58results about How to "Improve anti-roll effect" patented technology

A T-shaped hydrofoil capable of changing wing area and aspect ratio comprises a column, a horizontal main wing and extensible auxiliary wings. The upper end of the column is fixed at the hull bottom, and the lower end thereof is connected with the horizontal main wing. When needed, the auxiliary wings are pushed out from auxiliary wing tanks of the horizontal main wing by the aid of hydraulic oil cylinders, so that larger wing area and higher aspect ratio are obtained, lift coefficient is increased, and effects of restraining pitching and heaving are enhanced; when not needed, the auxiliary rings are recovered into the horizontal main wing by the aid of the hydraulic oil cylinders so as to reduce resistance, and accordingly fuel can be saved while speed is increased.

The invention provides a drag-reducing device of a anti-rolling fin of a ship wing flap, comprising a fin and a wing flap, wherein one end of the fin is provided with a fin shaft; one end of the wing flap is provided with a wing flap fin shaft; the fin shaft and the wing flap fin shaft are connected with a ship hull; the upper fin surface at the free end of the fin is provided with an upper fin surface baffle, and the lower fin surface at the free end of the fin is provided with a lower fin surface baffle; the upper wing flap fin surface at the free end of the wing flap is provided with an upper wing flap fin surface baffle, and the lower wing flap fin surface at the free end of the wing flap is provided with a lower wing flap fin surface baffle. The invention has simple structure and easy installation and realization and can effectively reduce the induced resistance of a fin stabilizer, enhance the lift efficiency of the anti-rolling fin of the wing flap, prevent a water flow medium cavitation phenomenon from generation and enhance the anti-rolling effect of the anti-rolling fin of the wing flap and the safety and the economy of ship navigation.

The invention supplies a comprehensive coordination control device that includes intelligent process unit U1, servo mechanism U2 connecting to main fin U3, servo mechanism U4 connecting side fin U5, servo mechanism U6 connecting to main rudder U7, servo mechanism U8 connecting to side rudder U9, rolling information testing sensor U11 setting on vessel and connecting on intelligent information process unit, course heading information testing sensor U10, information gathering unit U12 and information display unit U13. The intelligent process unit connects to servo mechanism U2, U4, U6 and U8.

The invention aims to provide a comprehensive re-setting control method for ship rudder stabilization, which comprises the following steps of: collecting a ship roll angle signal e(t); setting each control parameter initial value; by taking e(t) as input, calculating an output signal u1(t); by taking u1(t) as input, filtering high-frequency noise; weakening a spike caused by a nonlinear integral; calculating an output signal u2(t); by taking the u2(t) as input, calculating a closed loop feedback control signal u(t); drawing the open loop Nyquist graph and the closed-loop frequency characteristic of a system; judging whether a design index satisfies the condition or not, if not, regulating each control parameter value again; and calculating feedback output u(t) again until an index requirement is satisfied. According to the comprehensive re-setting control method for the ship rudder stabilization, which is disclosed by the invention, big phase lag caused by non-minimum phase characteristic in a rudder stabilization system is effectively solved, the comprehensive re-setting control method has the strongest disturbance attenuation capability on sea wave disturbance near the ship rolling resonance frequency, and therefore the system stabilization capability is greatly improved.

The invention provides a rudder and fin combination stabilization method based on a dual-control H to infinite design, which comprises the steps that a roll angle signal is acquired and initial control parameter values are set; a stabilization fin loop control output u1(t) is calculated by adopting the roll angle signal as an input; a sensitivity weight function and a control sensitivity weight function are determined, and a stabilization rudder loop control output u2(t) is calculated by adopting the roll angle signal as the input; an open-loop Nyquist characteristic of a system is drawn according to a rudder and fin combination stabilization object model and a synthetized rudder and fin control action; then whether the open-loop Nyquist characteristic meets an index requirement is judged; and if the open-loop Nyquist characteristic does not meet the index requirement, the control parameter values are readjusted till the open-loop Nyquist characteristic meets the index requirement. The rudder and fin combination stabilization method takes full advantages of actions of a rudder and a stabilization fin; with the adoption of the zero phase shift design on a rudder loop and a stabilization fin loop, stabilization effects synthetized by the rudder and the stabilization fin are superimposed; and the dual-control on the system is realized, so that the stabilization capability of a ship is improved greatly.

