CN106314680A - Remote testing system and method for course keeping in ship or ship model wind waves - Google Patents
Remote testing system and method for course keeping in ship or ship model wind waves Download PDFInfo
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- CN106314680A CN106314680A CN201610843379.1A CN201610843379A CN106314680A CN 106314680 A CN106314680 A CN 106314680A CN 201610843379 A CN201610843379 A CN 201610843379A CN 106314680 A CN106314680 A CN 106314680A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
- B63B71/20—Designing vessels; Predicting their performance using towing tanks or model basins for designing
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- B63B2711/00—
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention discloses a remote testing system for course keeping in ship or ship model wind waves. A ship model is placed into a test basin, a fan is installed on one side of the test basin, a wind speed and wind direction measuring device is installed at the portion, close to the fan, of the test basin, a wave data measuring device is installed on the other side of the test basin, three laser range finders are installed on the ship model, the wind speed and wind direction measuring device and the wave data measuring device are in signal connection with a controller, the controller is connected with a DGPS and a steering engine, a wireless photographic device is arranged nearby the test basin, the wireless photographic device and the controller are connected with a data image receiving device, the data image receiving device is connected with a shore computer, and the shore computer is connected with a client side through a remote control module. According to the remote testing system for course keeping in ship or ship model wind waves, the problems that a laboratory utilization rate is low and a test is performed difficultly are solved, test data images can be transmitted to a user side in real time, and working difficulty and workloads of the user are greatly lowered.
Description
Technical field
The present invention relates to course in boats and ships or ship model stormy waves and keep remote trial system and test method, belong to ship test
Technical field.
Background technology
Along with the development of shipping industry, boats and ships are towards maximization, high speed, intelligent direction development.Super large marine exists
During navigation, having the biggest inertia, the manipulation to boats and ships controls to require height.On the other hand, the continuous increase of Provincial Shipping Volume, boats and ships navigate
Line density is increasing, and navigation channel and harbour become relative narrowness, and Ship Controling becomes more difficult and complicated.For ensureing safety,
Improve the economy of navigation, the maneuvering performance of boats and ships is had higher requirement.Further, since by wave, Caulis Piperis Kadsurae and sea
The effect of the marine environment disturbances such as stream, boats and ships inevitably deviate to vectoring.Boats and ships are fitted by the change of ship course
Boat property, the safe navigation to boats and ships, the equipment on ship, goods and occupant can be had a negative impact.So, in order to arrive as early as possible
Reach destination and save the energy, it is necessary to reducing course deviation, boats and ships flight path course keeping ability in stormy waves just becomes as far as possible
Particularly important.Therefore will carry out the course in stormy waves when ship model or new ship trial voyage or flight and keep test.
The Special test facilities and equipment and the instrument that carry out this test are more, including: experimental tank, free sailing model ship, wireless
Electrical remote control equipment, wave maker, wave breaker, aerator, movement locus recording equipment and other measuring instruments etc..Traditional boats and ships or
Ship model course keeps test to need special testing crew to operate to testing ground, after off-test, according to being installed on bank
Going up and the data of data acquisition equipment acquisition on model, testing crew carries out processing acquisition result of the test, checks boats and ships to exist with this
Course keeping ability in stormy waves.Therefore, it is specific and specificity strong, and the bulk test time is long, inefficiency, it is impossible to realize
Real-time, and audient face is little, and experimentation cost is higher.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides in a kind of boats and ships or ship model stormy waves
Course keeps remote trial system and test method, solves that laboratory utilization ratio is low, the problem of difficulty of doing experiment, test data figure
As user side can be passed in real time, greatly reduce work difficulty and the workload of user.
