts with a watercraft, and watercraft control systems and methods|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201831137A|ES2764023B2|2018-11-23|2018-11-23|Hydrofoil sailing boat control system|ES201831137A| ES2764023B2|2018-11-23|2018-11-23|Hydrofoil sailing boat control system|
    US16/693,409| US11279454B2|2018-11-23|2019-11-25|System and method for controlling hydrofoil boats; and hydrofoil boat comprising said control system|
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