The invention provides a switching control method for ship stabilization controllers in multiple sail poses, and belongs to the field of ship control. The switching control method has the advantages that rolling movement with six degrees of freedom can be carried out by ships when the ships sail on sea surfaces, and includes the most severe rolling movement; the rolling power spectral density (PSD) corresponding to the ships is different to a certain extent when the speeds and wave-direction encounter angles of the ships are different, parallel multi-model decision-making related theories areintroduced, the rolling power spectral density (PSD) is used as a reference basis, the most appropriate controllers are designed and are selected under disturbance of different sea conditions, and thecorresponding controllers are pertinently adopted for the rolling movement of the ships in the different sail poses as far as possible; rolling power spectra are used as decision-making bases, parameters of sub-controllers are optimized by the aid of genetic algorithms, accordingly, the ship stabilization controllers can be optimized in integral work environments as compared with the traditionalstabilizer fin controllers only capable of realizing good effects in a certain work environment, and stabilization effects can be greatly enhanced.

The invention discloses a ball screw type ship swinging and vibration reducing supporting device. The ball screw type ship swinging and vibration reducing supporting device comprises an upper bearing frame, springs, a lower bearing frame, ball screw assemblies arranged in pair and the like. Vibration generated through operation of ship mechanical equipment is transmitted to the upper bearing frame, and vibration is reduced by the springs to be transmitted to a ship body; the mechanical equipment is caused to swing together through low-frequency swinging of the ship body in waves, the overall torsion rigidity of a base is adjusted through the ball screw assemblies and a flywheel assembly, accordingly, swinging of the mechanical equipment is synchronous with swinging of the ship but not amplified, the overall torsion rigidity of a bottom frame is improved, and the swinging movement of the mechanical equipment is reduced. According to the ball screw type ship swinging and vibration reducing supporting device, modular design, manufacturing and installing are adopted, the structure is simple, cost is low, and the swinging and vibration reducing effect is good.

The invention discloses a hydraulic driven type anti-pitching T-shaped hydrofoil with the controllable attack angle. The upper end of a column wing is installed on the lower portion of a keel of a ship bow, and the lower end of the column wing is perpendicularly welded to a horizontal fixed wing; a left tail flap and a right tail flap are symmetrically embedded in the horizontal fixed wing through a rotating shaft and can swing synchronously, and a swing gap is reserved between each tail flap and the horizontal fixed wing; the upper end of a connector of a hydraulic cylinder is connected with a piston rod of the hydraulic cylinder, and the lower end of the connector of the hydraulic cylinder is connected with a supporting arm in a hinged mode through a pin shaft; a sliding hole of the pin shaft is formed in the upper end of the supporting arm, and the lower end of the supporting arm is in rigid connection with the tail flaps; and a position magnetic ring and a measuring rod are installed in an airtight hydraulic cylinder body. According to the hydrofoil, the attack angle of the hydrofoil can be precisely controlled, the structure of the hydrofoil is optimized, stability, reliability and practicability are strengthened, and manufacturing and repairing difficulty is greatly reduced. The T-shaped hydrofoil can be combined with other anti-pitching accessory bodies in use, and the anti-pitching effect of a ship can be greatly promoted.

The invention provides a ship fin stabilizer and wing fin vector control method. The method includes transmitting current ship rolling information measured by a rolling sensor to an intelligent ship stabilizing regulator; performing ship stabilizing robust control algorithm calculation according to the current rolling information to obtain rolling stabilizing control torque needed by stabilizing; performing intelligent decision algorithm calculation on a fin stabilizer angle and a wing fin angle according to the needed rolling stabilizing control torque to obtain needed fin stabilizer angle and wing fin angle instruction signals; transmitting the fin stabilizer angle and wing fin angle instruction signals to a fin stabilizer and wing fin servo system through an asynchronous serial communication interface to drive and control a fin stabilizer and a wing fin so as to provide the needed rolling stabilizing torque and reduce ship rolling. By the ship fin stabilizer and wing fin vector control method, a ship stabilizing effect can be achieved, energy consumption can be lowered, and the all-weather navigability and reliability of a ship can be improved.

The present invention relates to one new kind of rock reducer with raised seaworthiness by means of magnetic fluid technology. The magnetic fluid rock reducer includes sea water pipe, liquid helium storage tank inside the sea water pipe of non-metal material, superconductive magnets homogeneously arranged on the outer wall of the pipe, and two, one positive and one negative, rock reducing electrodes inside pipe with the magnetic inducing line in the direction perpendicular to current direction. Through regulating the direction of current and magnetic field, sea water is made to move under the mutual action of current and magnetic field in sea water to produce one moment in the counter direction of ship rocking to reach the aim of reducing rocking. The present invention can reduce or eliminate the rocking of ship in wave, raise its seaworthiness and stability and improves the comfort of the ship.

