CN112357004A - Pilot test boat sea test system and method for testing overall performance of ship by pilot test boat sea test system - Google Patents

Abstract

The invention discloses a pilot test boat sea test system and a method for testing the overall performance of a ship. A pilot boat sea test system comprises a pilot boat and an auxiliary boat system; the pilot test boat comprises a boat body system, a data acquisition system and a remote control and remote measuring system; the ship body system comprises a ship body shell, a propulsion device and a rudder device; the data acquisition system comprises a sensor, a data acquisition instrument and a first computer; the remote control and telemetry system comprises a GPS/INS device, an AD module and a first radio station; the auxiliary ship system comprises a following yacht and an environment measuring ship, wherein a second radio station and a second computer are installed on the following yacht. The pilot ship sea test system can provide a real and reliable data source for the stability, buoyancy, sinking resistance, resistance and propulsion, maneuverability and wave resistance, wave load, slamming load, underwater explosion, structural strength and other ship comprehensive performance test and evaluation of complete and damaged ships.

Description

Pilot test boat sea test system and method for testing overall performance of ship by pilot test boat sea test system

Technical Field

The invention relates to the technical field of ship tests, in particular to a pilot test ship sea test system and a method for testing overall performance of ships by using the pilot test ship sea test system.

Background

The forecasting and evaluation of the overall performance of the ship are important work contents in the ship design stage. The overall performance of the ship mainly comprises ship static performance (stationarity, floatability and sinking resistance), rapidity (resistance and propulsion), motility (maneuverability and wave resistance), structural load (wave load, slamming load, underwater explosion and structural strength) and the like. The physical simulation model test is an effective means for researching the overall performance of the ship, can verify the correctness of a theoretical method, and can also be used for extrapolating and forecasting the hydrodynamic performance of a real ship.

The traditional pool model test is a special test developed aiming at each single test content. For example, a ship model resistance test can be conducted in a ship model towing tank; the open water test and the cavitation test of the propeller can be carried out in the circulating water tank; the self-propulsion test of the ship model can be carried out by means of the airworthiness instrument; the ship maneuverability test can be carried out by means of a plane motion mechanism; the wave resistance test of the ship can be carried out in the wave environment simulated by the pool wave maker; the ship wave load and water elasticity test can be carried out by adopting the sectional keel beam model. However, under the influence or limitation of the pool dimensions, the working capacity of the wave generator and the navigation vehicle, the effective test distance, the model dimension effect and the like, the hydrodynamic performance of the ship in actual sea wave navigation cannot be completely and truly reflected by the traditional pool model test. In addition, in the pool model test, each special test for different test purposes is usually independently performed. On the one hand, a plurality of ship models are required to be manufactured for carrying out each special test, so that the utilization rate of the ship models and the instrument equipment is low, and the test cost is increased; on the other hand, the correlation and mutual influence between the individual performances of the ship cannot be considered, and the comprehensive overall performance of the ship is difficult to reasonably evaluate.

The real ship marine test is a test method which can reflect the real characteristics of a ship, but a large amount of manpower, material resources and time cost are needed for developing the real ship marine test, and the real ship test has great limitations. For example, the real ship test can only be applied to the built ship and cannot be carried out in the design, optimization and shaping stages of the ship, which is not consistent with the purpose of many experiments. Furthermore, for testing of a vessel in a wind and wave environment, a significant portion of the test conditions are aimed at studying the response of the vessel in extremely harsh sea conditions, such as one-hundred-year-old, which are difficult to encounter with a real vessel. Even if encountered, the harsh sea conditions pose a significant threat to the safety of the hull structure and personnel life. Therefore, the real ship sea test is difficult to be widely applied to the scientific research field.

Disclosure of Invention

The invention aims to overcome the defects and shortcomings of the prior art and provides a pilot boat sea test system, wherein the pilot boat can be regarded as a large-scale test model between a pool test model and a real ship. The data obtained by carrying out the pilot test boat marine test can provide a real and reliable data source for the comprehensive performance evaluation of ships.

Another object of the present invention is to provide a method for testing the overall performance of a ship by using a pilot boat sea test system.

