CN115331535A - Ship sway measurement demonstration model under surface wave action - Google Patents
Ship sway measurement demonstration model under surface wave action Download PDFInfo
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- CN115331535A CN115331535A CN202211070278.7A CN202211070278A CN115331535A CN 115331535 A CN115331535 A CN 115331535A CN 202211070278 A CN202211070278 A CN 202211070278A CN 115331535 A CN115331535 A CN 115331535A
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Abstract
The invention belongs to the field of ship sway measurement, and particularly relates to a ship sway measurement demonstration model under the action of surface waves, which comprises a wave-making water tank (8), a wave-absorbing area (7), a ship model (6), an acceleration sensor (5), an attitude sensor (4), a wave-making mechanism (3), a first wave height instrument (101), a second wave height instrument (102), a controller (9) and a lower computer (201); the acceleration sensor (5) and the attitude sensor (4) are respectively fixed on the ship model (6); the first wave height instrument (101) and the second wave height instrument (102) are respectively arranged on the front side and the rear side of the ship model (6); the controller (9) is fixedly arranged on the wave making water tank (8). The method can simulate relevant parameters such as the swaying attitude, the swaying frequency and the like of the ship under different wave types, quantize the swaying attitude and other data into specific parameters, and obtain the law of the action of the surface wave and the swaying of the ship.
Description
Technical Field
The invention belongs to the field of ship sway measurement, and particularly relates to a ship sway measurement demonstration model under the action of surface waves.
Background
The shaking of the ship mainly has the following six forms: the ship has the advantages that the ship is most likely to be affected by rolling, pitching, yawing and yawing, and the safety of the ship is seriously affected by the most likely occurrence of rolling and the largest amplitude of rolling. At present, the related ship swing simulation equipment mainly simulates the frequency and angle of swing through a mechanical means, and lacks of simulating the measurement of the attitude, swing frequency, amplitude and the like of a ship model under the action of surface waves.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a ship swaying measurement demonstration model under the surface wave action of the surface wave and ship swaying action rule, which can simulate relevant parameters such as swaying attitude, swaying frequency and the like of a ship under different wave types and quantize the swaying attitude and other data into specific parameters.
In order to solve the technical problem, the invention is realized as follows:
the ship swinging measurement demonstration model under the action of the surface wave comprises a wave making water tank, a wave elimination area, a ship model, an acceleration sensor, an attitude sensor, a wave making mechanism, a first wave height instrument, a second wave height instrument, a controller and a lower computer;
the wave absorption areas are positioned at two ends of the wave making water tank; the ship model is arranged in the middle area of the wave making water tank; the acceleration sensor and the attitude sensor are respectively and fixedly arranged on the ship model; the first wave height instrument and the second wave height instrument are respectively arranged on the front side and the rear side of the ship model; the controller is fixedly arranged on the wave making water tank;
the wave making mechanism is fixedly arranged on the right side of the wave making water tank; the wave generating mechanism comprises an assembly seat, a servo motor, a screw rod bracket and a wave pushing plate; the two screw rod brackets are respectively fixedly arranged at the left side and the right side of the assembling seat; the servo motor is fixedly arranged at the right end of the assembling seat; a shaft sleeve is arranged in the screw rod bracket; the screw rod is sleeved on the shaft sleeve; the power output end of the servo motor is connected with the end part of the screw rod; a transmission mechanism is arranged on the screw rod; the top of the wave pushing plate is fixedly connected with the bottom of the transmission mechanism;
and signal transmission ports of the first wave height instrument, the second wave height instrument, the lower computer, the acceleration sensor, the attitude sensor and the servo motor are respectively connected with a signal transmission port of the controller.
Furthermore, a sliding plate assembly is transversely and fixedly arranged at the top of the transmission mechanism; a top slideway is fixedly arranged on the wave making water tank at the lower part of the sliding plate component; the lower part of the sliding plate component is connected with the top slideway in a sliding way.
Furthermore, the bottom of the wave making water tank is fixedly provided with bottom slideways corresponding to the upright posts on two sides of the wave pushing plate along the moving direction of the wave pushing plate.
Furthermore, the wave absorption area adopts a triangular cylindrical porous reticular sponge structure.
Furthermore, the invention is also provided with an upper computer; and the signal transmission port of the upper computer is connected with the signal transmission port of the lower computer.
