CN112985762A - Seaworthiness device for ship model six-degree-of-freedom motion measurement - Google Patents
Seaworthiness device for ship model six-degree-of-freedom motion measurement Download PDFInfo
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- CN112985762A CN112985762A CN202110196707.4A CN202110196707A CN112985762A CN 112985762 A CN112985762 A CN 112985762A CN 202110196707 A CN202110196707 A CN 202110196707A CN 112985762 A CN112985762 A CN 112985762A
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Abstract
The invention discloses a seaworthiness device for measuring six-degree-of-freedom motion of a ship model, which comprises two parallel guide rails arranged on the water surface, a translation measuring system, a ship model system, a rotation measuring system and a dragging system, wherein the two parallel guide rails are arranged on the water surface; the translation measuring system comprises a rectangular frame, a swaying rod, a vertical guide sleeve, a swaying rod, a first spring, a vertical stick and a second spring; the rectangular frame comprises cross beams and longitudinal beams, two ends of each cross beam are respectively and vertically connected with the guide rails, and the two longitudinal beams are vertically fixed on the two cross beams; the swaying rod is connected with the two cross beams, a vertical guide sleeve is arranged in the middle of the swaying rod, and one end of the swaying rod penetrates through the vertical guide sleeve and is connected with the ship model system; the first springs are arranged between the swaying rod and the longitudinal beam; the upper ends of the four vertical rods are respectively connected with the lower end faces of the cross parts of the cross beams and the longitudinal beams, the lower ends of the four vertical rods are connected with one end of a second spring, and the other end of the second spring is connected with a ship model system. The invention can measure the six-degree-of-freedom motion of the towing ship model.
Description
Technical Field
The invention relates to the field of ship model hydrodynamic tests, in particular to a seaworthiness device for ship model six-degree-of-freedom motion measurement.
Background
When a ship sails in sea waves, six-degree-of-freedom swaying motion can be generated. The reciprocating oscillations of the vessel along the longitudinal (OX axis), transverse (OY axis) and vertical (OZ axis) axes through its centre of gravity G, respectively called surging, swaying and heaving motions, belong to the linear displacement motion; the angular oscillations of the vessel about the three axes OX, OY, OZ are called roll, pitch and yaw motions, respectively, which are angular displacement motions.
The wave resistance test of the pool model is the most direct and effective method for researching and forecasting the motion response of the ship in the waves, and can be used for ship type optimization and shaping in the ship design stage and also is an important way for verifying a theoretical algorithm. In the existing towing tank model test, the movement of a ship model under the working condition of facing waves is measured by means of a large-sized navigation vehicle and an airworthiness instrument device. Some advanced pool laboratories are equipped with large X-Y type navigation vehicles that can be used to measure the motion response of the ship model in the seas. However, the cost of constructing a navigation system in a pool laboratory is high. Although a perfect wave generator system is arranged in a large number of existing pool laboratories (such as pools for ocean engineering, harbors and navigation channels, hydraulic engineering and the like), a navigation vehicle is not always arranged, so that wave resistance tests of towing ship models are difficult to develop in the pools.
In addition, the measurement of the ship model motion in the ship model towing tank test needs to be carried out by means of an airworthiness system, and the existing contact type mechanical airworthiness can measure the motions of the ship model with 5 degrees of freedom in rolling, pitching, heaving, rolling and surging in waves, but cannot measure the yawing motion. This is because the heading of the ship model will deviate gradually under the action of the transverse force due to the bow motion of the ship model in the oblique waves. However, the existing seaworthy device cannot provide restoring force of the heading direction for the towing ship model, and cannot restore the heading of the ship model to the preset direction, so that the ship model does not have heading stability. The real ship corrects the course angle by continuously operating the rudder when navigating on the sea, thereby achieving the purpose of course stability. Therefore, in the pool model test, the heading freedom of the ship model is usually restricted and fixed, and the heading motion of the ship model is not measured, but the difference exists with the motion attitude of a real ship when sailing on the sea.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a seaworthiness device for measuring the six-degree-of-freedom motion of a ship model, which is not required to be installed on large equipment such as a navigation vehicle and can measure the six-degree-of-freedom motion of a towing ship model.