The purpose of the invention can be realized by the following technical scheme: a pilot boat sea test system comprises a pilot boat and an auxiliary boat system; the pilot test boat comprises a boat body system, a data acquisition system and a remote control and remote measuring system;

the ship body system comprises a ship body shell, a propelling device and a rudder device, wherein the propelling device is used for propelling the pilot test ship to sail;

the data acquisition system comprises a sensor, a data acquisition instrument and a first computer, wherein the sensor is connected with the data acquisition instrument, and the data acquisition instrument is connected with the first computer;

the remote control and remote measurement system comprises a GPS/INS device, an AD module and a first radio station, wherein the GPS/INS device is used for measuring the motion state of a ship body system and positioning and tracking the ship body system, the AD module is used for processing an analog voltage signal of a motor of a propulsion device, and the first radio station is used for communication between a pilot test boat and an auxiliary ship system;

the auxiliary ship system comprises a following yacht and an environment measuring ship, wherein a second radio station and a second computer are installed on the following yacht, and the second radio station is used for communicating with the first radio station and transmitting signals to the second computer or receiving instruction signals of the second computer; the environment measuring ship is used for measuring the environment parameters of the pilot test boat test sea area.

Furthermore, the hull shell is a sectional shell, the hull shell is disconnected at a plurality of longitudinal positions, gaps between adjacent shells at the fracture positions are sealed by silica gel strips, and the adjacent sectional shells can be fixedly connected through a transverse bulkhead or a keel beam; the transverse bulkhead is fixedly connected with flange plates arranged on the edges of the segmented hulls, and the keel beams are longitudinally continuous and fixedly arranged on a plurality of fixed bases inside the hull shells.

Furthermore, the transverse bulkhead and the keel beam are detachable, and only one of the transverse bulkhead and the keel beam is installed when a certain type of test is carried out.

Further, the propulsion device comprises propellers, propeller shafts, a motor and a battery pack, the motor is installed in the hull shell and connected with the propeller shafts, the tail end of each propeller shaft is connected with the propellers, and the motor is powered by the battery pack installed in the hull shell. The propulsion device is used for providing propulsion and navigational speed for the self-propelled ship model.

Further, the rudder device comprises a steering engine and an automatic rudder, and the automatic rudder is connected with the steering engine.

Furthermore, the sensors comprise strain gauges pasted on the keel beam, pressure sensors arranged in a floating area outside the stem of the pilot boat, acceleration sensors arranged on the deck of the pilot boat, rudder angle potentiometers arranged on the steering engines, a self-navigation instrument arranged on a propeller shaft, a wave height instrument arranged on the stem of the pilot boat and a first anemorumbometer arranged on the pilot boat.

Furthermore, a high-speed gyroscope inertia holder is arranged at the connecting position of the ship-borne wave height instrument and the ship body, and is used for ensuring that the wave height instrument is not interfered by the swinging motion of the ship and is always kept in a vertical state.

Further, the GPS/INS device comprises an INS core unit and a GPS receiver which are installed on the ship body system, wherein the INS core unit is used for measuring the six-degree-of-freedom motion state of the ship body system, and the GPS receiver is used for receiving satellite signals and carrying out real-time positioning and tracking on the ship body system.

Further, the environment measuring ship comprises a ship body, and a second anemorumbometer, a flow velocity and flow direction instrument and a buoy type wave height instrument which are arranged on the ship body.

The other purpose of the invention can be realized by the following technical scheme: the method for testing the overall performance of the ship by using the pilot test ship sea test system comprises the following steps:

according to the type and the requirement of the test of the complete ship or the damaged ship, a keel beam or a transverse bulkhead is respectively selected to be used for connecting the segmented hulls, and a model and a system are assembled and debugged;

the sensor measures a stress signal, an slamming pressure signal, an acceleration signal, a rudder angle signal, a propeller state signal, an incident wave signal and a relative wind speed and direction of a ship body system, the measured signal is transmitted to the data acquisition instrument, and the data acquisition instrument transmits the acquired signal to the first computer;

