CN-224225262-U - Free self-navigation ship model motion distributed control device

Abstract

The utility model relates to the field of ship energy efficiency control, and provides a free self-propelled ship model motion distributed control device which comprises a trailer end, wherein the trailer end comprises a power module, a ship model locking device and a sensing module for monitoring ship model states, the power module is used for supplying power to the ship model locking device, a rudder driver and a paddle driver, the ship model locking device comprises a locking cantilever connected with a ship model body, a locking motor for controlling the locking cantilever and a locking device driver for controlling the locking motor, and the ship model end comprises a ship model body, the rudder driver for controlling the ship model body and the paddle driver, and the ship model body comprises a plurality of rudders and paddles. The method is used for controlling the sailing state of the free self-propelled ship model in the free self-propelled ship model wave endurance test and simulating the movement of the ship model under the real sea condition.

Inventors

• CHEN TAO
• LU ZEHUA
• YU YUANGEN
• CHEN WEIMIN
• Xia Shulong
• CUI JIAN
• SONG YONG
• CAO XU

Assignees

• 上海船舶运输科学研究所有限公司

Dates

Publication Date

20260512

Application Date

20250520

Claims (8)

1. 1. The utility model provides a free self-navigation ship model motion distributed control device which characterized in that includes: The trailer end comprises a power module, a ship model locking device and a sensing module for monitoring the ship model state, wherein the power module is used for supplying power to the ship model locking device, a rudder driver and a paddle driver; The ship model end comprises a ship model body, the rudder driver and the paddle driver for controlling the ship model body, wherein the ship model body comprises a plurality of rudders and paddles.
2. 2. A free-standing ship model motion distributed control device according to claim 1, characterized in that the rudder driver is connected with at least one steering engine, which steering engine is connected with the corresponding rudder.
3. 3. A free-standing ship model motion distributed control device according to claim 1, characterized in that the propeller drive is connected to at least one propeller motor, which propeller motor is mechanically connected to the corresponding propeller.
4. 4. The free self-propelled ship model motion distributed control device according to claim 1, wherein the sensing module is a six-degree-of-freedom motion optical sensor and is connected with a signal receiving end of an upper computer, and a ship model state signal is generated and transmitted to the upper computer.
5. 5. The free-standing ship model motion distributed control device according to claim 1, wherein the upper computer transmits control signals to the propeller driver for transmitting voltage and frequency signals to the propeller motor.
6. 6. The free-standing ship model motion distributed control device according to claim 1, wherein the locking motor driver transmits voltage and frequency signals to a locking motor, and the locking motor adjusts the angle of the locking cantilever through a mechanical connection.
7. 7. The free-standing ship model motion distributed control device according to claim 1, wherein the ship model locking device is arranged on one side of a ship model, and at least two locking device connecting points are arranged on one side of the ship model and connected with the ship model locking device.
8. 8. The free-standing ship model motion distributed control device according to claim 1, wherein the ship model locking device transmits a status signal of whether the ship model is locked to a signal receiving end of the upper computer.

Description

Free self-navigation ship model motion distributed control device Technical Field The utility model relates to the field of ship energy efficiency control, in particular to a free self-propelled ship model motion distributed control device. Background The continuous development of the international shipping technology and the requirements of the shipping energy efficiency and safety determine that the research center of gravity of the hydrodynamic performance of the ship inevitably goes from still water to waves, the traditional wave test method is mainly developed based on a constraint model, a ship model is towed by a trailer to run according to specific requirements and tracks in the test process, important degree-of-freedom motions such as bow and the like of the ship model are constrained, and therefore the ship model test result hardly truly reflects the real state of the ship when the ship sails in waves, and the wave resistance motion prediction precision of the ship is required to be improved. The free self-aeromodelling wave resistance test belongs to a new technology developed in recent years, is driven by a self-propeller, is controlled by a self-rudder to control the direction, and is more suitable for the real situation of a ship in waves. The premise is that the motion control level of the ship model is guaranteed, however, the current method mainly adopts manual control, has the problems of low control precision and the like, and the speed precision of the ship model cannot be guaranteed because few pools adopt the automatic single control of the heading in an attempt. Existing designs and disadvantages of this approach: (1) In most of traditional ship model motion design schemes, the speed of the ship depends on manual control of the rotating speed of the propeller, and the speed control precision is required to be improved. (2) In the current scheme adopting automatic control of propeller speed regulation, navigational speed feedback depends on a trailer speed measuring wheel, so that the problem of insufficient precision exists. (3) Most of the current autopilot systems adopt gyroscopes to feed back real-time heading, however, the electromagnetic interference of equipment such as a trailer motor and the like in the test process inevitably leads to signal deviation of the gyroscopes, and the accuracy of a ship model real-time heading feedback signal is difficult to guarantee. (4) Most current autopilot systems have low response speed, heading angle accuracy exceeding +/-3 degrees and poor track holding capability. (5) The traditional single autopilot system adopts a gyroscope to feed back the heading, however, under the water tank test environment, electromagnetic interference can cause unstable gyroscope signals, and the accuracy of the real-time heading of the ship model is difficult to ensure. (6) Under the traditional mode, the electric equipment such as ship model motion control's driver is installed on the trailer, and the cable is numerous between trailer and the ship model, has shown the motion state that has influenced the ship model, has reduced influence test accuracy. (7) Under the traditional mode, the ship model starts and brakes and rely on artifical vaulting pole, can't deal with large-scale ship model test. Disclosure of utility model In order to solve the technical problem that the ship model wave resistance test data in different scenes can be accurately measured in a test pool, the utility model provides the free self-navigation ship model motion distributed control device which simulates the navigation state of a real ship, is free from physical constraint, can freely move in a wave environment, and accurately measures the ship model wave resistance test data in different scenes. A free-standing ship model motion distributed control device, comprising: The trailer end comprises a power module, a ship model locking device and a sensing module for monitoring the ship model state, wherein the power module is used for supplying power to the ship model locking device, a rudder driver and a paddle driver; The ship model end comprises a ship model body, the rudder driver and the paddle driver for controlling the ship model body, wherein the ship model body comprises a plurality of rudders and paddles. Preferably, the rudder driver is connected with at least one steering engine, which is connected with a corresponding rudder. Preferably, the propeller drive is connected to at least one propeller motor, which is mechanically connected to the corresponding propeller. Preferably, the sensing module is a six-degree-of-freedom motion optical sensor and is connected with the signal receiving end of the upper computer, and a ship model state signal is generated and transmitted to the upper computer. Preferably, the upper computer transmits control signals to the propeller driver to transmit voltage and frequency signals to the propeller motor. Preferably, the locking motor driver tra