CN109253855B - A kind of multiple degrees of freedom resistance dynamometer - Google Patents
A kind of multiple degrees of freedom resistance dynamometer Download PDFInfo
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- CN109253855B CN109253855B CN201811148960.7A CN201811148960A CN109253855B CN 109253855 B CN109253855 B CN 109253855B CN 201811148960 A CN201811148960 A CN 201811148960A CN 109253855 B CN109253855 B CN 109253855B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
Abstract
The invention belongs to tank experiment fields, and disclose a kind of multiple degrees of freedom resistance dynamometer.The resistance dynamometer is used to measure ship model resistance, lateral force and the ship model posture in towing basin, including sliding rail, load cell, Attitude Measuring Unit and hinge unit, load cell and Attitude Measuring Unit are respectively provided on the slide rail, the two changes respective measurement position by moving on the slide rail, and hinge unit with ship model to be measured for connecting；Hinge unit is for connecting sliding rail and ship model to be measured, so that sliding rail passes to navigation bar with movement of ship model to be measured, by the multivariant movement of ship model to be measured；Load cell is connect with navigation bar, for measuring the power being subject on ship model horizontal plane to be measured along X and Y-direction, i.e., ship model resistance and lateral force that ship model to be measured is subject to；Attitude Measuring Unit is for measuring the displacement of ship model to be measured along the z-axis direction.By simplifying the measurement problem of the ship model resistance of ship model in towing basin, lateral force and ship model posture, measurement efficiency is improved.
Description
Technical field
The invention belongs to tank experiment fields, more particularly, to a kind of multiple degrees of freedom resistance dynamometer.
Background technique
A kind of conventional method that ship model resistance experiment is ship resistance and performance research is carried out using towing basin, in towing basin
In can determine the resistance of ship model under the different speed of a ship or plane, the relation curve between the resistance of ship model and speed is obtained, according to a system
The superiority and inferiority for comparing ship type can be analyzed by arranging such curve.Because the rolling of ship, pitching and heave have an impact to Ship Resistance,
In traditional resistance experiment, ship model can only heave and surging, and the heave of monitoring ship model and trim are generally required in resistance experiment
Influence of the posture for qualitative or quantitative analysis navigation attitudes vibration to resistance.
Traditional mechanical resistance dynamometer is to be connect ship model with resistance dynamometer by a steel wire, is consolidated ship model by navigation bar
Fixed, resistance suffered by ship model is passed on resistance dynamometer by steel wire, and the bar that navigates in traditional means of experiment limits ship model around X-axis and Y-axis
Rotation, be unable to measure Resistance Value of the ship model under multiple degrees of freedom, and the resistance dynamometer in traditional resistance experiment is unable to measure side
To power and turn first torque.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, it the present invention provides a kind of multiple degrees of freedom resistance dynamometer, is used for
Ship model resistance, lateral force and the ship model posture for measuring the ship model in towing basin, by its key component hinge unit and survey
The structure setting and layout designs of power unit, and be the componental movement on three directions by the Kinematic Decomposition of ship model to be measured, wherein
Hinge unit sufficiently captures the multifreedom motion during ship model to be measured pulls in water, and passes to survey by the bar that navigates
The ship model resistance for measuring ship model to be measured and lateral force are converted to the stress on the X and Y-direction of measure and navigation frame by power unit,
The change for obtaining ship model posture is calculated, by the change in displacement that Attitude Measuring Unit measures ship model Z-direction to be measured with this letter
The measurement problem for changing the ship model resistance of ship model in towing basin, lateral force and ship model posture, improves measurement efficiency.
To achieve the above object, it is proposed, according to the invention, provide a kind of multiple degrees of freedom resistance dynamometer, which is characterized in that the resistance
Instrument is used to measure ship model resistance, lateral force and the ship model posture of the ship model in towing basin, including sliding rail, load cell, posture
Measuring unit and hinge unit, wherein
The load cell and Attitude Measuring Unit are arranged on the sliding rail, and the two on the sliding rail by moving
Change respective measurement position, the hinge unit with ship model to be measured for connecting；
The lower section of the sliding rail is arranged in the hinge unit, for connecting the load cell and ship model to be measured, uses
In the multivariant movement of the ship model is passed to the load cell, which includes pedestal and navigation bar, institute
It states pedestal and passes to described lead for connecting the ship model to be measured and navigation bar, and by the multivariant movement of ship model to be measured
Navigate bar, this it is multivariant movement include in the face XOZ in the rotation of Y-axis, the up and down motion of Z-direction or the face YOZ around the rotation of X-axis
Transhipment is dynamic；
The load cell is connect with the navigation bar, for measure on ship model horizontal plane to be measured along X and Y-direction by
The power arrived, the load cell include bracket, sliding block, sensor and navigation frame, and the bracket is provided with guide rail in X and Y-direction,
The navigation frame is arranged among the bracket and connect with the navigation bar, and the side of the navigation frame is arranged in the sliding block
And be connected with the navigation frame, for discharging the navigation frame in the freedom degree of X and Y-direction, the sensor is arranged described
Between sliding block and navigation frame, the multifreedom motion of ship model to be measured passes to the cunning through the hinge unit and navigation frame
Block so that the sliding block is moved along X and Y-direction, the sensor measurement sliding block in horizontal plane motion X and Y-direction by
Power, the power that the X and Y-direction are subject to is respectively the ship model resistance and lateral force that ship model to be measured is subject to；The attitude measurement
Unit is for measuring the displacement of ship model to be measured along the z-axis direction.