The invention provides a floating draught fan platform wave absorbing and roll stabilization power generation device and an active control method thereof. The floating draught fan platform wave absorbing and roll stabilization power generation device comprises three platform pile legs and supporting rods for being connected with the platform pile legs; a wave absorbing floater is arranged inside each platform pile leg, the upper end of each wave absorbing floater is provided with a stepping motor, a linear power generator rotor is connected to the output end of each stepping motor, and the lower end of each linear power generator rotor is provided with a thread; a buffer spring is matched with each thread of the corresponding linear power generator rotor through a thread seat, and the upper end of each buffer spring is connected with the inner top of the corresponding platform pile leg; the upper end of each platform pile leg is provided with the corresponding linear power generator rotor, and the upper ends of the linear power generator rotors sequentially penetrate through the buffer springs, the platform pile legs and linear power generator stators; and the outer surface of each platform pile leg is further provided with a bracket, and each bracket is provided with an incoming wave signal collecting device and an incoming wave signal processing device. The floating draught fan platform wave absorbing and roll stabilization power generation device can stay in the best wave absorbing and roll stabilization position all the time, and the efficiency of the wave absorbing and roll stabilization power generation device is greatly improved.

The invention provides a ship electric servo fin / wing optional-angle-ratio transmission device. When a main fin motor rotates, a cardan shaft handle of a main fin is driven to rotate; when the cardan shaft handle of main fin rotates counterclockwise, a pulling and pushing rod of the main fin drives a main fin swing arm to rotate counterclockwise to allow a main fin shaft to rotate counterclockwise, that is to say, a main fin blade rotates counterclockwise; when the main fin shaft rotates counterclockwise, a wing motor is driven to rotate, that is to say, a wing cardan shaft handle and a wing cardan shaft handle connecting lever rotate to drive a wing pulling and pushing rod, a wing rotating sleeve connecting lever is driven to drive a wing rotating sleeve to rotate, and a wing swing connecting lever is driven to swing and drive a wing slide rod and a wing slide rod dual-hole sleeve to swing. Since a wing shaft penetrates the main fin blade and is fixed to the wing slide rod dual-hole sleeve, the rotating angle of a wing blade is increased or decreased on the basis of an existing wing angle, and the wing blade is allowed to rotate without limit of the main fin blade. By the aid of the ship electric servo fin / wing optional-angle-ratio transmission device, the swing reducing capability of a fin stabilizing system can be improved greatly.

The invention provides an arm frame type trawler and belongs to the technical field of ships. The arm frame type trawler comprises a hull structure and two trawling arm frames. The lower ends of the two trawling arm frames are hinged to the two sides of the hull structure. Floating mechanisms are arranged at the tops of the trawling arm frames. Each floating mechanism comprises a floating box. A hydraulic lifting platform is arranged on the lower side face of each floating box. A lifting board is arranged at the lower end of each hydraulic lifting platform. First through holes are formed in the periphery of each lifting board. Sliding rods are inserted in the first through holes. Baffles are arranged at the upper ends of the sliding rods. The size of each baffle is larger than that of eachfirst through hole. The lower ends of the sliding rods penetrate through the first through holes and are hinged to floating bodies. The sliding rods are provided with reset springs. The reset springsare located between the baffles and the lifting boards. An air bag is arranged between each floating body and the corresponding lifting board. An electric air pump is arranged on the upper side faceof each floating box. An exhaust pipe of each electric air pump communicates with the corresponding air bag. The floating mechanisms in the arm frame type trawler achieve a good supporting effect in the trawler trawling operation process, and the ship navigation stability is improved.

The invention discloses an unattended ship stabilizing device, and belongs to the technical field of ship stabilizing. The unattended ship stabilizing device comprises a ship body. A flow breaking body is arranged at a stem position of the ship body and is in a conical shape. The rear end of the flow breaking body is connected with a connecting rod. The connecting rod is connected with the ship body through a damper. One end of the flow breaking body is connected with a rope body. The rope body is connected with a winding and unwinding mechanism on the ship body. The unattended ship stabilizing device has wave breaking, stabilizing and power generating functions and enhances the storing and balancing capacity and monitoring data precision of an unattended ship.