Technical scheme: for solving above-mentioned technical problem, in a kind of boats and ships of the present invention or ship model stormy waves, course keeps remotely
Pilot system, including experimental tank, is placed with ship model in experimental tank, is provided with blower fan in experimental tank side, in test
There is wind speed and direction measuring device near assembling in pond, at experimental tank opposite side, Wave Data measurement apparatus be installed,
Three laser range finders, the respectively first laser range finder, the second laser range finder and the 3rd laser are installed on described ship model
Diastimeter, the first laser range finder points to the angle that ship model dead ahead, the second laser range finder and the first laser range finder are formed
Be 90 °, the angle that the 3rd laser range finder and the first laser range finder and the second laser range finder are formed be respectively 120 °,
150 °, ship model is additionally provided with controller and DGPS, the first laser range finder, the second laser range finder and the 3rd laser range finder
Being connected with controller respectively, wind speed and direction measuring device and Wave Data measurement apparatus are connected with controller signals respectively, control
Device is connected with DGPS and steering wheel respectively, is provided with wireless camera device, wireless camera device and controller respectively by experimental tank
Receiving device with data image to be connected, data image receives device and is connected with SBC, and SBC is by remotely control
Molding block is connected with client.
As preferably, described first laser range finder, the second laser range finder and the 3rd laser range finder are installed in the end
On seat, base being provided with level indicator, base is arranged on ship model by regulation bolt.
As preferably, described wind speed and direction measuring device and Wave Data measurement apparatus are connected with data radio station respectively,
Being provided with signal transmitting terminal on ship model, signal transmitting terminal is connected with controller.
In a kind of above-mentioned boats and ships or ship model stormy waves, course keeps the test method of remote trial system, including following step
Rapid:
(1) each device is arranged on experimental tank and position specified by ship model, ship model is put in experimental tank, adjust
Ship model, it is ensured that ship model in water in upright condition；
(2) according to test requirements document, arranging ship model course trace information in experimental tank, ship model starts to start；
(3) in ship model navigates by water, the measurement parameter of three laser range finders of acquisition that controller is real-time, by three Laser Measuring
The distance with pool wall measured by distance meter the arrangement relation according to laser range finder, can obtain ship model bow to angle and in pond
Real time position, the distance measured by three laser range finders is respectively L1、L2、L3, length L of fountain square, width B it is known that its
In, angle θ1It is line segment L3Angle with line segment a；Angle θ2It is line segment L2Angle with line segment a；Angle θ3It is line segment L1Folder with line segment b
Angle, φ is the angle of line segment a and pond width B, and line segment a is the second laser range finder and the 3rd laser range finder and experimental tank
The line of intersection point,
Wherein α=150 °；
Bow is to angle: θ3=θ2+φ；
So, distance b and the c of ship model to two pool wall are respectively as follows:
B=L1·cosθ3
C=L2·cosθ3；
(4) data θ that controller obtains according to three laser range finders3=θ2+ φ, b=L1·cosθ3And b=L1·cos
θ3And the course track of regulation contrasts before test, controller controls steering wheel and changes the course of ship model, meets the boat of regulation
To track.
Beneficial effect: compared with prior art, the invention have the advantages that
1. solve that laboratory utilization ratio is low, the problem of difficulty of doing experiment, test data image can pass to user side, greatly in real time
Reduce greatly work difficulty and the workload of user.
2., for not having the unit in pond and experimental facilities to provide remote trial service, save substantial amounts of human and material resources, wealth
Power, overcomes time and restriction spatially, makes them be sitting in before computer and can be carried out test.
3. can allow the student of boats and ships specialty, Selection experiment equipment and test vessel type voluntarily on user side, do it yourself
Each step of Selection experiment, and watch process of the test, it is possible to process the test data feeding back to user side, Xue Shengcan voluntarily
With degree height, teaching efficiency is far better than only seeing experiment video recording.
4. there is used herein laser ranging module to make up traditional GPS alignment system indoor signal difference shortcoming, adopt
The shortcoming that tradition obliquity sensor is easily produced error by temperature and surrounding environment influence can also be made up with laser measurement.
Accompanying drawing explanation
Fig. 1 is the structural representation of experimental tank.
Fig. 2 is the structural representation of ship model.
Fig. 3 is the structural representation that data image receives device.
Fig. 4 is the layout schematic diagram of three laser ranging systems.
Fig. 5 is the principle schematic of laser ranging system.
