CN105825738B - A kind of hydrofoil catamaran semi-matter simulating system - Google Patents
A kind of hydrofoil catamaran semi-matter simulating system Download PDFInfo
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- CN105825738B CN105825738B CN201610347633.9A CN201610347633A CN105825738B CN 105825738 B CN105825738 B CN 105825738B CN 201610347633 A CN201610347633 A CN 201610347633A CN 105825738 B CN105825738 B CN 105825738B
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- hydrofoil
- catamaran
- hydrofoil catamaran
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
Abstract
The present invention relates to a kind of hydrofoil catamaran semi-matter simulating systems, including hydrofoil system, six degree of freedom stabilized platform, attitude heading reference system, hydrofoil catamaran exercise data acquisition unit, hydrofoil catamaran interference simulation unit, hydrofoil catamaran movable information analogue unit, hydrofoil catamaran motion control unit and hydrofoil catamaran motion demonstrating system.The movable information of hull is acquired by hydrofoil catamaran interference simulation unit simulation external interference information and hydrofoil catamaran exercise data acquisition unit, and hydrofoil catamaran motion control unit is passed information to, to realize the multifreedom motion state simulation to hydrofoil catamaran under complicated aquatic environment.Based on the hydrofoil catamaran semi-matter simulating system of the present invention, it can more comprehensively, truly reflect the kinetic characteristics of hydrofoil catamaran, multifreedom motion state of the hydrofoil catamaran under complicated aquatic environment is simulated.
Description
Technical field
The present invention relates to a kind of semi-matter simulating system of ship more particularly to a kind of hydrofoil catamaran HWIL simulation systems
System.
Background technology
Currently, hydrofoil catamaran is a kind of the compound of the novel concept integrating high-speed catamaran and hydrofoil advantage
High performance craft, tool are connected between sheet body with deck and hydrofoil there are two sheet body.Due to the unique hydrofoil of hydrofoil catamaran and double
Body structure, hydrofoil catamaran do not have self-stability when the wing navigates operational configuration, it is therefore desirable to the hydrofoil control system of design specialized
To keep navigation stability when hydrofoil catamaran foil-borne and resistance transsexual.It is ground in actual hydrofoil catamaran control system
During system, not only to study specific control algolithm but also to collect the actual number that hydrofoil catamaran navigates by water in various sea situations
According to, and analyzing processing is carried out to related data, it, will also be into order to relatively accurately evaluate control performance for evaluating control performance
The a series of sea trial of row, consumes financial resources, material resources, manpower and time very much in this way.Therefore there have been a kind of hydrofoil binarys
Shipping moves shore-front-trials base of the semi-physical system as hydrofoil catamaran Design of Motion Control System and experiment, Ke Yiqi
To the effects that reducing the sea examination time, reduce development cost.Half full-scale investigation system of existing hydrofoil is only capable of analysis and simulation water
Complicated coupling characteristic when the longitudinal movement of wing catamaran, transverse movement for hydrofoil catamaran and motor-driven revolution can not mould
It is quasi-.Therefore it needs to design more advanced semi-matter simulating system to simulate complicated hydrofoil catamaran movement.
Invention content
Based on the above issues, it the present invention provides a kind of hydrofoil catamaran semi-matter simulating system, can analyze and mould
Quasi- hydrofoil catamaran includes pitching, heave, yawing, rolling, the revolution of hull in the multifreedom motion of the complicated water surface
And the compound movements such as heel.To achieving the purpose that reduce the sea examination time, accelerating research and development process and reducing development cost.