The purpose of the invention can be realized by the following technical scheme: a seaworthiness device for ship model six-degree-of-freedom motion measurement comprises two guide rails arranged in parallel on the water surface of a water pool, a translation measuring system arranged on the guide rails, a ship model system fixed on the translation measuring system, a rotation measuring system fixed between the translation measuring system and the ship model system, and a dragging system connected with the translation measuring system;
the translation measuring system comprises a rectangular frame, a swaying rod, a vertical guide sleeve, a swaying rod, a first spring, a vertical stick and a second spring; the rectangular frame comprises cross beams and longitudinal beams, two ends of each cross beam are respectively and vertically connected with the guide rails, and the longitudinal beams are vertically fixed on the cross beams; the swaying rod is connected with the two cross beams, a vertical guide sleeve is arranged in the middle of the swaying rod, and one end of the swaying rod penetrates through the vertical guide sleeve and is connected with the ship model system; the first springs are arranged between the swaying rod and the longitudinal beam; the upper ends of the four vertical rods are respectively connected with the lower end faces of the cross parts of the cross beams and the longitudinal beams, the lower ends of the four vertical rods are connected with one end of a second spring, and the other end of the second spring is connected with a ship model system;
the rotation measuring system comprises a yawing rotating shaft, a pitching rotating shaft, a rolling rotating shaft and an installation flat plate; the bow swing rotating shaft is arranged at the bottom end of the heave rod; the rolling rotating shaft is fixed on the mounting flat plate; the pitching rotating shaft is fixed in the middle of the rolling rotating shaft, and two ends of the pitching rotating shaft are respectively connected with the lower end of the yawing rotating shaft; the installation flat plate is fixed at the gravity center of the ship model system;
the dragging system comprises a steel wire rope, a fixed pulley, a weight or a winch; one end of the steel wire rope is connected with the rectangular frame, and the other end of the steel wire rope is connected with a weight or a winch in a way of crossing the fixed pulley.
Furthermore, two ends of the two beams are vertically connected with the guide rail through first guide sliding blocks, and two ends of the swaying rod are connected with the two beams through second guide sliding blocks. The first guide sliding block enables the rectangular frame to freely slide along the longitudinal direction of the guide rail, and the second guide sliding block enables the swaying rod to freely slide along the transverse direction of the two cross beams.
Furthermore, the cross sections of the first guide sliding block and the second guide sliding block are inverted groove-shaped, and the inner surfaces of the first guide sliding block and the second guide sliding block are provided with balls; the cross section of the vertical guide sleeve is rectangular, and the inner surface of the vertical guide sleeve is provided with a ball. The balls reduce sliding friction.
Furthermore, four first springs are symmetrically arranged on the left side and the right side of the swaying rod, and two ends of each first spring are respectively connected with the longitudinal beam and the swaying rod.
Furthermore, a third spring and a third guide slide block are arranged at the bottom end of the vertical rod; the top and the bottom of the third guide sliding block are respectively connected with a third spring, one end of the third spring is connected with the third guide sliding block, and the other end of the third spring is connected with a baffle fixed on the vertical stick; the third guide sliding block is connected with the second spring. The third guide sliding block is connected with the second spring, so that the second spring is kept horizontal as much as possible in the vertical movement process of the ship model system, and the interference and influence of the second spring on the vertical movement of the ship model system are avoided.
Furthermore, displacement sensors are respectively arranged on the first guide sliding block, the second guide sliding block and the vertical guide sleeve. The device is respectively used for measuring surging signals, swaying signals and heaving signals of the ship model system.
Furthermore, the fixed pulley is connected with the weight through the movable pulley. The steel wire rope stroke in the falling process of the weight can be increased by arranging the movable pulley, so that the stroke of the ship model system when the weight falls to the same height is increased.
Furthermore, angle sensors are respectively arranged on the yawing rotating shaft, the pitching rotating shaft and the rolling rotating shaft. And respectively measuring rolling, pitching and yawing signals of the ship model.
Furthermore, a supporting upright post is arranged at intervals in the length direction of the guide rail, the upper end of the supporting upright post is connected with the bottom surface of the guide rail, and the lower end of the supporting upright post is connected with the bottom surface of the water pool. The support column can prevent the guide rail from sagging and deforming under the action of self weight.
