CN112798224B - Ship model plane motion measurement method - Google Patents
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Abstract
The invention discloses a ship model motion measurement method, in particular to a plane motion measurement method aiming at a ship model hydrodynamic test, which adopts a ship model motion constraint device to constrain the ship model motion response to three degrees of freedom of swaying, heaving and rolling in a two-dimensional Oyz plane under the impact action of cross waves of a ship model, adopts two contact type pull rope displacement sensors and an inclination angle sensor to analyze and convert basic data acquired by the sensors, and realizes convenient measurement of motion postures of the three degrees of freedom of swaying, heaving and swaying of the ship model. The motion constraint effect of the invention can reach more than 80%, the precision of the measurement method is more than 95%, the total amount of data collected in the test is reduced by 50%, the efficiency and the accuracy of the model test can be effectively improved, the test is simplified, and the test time is saved.
Description
Technical Field
The invention relates to a ship model motion measuring method, in particular to a ship model plane motion measuring method.
Background
When a ship sails or berths at sea, the ship is usually subjected to the impact action of waves so as to generate motion response. When the motion response is beyond the allowable range, irreparable economic loss is caused. Therefore, the method has important practical value for obtaining the motion response of the ship model under the action of the waves in advance through the ship hydrodynamic force test.
The fore-aft (fore-aft) direction of the vessel is referred to as the longitudinal direction and is denoted by X. The port-starboard (left-right) direction is referred to as the transverse direction and is denoted by Y. The upper deck-bilge (up-down) direction of the ship is called the vertical direction and is denoted by Z. Wherein, the shaking (the play and the swing) in the front-back direction is called surging, the shaking (the play and the swing) in the left-right direction is called surging, and the shaking (the play and the swing) in the up-down direction is called heaving; the left-right swing is called rolling, the front-back swing is called pitching, and the bow swings left and right to be called yawing.
Under the impact action of transverse waves (the wave direction is vertical to the head-tail connecting line of the ship model), the multi-body interaction when the ship model is tested and leans against a floating body and a wharf is an important research content in the ship model hydrodynamic test. In this case, since the motion response of the three main degrees of freedom of the ship model, such as the tank, the pitch and the yaw, can affect the accuracy of the motion response of the three main degrees of freedom of the ship model, such as the tank, the pitch and the yaw, the motion response of the former motion response is not a result of attention required in the test in the mooring problem, and generally needs to be restrained or limited, so that the motion response of the ship model is restrained on the three degrees of freedom of the tank, the pitch and the yaw, and the efficiency of the test and the accuracy of the result are improved.
Meanwhile, in the existing ship model hydrodynamic test, the ship model motion measurement method is mainly used for six-degree-of-freedom motion measurement of a ship model, and comprises a non-contact optical measurement system, an electromagnetic measurement system and a contact displacement measurement system, six sensors are usually needed, even more measurement terminals are needed, the defects of complex measurement system, difficult operation, high price, relatively high measurement cost and the like exist, and the implementation and the universality popularization of the ship model motion measurement test are not facilitated.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide a ship model plane motion measuring method which adopts a set of ship model plane motion constraint system, two contact type stay rope displacement sensors and an attitude sensor to form a ship model plane motion test system, and realizes convenient measurement of the motions of three degrees of freedom of the ship model such as rolling, heaving and swaying through motion decomposition and conversion under the impact of the ship model by the cross waves.
In order to achieve the purpose, the invention provides a ship model plane motion measuring method.