A kind of hydrofoil catamaran semi-matter simulating system, including including hydrofoil system, six degree of freedom stabilized platform, navigation attitude ginseng
Test system, hydrofoil catamaran exercise data acquisition unit, hydrofoil catamaran interference simulation unit, hydrofoil catamaran movable information mould
Quasi-simple member, hydrofoil catamaran motion control unit and hydrofoil catamaran motion demonstrating system；
Wherein,
The hydrofoil system is set on the six degree of freedom stabilized platform；
The attitude heading reference system is installed on the geometric center of the rotatable platform of the six degree of freedom stabilized platform, to examine
Survey the athletic posture information of the hydrofoil system；
The hydrofoil catamaran exercise data acquisition unit is for acquiring the water that the attitude heading reference system detects
The athletic posture information of wing system；
The hydrofoil catamaran interference simulation unit for simulating flow interference information, and drive the hydrofoil system do by
Disturb movement；
The hydrofoil catamaran movable information analogue unit is for receiving the hydrofoil catamaran interference simulation unit output
Flow interference information, and in real time calculate hydrofoil system hydrofoil stress and athletic posture；
The hydrofoil catamaran motion control unit respectively with the hydrofoil catamaran exercise data acquisition unit and described
Hydrofoil catamaran movable information analogue unit is connected；
The hydrofoil catamaran motion demonstrating system is used to generate the image information of simulation hydrofoil catamaran athletic posture.
Further, the hydrofoil system includes hydrofoil system mechanics assembly, hydrofoil hydrodynamic(al) force loading system, hydrofoil system
System servo control unit and bindiny mechanism, the hydrofoil system mechanics assembly are added by the bindiny mechanism and hydrofoil hydrodynamic force
Loading system, hydrofoil system servo control unit are connected.
Further, the hydrofoil system mechanics assembly includes sheet body and following multiple flap empennages：The preceding left flap tail of hydrofoil
The right flap empennage of the right flap empennage of the wing, preceding hydrofoil, rear hydrofoil the first from left flap empennage, rear hydrofoil the second from left flap empennage, rear hydrofoil and rear hydrofoil
Right two flap empennages.
Further, the hydrofoil hydrodynamic(al) force loading system includes multiple sub- loading systems of hydrofoil hydrodynamic force, hydrofoil system
Servo control unit includes multiple sub- servo control units of hydrofoil system, and each flap empennage is both provided with hydrofoil hydrodynamic force
Loading system and the sub- servo control unit of hydrofoil system.
Further, the bindiny mechanism includes transmission mechanism and information transmission mechanism.
Further, the hydrofoil catamaran motion control unit includes signal condition system and controller, the signal
Conditioning system, which is used to resolve the posture information of hydrofoil catamaran, generates attitude data, and the controller receives the attitude data
And generated corresponding control force and control moment.
Further, described information conditioning system is the information conditioning system based on field programmable gate array.
Further, the controller is PC-104 real-time controllers.
Further, the six degree of freedom stabilized platform includes rotatable platform, and it is flat that the hydrofoil system is located at the rotation
On platform.
Further, further include hydrofoil catamaran virtual emulation client, the hydrofoil catamaran virtual emulation client
End is connected with the six degree of freedom stabilized platform, the interference letter generated for receiving the hydrofoil catamaran interference simulation unit
It ceases and virtual emulation is carried out to hydrofoil catamaran.
The hydrofoil catamaran semi-matter simulating system of the present invention, includes the following multiple subsystems connected by communication protocol
System：Hydrofoil system, six degree of freedom stabilized platform, attitude heading reference system, hydrofoil catamaran exercise data acquisition unit, hydrofoil binary
Ship interference simulation unit, hydrofoil catamaran movable information analogue unit, hydrofoil catamaran motion control unit and hydrofoil catamaran
Motion demonstrating system.Hydrofoil system is installed on the rotatable platform of the non-fixed platform of six degree of freedom, and rotatable platform utilizes hydrofoil binary
The sea wave disturbance information-driven hydrofoil system that ship interference simulation unit generates does disturbed motion, exists to simulate hydrofoil catamaran
The motion conditions on sea.Hydrofoil catamaran interference simulation unit transmits information to hydrofoil catamaran after generating sea wave disturbance information
Movable information analogue unit, hydrofoil catamaran movable information analogue unit to the hydrofoil stress of hydrofoil catamaran and athletic posture into
Row simulation in real time, is then transmitted to hydrofoil hydrodynamics loading system by force information by hydrofoil, posture is transmitted to six degree of freedom
Stabilized platform, to simulate the sea motion conditions of hydrofoil catamaran.At the same time, the navigation attitude ginseng being mounted on rotatable platform
Test system collects the real-time attitude information of rotatable platform, feeds back to hydrofoil catamaran motion control unit.Hydrofoil catamaran moves
Data acquisition unit acquires the real time kinematics information of hydrofoil system and feeds back to hydrofoil catamaran motion control unit in real time.Hydrofoil
The real-time attitude information and the parsing of real time kinematics information are generated corresponding control force and torque by catamaran motion control unit
Output, the movement for controlling hydrofoil system.Hydrofoil catamaran athletic posture of the system by generation is covered up in hydrofoil catamaran movement
Image information display come out.Based on the hydrofoil catamaran semi-matter simulating system of the present invention, can more comprehensively, it is truly anti-
The kinetic characteristics for reflecting hydrofoil catamaran carry out mould to multifreedom motion state of the hydrofoil catamaran under complicated aquatic environment
It is quasi-.
