CN113788123B - Device and method for detecting hydrostatic performance of ship model in any floating state - Google Patents

Device and method for detecting hydrostatic performance of ship model in any floating state Download PDF

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CN113788123B
CN113788123B CN202110946003.4A CN202110946003A CN113788123B CN 113788123 B CN113788123 B CN 113788123B CN 202110946003 A CN202110946003 A CN 202110946003A CN 113788123 B CN113788123 B CN 113788123B
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rotating shaft
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CN113788123A (en
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解德
张正艺
汪伟斌
付田
舒晨晨
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Huazhong University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B71/00—Designing vessels; Predicting their performance
    • B63B71/20—Designing vessels; Predicting their performance using towing tanks or model basins for designing
    • 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

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Abstract

The invention discloses a device and a method for detecting hydrostatic performance of a ship model in any floating state, wherein the device comprises a lifting unit, a rotating unit and a dynamometer, the lifting unit is connected with the rotating unit through the dynamometer, the lower part of the rotating unit is connected with the ship model in a working state, and a water pool is arranged below the ship model; the lifting unit is used for driving the ship model to lift through longitudinal movement so as to control the draught of the ship model in the pool; the rotating unit comprises two vertically crossed rotating shafts, and is used for controlling the ship model to incline through the longitudinal rotation of one rotating shaft and the transverse rotation of the other rotating shaft; the dynamometer is used for measuring the buoyancy of the ship model in different draft states and the bending moment in different inclination states. The combination of the lifting unit and the rotating unit can accurately simulate any floating state of the ship model, and the buoyancy and bending moment of the ship model under different floating states can be directly measured by adopting the dynamometer, so that the hydrostatic performance of the ship model is comprehensively characterized.

Description

Device and method for detecting hydrostatic performance of ship model in any floating state
Technical Field
The invention belongs to the technical field of ship hydrostatic performance measurement tests, and particularly relates to a device and a method for detecting hydrostatic performance of a ship model in any floating state.
Background
Buoyancy and stability are one of the most important concepts in professional experiment teaching of ships and ocean engineering, and teaching materials related to ship statics principle are used for theoretically introducing a method for solving buoyancy under any buoyancy state, but a device capable of intuitively measuring a buoyancy experiment is not provided.
In the prior art, the equipment for measuring the hydrostatic force mainly comprises a moment measuring device arranged on the side of a hull model to measure the transverse inclination or longitudinal inclination bending moment, and a heavy object is hung to control the inclination angle and the draft, so that the measurement mode has larger error and can not accurately simulate any floating state of a ship model. A simple, convenient and visual angle rotating device is lacked in the domestic ship test, so that the development of the teaching experiment of the ship is limited.
Therefore, the technical problems that the error is large and any floating state of the ship model cannot be accurately simulated exist in the prior art.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a device and a method for detecting the hydrostatic performance of a ship model in any floating state, so that the technical problems that the error is large and the ship model in any floating state cannot be accurately simulated in the prior art are solved.
In order to achieve the above object, according to an aspect of the present invention, there is provided a device for detecting hydrostatic performance of a ship model in any floating state, including: the device comprises a lifting unit, a rotating unit and a dynamometer, wherein the lifting unit is connected with the rotating unit through the dynamometer, the lower part of the rotating unit is connected with a ship model under the working state of the device, and a water pool is arranged under the ship model;
the lifting unit is used for driving the ship model to lift through longitudinal movement so as to control the draught of the ship model in the pool;
the rotating unit comprises two vertically crossed rotating shafts, and is used for controlling the ship model to incline through the longitudinal rotation of one rotating shaft and the transverse rotation of the other rotating shaft;
the dynamometer is used for measuring the buoyancy of the ship model in different draft states and the bending moment in different inclination states.
Further, the rotating unit includes a connecting rod and a second rotating shaft and a third rotating shaft which are perpendicularly intersected,
the second rotating shaft is movably connected with the connecting rod, the bottom of the connecting rod is fixedly connected with the ship model, and the second rotating shaft is used for driving the connecting rod to rotate through longitudinal rotation so as to drive the ship model to incline;
and the third rotating shaft is fixedly connected with the connecting rod and is used for driving the connecting rod and the second rotating shaft to slide through transverse rotation so as to change the orientation of the ship model.
Further, the load cell is in accordance with the rotation angle of the third rotation shaft when measuring.
Furthermore, the device also comprises a gantry support positioned between the lifting unit and the dynamometer, the lifting unit is connected with the gantry support through a sliding guide rail, and the device moves to the position right above the water pool through the sliding guide rail during working.