The method adopts a ship model motion constraint device, and is used for constraining ship model motion response to three degrees of freedom of swaying, heaving and rolling in a two-dimensional Oyz plane under the impact action of the ship model by the cross waves;
the movable ends of the pull ropes of the two pull rope displacement sensors are fixed on an anchor point at the center of the ship model and are respectively arranged right above the anchor point at the center of the ship model and right behind the back wave;
and an inclination angle sensor horizontally fixed at the anchoring point of the center of the ship model;
the measuring method comprises the following specific steps:
determining stay rope length data L' and L of two stay rope displacement sensors and inclination angle data theta of an inclination angle sensor according to the initial position of a ship model, wherein the initial value of the inclination angle theta is 0;
secondly, acquiring a group of pull rope length data sequences Ln' and Ln and an inclination angle data sequence theta n of the test, wherein n is 1, 2 and 3 … …; setting a sampling time interval of 0.01 second as a time step, and keeping the inclination angle sensor and the pull rope displacement sensor to perform sampling synchronously;
decomposing Ln 'and Ln acquired at each time step in the horizontal direction and the vertical direction to obtain the projection lengths Lyn' and Lzn 'of the Ln' in the two directions, and obtaining the projection lengths Lyn and Lzn of the Ln in the two directions;
fourthly, according to the arrangement scheme of the test model, a quadric equation set (1) is listed:
iteratively solving unknowns Lyn, Lzn, Lyn 'and Lzn' for the nonlinear equation set (1); firstly, setting an initial value P0(L, 0, 0, L') of the solution, namely a mooring point of the pull rope displacement sensor in a still water state, and solving a nonlinear equation set (1) by adopting a least square method and a curve fitting method;
let Lyn, Lzn, Lyn 'and Lzn' be x1, x2, x3, x4, L ', L, Ln' and Ln be a, b, c, d, respectively; transforming the above equation set (1) to obtain equation set (2):
calculating geometric intersection points P1 and P2 of formulas IV and IV, comparing intersection values with an initial value P0, and taking a point M at which the two intersection points and the P0 are closest as a mooring point of the stay rope displacement sensor on the ship model, Min (| P1-P0|, | P2-P0 |);
fifthly, repeating the previous step by taking the time interval of 0.01 second as the time step lengthUpdating the mooring point P0 at the beginning of each stepnewThe intersection values (Lyn, Lzn, Lyn 'and Lzn') of the previous step are calculated to obtain new P1newAnd P2newAnd according to the updated P0newValue determination intersection point MnewObtaining a mooring point position sequence M (Y, Z) after the total time required by a group of tests is finished, wherein Y is L-Lyn, and Z is L-Lzn' which are respectively the horizontal distance and the vertical distance from the mooring point to an initial mooring point P0;
sixthly, measuring to obtain real-time displacement of the anchor system point at the center of the ship model, wherein the real-time displacement comprises displacement generated by translation of the gravity center of the ship model and displacement generated by rotation of the ship model, compensating displacement caused by rotation of the ship model at any moment by combining inclination angle data theta acquired by each time step inclination angle sensor, and converting the displacement at the anchor system point at the gravity center of the ship model into displacement at the gravity center of the ship model;
L1x＝L2x-L0x
L1y＝L2y-L0y
and seventhly, adding the gravity center displacement of the ship model obtained by conversion to the inclination angle at the corresponding moment to obtain the motion attitude (x, y and theta) of the ship model in the two-dimensional Oyz plane at any moment.
The ship model plane motion measuring method provided by the invention has the following remarkable advantages:
the invention can complete the measurement test of the motion postures (swaying, heaving and rolling) of the ship model in the two-dimensional Oyz plane under the impact action of the cross waves on the ship model. Under the impact of the rolling waves on the ship model in the hydrodynamic test water tank, the ship model only freely moves in heave, roll and roll in the process of the motion attitude measurement test of the ship model in the two-dimensional Oyz plane by adopting the method, so that the pitching, pitching and yawing motions of the ship model are limited, the efficiency and accuracy of the model test are effectively improved, the test is simplified, the total amount of test acquisition data is reduced by 50%, the test time is saved, and the test result is favorably concentrated on the two-dimensional Oyz plane motion response concerned in the test design process.
By adopting the method, the plane motion test of the ship model can be rapidly carried out, the motion response characteristics of the ship model under the impact action of the cross waves are analyzed, and a reliable test result is simply and accurately obtained, thereby being beneficial to improving the efficiency of the marine hydrodynamics test.