the INS nuclear unit measures the six-degree-of-freedom motion state of the hull system, and the GPS receiver receives satellite signals and carries out real-time positioning and tracking on the hull system; the AD module processes an analog voltage signal of a motor of the propulsion device so as to control the navigational speed of the pilot test boat; the first radio station communicates with a second radio station on a following yacht through radio signals;

a second anemorumbometer on the environment measuring ship measures the wind speed and the wind direction of the test sea area, a flow velocity and flow direction instrument measures the absolute flow velocity and the flow direction of the test sea area, and a buoy type wave height instrument measures the three-dimensional sea condition information of the test sea area;

based on the signal measurement technology, the test of the overall performance of the ship can be developed, and the test contents comprise the static performance (stability, buoyancy and sinking resistance), the rapidity (resistance and propulsion), the mobility (maneuverability and wave resistance), the structural load (wave load, slamming load, underwater explosion and structural strength) and the like of the complete ship and the damaged ship.

Furthermore, a ship static performance (stability, buoyancy and sinking resistance) test can be carried out when the wind is calm and the waves are calm, and the complete stability of the ship is tested and evaluated; and a damaged water inlet can be arranged on the hull of the ship, and the stability, buoyancy and sinking resistance of the cabin of the ship can be tested and evaluated.

Further, the resistance of the bare hull and the additional resistance are measured by means of a towing or dragging device in the ship resistance test. The rotating speed, the thrust and the torque of the propeller, the power of the motor and the like of the pilot boat at different speeds are measured in the ship propulsion test. The model can be tested for resistance increase and stall in the wave by performing a quickness test in the wave. And carrying out video recording on the propeller rotating at high speed through a special camera so as to test and observe the cavitation phenomenon.

Furthermore, in the ship maneuverability test process, the motion attitude, the navigational speed, the course, the navigation track and the like of the model are measured through the GPS/INS equipment, the rotating speed, the torque and the thrust of the propeller shaft system are measured by using the self-navigation instrument, and the real-time rudder angle and the like are measured by using the rudder angle potentiometer. And further testing the stable-speed direct navigation, the direct navigation acceleration, the direct navigation braking, the rotation circle, the Z-shaped control, the spiral test, the rudder return test and the like of the ship.

Furthermore, a wave resistance test of the ship measures six-degree-of-freedom motion, vertical deck acceleration and upwelling conditions of the pilot ship when the pilot ship sails under different sea conditions, and simultaneously needs to measure sea condition information in a test sea area. By controlling 3 variable parameters: and the wave environment, the model navigational speed and the model course are used for carrying out test research under different working conditions.

Further, the ship structure load test mainly measures wave load (section bending moment, shear force and torque), slamming load (slamming pressure, slamming bending moment), hull vibration (bounce and flutter), underwater explosion and the like of a pilot ship in waves. The model's transient slamming, etc. nonlinear load response is tested in large waves under extreme sea conditions. In addition, in the later stage of the research on most of the test conditions, the underwater explosion test of the pilot test boat needs to be carried out to research the antiknock performance and the vitality intensity of the ship.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. compared with a pool test, the method avoids using large-scale instruments and equipment such as pools, navigation vehicles, wave generators and the like with high construction cost; compared with a real ship sea test, the method has the advantages of low cost, short period, convenient model transportation and the like, and can be applied to the experimental research of the ship design optimization shaping stage.

2. Compared with a pool model test, the pilot test boat model with larger scale can effectively reduce the Reynolds scale effect, which is very beneficial to the extrapolation conversion of the resistance performance of a real ship.

3. The test is developed in an open natural water area, the sailing range of the pilot boat is not limited, and the wave resistance and wave load tests of the ship under any wave angle can be developed.

4. The pilot boat is in a completely free motion state at sea, and the six-degree-of-freedom coupling motion of the pilot boat is more real than that of a pool test model.

5. The wave environment encountered by the pilot boat at sea is real sea waves, and is short-peak irregular waves generated by the combined action of wind and gravity, which has important value for extrapolating and forecasting the problems of non-linear motion, wave load, slamming, deck wave and the like of the real boat.

6. The pilot boat can be provided with the superstructure, the anti-sway fins, the bilge keels and other accessories, so that the combined action of the wind, the wave and the current is comprehensively considered, and the pilot boat can also be used for the optimization design of the energy-saving accessory and the anti-sway accessory.