According to the method, the wave generator is used for generating the surface waves, the series of sensors are used for measuring all parameters of the ship model, so that parameters such as the attitude of the ship model under the action of different types and different parameter waves are obtained, and the method for further researching the swinging and shaking posture and shaking reduction of the ship under the action of the liquid surface waves is further researched. The wave eliminating areas on the two sides of the wave making water tank can absorb surface waves generated by the wave making machine, reduce interference generated by multiple waves and improve the precision of an experiment. The servo motor is adopted to directly output torque to drive the screw rod to transmit, so that the rigidity of the system is improved, and a high-precision positioning function is obtained for a transmission mechanism arranged on the screw rod.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a partial structure of the wave generator of the present invention;
FIG. 3 is a schematic block diagram of the control portion of the circuit of the present invention;
FIG. 4 is a block diagram of a wave generator control section according to the present invention;
fig. 5 is a working principle diagram of the acceleration sensor and the attitude sensor of the present invention.
In the figure: 101. a first wave height meter; 102. a second wave height meter; 202. an upper computer; 201. a lower computer; 3. a wave generating mechanism; 301. assembling a seat; 302. a servo motor; 303. a screw rod; 304. a screw rod bracket; 305. a wave pushing plate; 306. a transmission mechanism; 4. an attitude sensor; 5. an acceleration sensor; 6. a ship model; 7. a wave-absorbing area; 8. a wave-making water tank; 9. a controller; 10. a sled assembly; 11. a top slide; 12. a bottom slide.
Detailed Description
As shown in fig. 1 and 2, the ship swaying measurement demonstration model under the action of the surface wave comprises a wave-making water tank 8, a wave-absorbing area 7, a ship model 6, an acceleration sensor 5, an attitude sensor 4, a wave-making mechanism 3, a first wave height instrument 101, a second wave height instrument 102, a controller 9 and a lower computer 201;
the wave-absorbing areas 7 are positioned at two ends of the wave-making water tank 8; the ship model 6 is arranged in the middle area of the wave making water tank 8; the acceleration sensor 5 and the attitude sensor 4 are respectively fixed on the ship model 6; the first wave height instrument 101 and the second wave height instrument 102 are respectively arranged on the front side and the rear side of the ship model 6; the controller 9 is fixedly arranged on the wave making water tank 8;
the wave making mechanism 3 is fixedly arranged on the right side of the wave making water tank 8; the wave generating mechanism 3 comprises an assembling seat 301, a servo motor 302, a screw rod 303, a screw rod bracket 304 and a wave pushing plate 305; the two screw rod brackets 304 are respectively and fixedly arranged at the left side and the right side of the assembling seat 301; the servo motor 302 is fixedly arranged at the right end of the assembling seat 301; a shaft sleeve is arranged in the screw rod bracket 304; the screw rod 303 is sleeved on the shaft sleeve; the power output end of the servo motor 302 is connected with the end part of the screw rod 303; the screw rod 303 is provided with a transmission mechanism 306; the top of the wave pushing plate 305 is fixedly connected with the bottom of the transmission mechanism 306;
the signal transmission ports of the first wave height instrument 101, the second wave height instrument 102, the lower computer 201, the acceleration sensor 5, the attitude sensor 4 and the servo motor 302 are respectively connected with the signal transmission port of the controller 9.
The top of the transmission mechanism 306 is transversely and fixedly provided with a sliding plate component 10; a top slideway 11 is fixedly arranged on the wave making water tank 8 at the lower part of the sliding plate assembly 10; the lower portion of the slide assembly 10 is slidably connected to a top runner 11.
The bottom slideway 12 is fixedly arranged at the bottom of the wave making water tank 8 corresponding to the upright posts at two sides of the wave pushing plate 305 along the moving direction of the wave pushing plate 305.
The wave absorption area 7 adopts a triangular cylindrical surface porous reticular sponge structure.
The invention is also provided with an upper computer 202; and the signal transmission port of the upper computer 202 is connected with the signal transmission port of the lower computer 201.
The invention mainly researches a method for reducing the swinging and shaking postures of a ship under the action of liquid surface waves. A posture sensor and a vibration sensor are mounted on a ship model to measure the ship posture, the oscillation frequency, the amplitude and other parameters under different waves.
The wave making water tank 8 can simulate river and ocean waves, the wave absorption area 7 uses slope type sponge wave absorption, the main principle is that partial energy is consumed by the waves in a climbing mode, and the sponge with a porous net structure absorbs the waves so as to reduce the reflection of the waves.