Drawings
FIG. 1 is a schematic illustration of the decomposition and resolution of the translational motion of a ship model;
FIG. 2 is a schematic diagram of ship model planar motion analysis and motion compensation;
FIG. 3 is a schematic view of a ship model movement restraint device;
in the figure: the device comprises a ship model and ship model mooring rope assembly 10, a rigid constraint rope support 20, a double narrow slit constraint plate 30, a narrow slit 30-1 and a rigid constraint rope 40;
FIG. 4 is a schematic illustration of planar motion measurement validation;
FIG. 5 is a schematic diagram of a ship model plane motion hydrodynamic test system;
in the figure: 1, ship and other floating bodies, 2 mooring ropes, 3 a support frame, 4 an inclination angle sensor, 5 side pull rope displacement sensors, 6 top pull rope displacement sensors and 7 a motion constraint system;
fig. 6 is a planar motion constrained front-to-back effect.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived from the embodiments of the present invention by a person of ordinary skill in the art are intended to fall within the scope of the present invention.
The present embodiment provides a method for measuring a planar motion of a ship model, as an embodiment of the present invention.
The method adopts a ship model motion constraint device, and is used for constraining ship model motion response to three degrees of freedom of swaying, heaving and rolling in a two-dimensional Oyz plane under the impact action of the ship model by the cross waves;
the movable ends of the pull ropes of the two pull rope displacement sensors are fixed on an anchor point at the center of the ship model and are respectively arranged right above the anchor point at the center of the ship model and right behind the back wave;
and an inclination angle sensor horizontally fixed at the anchoring point of the center of the ship model;
the measuring method comprises the following specific steps:
determining stay rope length data L' and L of two stay rope displacement sensors and inclination angle data theta of an inclination angle sensor according to the initial position of a ship model, wherein the initial value of the inclination angle theta is 0;
secondly, acquiring a group of pull rope length data sequences Ln' and Ln and an inclination angle data sequence theta n of the test, wherein n is 1, 2 and 3 … …; setting a sampling time interval of 0.01 second as a time step, and keeping the inclination angle sensor and the pull rope displacement sensor to perform sampling synchronously;
thirdly, decomposing Ln 'and Ln acquired at each time step in the horizontal direction and the vertical direction to obtain the projection lengths Lyn' and Lzn 'of the Ln' in the two directions, and obtaining the projection lengths Lyn and Lzn of the Ln in the two directions, as shown in FIG. 1;
fourthly, according to the arrangement scheme of the test model, a quadric equation set (1) is listed:
iteratively solving unknowns Lyn, Lzn, Lyn 'and Lzn' for the nonlinear equation set (1); firstly, setting an initial value P0(L, 0, 0, L') of the solution, namely a mooring point of the pull rope displacement sensor in a still water state, and solving a nonlinear equation set (1) by adopting a least square method and a curve fitting method;
let Lyn, Lzn, Lyn 'and Lzn' be x1, x2, x3, x4, L ', L, Ln' and Ln be a, b, c, d, respectively; transforming the above equation set (1) to obtain equation set (2):
calculating geometric intersection points P1 and P2 of formulas IV and IV, comparing intersection values with an initial value P0, and taking a point M at which the two intersection points and the P0 are closest as a mooring point of the stay rope displacement sensor on the ship model, Min (| P1-P0|, | P2-P0 |);
fifthly, repeating the previous step by taking the time interval of 0.01 second as a time step, and updating the mooring point P0 at the beginning of each stepnewThe intersection values (Lyn, Lzn, Lyn 'and Lzn') of the previous step are calculated to obtain new P1newAnd P2newAnd according to the updated P0newValue determination intersection point MnewObtaining a mooring point position sequence M (Y, Z) after the total time required by a group of tests is finished, wherein Y is L-Lyn, and Z is L-Lzn' which are respectively the horizontal distance and the vertical distance from the mooring point to an initial mooring point P0;
sixthly, measuring to obtain real-time displacement of the anchor system point at the center of the ship model, wherein the real-time displacement comprises displacement generated by translation of the gravity center of the ship model and displacement generated by rotation of the ship model, compensating displacement caused by rotation of the ship model at any moment by combining inclination angle data theta acquired by each time step inclination angle sensor, and converting the displacement at the anchor system point at the gravity center of the ship model into displacement at the gravity center of the ship model; as shown in fig. 2;
L1x＝L2x-L0x
L1y＝L2y-L0y
and seventhly, adding the gravity center displacement of the ship model obtained by conversion to the inclination angle at the corresponding moment to obtain the motion attitude (x, y and theta) of the ship model in the two-dimensional Oyz plane at any moment.