Further, the lifting unit includes: a first fixed platform, a motor, a first lifting platform, a support rod, a first rotating shaft, a second fixed platform and a second lifting platform,
the first fixing platform is connected with the second fixing platform through a supporting rod, the first lifting platform is connected with the second lifting platform through a supporting rod, the first rotating shaft is fixed between the first fixing platform and the second fixing platform and penetrates through the first lifting platform, and the motor is used for driving the first rotating shaft to rotate.
Furthermore, the rotating unit further comprises an angle table, the angle table is connected with the second lifting platform through a dynamometer, and the angle table is simultaneously connected with the second rotating shaft and the third rotating shaft and used for supporting and fixing the second rotating shaft and the third rotating shaft.
According to another aspect of the invention, a method for detecting the hydrostatic performance of a ship model in any floating state is provided, and the method comprises the following steps:
connecting the lower part of the hydrostatic performance detection device of the ship model in any floating state with the ship model, and then moving the ship model to the position right above a water pool;
the lifting unit drives the ship model to lift through longitudinal movement, so that the draught of the ship model in the pool is controlled;
the rotating unit controls the ship model to incline by longitudinally rotating one rotating shaft and transversely rotating the other rotating shaft;
the dynamometer measures the buoyancy of the ship model in different draught states and the bending moment in different inclination states.
Further, if the ship model has a longitudinal inclination angle α and a transverse inclination angle β, the angle δ of longitudinal rotation of one rotating shaft is: δ ═ arc sin [ (tan θ cos β sin α + sin β) cos θ ], and the angle θ by which the other rotation axis is rotated laterally is:
Figure BDA0003217444070000031
furthermore, the distance from the rotation center of the angular position table in the rotation unit to the second lifting platform in the lifting unit is a, the distance from the rotation center of the angular position table in the rotation unit to the upper surface of the ship model is b, and a and b are adjusted along with the change of the ship model and are adjusted to meet the following relations:
Figure BDA0003217444070000032
Figure BDA0003217444070000033
wherein, theta0Is the inclination angle of the ship model, L is the length of the ship model, and B is the width of the ship model.
Further, the load cell is aligned with the rotation angle of the third rotation shaft at the time of measurement.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the lifting unit is used for controlling different drafts of the ship model, the rotating unit is used for controlling different inclination states of the ship model, the lifting unit and the rotating unit are combined to accurately simulate any floating state of the ship model, the floating state of the ship is converted into two factors of inclination and draft to be controlled separately, and the transverse inclination state or longitudinal inclination state of the ship can be simulated more conveniently, accurately and effectively; compared with the arrangement of two rotating devices, the rotating combination method avoids the possibility of collision of the two rotating devices, and enlarges the application range of the device. The buoyancy and the bending moment of the ship model under different floating states are directly measured by adopting a dynamometer, so that the hydrostatic performance parameters of the ship can be quickly and accurately obtained, and the precision is high.
(2) In the rotating unit, a second rotating shaft is movably connected with a connecting rod to control the connecting rod to rotate, and a third rotating shaft is fixedly connected with the connecting rod to control the adaptor to slide with the second rotating shaft so as to control the direction of the ship model. The control of the ship model inclination angle is realized through the combined control of the second rotating shaft and the third rotating shaft, and the specific inclination state of the ship model test can be achieved.
(3) According to the invention, the dynamometer and the third rotating shaft rotate by the same angle, so that the force measuring direction of the dynamometer is consistent with the direction of the ship model. The sliding guide rail is arranged, so that the ship model is positioned right above the water pool when being detected. The first rotating shaft is driven by the motor to rotate so as to drive the first lifting platform to move, so that the lifting of the whole device is realized.
(4) The invention controls the inclination angle of the ship model by controlling the rotation angles of the two rotating shafts in the rotating unit in the measuring process. The angle platform rotates through the second rotation axis and drives the connecting rod to rotate, and then makes the ship model take place to incline, for making the ship model not bump with the device, need adjust the distance of the center of rotation of angle platform to the second lift platform and to the distance of ship model upper surface.