7. The pilot test boat can be used for carrying out destructive tests in actual sea areas, such as wave load tests under extreme sea conditions, ship impact resistance tests based on underwater explosion and the like, which are difficult to complete in actual ship tests.

8. The test model has high utilization rate, once the pilot boat model is built, most hydrodynamic performance tests can be performed in natural water by taking the pilot boat as a carrier, and the hydrodynamic performance tests comprise: ship static properties (stability, buoyancy, resistance to sinking), rapidity (resistance and propulsion), motility (maneuverability and seaworthiness), structural loads (wave load, slamming load, underwater explosion and structural strength), etc.

Drawings

FIG. 1 is a scene diagram of a test in a real sea area of a ship testing sea test system in the embodiment of the invention;

FIG. 2 is a frame diagram of the overall structure of a submarine test system according to an embodiment of the invention;

FIG. 3 is a side view of the overall arrangement of a pilot boat with a keel beam connection according to an embodiment of the invention;

FIG. 4 is a top plan view of the overall arrangement of a pilot boat to which the keel beams are attached according to an embodiment of the invention;

FIG. 5 is a side view of the overall arrangement of a pilot boat with transverse bulkhead connections according to an embodiment of the invention;

FIG. 6 is a top view of the overall arrangement of a pilot boat with transverse bulkhead connections according to an embodiment of the invention;

FIG. 7 is a block diagram of a data acquisition system in accordance with an embodiment of the present invention;

FIG. 8 is a flowchart illustrating operation of a telemetry system in accordance with an embodiment of the present invention;

FIG. 9 is a diagram of a ship overall performance testing framework according to an embodiment of the present invention;

FIG. 10 is a first course path planning scheme of the wave endurance test of the ship according to the embodiment of the present invention;

fig. 11 is a second course path planning scheme for the wave endurance test of the ship in the embodiment of the present invention.

Wherein: 1: hull outer shell, 2: deck, 3: fracture gap, 4: keel beam, 5: keel beam fixing base, 6: transverse bulkhead, 7: flange plate, 8: superstructure, 9: ballast block, 10: propeller, 11: paddle shaft, 12: motor, 13: right angle gearbox, 14: battery pack, 15: self-propelled instrument, 16: steering engine, 17: autopilot, 18: pilot boat, 19: following yacht, 20: environmental survey vessel, 21: second anemoscope, 22: flow rate and flow direction instrument, 23: buoy type wave height meter, 24: wave height instrument with boat, 25: high-speed gyro inertia pan-tilt, 26: INS core unit, 27: GPS receiver, 28: satellite, 29: first transmission antenna, 30: camera, 31: strain gauge, 32: accelerometer, 33: pressure sensor, 34: rudder angle potentiometer, 35: data acquisition instrument, 36: first computer, 37: first anemoscope, #0 to # 20: ship body station number, I-VI: and sequentially numbering the sailing routes.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.

As shown in fig. 1 and 2, the pilot boat sea test system comprises a pilot boat and an auxiliary boat system. Because the pilot test boat needs to complete the test contents under a series of dangerous working conditions, the pilot test boat is remotely controlled and telemetered on other auxiliary boats by testers in an unmanned boat form. The auxiliary ship system comprises a following yacht and an environment measuring ship. The following yacht is used for carrying communication equipment, navigation control equipment, testers and the like, the yacht follows the pilot test yacht to navigate together in the test process, and the distance between the yacht and the pilot test yacht is kept within 100 m. The test personnel carried on the following yacht is responsible for remotely controlling and controlling the speed and the course of the pilot yacht. And a tester, a second anemorumbometer, a flow velocity and direction instrument, a buoy type wave height instrument and other equipment are carried on the environment measuring ship. In the experimental process, the environment measuring ship is anchored at the navigation track center of the pilot test ship and measures environmental parameters such as wind, wave and flow in the test sea area.