As shown in fig. 3, the present embodiment employs a ship model movement restriction device, which includes:
a ship model and ship model mooring line assembly 10, a pair of rigid restraining line brackets 20, a pair of double slot restraining plates 30 and a pair of rigid restraining lines 40. The rigid constraining cable 40 may be replaced with a rigid elongate rod.
The pair of double narrow slit restraint plates 30 are fixedly installed on a deck of the ship model through four screws, and the pair of double narrow slit restraint plates 30 are arranged in the front and back direction in the wave-facing direction and are parallel to ship boards on the left side and the right side; the width of the narrow slit 30-1 of the double narrow slit restraint plate 30 is slightly larger than the diameter of the rigid restraint cable 40. The two rigid restraining cables 40 pass through the two slots 30-1 of the pair of double slot restraining plates 30, respectively. Both ends of the rigid restraining cable 40 are fixedly mounted on the rigid restraining cable bracket 20 through bolts, so that the rigid restraining cable 40 is completely tightened, has high rigidity and can freely slide in the narrow slits 30-1 of the double-narrow-slit restraining plate 30. A pair of rigid restraining cable brackets 20 may be fixedly mounted directly to the hydrodynamic test flume. Due to the constraint of the rigid constraint cable 40, the ship model can perform the rolling motion along the axial direction of the rigid constraint cable 40, the heaving motion and the rolling motion along the extending direction of the narrow slits 30-1, and simultaneously limit the motion of the ship model in the pitching, pitching and yawing directions.
In addition, the narrow gap of the double-narrow-gap restraining plate 30 can be pre-coated with a smooth material, so that the frictional resistance of the narrow-gap surface to the rigid restraining cable 40 is reduced, and the experimental error is reduced.
In order to verify the accuracy of the ship model plane motion measurement method in the present embodiment, the motion measurement device and method are verified, and various test parameters and model parameters in the test are as follows.
In the verification of the motion measurement method, a motion with three degrees of freedom is applied to a motion object to be measured, wherein the motion with three degrees of freedom comprises two translation motions and a rotation motion, and the motions with three degrees of freedom are positioned in an Oxz plane. Two stay cord displacement sensors are respectively arranged above and on the side of the object to be measured, and an inclination angle sensor is arranged on the object to be measured and used for measuring the motion parameters of the object to be measured. The motion applied to the object in the horizontal direction and the vertical direction is: x (t) ═ A1sin (2 pi f1t), z (t) ═ A2sin (2 pi f2t), and the rotational motion in this plane is θ (t) ═ A3sin (2 pi f3t), in which the amplitudes and frequencies of the three motions are: a1, a2 and A3 ═ 0.02m,0.035m and 4 °, f1, f2, f3 ═ 2.2Hz,1Hz and 1.35 Hz.
By using the measuring method described by the invention, firstly, the displacement changes of the two pull ropes collected by the two sensors are respectively collected, and the rope length of the time-top sensor and the rope length of the time-side sensor are recorded; secondly, by the method, the horizontal and vertical displacement time history values (time-horizontal displacement-vertical displacement) at the anchor point of the stay rope of the moving object to be measured can be obtained by using the equation set 1 and the equation set 2 for conversion; by combining the inclination angle change of the inclination angle sensor, the distance from the anchoring point of the pull rope sensor to the center of the object to be measured and the inclination angle are subjected to horizontal and vertical decomposition (as shown in figure 6), compensation values of horizontal and vertical displacement of the moving object can be obtained, the compensation values are substituted into equation 3, and conversion analysis is carried out, so that the actual motion results of the moving object to be measured in three degrees of freedom can be obtained, as shown in figure 4, and compared with the motion applied to the object, the measurement errors of the method are respectively 4.75% of X, 4.57% of Z and 1.5% of theta.