It is further preferred that the pedestal includes top half and lower half portion, lower half portion is used for so that the pedestal
It turns about the X axis, the lower part point includes upper plate, lower plate, central axis and swingle, and the upper plate and the swingle connect
It connects, is provided with central axis on the lower plate in X direction, the swingle drives the center of the upper plate around X-direction
Axis rotation, the top half is identical as the lower half portion structure, and the top half and lower half portion are oppositely arranged, and passes through
The connection of respective upper plate, the central axis of the top half along the y axis so that swingle drives the top half around Y
The central axis rotation of axis direction, by the cooperation of the top half and lower half portion so that the pedestal has mostly freely
Degree, is realized with this ship model multifreedom motion to be measured passing to the load cell.
It is further preferred that there are two load cell, which passes through two simultaneously for setting on the resistance dynamometer
The navigation bar of connection is connect with the hinge unit, calculates turn first torque that ship model to be measured rotates about the z axis according to following expression formula
M,
Wherein, i is the quantity of sensor, fiIt is the power along the direction Y of the sensor measurement on i-th of load cell, li
It is that the sensor of Y-direction power is measured on i-th of load cell to the distance in X direction between ship model center of gravity to be measured.
It is further preferred that resistance dynamometer head and the tail both ends are provided with Attitude Measuring Unit, according to following expression formula meter
Angle of Trim θ is calculated,
Wherein, z1It is the displacement variable of the ship model head end to be measured of Attitude Measuring Unit measurement；z2It is Attitude Measuring Unit
The displacement variable of the ship model tail end to be measured of measurement, LsFor the distance between the sensor of head and the tail both ends Attitude Measuring Unit.
It is further preferred that resistance dynamometer head and the tail both ends are provided with Attitude Measuring Unit, according to following expression formula meter
Stem displacement variable Δ FP is calculated,
Δ FP=z1+D1tanθ-LFsinθ
Wherein, D1It is the sensor of head end Attitude Measuring Unit and the horizontal distance of ship model center of gravity to be measured, LFIt is to be measured
Measure ship model center of gravity between stem in X direction at a distance from.
It is further preferred that resistance dynamometer head and the tail both ends are provided with Attitude Measuring Unit, according to following expression formula meter
Sternpost displacement variable Δ AP is calculated,
Δ AP=z2-D2tanθ+LAsinθ
Wherein, D2For the sensor of tail end Attitude Measuring Unit and the horizontal distance of ship model center of gravity to be measured, LAIt is to be measured
Ship model center of gravity between sternpost in X direction at a distance from.
It is further preferred that resistance dynamometer head and the tail both ends are provided with Attitude Measuring Unit, according to following expression formula meter
The heave value of the ship model is calculated,
Wherein, δ is the heave value of ship.
It is further preferred that the resistance dynamometer further includes brake units, which includes multiple brake shoes, for putting
It sets between the navigation frame and bracket, when the moment that ship model to be measured starts or stops, being led described in the brake shoes limitation
The frame that navigates moves, and avoids navigation frame strenuous exercise damage sensor described in the moment for starting or stopping.
