Most of the fin stabilizers we use now are angle - feedback system , whose control torque is gotten by the calculation of fin angle 目前使用的絕大多數(shù)減搖鰭都是角度反饋系統(tǒng),它通過鰭的轉角來計算控制力矩。
Take puts the winding up roller as the research object , has made the detailed analysis to its state of motion and a program scheme for calculating the tension control torque was provided 以放卷輥為研究對象,對其運動狀態(tài)作了詳細的分析,進而給出了計算控制力矩的程序框圖。
The optimum balancing of a four bar linkage with elastic links is studied , in which the control torque of redundant drives is taken as the design variable , and the shaking force and shaking moment of the mechanism are taken as the objective . the numerical simulation shows validity of the method 針對一平面彈性四連桿機構,以其震動力和震動力矩的加權和為目標函數(shù),以冗余驅動力矩為變量,對附加冗余驅動的彈性機構進行最優(yōu)平衡,其仿真結果表明該方法是有效的。
Fin stabilizer is a kind of active stabilizer , which is designed on the principle of torque counteraction . fin stabilizer applied at present is an angle feedback system which calculate the controlling torque through the fin angle . because the relationship between the lift produced by fin and the fin angle is mainly determined by the hydrodynamic experiment , so there are some defects 目前使用的減搖鰭是一個角度反饋系統(tǒng),它通過鰭的轉角來計算控制力矩,這樣就存在一些不足之處,因為鰭上產(chǎn)生的升力和鰭角的對應關系主要靠鰭模的水動力試驗來求得。
Because the relationship between the lift on the fin and the fin angle is gotten by the static hydrodynamic experiment , which has great error , especially dynamic hydrodynamic experiment , the control torque gotten by the experiment can not counteract the wave torque well and the stabilization result is not perfect 而鰭的水動力試驗存在著很大的誤差,特別是在動態(tài)條件下,鰭的水動力特性測試更困難,所以這種通過計算求得控制力矩的方法產(chǎn)生的鰭升力無法很好地抵消波浪力矩,因而影響了減搖效果。
A set of non - linear differential equation of this model is formulated based on lagrange ’ s equation . the tension of the cable , the control force of translation and the control torque of rotation are obtained by the method of newton ’ s laws in vector space . the tethered mass system is modeled as a spherical pendulum 本文基于一種常見的繩系單體系統(tǒng),運用lagrange方程建立了該系統(tǒng)的非線性運動微分方程,采用矢量法對該運動微分方程進行了校核,并推導出吊索的張力、變幅控制力和回轉控制力。