Description of the drawings
Fig. 1 is the embodiment schematic diagram of hydrofoil catamaran semi-matter simulating system of the present invention；
Fig. 2 is the preferred embodiment schematic diagram of hydrofoil catamaran semi-matter simulating system of the present invention；
Fig. 3 is the structural schematic diagram of the hydrofoil machinery assembly of hydrofoil catamaran semi-matter simulating system of the present invention.
Specific implementation mode
Exemplary embodiment disclosed by the invention is more fully described below with reference to accompanying drawings.Although showing this in attached drawing
The exemplary embodiment of open invention, it being understood, however, that the disclosed invention is may be realized in various forms, without should be by here
The embodiment of elaboration is limited.It is invented on the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and energy
It is enough that the range of the disclosed invention is completely communicated to those skilled in the art.
Hydrofoil catamaran is a kind of compound high property for the novel concept integrating high-speed catamaran and hydrofoil advantage
Energy ship, there are two sheet bodies for tool, are connected therebetween with deck and two or more hydrofoils.
Fig. 1 shows the embodiment of hydrofoil catamaran semi-matter simulating system according to the present invention；The hydrofoil catamaran half
Matter simulating system includes hydrofoil system 1, six degree of freedom stabilized platform 2, attitude heading reference system 3, hydrofoil catamaran exercise data
Collecting unit 4, hydrofoil catamaran interference simulation unit 5, hydrofoil catamaran movable information analogue unit 6, hydrofoil catamaran movement
Control unit 7 and hydrofoil catamaran motion demonstrating system 8；Wherein, which is set on six degree of freedom stabilized platform 2,
Real time kinematics posture for simulating hydrofoil catamaran.For tool there are one rotatable platform, the rotation is flat on six degree of freedom stabilized platform 2
Platform can be moved freely and be rotated in six-freedom degree direction, and hydrofoil system 1 also follows rotatable platform to be moved.Navigation attitude is joined
Test system 3 is installed on the geometric center of the rotatable platform of six degree of freedom stabilized platform 2, and the motion state for hydrofoil system 1 provides
With reference to detect the athletic posture information of hydrofoil system.Hydrofoil catamaran exercise data acquisition unit 4 and attitude heading reference system
3 are connected, the athletic posture information for acquiring the hydrofoil system 1 that attitude heading reference system 3 detects, and the athletic posture is believed
Breath is transferred to hydrofoil catamaran control unit 7.Hydrofoil catamaran interference simulation unit 5 is passed to for simulating flow interference information
Hydrofoil catamaran movable information analogue unit 6, and hydrofoil system 1 is driven to do disturbed motion.Hydrofoil catamaran movable information is simulated
It is dry that unit 6 is used to receive the fluid that hydrofoil catamaran interference simulation unit 5 and/or hydrofoil catamaran motion control unit 7 export
Information is disturbed, and calculates the hydrofoil stress and athletic posture of hydrofoil system in real time according to the flow interference information.Hydrofoil catamaran is transported
Dynamic control unit 7 respectively with 6 phase of hydrofoil catamaran exercise data acquisition unit 4 and hydrofoil catamaran movable information analogue unit
Even, which receives 4 collected hydrofoil system 1 of hydrofoil catamaran exercise data acquisition unit
Athletic posture information, and be translated into the information that hydrofoil catamaran movable information analogue unit 6 can identify.Preferably,
The present invention hydrofoil catamaran motion control unit 7 include signal condition system and controller, the signal condition system be based on
The information conditioning system of field programmable gate array, which is used to resolve the posture information of hydrofoil catamaran, generates attitude data；Control
Device is PC-104 real-time controllers, for receiving the attitude data and being generated corresponding control force and control moment transmission
To hydrofoil system 1.Hydrofoil catamaran motion demonstrating system is used to generate the image information of simulation hydrofoil catamaran athletic posture, raw
At image information by the movement of hydrofoil catamaran and posture information with the technology export of vision simulation to user.Based on the present invention
Hydrofoil catamaran semi-matter simulating system can analyze and simulate hydrofoil catamaran in the case that the complicated water surface multiple degrees of freedom
Movement, including the compound movements such as pitching, heave, yawing, rolling, revolution and heel of hull.When reducing sea examination to reach
Between, accelerate research and development process and reduce development cost purpose.