Furthermore, the ship model system comprises a ship shell and a gravity base, wherein the gravity base is fixed at the gravity position of the ship model system, and the installation flat plate is connected with the gravity base.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the seaworthiness device provided by the invention can be used for carrying out a wave resistance test of a ship model without being installed on large-scale equipment such as a navigation vehicle. Therefore, the device can be widely applied to a water pool laboratory (such as a water pool for ocean engineering, ports and navigation channels, hydraulic engineering and the like) without a navigation vehicle, is used for developing wave resistance tests of the towing ship model, and can even be applied to developing model wave resistance tests in actual sea area environments. The device can be installed fast and dismantle in the pond to can carry out the adjustment of track direction, thereby can carry out the resistant ripples nature test of ship model under the different wave angles.
2. The device can measure the six-degree-of-freedom motion of the towing ship model. Particularly, the second spring is arranged to provide restoring force for the yawing motion of the ship model, so that the steering effect of the ship is simulated, the ship model has course stability, and the defect that the conventional aeronautical instrument device cannot simulate and measure the yawing motion is overcome. Therefore, the device is suitable for the ship model wave resistance test under any wave direction angle, and can truly simulate the navigation attitude of the ship in the marine environment.
Drawings
FIG. 1 is a plan view of the arrangement of a rail in a pool under a wave-facing condition in the embodiment of the invention;
FIG. 2 is a top view of the arrangement of the rails in the pool under the action of the slopping waves in the embodiment of the invention;
FIG. 3 is a general block diagram of an airworthiness device in an embodiment of the present invention;
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a top view of FIG. 3;
FIG. 6 is a top view of the ship model system and secondary springs in an embodiment of the present invention;
FIG. 7 is a partial view of the connection of the first guide block to the guide rail in an embodiment of the present invention;
FIG. 8 is a schematic diagram of a rotation measurement system in an embodiment of the present invention;
FIG. 9 is a schematic illustration of the connection of a wire rope to a hoist in an embodiment of the invention;
fig. 10 is a schematic view of the connection of the steel wire rope and the weight in the embodiment of the invention.
Wherein: 1: guide rail, 2: support column, 3: rectangular frame, 4: longitudinal beam, 5: cross member, 6: sway bar, 7: vertical stick, 8: baffle, 9: first spring, 10: second spring, 11: third spring, 12: first guide shoe, 13: second guide slider, 14: third guide slider, 15: ball, 16: a vertical guide sleeve, 17; heave bar, 18: a yawing rotating shaft; 19: pitch shaft, 20: roll pivot, 21: mounting plate, 22: wire rope, 23: fixed pulley, 24: movable pulley, 25: weight, 26: winch, 27: hull, 28: center of gravity base, 29: pool, 30: wave making machine.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
A seaworthiness device for ship model six-degree-of-freedom motion measurement comprises two parallel guide rails 1 arranged on the water surface of a water pool, a translation measuring system arranged on the guide rails, a ship model system fixed on the translation measuring system, a rotation measuring system fixed between the translation measuring system and the ship model system, and a dragging system connected with the translation measuring system.
The two parallel guide rails are arranged at a certain height above the water surface of the water tank 29 and parallel to the water surface, and a wave generator 30 is arranged at one end of the water tank. The guide rail is in a rectangular uniform cross section form and is detachable, so that the guide rail can be quickly installed and used in a pool of a non-navigation vehicle. As shown in fig. 1 and 2, the rails can be arranged at any position and angle above the water pool so as to measure the ship model motion response under different heading angles. Along guide rail length direction, every interval sets up a support post 2 at a certain distance, prevents that the guide rail from taking place the deformation that hangs down under the dead weight effect. The upper end of the supporting upright post is connected with the bottom surface of the guide rail, and the lower end of the supporting upright post is connected with the bottom surface of the water pool.
As shown in fig. 3, 4 and 5, the translation measuring system comprises a rectangular frame 3, a swaying rod 6, a vertical guide sleeve 16, a swaying rod 17, a first spring 9, a vertical stick 7 and a second spring 10. The rectangular frame comprises cross beams 5 and longitudinal beams 4, the two cross beams are perpendicular to the guide rails and the width of the two cross beams is equal to the width between the two guide rails, and first guide sliding blocks 12 are arranged at the end parts of the two cross beams, so that the rectangular frame can freely slide along the longitudinal direction of the guide rails. Two longitudinal beams and two cross beams of the rectangular frame are vertically connected and fixed to form a whole. The two ends of the swaying rod are connected with the front and the rear cross beams through the second guide sliding blocks 13 and can transversely and freely slide along the two cross beams. In order to provide the restoring force of the ship model swaying motion, the four first springs are adopted in the embodiment, and two springs are arranged on the left side and the right side of the swaying rod respectively. The two ends of the first spring are respectively connected with the longitudinal beam and the swaying rod and are vertically arranged with the longitudinal beam and the swaying rod. The middle part of the swaying rod is provided with a vertical guide sleeve for connecting the swaying rod, and the swaying rod passes through the vertical guide sleeve and can move up and down without restriction.