Detailed description of the invention
As shown in Figures 1 to 4, in a kind of boats and ships of the present invention or ship model stormy waves, course keeps remote trial system, including
Experimental tank 11, is placed with ship model 1 in experimental tank 11, is provided with blower fan 13 in experimental tank side, at experimental tank 11
Interior close blower fan 13 is provided with wind speed and direction measuring device 7, is provided with Wave Data measurement apparatus at experimental tank 11 opposite side
5, described ship model 1 is provided with three laser range finders, the respectively first laser range finder 3-1, the second laser range finder 3-2 and
3rd laser range finder 3-3, the first laser range finder 3-1 point to ship model 1 dead ahead, and the second laser range finder 3-2 and first swashs
The angle that optar 3-1 is formed is 90 °, the 3rd laser range finder 3-3 and the first laser range finder 3-1 and the second laser ranging
The angle that instrument 3-2 is formed is respectively 120 °, 150 °, is additionally provided with controller 18 and DGPS2 on ship model 1, and it is complete that DGPS is difference
Ball alignment system, the first laser range finder 3-1, the second laser range finder 3-2 and the 3rd laser range finder 3-3 respectively with controller
18 connect, and wind speed and direction measuring device 7 and Wave Data measurement apparatus 5 be connected with controller 18 signal respectively, controller 18 and
DGPS2 and steering wheel 16 connect, and steering wheel is provided with rudder 17, are provided with wireless camera device 9,10,12,14 on experimental tank 11 side,
Wireless camera device and controller 18 receive device 21 with data image respectively, and data image receives device 21 and SBC
22 connect, and SBC 22 is connected with client 24 by remote control module 23.
In the present invention, described first laser range finder 3-1, the second laser range finder 3-2 and the 3rd laser range finder 3-3
Being installed on base 19, base 19 is provided with level indicator, base 19 is arranged on ship model 1 by regulation bolt 20.Described
Wind speed and direction measuring device 7 and Wave Data measurement apparatus 5 are connected with data radio station 6,8 respectively, are provided with signal on ship model 1
Transmitting terminal 4 connects, and signal transmitting terminal 4 is connected with controller 18.
When in client 24 proposes ship model 1 stormy waves to be carried out, course keeps remote trial to client, SBC 22
Receive this instruction, proceed by the preparation before test.Select corresponding ship model 1, before blower fan 13 outlet of test waters
End installs wind speed and direction measuring device 7, arranges Wave Data measurement apparatus 5 at waters opposite side, arranges at bank machine simultaneously and connects
The data radio station 8,6 of aforementioned stream oriented device.In boats and ships, longitudinal direction is from stem to stern successively mounting shipping data acquisition unit
DGPS2, laser ranging system and signal transmitting terminal 4.The layout of laser ranging system is as shown in Figure 4.First laser range finder 3-1
Pointing to ship model 11 dead ahead, the angle of the second laser range finder 3-2 and the first laser range finder 3-1 formation is 90 °, the 3rd laser
The angle that diastimeter 3-3 and the first laser range finder 3-1 and the second laser range finder 3-2 is formed is respectively 120 °, 150 °.Laser
Diastimeter is used for the Laser Measurement diastimeter center distance to experimental tank 11 pool wall.(pond, waters is tested at boats and ships or ship model 1
Deng) top installs and overlook four wireless camera devices 9,10,12,14 of the water surface and waters periphery (such as: side, pond on the bank etc.).