The invention relates to ship equipment, and in particular relates to innovation in technological level of a roll stabilization gyroscope used for a ship. The roll stabilization gyroscope used for the multimachine parallel operation mechanical flexible transmission ship adopts distributed parallel motors, and inertial damping is greatly reduced, so that roll stabilization effect of a large gyroscope is greatly improved; meanwhile construction and maintenance also become very convenient, and the characteristics that the space in a cabin is narrow and small and a lifting device is inconvenient to mount for mounting and maintenance are adapted; the motors are distributed in gaps among a large-scale rotor, a frame and a base, so that the occupying area and volume of a gyroscope roll stabilizer are reduced; besides, multiple motors are adopted, the total heat dissipation area and heat dissipation space of the motors are obviously increased, and a risk that the motors are damaged due to overheating is effectively reduced; V belt transmission is adopted, elastic slide effect of the belt transmission is utilized, slight difference of output rotating speeds of the motors is balanced, and current shock during starting is also relieved, so that mechanical 'soft starting' during the starting is realized, and reasonable distribution, mounting and maintenance of the motors are also facilitated; and a distributed motor structure is adopted, so that mass distribution and stress of the whole frame are uniform and reasonable.

The invention relates to an anti-shaking device for a crane. The anti-shaking device comprises a supporting frame, a main beam, an operation trolley, lifting mechanisms, a sling and a lifting hook arranged at the lower part of the sling; the anti-shaking device is arranged at the lower part of the operation trolley, and comprises supporting rings, wherein a horizontal central shaft is arranged inthe supporting rings in a sleeved mode, and the central shaft can freely rotate around the axis of the central shaft; an anti-shaking cylinder is coaxially arranged outside the central shaft in a sleeving mode, and the anti-shaking cylinder is meshed with the central shaft through an acceleration gear set; the sling penetrates through the cylinder wall of the anti-shaking cylinder, and then is fixedly arranged on the shaft surface of the central shaft; and when the lifting hook is located right below the central shaft, the sling is in a vertical straight line shape. According to the anti-shaking device, the swing amplitude in the suspension process of weights can be effectively relieved, so that rapid stability recovery of cargoes is promoted, operators can safely and accurately land the weights conveniently, stacking stability and accuracy are guaranteed, and carrying efficiency is effectively improved.

The invention provides rotatable anti-rolling equipment, which comprises three groups of anti-rolling devices with the same structure and different sizes, each group of anti-rolling devices comprisesan outer shaft, an inner shaft and an anti-rolling plate, the outer shafts and the inner shafts are connected through supporting rods, outer gears are arranged at the two ends of the outer shafts correspondingly, inner transmission gears are arranged at the two ends of the inner shafts correspondingly, and the outer gears and the inner transmission gears on the same sides drive the outer gears andthe anti-rolling plates to rotate through transmission chains and driving of rotation of the inner transmission gears; and the three groups of anti-rolling devices are installed within the 1 / 3 of themiddle of a hull to 1 / 4 of the ship length, the distance between each group of outer shafts 3 is 1.5-2 m, the anti-rolling plate of the anti-rolling device in the middle group is wide, and the anti-rolling plates of the anti-rolling devices in another two groups are narrow. According to the rotatable anti-rolling equipment, the anti-rolling effect at various navigational speed can be ensured, meanwhile, various sea conditions can be taken into account, the anti-rolling effect under the severe sea conditions is ensured, and low resistance can be maintained in the calm sea conditions.

The invention relates to a telescopic fin stabilizer for an unmanned ship, a control system and a control method, the fin stabilizer comprises a fin blade part, a first power mechanism, a first transmission mechanism, a fin shaft and a fin shaft limiter, and the fin blade part comprises a main fin unit, a second power unit, a second transmission mechanism and an auxiliary fin; the first power mechanism is connected with the fin shaft through the first transmission mechanism, the fin shaft is connected with the main fin unit and used for achieving unfolding and folding of the main fin unit, andmeanwhile the fin shaft limiter is installed on the first transmission mechanism and used for preventing the main fin unit from excessively stretching and locking the working state. The auxiliary finis mounted on the main fin unit, is connected with the second power unit through the second transmission mechanism, and is used for controlling the auxiliary fin to extend when the anti-rolling moment of the main fin unit is insufficient. Compared with the prior art, the telescopic fin stabilizer has the advantages that occupation of the internal space of the unmanned ship is reduced, enough anti-rolling torque can be provided under the condition that the navigational speed is not affected as much as possible, and the like.