The vertical rod is cylindrical, the upper end of the vertical rod is connected with the lower end face of the cross part of the cross beam and the longitudinal beam of the rectangular frame, and the lower end of the vertical rod is connected with one end of the second spring. In this embodiment, four vertical rods and four second springs are used in common. As shown in fig. 6, the other ends of the two second springs located in front of the ship model system are connected with the bow, and the other ends of the two second springs located in back of the ship model system are connected with the stern. The second spring is used for providing restoring force for the yawing motion of the ship model.
As shown in fig. 7, the cross sections of the first guide slider and the second guide slider are inverted groove-shaped, and the contact surfaces of the inner surfaces of the first guide slider and the second guide slider with the top surface and the two side surfaces of the guide rail or the cross beam are provided with balls, so that the sliding friction force is reduced. The first guide sliding block is not contacted with the bottom surface of the guide rail, so that the first guide sliding block is prevented from colliding with the support upright when longitudinally moving along the guide rail and passing through the support upright. As shown in fig. 5, the vertical guide sleeve has a rectangular cross section and is provided with balls inside, thereby reducing the sliding friction with the heave bar.
As shown in fig. 3 and 4, the bottom end of the vertical stick is provided with a third spring 11 and a third guide slider 14, and the section of the third guide slider is circular and can pass through the vertical stick and move up and down freely along the vertical stick. And two end faces of the top and the bottom of the third guide sliding block are respectively connected with a third spring. One end of the third spring is connected with the third guide sliding block, and the other end of the third spring is connected with a baffle plate 8 fixed on the vertical rod. The third guide sliding block is connected with the second spring, so that the second spring is kept horizontal as much as possible in the vertical movement process of the ship model system, and the interference and influence of the second spring on the vertical movement of the ship model system are avoided.
And a displacement sensor is arranged on the first guide slide block, and the relative position between the rectangular frame and the guide rail is measured to be used as a surging signal of the ship model. And a displacement sensor is arranged on the second guide slide block, and the relative position between the swaying rod and the cross beam is measured to be used as a swaying signal of the ship model. And a displacement sensor is arranged on the vertical guide sleeve, and the relative position between the heaving rod and the vertical guide sleeve is measured to be used as a heaving signal of the ship model.
As shown in fig. 8, the rotation measuring system includes a yaw rotating shaft 18, a pitch rotating shaft 19, a roll rotating shaft 20, and a mounting plate 21. The bow rotating shaft is arranged at the bottom end of the heaving rod, and the rolling rotating shaft is fixed on the mounting flat plate. The pitching rotating shaft is fixed in the middle of the rolling rotating shaft, and two ends of the pitching rotating shaft are respectively connected with the lower end of the yawing rotating shaft. The ship model system comprises a ship shell 27 and a gravity base 28, wherein the gravity base is fixed at the gravity position of the ship model, and the installation flat plate is fixed on the gravity base. And angle sensors are respectively arranged on the rolling rotating shaft, the pitching rotating shaft and the yawing rotating shaft and are used for respectively measuring rolling, pitching and yawing signals of the ship model.