In a kind of above-mentioned boats and ships or ship model 1 stormy waves, course keeps the test method of remote trial system, including following step
Rapid:
(1) each device is arranged on experimental tank 11 and position specified by ship model 1, ship model 1 is put into experimental tank 11
In, by regulation load-carrying counterweight, it is ensured that ship model 1 in water in upright condition；
(2) according to test requirements document, arranging ship model 1 course trace information in experimental tank 11, ship model 1 starts to start；
(3) in ship model 1 navigates by water, the image information of ship model 1 is transmitted by four wireless camera devices 9,10,12,14 in real time
Ashore in computer 22, it is real-time transmitted in client 24, the measurement of three laser range finders of acquisition that controller 18 is real-time
Parameter, by the distance with pool wall measured by three laser range finders and according to the arrangement relation of laser range finder, can obtain ship model 1
Bow is respectively L to angle and the real time position in pond, the distance measured by three laser range finders1、L2、L3, fountain square
Length L, width B it is known that wherein, angle θ1It is line segment L3Angle with line segment a；Angle θ2It is line segment L2Angle with line segment a；Angle θ3It is
Line segment L1With the angle of line segment b, φ is the angle of line segment a and pond width B, and line segment a is the second laser range finder 3-2 and the 3rd
Laser range finder 3-3 and the line of experimental tank 11 intersection point,
Wherein α=150 °；
Bow is to angle: θ3=θ2+φ；
So, distance b and the c of 1 to two pool walls of ship model are respectively as follows:
B=L1·cosθ3
C=L2·cosθ3；
(4) data θ that controller 18 obtains according to three laser range finders3=θ2+ φ, b=L1·cosθ3And b=L1·
cosθ3And the course track of regulation contrasts before test, controller 18 is STM32 embedded chip, is responsible for place's reason
Data signal that DGPS2 and laser range finder record and steering wheel 16 control signal, select conventional fuzzy controller, according to specially
The control experience of family, is organized into the fuzzy control rule table shown in table 1, chooses course angle E and course angle rate of change Δ E is fuzzy
Input quantity, steering angle U is output, works out control program based on fuzzy control rule table, by laser range finder record away from
From data feedback to main controller, through being calculated the rate of change of course angle and course angle, and then perform control program to steering wheel
16 carry out corresponding rudder angle manipulation, thus realize automatically controlling of ship model 1 course.Data receiver and processing system by data on boundary
Showing on face, and data can be carried out timing dynamic refresh, wherein, the domain of E is taken as [-1.2,1.2], and unit is
Degree, word set be NB, NM, NS, 0, PS, PM, PB} (represent respectively negative big, negative in, negative little, zero, the least, hit exactly, honest, below
Identical).Δ E domain is [-1.2,1.2], and unit is degrees second, and word set is { NB, NM, NS, 0, PS, PM, PB}；The basic domain of U
Be taken as [-12,12], unit for degree, word set be NB1, NB2, NM1, NM2, NS1, NS2,0, PS2, PS1, PM2, PM1, PB2,
PB1}。
Table 1
(5) Terminal Server Client 24 passes through remote control module 23 (such as TeamViewer) by data or image information transmission
To SBC 22, network computer or mobile device (mobile phone, flat board etc.), remote control module 23 (TeamViewer) is installed,
Client 24 inputs bank machine ID and password, manipulates SBC 22, operator's machine interactive interface, is shown examination by interface in real time
Testing data or image, the optional test data that sends of user is to client 24.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
1. in boats and ships or ship model stormy waves, course keeps remote trial system, it is characterised in that: include experimental tank, in test
It is placed with ship model in pond, in experimental tank side, blower fan is installed, in experimental tank, have wind speed and direction near assembling
Measurement apparatus, is provided with Wave Data measurement apparatus at experimental tank opposite side, and described ship model is provided with three laser rangings
Instrument, the respectively first laser range finder, the second laser range finder and the 3rd laser range finder, the first laser range finder points to ship model
The angle that dead ahead, the second laser range finder and the first laser range finder are formed is 90 °, the 3rd laser range finder and the first laser
The angle that diastimeter and the second laser range finder are formed is respectively 120 °, 150 °, is additionally provided with controller and DGPS on ship model, the
One laser range finder, the second laser range finder and the 3rd laser range finder are connected with controller respectively, wind speed and direction measuring device
Being connected with controller signals respectively with Wave Data measurement apparatus, controller is connected with DGPS and steering wheel respectively, at experimental tank
Side is provided with wireless camera device, wireless camera device and controller and is connected with data image reception device respectively, and data image connects
Receiving apparatus is connected with SBC, and SBC is connected with client by remote control module.
In boats and ships the most according to claim 1 or ship model stormy waves, course keeps remote trial system, it is characterised in that: described
First laser range finder, the second laser range finder and the 3rd laser range finder are installed on base, and base is provided with level
Instrument, base is arranged on ship model by regulation bolt.
In boats and ships the most according to claim 1 or ship model stormy waves, course keeps remote trial system, it is characterised in that: described
Wind speed and direction measuring device and Wave Data measurement apparatus are connected with data radio station respectively, be provided with signal and launch on ship model
End, signal transmitting terminal is connected with controller.