Drawings
FIG. 1 is a schematic structural diagram of a device for testing hydrostatic performance of a ship model in any floating state, provided by the embodiment of the invention;
FIG. 2 is a schematic structural diagram of a second rotating shaft according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a ship model connecting plate provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of an adapter plate structure according to an embodiment of the present invention;
FIG. 5 is a schematic view of the rotation angle of the ship model around the z-axis according to the embodiment of the invention;
the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
the device comprises a base, a first fixing platform, a second fixing platform, a motor, a first lifting platform, a supporting rod, a first rotating shaft, a second fixing platform, a sliding guide rail, a gantry support, a second lifting platform, a force measuring instrument, an angle table, a second rotating shaft, a third rotating shaft, a connecting rod, a ship model, a water tank, a ball and a threaded hole, wherein the first fixing platform is 1, the motor is 2, the first lifting platform is 3, the supporting rod is 4, the first rotating shaft is 5, the second fixing platform is 6, the sliding guide rail is 7, the gantry support is 8, the second lifting platform is 9, the force measuring instrument is 10, the angle table is 11, the second rotating shaft is 12, the third rotating shaft is 13, the connecting rod is 14, the ship model is 15, the water tank is 16, the ball is 17, and the threaded hole is 18.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the device for detecting the hydrostatic performance of the ship model in any floating state comprises a first fixing platform 1, a motor 2, a first lifting platform 3, a support rod 4, a first rotating shaft 5, a second fixing platform 6, a sliding guide rail 7, a gantry support 8, a second lifting platform 9, a dynamometer 10, an angle table 11, a second rotating shaft 12, a third rotating shaft 13, a connecting rod 14, a ship model 15, a water pool 16, balls 17 and a threaded hole 18.
The whole device is fixed on a gantry support 8 through a second fixed platform 6 and a sliding guide rail 7, a first fixed platform 1 is connected with the second fixed platform 6 through four support rods 4, a first lifting platform 3 is connected with a second lifting platform 9 through four support rods 4, a first rotating shaft 5 is fixed between the first fixed platform 1 and the second fixed platform 6 and penetrates through the first lifting platform 3, and the first rotating shaft 5 is driven by a motor 2 to rotate so as to drive the first lifting platform 3 to move, so that the lifting of the whole device is realized; the angle platform 11 is connected with the second lifting platform 9 through a force measuring instrument 10. As shown in fig. 2, the second rotation shaft 12 of the angular stage is movably connected to the connection rod 14 by a ball 17, and the third rotation shaft 13 is fixedly connected to the connection rod 14. As shown in fig. 3 and 4, the bottom of the connecting rod 14 is fixedly connected with the ship model 15 through a threaded hole 18. The second rotating shaft 12 of the angle station can control the connecting rod 14 to rotate by a designated angle through longitudinal rotation, the third rotating shaft 13 of the angle station can control the connecting rod 14 and the second rotating shaft 12 to slide through transverse rotation, so that the direction of the ship model 15 is controlled, through the combined control of the second rotating shaft 12 of the angle station and the third rotating shaft 13, the motor 2 drives the second lifting platform 9 to control the ship model 15 to enter the water pool 16 to reach specific draft, any floating state of the ship model can be realized, the dynamometer 10 is installed below the second lifting platform 9, the angle station 11 is above and right above the rotating point of the angle station 11, and the buoyancy and the bending moment generated by inclination of the actual ship model 15 can be accurately measured.
Guarantee that enough big lift stroke can satisfy more ship model test's draft demand, the distance between first fixed platform 1 and the second fixed platform 6 is H1Height of the motor 2 is Hm1And the thickness of the first lifting platform 3 is t1The safety distance is Hs1Push out the travel H of the whole ship model hydrostatic performance testing devicer1：
Hr1＝H1-Hm1-t1-Hs1
The angle platform 11 rotates through second rotation axis 12 and drives the connecting rod and rotate, and then makes ship model 15 take place to incline, for ship model 15 not bump with the device, the length that needs the adjusting link pole guarantees that the ship model can incline the wide-angle. The distance from the rotation center of the angular position table 11 to the second lifting platform 9 is a, the distance from the rotation center to the upper surface of the ship model 15 is B, the maximum ship length of the ship model 15 is L, the maximum ship width of the ship model 15 is B, and the maximum angle theta which can rotate with the ship model 15 is theta0The following relationships exist:
Figure BDA0003217444070000061
Figure BDA0003217444070000062
the performance indexes of the direct test device for the hydrostatic performance of the ship model are shown in table 1.
TABLE 1
Performance of Measuring range
Second rotation angle of rotation ±60°
Angle of rotation of the third axis ±180°
Lifting height of lifting platform 600mm
Dynamometer buoyancy measurement 1160N
Dynamometer bending moment measurement 20Nm
Based on the performance index of the direct testing device for the hydrostatic performance of the ship model, the stroke size of the testing device and the position of the rotation center of the displacement table can be reasonably set. The lifting stroke of the device and the rotation angle of the model can meet the test requirements.