As shown in fig. 9 and 10, the towing system includes a wire rope 22, a fixed sheave 23, a weight 25, or a winch 26. One end of the steel wire rope is connected with a cross beam in front of the rectangular frame, and the other end of the steel wire rope is connected with a weight or a winch by crossing the fixed pulley. The fixed pulley is positioned at the end of the water tank and has the same height with the guide rail, so that the traction force of the steel wire rope is along the horizontal direction. When constant drag force needs to be applied to the ship model system, a weight is adopted to drag a steel wire rope; and when the constant navigational speed is required to be applied to the ship model system, a winch is adopted to pull the steel wire rope. As shown in fig. 10, the fixed pulley can be connected with the weight through the movable pulley 24, and the travel of the steel wire rope in the falling process of the weight can be increased through the movable pulley, so that the travel of the ship model system when the weight falls to the same height is increased.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A seaworthiness device for ship model six-degree-of-freedom motion measurement is characterized by comprising two parallel guide rails arranged on the water surface of a pool, a translation measuring system arranged on the guide rails, a ship model system fixed on the translation measuring system, a rotation measuring system fixed between the translation measuring system and the ship model system, and a dragging system connected with the translation measuring system;
the translation measuring system comprises a rectangular frame, a swaying rod, a vertical guide sleeve, a swaying rod, a first spring, a vertical stick and a second spring; the rectangular frame comprises cross beams and longitudinal beams, two ends of each cross beam are respectively and vertically connected with the guide rails, and the longitudinal beams are vertically fixed on the cross beams; the swaying rod is connected with the two cross beams, a vertical guide sleeve is arranged in the middle of the swaying rod, and one end of the swaying rod penetrates through the vertical guide sleeve and is connected with the ship model system; the first springs are arranged between the swaying rod and the longitudinal beam; the upper ends of the four vertical rods are respectively connected with the lower end faces of the cross parts of the cross beams and the longitudinal beams, the lower ends of the four vertical rods are connected with one end of a second spring, and the other end of the second spring is connected with a ship model system;
the rotation measuring system comprises a yawing rotating shaft, a pitching rotating shaft, a rolling rotating shaft and an installation flat plate; the bow swing rotating shaft is arranged at the bottom end of the heave rod; the rolling rotating shaft is fixed on the mounting flat plate; the pitching rotating shaft is fixed in the middle of the rolling rotating shaft, and two ends of the pitching rotating shaft are respectively connected with the lower end of the yawing rotating shaft; the installation flat plate is fixed at the gravity center of the ship model system;
the dragging system comprises a steel wire rope, a fixed pulley, a weight or a winch; one end of the steel wire rope is connected with the rectangular frame, and the other end of the steel wire rope is connected with a weight or a winch in a way of crossing the fixed pulley.
2. The seaworthiness device for ship model six-degree-of-freedom motion measurement according to claim 1, wherein two ends of two beams are vertically connected with the guide rail through a first guide slider, and two ends of the sway bar are connected with the two beams through a second guide slider.
3. The seaworthiness device for ship model six-degree-of-freedom motion measurement according to claim 2, wherein the cross sections of the first guide slide block and the second guide slide block are inverted groove-shaped, and balls are arranged on the inner surfaces of the first guide slide block and the second guide slide block; the cross section of the vertical guide sleeve is rectangular, and the inner surface of the vertical guide sleeve is provided with a ball.
4. The seaworthiness device for ship model six-degree-of-freedom motion measurement according to claim 1, wherein four first springs are symmetrically arranged on the left side and the right side of the sway rod, and two ends of each first spring are respectively connected with the longitudinal beam and the sway rod.
5. The seaworthiness device for ship model six-degree-of-freedom motion measurement according to claim 1, wherein the bottom end of the vertical stick is provided with a third spring and a third guide slide block; the top and the bottom of the third guide sliding block are respectively connected with a third spring, one end of the third spring is connected with the third guide sliding block, and the other end of the third spring is connected with a baffle fixed on the vertical stick; the third guide sliding block is connected with the second spring.
6. The seaworthiness device for ship model six-degree-of-freedom motion measurement according to claim 2 or 3, wherein the first guide slide block, the second guide slide block and the vertical guide sleeve are respectively provided with a displacement sensor.
7. The seaworthiness device for ship model six-degree-of-freedom motion measurement according to claim 1, wherein the fixed pulley is connected with the weight through a movable pulley.
8. The seaworthy device for ship model six-degree-of-freedom motion measurement according to claim 1, wherein angle sensors are respectively mounted on the yawing rotating shaft, the pitching rotating shaft and the rolling rotating shaft.
9. The seaworthiness device for ship model six-degree-of-freedom motion measurement according to claim 1, wherein a support column is arranged at a certain distance along the length direction of the guide rail, the upper end of the support column is connected with the bottom surface of the guide rail, and the lower end of the support column is connected with the bottom surface of the water pool.
10. The seaworthiness device for ship model six-degree-of-freedom motion measurement according to claim 1, wherein the ship model system comprises a ship shell and a gravity base, the gravity base is fixed at the gravity position of the ship model system, and the installation flat plate is connected with the gravity base.
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