The actual ship total length of the ship is 312m, and the displacement is about 72000 tons. The geometric scaling ratio of the pilot boat is 1:25, the total length of the corresponding model is 12.48m, and the water discharge is about 4.6 tons. The hull is evenly divided into 20 stations along the longitudinal direction from the stem to the stern, and the general arrangement diagram of the pilot boat is shown in figures 3 and 4. The pilot test boat comprises a boat body system, a data acquisition system and a remote control and remote measuring system.

The ship body system comprises a ship body shell, a deck, ballast blocks, transverse bulkheads, keel beams, a propulsion device and a rudder device. The hull shell contour is obtained by scaling according to the geometric contour of a real ship and is processed and formed by adopting glass fiber reinforced plastic, so that the similarity between the geometric shape of the hull and an external flow field is ensured. The deck is similar to a real ship deck and is used to prevent seawater from entering the cabin interior. The ballast blocks are a plurality of weight blocks which are dispersedly arranged and fixed at corresponding positions in the ship body, and are used for adjusting the weight distribution and the rotational inertia of the empty ship and ensuring the similarity with a real ship. As shown in fig. 3 and 4, when various performance tests of the complete ship are carried out, in order to measure the section load and the hydro-elastic response of the ship, the hull shells are disconnected at the stations #2, #4, #6, #8, #10 and #12, a certain longitudinal gap is reserved between the adjacent hull shells at the fracture, a silica gel strip is adopted for watertight treatment, and the disconnected hull shells are connected by longitudinally continuous keel beams. A fixing base is arranged inside the ship shells at the stations #1, #3, #5, #7, #9, #11 and #13, so that the keel beam is fixed on the fixing base inside the segmented ship shell. The model tail #13 to #20 stations are used for arranging a propulsion device such as a shafting, and therefore, a segmentation process is not needed. As shown in fig. 5 and 6, when various performance tests after ship breakage are carried out, it is necessary to remove the keel beams and install transverse bulkheads at the #2, #4, #6, #8, #10 and #12 station positions of the hulls for simulating the subdivision effect of a real ship, thereby limiting the flooding within a partial cabin range and preventing the flooding from spreading in the longitudinal direction. The flange plates on the ship shells of the adjacent sections are fixedly connected with the transverse bulkhead through a plurality of bolts, so that the longitudinal strength and the continuity of the ship body are ensured. The gaps at the station cuts of #2, #4, #6, #8, #10 and #12 of the ship hull are sealed by silica gel strips, and the cabin sections at the positions simulating the damage of the ship hull are not subjected to watertight treatment.

The propulsion device is used for providing propulsion and navigational speed for the self-propelled ship model and comprises a propeller, a propeller shaft, a motor and a battery pack. The motors are arranged in the hull shell and are direct-current permanent magnet motors (rated voltage 240V), and the two motors can drive the four propeller shafts and the propellers to rotate through the right-angle gear box. Four propellers are adopted to provide a power source for high-speed sailing of ships. The battery pack consists of 20 12V lead storage batteries connected in series to provide power input for the DC motor. The battery pack is heavy and therefore can also be used to act as a ballast.

The rudder device is used for changing or keeping the heading of the model and comprises a steering engine and an automatic rudder. The autopilot can be a product of the prior art, and generally comprises a heading gyro unit, an electric control unit, a user operation interface and a driving hydraulic rod. The autopilot can automatically keep the pilot boat to stably sail along the set course angle according to the course angle instruction input by a tester.