In a preferred embodiment, as shown in Fig. 2, hydrofoil catamaran semi-matter simulating system of the present invention includes water
Wing system 1, six degree of freedom stabilized platform 2, attitude heading reference system 3, hydrofoil catamaran exercise data acquisition unit 4, hydrofoil binary
Ship interference simulation unit 5, hydrofoil catamaran movable information analogue unit 6, hydrofoil catamaran motion control unit 7, hydrofoil binary
Shipping moves demo system 8 and hydrofoil catamaran virtual emulation client 9；The hydrofoil system 1 is set to six degree of freedom stabilized platform 2
On, the real time kinematics posture for simulating hydrofoil catamaran.Further, hydrofoil system 1 is combined including hydrofoil system mechanics
Body 101, hydrofoil hydrodynamic(al) force loading system 102, hydrofoil system servo control unit 103 and bindiny mechanism 104.Hydrofoil system mechanics
Assembly 101 is connected by bindiny mechanism 104 with hydrofoil hydrodynamic(al) force loading system 102, hydrofoil system servo control unit 103
It connects.Wherein, hydrofoil system mechanics assembly 101 of the invention includes multiple flap empennages, and hydrofoil hydrodynamic(al) force loading system 102 includes
Multiple sub- loading systems of hydrofoil hydrodynamic force, hydrofoil system servo control unit 103 include the sub- SERVO CONTROL list of multiple hydrofoil systems
Member, transmission mechanism 104 include transmission mechanism and information transmission mechanism, and each flap empennage is both provided with the load of hydrofoil hydrodynamic force
System and the sub- servo control unit of hydrofoil system.It is preferred that as shown in figure 3, the hydrofoil system mechanics assembly 101 of the present invention includes
Sheet body 1010 and following multiple flap empennages：The left flap empennage 1011 of preceding hydrofoil, the right flap empennage 1012 of preceding hydrofoil, rear hydrofoil the first from left flap tail
The right flap empennage 1015 of the wing 1013, rear hydrofoil the second from left flap empennage 1014, rear hydrofoil and right two flap empennages 1016 of rear hydrofoil, but this is not
It should be regarded as the specific restriction to hydrofoil system mechanics assembly 101.The hydrofoil catamaran semi-matter simulating system of the present invention passes through
Posture and the stress of multiple flap empennages are controlled to reach the simulation to the various compound movements of hydrofoil catamaran.Six degree of freedom is stablized
There are one rotatable platforms, the rotatable platform to move freely and rotate in six-freedom degree direction for tool on platform 2, hydrofoil system
System 1 also follows rotatable platform to be moved.Attitude heading reference system 3 is installed on the several of the rotatable platform of six degree of freedom stabilized platform 2
What center, the motion state for hydrofoil system 1 provides reference, to detect the athletic posture information of hydrofoil system.Hydrofoil binary
Shipping moves data acquisition unit 4 and is connected with attitude heading reference system 3, the hydrofoil system detected for acquiring attitude heading reference system 3
The athletic posture information of system 1, and the athletic posture information is transferred to hydrofoil catamaran control unit 7.Hydrofoil catamaran interferes
Analogue unit 5 passes to hydrofoil catamaran movable information analogue unit 6 for simulating flow interference information, and drives hydrofoil system
1 does disturbed motion.Hydrofoil catamaran movable information analogue unit 6 is for receiving hydrofoil catamaran interference simulation unit 5 and/or water
The flow interference information that wing catamaran motion control unit 7 exports, and hydrofoil system is calculated according to the flow interference information in real time
Hydrofoil stress and athletic posture, finally by the stress and athletic posture pass to hydrofoil system 1 hydrofoil hydrodynamic force load
System 102 and hydrofoil servo control unit 103 realize the control to hydrofoil machinery assembly 101, simulate answering for hydrofoil catamaran