The invention relates to a method for optimizing parameters of a ship stabilization gyroscope. The method comprises the steps of firstly, establishing a rolling motion mathematical model according tobasic parameters of a ship structure and rolling motion, establishing a mathematical model of combined motion of the gyroscope and a ship according to a moment balance equation of a single-frame control moment gyroscope, separately calculating standard deviation values of the rolling angles of the ship during break and work of the stabilization gyroscope, and establishing an expression of the stabilization rate of the ship stabilization gyroscope; secondly, comprehensively considering the stabilization rate, occupied area, overall quality and motor driving energy consumption of the stabilization gyroscope to select an objective function, and constructing a parameter optimization model of the ship stabilization gyroscope according to the size of an installation space of a ship cabin, the supply power of a power system and the constraint conditions of parameters given by the machining process difficulty of a damper; thirdly, taking the original parameters of the stabilization gyroscope as initial values, and solving the parameter optimization model of the ship stabilization gyroscope through an extreme value solution optimization algorithm to obtain the optimal parameter values of the stabilization gyroscope. The method can effectively improve the stabilization effect of the stabilization gyroscope.

The invention relates to an electric drive fin stabilizer with a speed reducer. The electric drive fin stabilizer comprises a servo motor, a planetary gear reducer, a supporting seat, a fin shaft, a fin, a frequency converter, a driver and a control cabinet, wherein the right-angle input end of the planetary gear reducer is connected to the servo motor, the output end of the planetary gear reduceris connected to the fin through the fin shaft, the planetary gear reducer is connected to the supporting seat through a flange, and the fin shaft is connected to the supporting seat through two back-to-back single-row tapered roller bearings. Compared with an existing liquid drive fin stabilizer, the electric drive fin stabilizer has the advantages that the weight is light, the structure is simple, the equipment quality can be reduced to the maximum extent, and the occupied space can be reduced; the performance is strong, the stabilization effect under various working conditions can be improved to the greatest extent, and the noise during working is greatly reduced; the maintenance is convenient; the man-machine interaction is convenient, and the energy utilization rate and stabilizationefficiency are high.

The invention designs a three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension. The device mainly comprises a base, a balance platform, a left balance arm, a right balance arm, a tension sensor, a first connecting rod, a second connecting rod, a third connecting rod, a left auxiliary balance arm, a right auxiliary balancearm, a main sling, a left balance cable, a right balance cable, a left auxiliary balance cable, a right auxiliary balance cable, a visual sensor, a lifting ring, a grab hook and a PLC control box. Four balance cables are adopted, active constant tension control is achieved through a PLC, and automatic grabbing, collecting and releasing functions are achieved through the grab hook of the visual sensor. The device has the advantages that a multi-degree-of-freedom three-connecting-rod type mechanical arm is used, and the grabbing range is enlarged. Meanwhile, the influence of marine environmental factor interference force on the main sling, the grab hook and the hoisted object is considered. The four balance cables are adopted, so that the stabilization effect is improved. The visual sensoris applied, the marine mechanical arm can automatically grab, collect and release the hoisted object, and compared with a manually-operated marine crane, the device is more intelligent and suitable for various carriers.

The invention belongs to the field of crane accessories, and particularly relates to a gravity center lifting crane anti-sway device. The gravity center lifting crane anti-sway device includes a support frame, a lifting mechanism, a running trolley and a sling; an anti-sway frame is arranged under the running trolley; the upper end of the sling is fixedly connected to the inner top surface of theanti-sway frame; two L-shaped connecting rods are fixedly connected to the lower end of the running trolley; a fixed wheel disc is fixedly installed between the two L-shaped connecting rods; the fixedwheel disc is located in the anti-sway frame and arranged in parallel with the anti-sway frame; a rotating ring is rotatably connected to the side wall of the outer ring of the fixed wheel disc; thelower end of the rotating ring is provided with a segment of tooth groove; a rack is fixedly connected to the outside of the sling; the rack meshes with the lower end of the rotating ring; and both sides of the rotating ring are provided with ratchet teeth. The gravity center lifting crane anti-sway device can convert the kinetic energy and inertial potential energy of a weight swinging upward dueto inertia and wind into gravitational potential energy, so that the swinging energy is quickly converted and consumed, and a good anti-sway effect is realized.