The hydrostatic performance test of ship model mainly makes ship model slope test, obtains buoyancy and moment under each superficial attitude of ship model through ship model slope test, and then can obtain the hydrostatic curve of ship model through calculating, the following detailed description:
assuming that the trim angle of the actual ship model is α degrees and the roll angle is β degrees (i.e. in the global coordinate system, the ship model rotates around the y-axis by α degrees first and rotates around the x-axis by β degrees), the rotation matrix of the ship model rotation can be obtained according to the formula of rotation around a plurality of coordinate axes of the fixed coordinate system as follows:
firstly, rotating an angle alpha around the y axis to obtain:
Figure BDA0003217444070000071
and rotating the X axis by an angle beta to obtain:
Figure BDA0003217444070000072
Figure BDA0003217444070000073
referring to fig. 5, the angle θ between the horizontal axis of the raw water plane and the newly generated water plane after rotation, i.e. the rotation angle of the third rotation axis, is analyzed as follows:
Figure BDA0003217444070000074
the rotation angle δ of the second rotation axis can be derived from the rotation matrix and the third rotation axis rotation angle θ.
Referring to fig. 5, the coordinates of a particular point M can be derived from the angle θ as:
Figure BDA0003217444070000081
the coordinates of the M points after rotation are:
Figure BDA0003217444070000082
Figure BDA0003217444070000083
from the ordinate of M, it can be derived:
sinδ＝(tanθcosβsinα+sinβ)cosθ
the angle δ by which the second rotation axis is rotated is therefore given by:
δ＝arc sin[(tanθcosβsinα+sinβ)cosθ]
the device is moved to the operation table top through the sliding guide rail, the ship model is fixed on the connecting rod, and then the device is translated to the position right above the water pool through the sliding guide rail; and inputting a specific program to convert the input trim angle and the input roll angle into the rotating angles of the second rotating shaft and the third rotating shaft, so that the specific inclination state of the ship model test can be achieved. Then, a control program is input through the control console, the descending height of the ship model is input, the motor can control the first rotating shaft to rotate, the ship model is controlled to descend at different heights, different drafts are generated, and therefore a ship model buoyancy measurement experiment is conducted.
Referring to fig. 1, a central point of the force measuring instrument is assumed as a force measuring point a, a coordinate system of the force measuring instrument is as shown in fig. 1, a gravity center point of a rotating shaft of the angular stage is assumed as a gravity center point S, the coordinate system is a global coordinate system fixed in space, and an origin of coordinates is an initial position of the central point of the rotating shaft.
The dynamometer is six component dynamometers, can read out buoyancy and moment of flexure under the different buoyancy attitude of ship model, different draft d through the dynamometer, include: transverse force F1Longitudinal force F2Buoyancy F3Transverse bending moment T1Longitudinal bending moment T2Yaw moment T3；
The draft when the lowest point of the model just contacts the water surface is zero draft, the water surface can continuously rise in the descending process of the program control model, therefore, the draft d can change along with the model entering the water process, the known ship model entering water volume is V, the water surface area of the pool is S, the control program inputs the model descending distance to be d1If the draft is:
Figure BDA0003217444070000091
f at the assumed center of gravity S of the actual ship modelx、Fy、Fz、Mx、My、MzF measured at the measuring point A of the dynamometer1、F2、F3、T1、T2、T3The relationship between them is shown below, see fig. 1:
Figure BDA0003217444070000092
Figure BDA0003217444070000093
Figure BDA0003217444070000094
Figure BDA0003217444070000095
it is known that the center of gravity is assumed to be X on the abscissasAssuming the ordinate of the center of gravity as YsG gravity acceleration, p water density, Fx、Fy、Fz、Mx、My、MzAnd the corresponding ship model draft d can be derived:
water displacement volume of the ship model:
Figure BDA0003217444070000101
the horizontal coordinate of the floating center:
Figure BDA0003217444070000102
floating center ordinate:
Figure BDA0003217444070000103
vertical coordinates of floating center:
Figure BDA0003217444070000104
transverse restoring force arm:
Figure BDA0003217444070000105
longitudinal restoring force arm:
Figure BDA0003217444070000106
in general, the whole device is simple in structure, the basic movement is the lifting of the ship model and the rotation of the ship model, and the actual floating state of the ship model can be simulated after superposition; all operation instructions of the mechanism are programmed, the automation program is high, the operation is convenient, the floating state of the ship can be truly simulated by applying the method, the hydrostatic performance parameters of the ship can be rapidly and accurately obtained, the precision is high, the range is wide, and the method has a good application prospect.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. The utility model provides a hydrostatic performance detection device under arbitrary superficial attitude of ship model which characterized in that includes: the device comprises a lifting unit, a rotating unit and a dynamometer (10), wherein the lifting unit is connected with the rotating unit through the dynamometer (10), the lower part of the rotating unit is connected with a ship model (15) in a working state, and a water pool (16) is arranged below the ship model (15);