As shown in fig. 7, the data acquisition system includes various sensors, a data acquisition instrument, and a first computer. The sensor is connected with the data acquisition instrument, and the data acquisition instrument is connected with the first computer. The sensors required by the test comprise strain gauges, accelerometers, pressure sensors, rudder angle potentiometers, autopilots, ship-borne wave height meters and anemorumbometers. The full-bridge strain gauges are adhered to the keel beams at the positions of the #2, #4, #6, #8, #10 and #12 stations of the hull of the pilot boat, so that the vertical and horizontal bending stress can be measured, and the measured stress signals can be converted into section bending moments by combining with the section rigidity parameters of the keel beams. 15 pressure sensors are arranged in the out-of-bow flutter region of the pilot boat and used for measuring the slamming pressure. Unidirectional acceleration sensors are arranged on decks of a bow #0 station, a midship #10 station and a stern #20 station of the pilot boat, and are used for measuring the vertical acceleration of the movement of the boat in waves. And a rudder angle potentiometer is arranged on the rudder shaft to measure the real-time rudder angle. The shaft-breaking self-propulsion instrument is arranged on the propeller shaft to measure the thrust, the torque and the rotating speed of the propeller, so that the shaft-breaking self-propulsion instrument is used for the test research of the rapidity and the maneuverability of the ship. A wave height following instrument is installed on the bow of a pilot boat and used for measuring incident wave time history information encountered by a model, and a high-speed gyroscope inertia holder is arranged at the connecting position of the wave height following instrument and a boat body and used for ensuring that the wave height instrument is not interfered by the shaking motion of the boat and is always kept in a vertical state. The pilot test boat is also provided with a first anemorumbometer used for measuring the relative wind speed and the relative wind direction of the model during navigation.

Adopt dynamic signal acquisition appearance to gather test data, this data acquisition appearance contains 32 passageways, can carry out the sampling of different frequency to the signal of different grade type simultaneously to with sampling measurement data transmission, demonstration and save the first computer on the pilot boat. Because the number of signal channels such as stress, pressure, acceleration and the like on the pilot test boat is large and the sampling frequency is high, the acquired signals are transmitted and stored to a first computer on the pilot test boat through a signal wire, and a wireless transmission remote measurement form is not adopted. The stopping and starting of the data acquisition instrument can be realized by following a wireless pulse signal transmitted by a second radio station connected with a second computer controlled by a tester on the yacht.

As shown in fig. 2 and 8, the telemetric system includes a GPS/INS device, an AD module, a first radio station, and a first transmission antenna. The GPS/INS device is used for measuring information such as a motion track, a speed, a course, a motion attitude and the like of the pilot boat, transmitting real-time monitoring data to the following yacht through radio signals, and displaying the real-time monitoring data on a screen of a second computer on the following yacht. The GPS/INS device includes an INS core unit (inertial navigation system core unit) and a GPS receiver. The INS nuclear unit is arranged at the position of the gravity center of the pilot boat and used for measuring the six-degree-of-freedom motion of the model, the measurement accuracy of angles in three directions is 0.02 degrees, and the measurement accuracy of displacement speeds in the three directions is 0.02 m/s. The two GPS receivers are respectively fixed at the center line on the fore-aft deck of the model and used for receiving satellite signals so as to carry out real-time positioning and tracking on the pilot boat, and thus, the information such as the real-time position, the speed, the navigation track and the like of the pilot boat is obtained. The AD module (analog signal and digital signal conversion module) is used for processing an analog voltage signal of the motor so as to adjust the rotating speed of the motor according to a computer instruction. The first radio station is used for communication between the pilot boat and equipment on the following yacht, and the first transmission antenna is used for improving the power of the radio station so as to increase the information transmission speed and distance. And a shipborne camera is arranged on the deck of the pilot test boat and used for recording the navigation state of the pilot test boat. The speed and course of the pilot test boat can be adjusted, and the camera can be stopped and started by following the wireless pulse signal transmitted by the tester on the yacht.

The following yacht is provided with a second radio station, a second computer and a second transmission antenna, wherein the second radio station is used for communicating with the first radio station and transmitting signals to the second computer or receiving instruction signals of the second computer. The second transmission antenna is used to increase the power of the second radio station to increase the information transmission speed and distance.

The environment measuring ship comprises a ship body, and a second anemorumbometer, a flow velocity and flow direction instrument and a buoy type wave height instrument which are arranged on the ship body. And the second anemorumbometer is used for measuring the actual wind speed and wind direction of the test field area. The buoy type wave height meter is used for measuring three-dimensional sea condition information of a test sea area. The flow velocity and direction instrument is used for measuring the absolute flow velocity and the flow direction of the test sea area.

Based on the pilot test boat sea test system established, the overall performance test of the ship can be carried out. The overall performance test of the ship as shown in fig. 9 mainly comprises the following steps: static properties (stability, buoyancy, resistance to sinking), rapidity (resistance and propulsion), motility (maneuverability and seaworthiness), structural loads (wave load, slamming load, underwater explosions and structural strength) of whole and damaged ships, etc.