Miscellaneous movement.Hydrofoil catamaran motion control unit 7 is transported with hydrofoil catamaran exercise data acquisition unit 4 and hydrofoil catamaran respectively
Dynamic information simulation unit 6 is connected, which receives hydrofoil catamaran exercise data acquisition unit 4
The athletic posture information of collected hydrofoil system 1, and be translated into hydrofoil catamaran movable information analogue unit 6 and can know
Other information.Preferably, hydrofoil catamaran motion control unit 7 of the invention includes signal condition system and controller, the letter
Number conditioning system is that the information conditioning system based on field programmable gate array is used to resolve the posture information of hydrofoil catamaran
Generate attitude data；Controller is PC-104 real-time controllers, for receiving the attitude data and being generated corresponding control
Power processed and control moment are transmitted to hydrofoil system 1.Hydrofoil catamaran motion demonstrating system is for generating simulation hydrofoil catamaran fortune
The image information of dynamic posture, the image information of generation is by the movement of hydrofoil catamaran and posture information with the technology of vision simulation
It exports to user.Hydrofoil catamaran virtual emulation client 9 is connected with six degree of freedom stabilized platform 2, for receiving the water
The interference information of the generation of wing catamaran interference simulation unit 5 simultaneously carries out virtual emulation to hydrofoil catamaran.Hydrofoil catamaran is virtual
Two-way interactive access can be carried out with semi-matter simulating system by emulating client 11.The hydrofoil catamaran virtual emulation client 11
By virtual reality technology can under 101 idle state of hydrofoil system mechanics assembly isolated operation virtual emulation system
System, enables user in remote access semi-matter simulating system, simulation result is presented on to user face in the form of vision simulation
Before.To which virtual emulation function and HWIL simulation function are incorporated into one, so as to hydrofoil catamaran pose stabilization control skill
The XPRS project of art.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present invention
Under, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rush
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited in texts
Disclosed in specific embodiment, but include all technical solutions fallen within the scope of the appended claims.
Claims (10)
1. a kind of hydrofoil catamaran semi-matter simulating system, which is characterized in that including hydrofoil system, six degree of freedom stabilized platform,
Attitude heading reference system, hydrofoil catamaran exercise data acquisition unit, hydrofoil catamaran interference simulation unit, hydrofoil catamaran movement
Information simulation unit, hydrofoil catamaran motion control unit and hydrofoil catamaran motion demonstrating system；
Wherein,
The hydrofoil system is set on the six degree of freedom stabilized platform；
The attitude heading reference system is installed on the geometric center of the rotatable platform of the six degree of freedom stabilized platform, to detect
State the athletic posture information of hydrofoil system；
The hydrofoil catamaran exercise data acquisition unit is for acquiring the hydrofoil system that the attitude heading reference system detects
The athletic posture information of system；
The hydrofoil catamaran interference simulation unit drives the hydrofoil system to do disturbed fortune for simulating flow interference information
It is dynamic；
The hydrofoil catamaran movable information analogue unit is used to receive the stream of the hydrofoil catamaran interference simulation unit output
Body interference information, and the hydrofoil stress and athletic posture of hydrofoil system are calculated in real time；
The hydrofoil catamaran motion control unit respectively with the hydrofoil catamaran exercise data acquisition unit and the hydrofoil
Catamaran movable information analogue unit is connected；
The hydrofoil catamaran motion demonstrating system is used to generate the image information of simulation hydrofoil catamaran athletic posture.