the lifting unit is used for driving the ship model (15) to lift through longitudinal movement so as to control the draught of the ship model (15) in the water pool (16);
the rotating unit comprises two rotating shafts which are vertically intersected and used for controlling the ship model (15) to incline through the longitudinal rotation of one rotating shaft and the transverse rotation of the other rotating shaft;
the dynamometer (10) is used for measuring the buoyancy of the ship model (15) in different draft states and the bending moment in different inclination states;
the rotating unit comprises a connecting rod (14) and a second rotating shaft (12) and a third rotating shaft (13) which are vertically intersected,
the second rotating shaft (12) is movably connected with the connecting rod (14), the bottom of the connecting rod (14) is fixedly connected with the ship model (15), and the second rotating shaft (12) is used for driving the connecting rod (14) to rotate through longitudinal rotation so as to drive the ship model (15) to incline;
the third rotating shaft (13) is fixedly connected with the connecting rod (14) and is used for driving the connecting rod (14) and the second rotating shaft (12) to slide through transverse rotation so as to change the orientation of the ship model (15);
the lifting unit includes: a first fixed platform (1), a motor (2), a first lifting platform (3), a support rod (4), a first rotating shaft (5), a second fixed platform (6) and a second lifting platform (9),
the first fixing platform (1) is connected with the second fixing platform (6) through a support rod (4), the first lifting platform (3) is connected with the second lifting platform (9) through the support rod (4), the first rotating shaft (5) is fixed between the first fixing platform (1) and the second fixing platform (6) and penetrates through the first lifting platform (3), and the motor (2) is used for driving the first rotating shaft (5) to rotate;
the rotating unit further comprises an angle table (11), the angle table (11) is connected with the second lifting platform (9) through a dynamometer (10), and the angle table (11) is simultaneously connected with the second rotating shaft (12) and the third rotating shaft (13) and used for supporting and fixing the second rotating shaft (12) and the third rotating shaft (13).
2. The device for detecting the hydrostatic property of the ship model in any floating state of the ship model according to claim 1, wherein the load cell (10) is consistent with the rotation angle of the third rotation shaft (13) during measurement.
3. The device for detecting the hydrostatic performance of the ship model in any floating state of claim 1 or 2, further comprising a gantry support (8) positioned between the lifting unit and the load cell (10), wherein the lifting unit is connected with the gantry support (8) through a sliding guide rail (7), and the device moves to a position right above the water pool through the sliding guide rail during operation.
4. A method for detecting the hydrostatic performance of a ship model in any floating state is characterized by comprising the following steps:
connecting the lower part of the device for detecting the hydrostatic performance of the ship model in any floating state of any one of claims 1-3 with the ship model, and then moving the ship model to be right above the water pool;
the lifting unit drives the ship model to lift through longitudinal movement, so that the draught of the ship model in the pool is controlled;
the rotating unit controls the ship model to incline by longitudinally rotating one rotating shaft and transversely rotating the other rotating shaft;
the dynamometer measures the buoyancy of the ship model in different draught states and the bending moment in different inclination states.
5. The method for detecting the hydrostatic performance of the ship model in any floating state of the ship model according to claim 4, wherein if the longitudinal inclination angle of the ship model is alpha and the transverse inclination angle of the ship model is beta, the longitudinal rotation angle delta of a rotating shaft is as follows: delta-arcsin [ (tan theta cos beta sin alpha + sin beta) cos theta]And the angle theta of the transverse rotation of the other rotating shaft is as follows:
Figure FDA0003645794280000021
6. the method for detecting the hydrostatic performance of the ship model in any floating state of the ship model according to claim 4 or 5, wherein the distance from the rotation center of the angular position table in the rotating unit to the second lifting platform in the lifting unit is a, the distance from the rotation center of the angular position table in the rotating unit to the upper surface of the ship model is b, and a and b are adjusted along with the change of the ship model to meet the following relations:
Figure FDA0003645794280000031
Figure FDA0003645794280000032
wherein, theta0Is the inclination angle of the ship model, L is the length of the ship model, and B is the width of the ship model.
7. A method for detecting the hydrostatic performance of a ship model in any floating state according to claim 4 or 5, wherein the force measuring instrument is consistent with the rotation angle of the third rotation shaft during measurement.
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