When the ship static performance (stability, buoyancy and sinking resistance) test is carried out, the test is carried out when the wind is calm and the waves are calm. By moving a heavy object on the pilot boat to carry out an inclination test and measuring a transverse inclination angle, a longitudinal inclination angle, head-tail draught and the like, the displacement and barycentric coordinates of the ship can be determined, and the integrity and stability of the ship can be evaluated. In addition, a hull structure form with a transverse bulkhead is adopted, a damaged water inlet is formed in a hull, and cabin breaking stability, buoyancy and sinking resistance after water is fed in due to damage such as reef touching, collision and the like of a real ship can be simulated.

The test of the rapidity (resistance and propulsion) of the ship can be carried out when the wind is calm and the waves are calm, and can also be carried out under a certain sea condition. The resistance of the bare hull and the additional resistance can be measured by means of a towing or towing device in a ship resistance test. In the ship propulsion test, parameters such as the rotating speed, the thrust and the torque of the propeller, the power of the motor and the like of the pilot ship at different speeds are measured, and a curve of the speed and the power (rotating speed) can be drawn. The rapid test in the wave can research the resistance increase and the stall of the model in the wave. Under the condition that the propeller rotates at a high speed, the propeller can be subjected to video recording through a special camera so as to observe the cavitation phenomenon.

The ship maneuverability test can be carried out when the wind is calm and the sea condition is certain. The contents of the developable ship maneuverability test mainly comprise: the method comprises a steady speed direct navigation test, a direct navigation acceleration test, a direct navigation braking test, a turning circle test, a Z-shaped test, a spiral test, a helm return test and the like. In the test process, the motion attitude, the navigation speed, the course, the navigation track and the like of the model are measured through GPS/INS equipment, the rotating speed, the torque and the thrust of a propeller shaft system are measured by adopting a self-navigation instrument, and the real-time rudder angle and the like are measured by adopting a rudder angle potentiometer.

The wave resistance test of the ship mainly measures six-degree-of-freedom motion, deck vertical acceleration and deck wave conditions of the pilot test ship when the pilot test ship sails under different sea conditions, and simultaneously needs to measure environmental information such as sea conditions in a test sea area. For the wave resistance test, 3 variable parameters were mainly controlled: wave environment, model navigational speed and course, thereby carrying out test research under different working conditions. As shown in fig. 10 and 11, the two navigation path plans of the pilot boat for the wave endurance test can both quickly and conveniently measure the ship motion response under different wave angles through one navigation, for example, the motion response of the pilot boat when encountering the head waves, the tail waves, the cross waves, the bow oblique waves and the stern oblique waves can be tested.

The structural load test mainly measures wave load (section bending moment, shearing force and torque), slamming load (slamming pressure and slamming bending moment), hull vibration (elastic vibration and flutter), underwater explosion and the like of the pilot-scale boat in waves. The wave load test has the same test scheme as the wave resistance test, namely three variables of wave environment, model navigational speed and course are respectively controlled, and the load response of the model under different working conditions is researched. In large waves under extreme sea conditions, strong nonlinear load responses such as model transient slamming can be studied. In addition, in the later stage of the research on most of the test working conditions, the underwater explosion test of the pilot test ship can be carried out to research the antiknock performance and the vitality intensity of the ship.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A pilot boat sea test system is characterized by comprising a pilot boat and an auxiliary boat system; the pilot test boat comprises a boat body system, a data acquisition system and a remote control and remote measuring system;

the ship body system comprises a ship body shell, a propelling device and a rudder device, wherein the propelling device is used for propelling the pilot test ship to sail;

the data acquisition system comprises a sensor, a data acquisition instrument and a first computer, wherein the sensor is connected with the data acquisition instrument, and the data acquisition instrument is connected with the first computer;

the remote control and remote measurement system comprises a GPS/INS device, an AD module and a first radio station, wherein the GPS/INS device is used for measuring the motion state of a ship body system and positioning and tracking the ship body system, the AD module is used for processing an analog voltage signal of a motor of a propulsion device, and the first radio station is used for communication between a pilot test boat and an auxiliary ship system;

the auxiliary ship system comprises a following yacht and an environment measuring ship, wherein a second radio station and a second computer are installed on the following yacht, and the second radio station is used for communicating with the first radio station and transmitting signals to the second computer or receiving instruction signals of the second computer; the environment measuring ship is used for measuring the environment parameters of the pilot test boat test sea area.