Based on the measurement method, feasibility verification of the hydrodynamic plane motion test system is carried out, relevant parameters in the test are shown in the following table, and the test motion response is located in an Oxz plane. The test system of the present invention is shown in FIG. 5. The response results of the ship model movement measured under the test system of the invention are shown in fig. 6. Two translational movements and one rotational movement in the target plane remain unchanged and movements in the three degrees of freedom that are constrained are well suppressed. The restraining effect reduces 80.86% of the translational motion of the ship model in the Y direction and 83.17% and 82.71% of the rotational motion of the ship model in the X and Z directions respectively.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, should fall within the protection scope of the present invention.
Claims (1)
1. A ship model plane motion measuring method is characterized in that:
the method is characterized in that a ship model motion restraint device is adopted, and under the impact action of transverse waves on a ship model, the ship model motion restraint device is used for restraining the ship model motion response on three degrees of freedom of transverse oscillation, vertical oscillation and transverse oscillation in a two-dimensional Oyz plane;
the movable ends of the pull ropes of the two pull rope displacement sensors are fixed on an anchor point at the center of the ship model and are respectively arranged right above the anchor point at the center of the ship model and right behind the back wave;
and a tilt angle sensor horizontally fixed at an anchor tie point at the center of the ship model;
the measuring method comprises the following specific steps:
determining stay rope length data L' and L of two stay rope displacement sensors and inclination angle data theta of an inclination angle sensor according to the initial position of a ship model, wherein the initial value of the inclination angle theta is 0;
secondly, acquiring a group of pull rope length data sequences Ln' and Ln and an inclination angle data sequence theta n of the test, wherein n is 1, 2 and 3 … …; setting a sampling time interval of 0.01 second as a time step, and keeping the inclination angle sensor and the pull rope displacement sensor to perform sampling synchronously;
decomposing Ln 'and Ln acquired at each time step in the horizontal direction and the vertical direction to obtain the projection lengths Lyn' and Lzn 'of the Ln' in the two directions, and obtaining the projection lengths Lyn and Lzn of the Ln in the two directions;
fourthly, according to the arrangement scheme of the test model, a quadric equation set (1) is listed:
iteratively solving unknowns Lyn, Lzn, Lyn 'and Lzn' for the nonlinear equation set (1); firstly, setting an initial value P0(L, 0, 0, L') of the solution, namely a mooring point of the pull rope displacement sensor in a still water state, and solving a nonlinear equation set (1) by adopting a least square method and a curve fitting method;
let Lyn, Lzn, Lyn 'and Lzn' be x1, x2, x3, x4, L ', L, Ln' and Ln be a, b, c, d, respectively; transforming the above equation set (1) to obtain equation set (2):
calculating geometric intersection points P1 and P2 of formulas IV and IV, comparing intersection values with an initial value P0, and taking a point M at which the two intersection points and the P0 are closest as a mooring point of the stay rope displacement sensor on the ship model, Min (| P1-P0|, | P2-P0 |);
fifthly, repeating the previous step by taking the time interval of 0.01 second as a time step, and updating the mooring point P0 at the beginning of each stepnewThe intersection values (Lyn, Lzn, Lyn 'and Lzn') of the previous step are calculated to obtain new P1newAnd P2newAnd according to the updated P0newValue determination intersection point MnewObtaining a mooring point position sequence M (Y, Z) after the total time required by a group of tests is finished, wherein Y is L-Lyn, and Z is L-Lzn' which are respectively the horizontal distance and the vertical distance from the mooring point to an initial mooring point P0;
sixthly, measuring to obtain real-time displacement of the anchor system point at the center of the ship model, wherein the real-time displacement comprises displacement generated by translation of the gravity center of the ship model and displacement generated by rotation of the ship model, compensating displacement caused by rotation of the ship model at any moment by combining inclination angle data theta acquired by each time step inclination angle sensor, and converting the displacement at the anchor system point at the gravity center of the ship model into displacement at the gravity center of the ship model;
L1x＝L2x-L0x
L1y＝L2y-L0y
and seventhly, adding the gravity center displacement of the ship model obtained by conversion to the inclination angle at the corresponding moment to obtain the motion attitude (x, y and theta) of the ship model in the two-dimensional Oyz plane at any moment.
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