It is further preferred that ultrasonic distance-measuring sensor is used in the Attitude Measuring Unit, for measuring ship to be measured
The displacement of mould along the z-axis direction.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1, hinge unit is used in the present invention, wherein by the central axis of setting X and Y-direction, so that in top and the bottom
Rotary shaft can be rotating around the center axis rotation of X and Y-direction, to realize multivariant fortune during ship model pulls in water
It is dynamic, improve experimental precision；In addition, power suffered by steel wire of traditional resistance dynamometer by measurement connection ship model obtains resistance,
When ship model inclination, steel wire can be glanced off, and measured Resistance Value is caused to deviate, and the present invention utilizes load cell and hinge
Order member has cleverly evaded this error；
2, by using brake units in the present invention, the moment for starting or stopping in ship model, sliding block strenuous exercise are avoided
So that sensor measurement data is excessive, so that measurement result is distorted, while the excessive damage sensor of power of measurement is also avoided；
3, the configuration of the present invention is simple, it is practical and conveniently, it can be with quick obtaining when doing resistance experiment in towing basin
The Angle of Trim of ship model, heave posture, the parameters such as ship model resistance, lateral force and ship model posture, meanwhile, the device expansibility is strong,
The quantity of load cell and Attitude Measuring Unit can suitably be increased and decreased according to actual needs, it is applied widely.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of multiple degrees of freedom resistance dynamometer constructed by preferred embodiment according to the invention；
Fig. 2 is the structural schematic diagram of load cell constructed by preferred embodiment according to the invention；
Fig. 3 is the schematic diagram of base structure of hinge unit constructed by preferred embodiment according to the invention.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- sliding rail 2- load cell 3- Attitude Measuring Unit 4- hinge unit 5- brake shoes 6- ship model to be measured
21- bracket 22- sliding block 23- sensor 24- navigation frame 31- ultrasonic distance-measuring sensor 41- navigation bar 42- upper plate
43- lower plate 44- central axis 45- swingle
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is the structural schematic diagram of multiple degrees of freedom resistance dynamometer constructed by preferred embodiment according to the invention, such as Fig. 1 institute
Show, multiple degrees of freedom resistance dynamometer includes sliding rail 1, load cell 2, Attitude Measuring Unit 3, hinge unit 4 and brake units, hingedly
Unit 4 is used to transmit the multifreedom motion of ship model to load cell.
Fig. 3 is the schematic diagram of base structure of hinge unit constructed by preferred embodiment according to the invention, such as Fig. 3 institute
Show, the lower section of sliding rail 1 is arranged in hinge unit 4, for connecting sliding rail 1 and ship model 6 to be measured, so that sliding rail is with ship model to be measured
6 movements, the hinge unit 4 include pedestal and navigation bar 41, and pedestal is used to connect by ship model 6 to be measured and navigation bar 41, and will
The multivariant movement of ship model to be measured passes to navigation bar 41, which includes rotation in the face XOZ, the side Z
To up and down motion or the face YOZ in rotary motion, wherein
Pedestal includes top half and lower half portion, and lower half portion is used for so that pedestal is rotated around X-axis, and lower part point includes upper
Top plate 42, lower plate 43, central axis 44 and swingle 45, upper plate 42 are connect with swingle 45, are set in X direction on lower plate 43
It is equipped with central axis 44, swingle 45 drives upper plate 42 to rotate around center axis, and top half is identical as lower half portion structure, upper half
Part and lower half portion be oppositely arranged, connected by respective upper plate, the central axis of top half along the y axis so that rotation
Bull stick drives top half rotate around Y-axis, by the cooperation of top half and lower half portion so that pedestal is with multiple degrees of freedom, with
This, which is realized, passes to load cell for ship model multifreedom motion to be measured.
Fig. 2 is the structural schematic diagram of load cell constructed by preferred embodiment according to the invention, as shown in Fig. 2,
Load cell is stuck on trailer sliding rail 1 using the truss being welded, and being arranged between two bars of truss can move along bar
Sliding block, have between sliding block 22 and bar linear bearing reduce frictional force, on sliding block aperture be put into bar be used to support navigation frame, lead
The frame 24 that navigates is that lateral opening hole passes through the support rod on sliding block, and intermediate aperture move up and down navigation bar 41 can, same to navigate
Linear bearing is provided in the aperture of frame 24.
Brake units and the cooperation of load cell 2 work alternatively, and sensor 23 is protected when for starting and stopping trailer, being prevented
Sensor is damaged since stress is excessive on load cell.
Attitude Measuring Unit 3 described in Attitude Measuring Unit 3 passes through for measuring the displacement of ship model to be measured along the z-axis direction
Cross bar is set on the slide rail, ultrasonic distance-measuring sensor 31 is housed among cross bar, ultrasonic distance-measuring sensor emits downwards ultrasound
Wave can be used to the distance between surveying vessel and ultrasonic range finder sensor 31, and head and the tail each one can be used to the longitudinal direction of survey calculation ship model
Attitudes vibration.