The wave generating mechanism 3 generates wave generating curve data according to the set wave generating parameters and the wave forms through wave generating software, and the controller 9 controls the screw rod 303 driven by the servo motor 302 to move according to the curve data so as to control the wave pushing plate 305 to move. The wave pushing plate 305 pushes water in water to excite corresponding waves, for example, the wave pushing plate makes sine wave motion with the frequency of 1Hz and the amplitude of +/-50 mm, after a period of time stabilization, the sine wave with the amplitude of +/-47 mm and 1Hz can be pushed out in the wave making water tank 8, and the wave amplitude generated by the influence of environmental factors such as air resistance, water self-gravity, water tank wall and the like in the motion process of the waves and the wave amplitude of the pushing plate have certain attenuation. The wave generating mechanism 3 can reduce the influence factors by feeding back the parameters such as the measured waveform and the measured wave height of the first wave height instrument 101 and the first wave height instrument 102 to the controller through a compensation algorithm, and achieve the preset wave generating parameters (generally, the error between the actual wave generating and the theoretical value is about 3-5%). Generating regular waves and irregular waves with different types and different parameters, such as: sine waves, solitary waves, breaking waves and the like, and different wave sources are provided for ship swinging.
The first wave height instrument 101 and the first wave height instrument 102 reflect the wave curve through the water level change of the measuring instrument position, for example, the wave curve is calculated according to 1 second, the 1 second is divided into 1000 parts, each part is 1mS, the wave height instrument measures the water level height at the 1mS moment, the water level height at the 2mS moment … … is analogized in turn, and the curve of the 1 second wave is obtained by connecting 1000 water level height points into a line.
The basic principle of the sensor is that the voltage is measured to obtain the acceleration by a mode that the piezoelectric crystal is pressed to deform and output the voltage, and then the acceleration is calculated. The attitude sensor 4 and the acceleration sensor 5 are mainly used for obtaining the motion state of the model, wherein the acceleration sensor is used for calculating the oscillation speed (which can be the vibration speed and the acceleration in the three directions of X \ Y \ Z, and can also be used for calculating the speed and the acceleration in a three-dimensional direction in a fitting manner) and the oscillation frequency of the model to obtain the motion acceleration of the model, and the physical quantities of the model in the motion direction, such as inertia, impulse and the like can be calculated if the mass is fixed. An acceleration sensor is a sensor capable of measuring acceleration. The damper is generally composed of a mass block, a damper, an elastic element, a sensitive element, an adjusting circuit and the like. In the acceleration process of the sensor, the acceleration value is obtained by measuring the inertial force borne by the mass block and utilizing Newton's second law. Common acceleration sensors include capacitive, inductive, strain, piezoresistive, piezoelectric, etc. depending on the sensor sensing element. From the pose data, the pose sensor 4 can know the motion state of the model, for example: angle of rotation, magnitude of rotational speed, pitch, roll amplitude, and frequency, among others. And by measuring the angle and the angular speed at each moment, connecting the angles to obtain the rotation and swing curves of the model. The parameters obtained by measurement provide theoretical basis for simulating and analyzing attitude control and speed control of the ship under different waves in the sailing process, and a method for reducing sloshing of the ship under the action of the waves and a control method.
Referring to fig. 4 and 5, the relationship between the modules is as follows: half of water is injected into the wave making water tank 8, the wave making mechanism 3 is placed above the wave making water tank 8, the upper part and the bottom of the wave making mechanism 3 are respectively provided with a slideway, namely a top slideway 11 and a bottom slideway 12, and the wave pushing plate 305 moves back and forth to make waves similar to the waves on the sea along with the starting of the wave making mechanism. The wave-making water tank 8 is provided with wave-eliminating areas by using water baffles in front and at back, so that water entering the wave-making water tank 8 tends to be calm. The ship model 6 is placed in the middle part of the wave-making water tank 8 to float, and the attitude sensor 4 and the acceleration sensor 5 are placed on the ship model 6, so that the measured pitch and roll angles, the measured rotation angle, the measured acceleration, the measured frequency, the measured period, the measured oscillation amplitude and other data of the ship model 6 under the influence of waves can be obtained. The first wave height instrument 101 and the second wave height instrument 102 are respectively arranged in front of and behind the ship model 6, and sensors at the tail parts of the first wave height instrument 101 and the second wave height instrument 102 are arranged below a horizontal plane to facilitate measurement.