2. The pilot boat sea test system according to claim 1, wherein the hull shell is a segmented shell, the hull shell is broken at a plurality of longitudinal positions, gaps between adjacent shells at the broken positions are sealed by silica gel strips, and the adjacent segmented shells can be fixedly connected through a transverse bulkhead or a keel beam; the transverse bulkhead is fixedly connected with flange plates arranged on the edges of the segmented hulls, and the keel beams are longitudinally continuous and fixedly arranged on a plurality of fixed bases inside the hull shells.

3. A pilot boat marine test system as claimed in claim 2, wherein said transverse bulkheads and keel beams are removable and only one of them is installed when conducting a type of test.

4. The pilot boat sea test system according to claim 2 or 3, wherein the propulsion device comprises a propeller, a propeller shaft, a motor and a battery pack, the motor is mounted in the hull shell, the motor is connected with the propeller shafts, the end of each propeller shaft is connected with the propeller, and the motor is powered by the battery pack mounted in the hull shell.

5. The pilot boat sea test system according to claim 4, wherein the rudder device comprises a steering engine and an automatic rudder, and the automatic rudder is connected with the steering engine.

6. The pilot boat sea test system according to claim 5, wherein the sensors comprise a strain gauge adhered to a keel beam, a pressure sensor installed in a floating area outside a pilot boat bow, an acceleration sensor installed on a pilot boat deck, a rudder angle potentiometer installed on a steering engine, an autopilot installed on a paddle shaft, a wave height indicator installed on the pilot boat bow, and a first anemoscope installed on the pilot boat.

7. The pilot boat sea test system according to claim 6, wherein a high-speed gyro inertia holder is arranged at the connection position of the wave height indicator and the boat body.

8. The pilot boat sea test system as claimed in claim 1, wherein the GPS/INS device comprises an INS core unit and a GPS receiver, the INS core unit is installed on the hull system and is used for measuring six-degree-of-freedom motion states of the hull system, and the GPS receiver is used for receiving satellite signals and carrying out real-time positioning and tracking on the hull system.

9. The pilot boat sea test system of claim 1, wherein the environmental survey vessel comprises a hull, a second anemorumbometer, a current-direction meter and a floating-type wave height meter, wherein the second anemorumbometer and the current-direction meter are arranged on the hull.

10. A method of performing a ship global performance test using the pilot boat marine test system of any one of claims 1 to 9, comprising the steps of:

according to the type and the requirement of the test of the complete ship or the damaged ship, a keel beam or a transverse bulkhead is respectively selected to be used for connecting the segmented hulls, and a model and a system are assembled and debugged;

the sensor measures a stress signal, an slamming pressure signal, an acceleration signal, a rudder angle signal, a propeller state signal and an incident wave signal of a ship body system, the measured signals are transmitted to the data acquisition instrument, and the data acquisition instrument transmits the acquired signals to the first computer;

the INS nuclear unit measures the six-degree-of-freedom motion state of the hull system, and the GPS receiver receives satellite signals and carries out real-time positioning and tracking on the hull system; the AD module processes an analog voltage signal of a motor of the propulsion device; the first radio station communicates with a second radio station on a following yacht through radio signals;

a second anemorumbometer on the environment measuring ship measures the wind speed and the wind direction of the test sea area, a flow velocity and flow direction instrument measures the absolute flow velocity and the flow direction of the test sea area, and a buoy type wave height instrument measures the three-dimensional sea condition information of the test sea area;

and sequentially carrying out test tests on the stability, buoyancy, sinking resistance, resistance and propulsion, maneuverability and wave resistance, wave load, slamming load, underwater explosion and structural strength of the ship, and completing the overall performance evaluation of the ship by using the measured signals.

Images