In order to make turn first torque of stable structure and survey calculation ship model, two surveys are one in front and one in back mounted on sliding rail 1
Power unit 2, two navigation bars 41 vertically downward, are connected using a vertical bar, so pass downwardly through hinge unit 4 with it is to be measured
Measure ship model connection.Hinge unit is fixed on floor, for discharging ship model around the rotary freedom of X-axis and Y-axis.
The method measured using multiple degrees of freedom resistance dynamometer provided by the invention is as follows:
Load cell 2 is installed on sliding rail, while brake units being installed, then will be connected to hinge unit
4 navigation bar is matched with the navigation frame 24 in load cell 2, and ship model is fixed on hinge unit 4, ultrasonic wave is finally installed
Distance measuring sensor 31.The active force that navigation frame 24 is transmitted first is born using brake units before trailer starting, then starts trailer,
Reach setting speed and speed stabilizing when driving to ship model, releasing of brake unit, from load cell 23 obtain ship model resistance and side to
Power calculates ship to be measured according to following expression formula by simply calculating resistance suffered by available ship model and turning first torque
What mould rotated about the z axis turns first torque M,
Wherein, i is the quantity of sensor, fiIt is the power along the direction Y of the sensor measurement on i-th of load cell, li
It is that the sensor of Y-direction power is measured on i-th of load cell to the distance between ship model center of gravity to be measured in X direction.
Then, Angle of Trim, stem displacement variable Δ FP, sternpost position are calculated by the data on ultrasonic range finder sensor 31
Variation delta AP and ship model heave value δ is moved, detailed process is as follows:
The calculation formula of Angle of Trim θ:
In formula, z1And z2It is the displacement variable of the ship head and the tail of ultrasonic distance-measuring sensor measurement, LsFor two ultrasounds
The distance between wave distance measuring sensor, tail, which inclines, to be positive.
The stem displacement variable:
Δ FP=z1+D1tanθ-LFsinθ
Wherein, z1For the displacement variable of the foremost part of ship of ultrasonic distance-measuring sensor measurement；D1For bow ultrasonic distance measurement
The horizontal distance of sensor and ship model center of gravity；LFFor ship center of gravity with stem at a distance from captain direction.
The sternpost displacement variable:
Δ AP=z2-D2tanθ+LAsinθ
Wherein, z2For the displacement variable of the ship tail portion of ultrasonic distance-measuring sensor measurement；D2For bow ultrasonic distance measurement
The horizontal distance of sensor and ship model center of gravity；LAFor ship center of gravity with sternpost at a distance from captain direction.
The heave value:
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of multiple degrees of freedom resistance dynamometer, which is characterized in that the resistance dynamometer includes sliding rail (1), load cell (2), attitude measurement
Unit (3) and hinge unit (4), wherein
The load cell (2) and Attitude Measuring Unit (3) are arranged on the sliding rail (1), and the two passes through in the sliding rail
(1) mobile on to change respective measurement position, the hinge unit (4) with ship model to be measured for connecting；
The hinge unit (4) is arranged in the lower section of the sliding rail (1), for connecting the load cell (2) and ship to be measured
Mould, for the multivariant movement of the ship model to be passed to the load cell (2), which includes pedestal
With navigation bar (41), the pedestal is used to connect the ship model to be measured and navigation bar, and ship model to be measured is multivariant
Movement passes to the navigation bar (41), which includes in the face XOZ around the rotation of Y-axis, the fortune up and down of Z-direction
Around the rotary motion of X-axis in the dynamic or face YOZ；
The load cell (2) connect with the navigation bar (41), for measuring on ship model horizontal plane to be measured along X and Y-direction
The power being subject to, the load cell include bracket (21), sliding block (22), sensor (23) and navigation frame (24), the bracket in X and
Y-direction is provided with guide rail, and navigation frame (24) setting is intermediate in the bracket (21) and connect with the navigation bar (41),
The sliding block is arranged in the side of the navigation frame and is connected with the navigation frame (24), for discharging the navigation frame in X and Y
The freedom degree in direction, the sensor (23) are arranged between the sliding block and navigation frame, and the multiple degrees of freedom of ship model to be measured is transported
It is dynamic to pass to the sliding block through the hinge unit and navigation frame, so that the sliding block is moved along X and Y-direction, the sensor
Sliding block (22) power that X and Y-direction are subject in horizontal plane motion is measured, the power that the X and Y-direction are subject to is i.e. respectively to be measured
The ship model resistance and lateral force that ship model is subject to；The Attitude Measuring Unit (3) is for measuring the position of ship model to be measured along the z-axis direction
It moves.