4. in boats and ships described in an any one of claims 1 to 3 or ship model stormy waves, course keeps the test of remote trial system
Method, it is characterised in that comprise the following steps:
(1) each device is arranged on experimental tank and position specified by ship model, ship model is put in experimental tank, adjust ship
Mould, it is ensured that ship model in water in upright condition；
(2) according to test requirements document, arranging ship model course trace information in experimental tank, ship model starts to start；
(3) in ship model navigates by water, the measurement parameter of three laser range finders of acquisition that controller is real-time, by three laser range finders
The measured distance with pool wall the arrangement relation according to laser range finder, can obtain ship model bow to angle and real-time in pond
Position, the distance measured by three laser range finders is respectively L1、L2、L3, length L of fountain square, width B it is known that wherein,
Angle θ1It is line segment L3Angle with line segment a；Angle θ2It is line segment L2Angle with line segment a；Angle θ3It is line segment L1With the angle of line segment b,
φ is the angle of line segment a and pond width B, and line segment a is that the second laser range finder and the 3rd laser range finder are handed over experimental tank
The line of point,
Wherein α=150 °；
Bow is to angle: θ3=θ2+φ；
So, distance b and the c of ship model to two pool wall are respectively as follows:
B=L1·cosθ3
C=L2·cosθ3；
(4) data θ that controller obtains according to three laser range finders3=θ2+ φ, b=L1·cosθ3And b=L1·cosθ3And
Before test, the course track of regulation contrasts, and controller controls steering wheel and changes the course of ship model, meets the course track of regulation.
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| CN201610843379.1A CN106314680A (en) | 2016-09-23 | 2016-09-23 | Remote testing system and method for course keeping in ship or ship model wind waves |
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| CN201610843379.1A CN106314680A (en) | 2016-09-23 | 2016-09-23 | Remote testing system and method for course keeping in ship or ship model wind waves |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144415A (en) * | 2017-06-26 | 2017-09-08 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Model test TT＆C system is lost based on the pure stability of boat mode certainly |
| CN107310688A (en) * | 2017-05-22 | 2017-11-03 | 中国人民解放军海军工程大学 | The ship model and its test method of maneuvering motion are done under distinguished and admirable load effect for simulating |
| CN108762184A (en) * | 2018-05-16 | 2018-11-06 | 江苏科技大学 | Ship course and flight path keep remote trial system and method |
| CN109062244A (en) * | 2018-06-22 | 2018-12-21 | 西安特种飞行器工程研究院有限公司 | A kind of system and method based on marine eco-environment inspection |
| CN110285753A (en) * | 2019-06-25 | 2019-09-27 | 中国海洋大学 | Marine floating type works basin test model large space optical motion measurement method |
| CN110920824A (en) * | 2019-11-21 | 2020-03-27 | 深圳市若雅方舟科技有限公司 | Ship model attitude measurement system and method based on binocular stereo vision |
| CN111289218A (en) * | 2018-12-07 | 2020-06-16 | 重庆交通大学 | Experimental system for researching collision avoidance in meeting of multiple ships under severe wind conditions |
| CN113624444A (en) * | 2021-07-22 | 2021-11-09 | 江苏科技大学 | Wave making machine control system capable of synchronously shooting and control method |
| CN114044104A (en) * | 2021-11-03 | 2022-02-15 | 上海外高桥造船有限公司 | Method for measuring minimum navigational speed of ship for keeping course |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109062244A (en) * | 2018-06-22 | 2018-12-21 | 西安特种飞行器工程研究院有限公司 | A kind of system and method based on marine eco-environment inspection |
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| CN110920824A (en) * | 2019-11-21 | 2020-03-27 | 深圳市若雅方舟科技有限公司 | Ship model attitude measurement system and method based on binocular stereo vision |
| CN113624444A (en) * | 2021-07-22 | 2021-11-09 | 江苏科技大学 | Wave making machine control system capable of synchronously shooting and control method |
| CN113624444B (en) * | 2021-07-22 | 2022-08-02 | 江苏科技大学 | Wave making machine control system capable of synchronously shooting and control method |
| CN114044104A (en) * | 2021-11-03 | 2022-02-15 | 上海外高桥造船有限公司 | Method for measuring minimum navigational speed of ship for keeping course |
| CN114044104B (en) * | 2021-11-03 | 2023-03-21 | 上海外高桥造船有限公司 | Method for measuring minimum speed of ship for keeping course |
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