The wave making water tank 8 can be designed into a cuboid for bearing experimental water as a simulated marine environment; the wave making mechanism 3 is arranged in front of a wave eliminating area on one side of the wave making water tank 8, the wave pushing plate 305 is driven to move back and forth through the top slideway 11 and the bottom slideway 12 to make waves, and regular waves and irregular waves with different types and different parameters can be simulated by controlling the moving frequency of the wave pushing plate 305 to provide different wave sources for the ship to swing; the wave-absorbing areas 7 are two in number and are respectively positioned at two sides of the wave-making water tank 8, and the materials are triangular columnar sponges and are used for absorbing wave made by the wave-making water tank and reducing experimental errors; the attitude sensor 4 is positioned at the upper part of the ship model 6, and mainly outputs zero drift three-dimensional attitude azimuth data expressed by quaternion and Euler angle in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology, and the data such as pitch angle, roll angle, rotation angle and the like can be obtained through the attitude sensor 4; the acceleration sensor 5 mainly measures the deformation and converts the deformation into voltage output by a related circuit, so as to obtain the data of acceleration, frequency, period, oscillation amplitude and the like in each direction; the ship model 6 is a small ship with reduced equal proportion, and floats in the wave making water tank 8 to simulate the condition of the offshore platform in the sea; the first wave height instrument 101 and the second wave height instrument 102 are mainly used for sensing the change of the height of a water column above the instruments to measure waves, the first wave height instrument 101 and the second wave height instrument 102 are respectively placed in front of and behind a boat, and sensors at the tail parts are placed below the horizontal plane to facilitate measurement; the attitude sensor 4, the acceleration sensor 5, the first wave height instrument 101 and the second wave height instrument 102 are respectively connected to the lower computer 201 through the controller 9, and monitoring data of the lower computer 201 can be output.
The upper computer 202 is a main control computer and is mainly responsible for man-machine interaction, data processing, graphic display, control command generation and machine operation condition supervision. Calculating the time sequence of the displacement of the wave pushing plate 305 according to the frequency spectrum of the known target wave, and inputting a command through a motion control system; the lower computer 201 receives a control command issued by the upper computer 202 through a network, controls the control command by using the controller 9, drives the actuating mechanism to complete wave generation, collects data of traveling waves and uploads the data and the working state of the traveling waves to the upper computer 202; the controller 9 is a PC-based control card, an independent PLC controller or an embedded computing motion controller; the servo motor 302 receives the command transmitted by the controller 9 and completes accurate position and speed servo control through power driving; the actuator comprises a servo motor 302, a screw 303, a top slideway 11, a bottom slideway 12 and a wave pushing plate 305, so as to make wave motion.
The computer software calculates waveform sequence data (including the number of turns of forward (reverse) rotation of the motor and the rotation speed of each turn) according to the set waveform parameters, the controller 9 drives the servo motor 302 to execute according to the wave-making data, drives the screw rod 303 to rotate, the screw rod 303 converts the rotation into the linear motion of the transmission mechanism 306 so as to drive the wave-making plate to form reciprocating motion, and different types of wave-making can be realized by changing the reciprocating motion curve.
When the equipment works, waves of specified types are generated in the wave making water tank 8 through the wave making mechanism 3, and the ship model 6 is caused to shake along with the swinging of the wave generating posture. Meanwhile, the first wave height instrument 101 and the second wave height instrument 102 measure the wave crest and the wave trough of the wave, and calculate the relevant parameters of the wave; the attitude sensor 4 and the acceleration sensor 5 on the ship model 6 measure relevant parameters of ship swinging, and are connected to the lower computer 201 through the controller 9. The wave eliminating areas 7 positioned on the two sides of the wave making water tank 8 can absorb the generated waves, reduce the interference generated by multiple waves and improve the precision of the experiment.