The invention discloses a height-adjustable bus handle which comprises a machine body, a first sliding groove is formed in the machine body, second sliding grooves are formed in the upper side wall and the lower side wall of the first sliding groove in a communicating mode respectively, the first sliding groove is communicated with an external space through the second sliding grooves, and two sliding blocks are connected into the first sliding groove in a bilateral symmetry and sliding mode. A limiting buffer device is arranged in each sliding block, the two limiting buffer devices are in central symmetry by taking the center of the first sliding groove as the center, a user can adjust the comfortable height according to the height, and due to arrangement of the buffer devices, when the user topples over, part of inertia can be eliminated, the handle plays a certain role in preventing a human body from toppling to a certain extent, and compared with a completely rigid handle, the anti-toppling handle is more durable in use and better in anti-toppling effect.

The invention provides a telescopic stabilizer. Each group of stabilizers comprises an external shaft, stabilizing plates, a control rod, a power unit and a control system and is characterized in thattwo stabilizing plates are arranged and are a first stabilizing plate and a second stabilizing plate which are connected with each other through the external shaft; the external shaft is connected with a power device through the telescopic control rod; the control system is connected with the power unit; the power unit is connected with the telescopic control rod; three groups of stabilizers aremounted within a range of 1 / 3-1 / 4 of ship length in the middle of a hull; the stabilizing plates of the stabilizer in the middle group are wider; and the stabilizing plates of the stabilizers in the other two groups are narrower. According to the telescopic stabilizer, stabilizing effects at various navigational speeds can be guaranteed, and meanwhile, various sea conditions can also be considered; and therefore, the stabilizing effect under a severe sea condition can be guaranteed, and lower resistance under a more peaceful sea condition can also be kept.

To provide a control method for a rocking reducing device in which a buoyancy type rocking reducing device (fin stabilizer or rudder swing reducing device) of automatic control type and a U-pipe passive type swing-reducing water tank device (ART) of automatic control type are installed in line and used, capable of allowing the two devices to work with their merits efficiently, complementing each other's demerits, and performing an automatic control so that the liquid of ART does not ill influence the F / S (fin stabilizer). The buoyancy type rocking reducing device 14 of automatic control type and a passive type swing-reducing water tank 15 of automatic control type are installed in line, and a control part 4 capable of making remote control of the two devices is installed on a bridge or in an apparatus monitoring room. A system is constructed so that the two devices 14 and 15 can be selected through changing-over by an automatic or a manual operation. In the case of automatic selection, priority for use is given to the device meeting the preset conditions on the basis of the vessel information fundamentally, and the automatic control is conducted in such a manner that the other device does not ill influence the selected device. (C)2004,JPO&NCIPI.

The invention discloses a gantry crane. The gantry crane comprises a lifting appliance system, a trolley frame and two pairs of stabilization units. A lifting winding drum is arranged on the trolley frame. Each stabilization unit comprises a stabilization winding drum, a stabilization rope, a swing pulley and a swing driving mechanism, wherein the stabilization winding drum is fixed to the liftingwinding drum and coaxially arranged with the lifting winding drum; and the stabilization rope sequentially bypasses the stabilization winding drum and the swing pulley to be steered and then is connected with the lifting appliance system. Portions, between the swing pulley and the lifting appliance system, of stabilization ropes are set as stabilization sections, the stabilization sections of thetwo paired stabilization units are located in different vertical planes, and projections of the two stabilization sections in the same X-Z plane are crossed; the swing pulleys of the two paired stabilization units are arranged at intervals in the X-axis direction, and the two pairs of stabilization sections are arranged at intervals in the Y direction; and the swing driving mechanisms are used for driving the corresponding swing pulleys to wind or unwind the ropes. The gantry crane not only can realize the functions of stabilization and lifting appliance tilting and rotation, but also has theadvantages of simple structure and low cost.

The invention relates to a retractable fin stabilizer for an unmanned boat, a control system and a control method. The fin stabilizer includes a fin blade part, a first power mechanism, a first transmission mechanism, a fin shaft and a fin shaft limiter , the fin blade part includes the main fin unit, the second power unit, the second transmission mechanism and the auxiliary fin; the first power mechanism is connected to the fin shaft through the first transmission mechanism, and the fin shaft is connected to the main fin unit to realize the main fin unit Expand and retract, while the fin axis limiter is installed on the first transmission mechanism to prevent the main fin unit from over-extending and lock the working state; the auxiliary fin is installed on the main fin unit, and through the second transmission mechanism and the second The power unit is connected to control the extension of the auxiliary fin when the anti-rolling moment of the main fin unit is insufficient. Compared with the prior art, the present invention not only reduces the occupation of the inner space of the unmanned boat, but also can provide sufficient anti-rolling moment without affecting the speed of the ship as much as possible.