2. resistance dynamometer as described in claim 1, which is characterized in that the pedestal includes top half and lower half portion, described
Lower half portion includes upper plate (42), lower plate (43), central axis (44) and swingle (45), the upper plate (42) with it is described
Swingle connection, is provided with central axis (44) in X direction on the lower plate, the swingle (45) drive the upper plate around
The central axis rotation of X-direction, the top half is identical as the lower half portion structure, the top half and lower half
Point be oppositely arranged, connected by respective upper plate, the central axis of the top half along the y axis so that swingle (45)
The central axis rotation of the top half around Y direction is driven, is made by the cooperation of the top half and lower half portion
Obtaining the pedestal has multiple degrees of freedom, is realized with this ship model multifreedom motion to be measured passing to the load cell.
3. resistance dynamometer as claimed in claim 1 or 2, which is characterized in that there are two load cells for setting on the resistance dynamometer
(2), which is connect by two navigation bars in parallel with the hinge unit, according to the calculating of following expression formula to
What measurement ship model rotated about the z axis turns first torque M,
Wherein, i is the quantity of sensor, fiIt is the power of the Y-direction of the sensor measurement on i-th of load cell, liIt is i-th
The sensor of Y-direction power is measured on load cell to the distance in X direction between ship model center of gravity to be measured.
4. resistance dynamometer as described in claim 1, which is characterized in that resistance dynamometer head and the tail both ends are provided with attitude measurement list
First (3) calculate Angle of Trim θ according to following expression formula,
Wherein, z1It is the displacement variable of the ship model head end to be measured of Attitude Measuring Unit measurement；z2It is Attitude Measuring Unit measurement
Ship model tail end to be measured displacement variable, LsFor the distance between the sensor of head and the tail both ends Attitude Measuring Unit.
5. resistance dynamometer as described in claim 1, which is characterized in that resistance dynamometer head and the tail both ends are provided with attitude measurement list
Member calculates stem displacement variable Δ FP according to following expression formula,
Δ FP=z1+D1tanθ-LFsinθ
Wherein, D1It is the sensor of head end Attitude Measuring Unit and the horizontal distance of ship model center of gravity to be measured, LFFor ship model to be measured
Center of gravity between stem in X direction at a distance from, θ is Angle of Trim, z1It is the ship model head end to be measured of Attitude Measuring Unit measurement
Displacement variable.
6. resistance dynamometer as described in claim 1, which is characterized in that resistance dynamometer head and the tail both ends are provided with attitude measurement list
Member calculates sternpost displacement variable Δ AP according to following expression formula,
Δ AP=z2-D2tanθ+LAsinθ
Wherein, D2For the sensor of tail end Attitude Measuring Unit and the horizontal distance of ship model center of gravity to be measured, LAShip model weight to be measured
The heart between sternpost in X direction at a distance from, z2It is the displacement variable of the ship model tail end to be measured of Attitude Measuring Unit measurement, θ
It is Angle of Trim.
7. resistance dynamometer as described in claim 1, which is characterized in that resistance dynamometer head and the tail both ends are provided with attitude measurement list
Member calculates the heave value of the ship model according to following expression formula,
Wherein, δ is the heave value of ship, and θ is Angle of Trim, z1It is the displacement of the ship model head end to be measured of Attitude Measuring Unit measurement
Variable quantity, z2It is the displacement variable of the ship model tail end to be measured of Attitude Measuring Unit measurement, D1It is head end Attitude Measuring Unit
The horizontal distance of sensor and ship model center of gravity to be measured, LFFor ship model center of gravity to be measured between stem in X direction at a distance from, D2
For the sensor of tail end Attitude Measuring Unit and the horizontal distance of ship model center of gravity to be measured, LAShip model center of gravity to be measured and sternpost it
Between distance in X direction.
8. resistance dynamometer as described in claim 1, which is characterized in that the resistance dynamometer further includes brake units, the brake units
Including multiple brake shoes (5), for being placed between the navigation frame and bracket, when the wink that ship model to be measured starts or stops
Between, the brake shoes limits the navigation frame movement, avoids navigation frame strenuous exercise damage described in the moment for starting or stopping
Sensor.
9. resistance dynamometer as described in claim 1, which is characterized in that sensed in the Attitude Measuring Unit using ultrasonic distance measurement
Device (31), for measuring the displacement of ship model to be measured along the z-axis direction.
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| CN110371242B (en) * | 2019-08-05 | 2020-07-07 | 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） | Standard ship model suitable for multiple measurement systems |
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| CN112683488B (en) * | 2020-12-08 | 2022-11-25 | 上海船舶运输科学研究所 | Resistance tester with adjustable sailing angle of ship model |
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