In the description of the present invention, it is to be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "disposed," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral; they may be directly connected or indirectly connected through an intermediate, and those skilled in the art can understand the specific meaning of the above terms in the present invention according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The ship swaying measurement demonstration model under the action of the surface waves is characterized by comprising a wave generation water tank (8), a wave absorption area (7), a ship model (6), an acceleration sensor (5), an attitude sensor (4), a wave generation mechanism (3), a first wave height instrument (101), a second wave height instrument (102), a controller (9) and a lower computer (201);
the wave-absorbing areas (7) are positioned at two ends of the wave-making water tank (8); the ship model (6) is arranged in the middle area of the wave making water tank (8); the acceleration sensor (5) and the attitude sensor (4) are respectively fixedly arranged on the ship model (6); the first wave height instrument (101) and the second wave height instrument (102) are respectively arranged on the front side and the rear side of the ship model (6); the controller (9) is fixedly arranged on the wave making water tank (8);
the wave generating mechanism (3) is fixedly arranged on the right side of the wave generating water tank (8); the wave generating mechanism (3) comprises an assembling seat (301), a servo motor (302), a screw rod (303), a screw rod bracket (304) and a wave pushing plate (305); the two screw rod brackets (304) are respectively and fixedly arranged on the left side and the right side of the assembling seat (301); the servo motor (302) is fixedly arranged at the right end of the assembling seat (301); a shaft sleeve is arranged in the screw rod bracket (304); the screw rod (303) is sleeved on the shaft sleeve; the power output end of the servo motor (302) is connected with the end part of the screw rod (303); a transmission mechanism (306) is arranged on the screw rod (303); the top of the wave pushing plate (305) is fixedly connected with the bottom of the transmission mechanism (306);
and signal transmission ports of the first wave height instrument (101), the second wave height instrument (102), the lower computer (201), the acceleration sensor (5), the attitude sensor (4) and the servo motor (302) are respectively connected with a signal transmission port of the controller (9).
2. The roll measurement demonstration model for a vessel under surface wave as claimed in claim 1, wherein: the top of the transmission mechanism (306) is transversely and fixedly provided with a sliding plate assembly (10); a top slideway (11) is fixedly arranged on the wave making water tank (8) at the lower part of the sliding plate component (10); the lower part of the sliding plate component (10) is connected with the top slideway (11) in a sliding way.
3. The roll measurement demonstration model for a vessel under surface wave as claimed in claim 2, wherein: and bottom slideways (12) are fixedly arranged at the positions of the upright columns at the two sides of the wave-making water tank (8) corresponding to the wave pushing plate (305) along the moving direction of the wave pushing plate (305).
4. The roll measurement demonstration model for a vessel under surface wave as claimed in claim 3, wherein: the wave absorption area (7) adopts a triangular cylindrical porous reticular sponge structure.
5. The roll measurement demonstration model for a vessel under surface wave as claimed in claim 4, wherein: an upper computer (202) is also arranged; and the signal transmission port of the upper computer (202) is connected with the signal transmission port of the lower computer (201).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211070278.7A CN115331535A (en) | 2022-09-02 | 2022-09-02 | Ship sway measurement demonstration model under surface wave action |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211070278.7A CN115331535A (en) | 2022-09-02 | 2022-09-02 | Ship sway measurement demonstration model under surface wave action |
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| CN202211070278.7A Pending CN115331535A (en) | 2022-09-02 | 2022-09-02 | Ship sway measurement demonstration model under surface wave action |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108051789A (en) * | 2017-12-06 | 2018-05-18 | 上海无线电设备研究所 | Moving-target SAR Imaging Simulations test System and method under a kind of sea background |
| CN110567679A (en) * | 2019-09-27 | 2019-12-13 | 中国海洋大学 | Laboratory solitary wave automatic generation device |
| CN211317696U (en) * | 2020-03-02 | 2020-08-21 | 大连理工大学 | Improved wave-absorbing facility for wave test and performance testing device thereof |
| CN213874887U (en) * | 2021-01-04 | 2021-08-03 | 大连理工大学 | Water channel push pedal formula ripples device of making in wind-tunnel |
| CN114778075A (en) * | 2022-05-15 | 2022-07-22 | 南京优力德科学仪器有限公司 | Miniature wave water tank test system |
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2022
- 2022-09-02 CN CN202211070278.7A patent/CN115331535A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051789A (en) * | 2017-12-06 | 2018-05-18 | 上海无线电设备研究所 | Moving-target SAR Imaging Simulations test System and method under a kind of sea background |
| CN110567679A (en) * | 2019-09-27 | 2019-12-13 | 中国海洋大学 | Laboratory solitary wave automatic generation device |
| CN211317696U (en) * | 2020-03-02 | 2020-08-21 | 大连理工大学 | Improved wave-absorbing facility for wave test and performance testing device thereof |
| CN213874887U (en) * | 2021-01-04 | 2021-08-03 | 大连理工大学 | Water channel push pedal formula ripples device of making in wind-tunnel |
| CN114778075A (en) * | 2022-05-15 | 2022-07-22 | 南京优力德科学仪器有限公司 | Miniature wave water tank test system |
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