2. hydrofoil catamaran semi-matter simulating system according to claim 1, which is characterized in that the hydrofoil system includes
Hydrofoil system mechanics assembly, hydrofoil hydrodynamic(al) force loading system, hydrofoil system servo control unit and bindiny mechanism, the hydrofoil
System mechanics assembly is connected by the bindiny mechanism with hydrofoil hydrodynamic(al) force loading system, hydrofoil system servo control unit
It connects.
3. hydrofoil catamaran semi-matter simulating system according to claim 2, which is characterized in that the hydrofoil system mechanics
Assembly includes sheet body and following multiple flap empennages：The left flap empennage of preceding hydrofoil, the right flap empennage of preceding hydrofoil, rear hydrofoil the first from left flap tail
The right flap empennage of the wing, rear hydrofoil the second from left flap empennage, rear hydrofoil and right two flap empennages of rear hydrofoil.
4. hydrofoil catamaran semi-matter simulating system according to claim 3, which is characterized in that the hydrofoil hydrodynamic force adds
Loading system includes multiple sub- loading systems of hydrofoil hydrodynamic force, and hydrofoil system servo control unit includes multiple sub- servos of hydrofoil system
Control unit, each flap empennage are both provided with the sub- loading system of hydrofoil hydrodynamic force and the sub- servo control unit of hydrofoil system.
5. hydrofoil catamaran semi-matter simulating system according to claim 2, which is characterized in that the bindiny mechanism includes
Transmission mechanism and information transmission mechanism.
6. hydrofoil catamaran semi-matter simulating system according to claim 1, which is characterized in that the hydrofoil catamaran fortune
Dynamic control unit includes signal condition system and controller, and the signal condition system is used for the posture information of hydrofoil catamaran
It resolves and generates attitude data, the controller receives the attitude data and generated corresponding control force and control moment.
7. hydrofoil catamaran semi-matter simulating system according to claim 6, which is characterized in that described information conditioning system
For the information conditioning system based on field programmable gate array.
8. hydrofoil catamaran semi-matter simulating system according to claim 6, which is characterized in that the controller is PC-
104 real-time controllers.
9. hydrofoil catamaran semi-matter simulating system according to claim 1, which is characterized in that the six degree of freedom is stablized
Platform includes rotatable platform, and the hydrofoil system is located on the rotatable platform.
10. the hydrofoil catamaran semi-matter simulating system according to any one of claim 1-9, which is characterized in that also wrap
Include hydrofoil catamaran virtual emulation client, the hydrofoil catamaran virtual emulation client and the six degree of freedom stabilized platform
It is connected, the interference information for receiving the hydrofoil catamaran interference simulation unit generation simultaneously carries out hydrofoil catamaran virtual
Emulation.
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| CN201610347633.9A CN105825738B (en) | 2016-05-24 | 2016-05-24 | A kind of hydrofoil catamaran semi-matter simulating system |
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| CN201610347633.9A CN105825738B (en) | 2016-05-24 | 2016-05-24 | A kind of hydrofoil catamaran semi-matter simulating system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106644376B (en) * | 2016-10-20 | 2017-09-15 | 江苏科技大学 | A kind of experimental provision and experimental method for measuring catamaran moment of torsion |
| CN111538347A (en) * | 2020-06-24 | 2020-08-14 | 中国人民解放军海军工程大学 | Marine attitude simulation test equipment and automatic adjusting method |
| CN113593355B (en) * | 2021-07-27 | 2022-08-30 | 武汉理工大学 | Combined hybrid power experiment teaching ship |
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| CN103318385A (en) * | 2013-07-02 | 2013-09-25 | 哈尔滨工程大学 | Joint automatic control device for inner flaps/outer flaps of hydrofoil catamaran |
| CN103744394A (en) * | 2014-01-02 | 2014-04-23 | 哈尔滨工程大学 | Device and method for monitoring hydrofoil catamaran flap and tail wing servo system |
| CN104097742A (en) * | 2013-04-05 | 2014-10-15 | 青岛科技大学 | Twin-hull ship with hydroflap stabilizing device |
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| CN104097742A (en) * | 2013-04-05 | 2014-10-15 | 青岛科技大学 | Twin-hull ship with hydroflap stabilizing device |
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