JP2012112878A - Method and apparatus of load-variable self-propelling test - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and an apparatus of a load-variable self-propelling test capable of appropriately setting a relationship between the propeller rotating speed and a ship speed of a model ship in a self-propelling test performing not only a rectilinear propagation but also an oblique sailing and turning by an external force and hull rocking by the external force including wave, and in a self-propelling test capable of changing the propeller rotating speed on the way.SOLUTION: In a method of self-propelling test using a self-propelled model ship 6, auxiliary thrust adding means 4 that is provided in tracking means 5 for tracking the model ship 6 and adds an auxiliary thrust to the ship model 6, is controlled according to a calculation result of auxiliary thrust calculation means 3 that calculates the auxiliary thrust based on the moving state of the model ship 6. The auxiliary thrust based on its moving state is thus added to the model ship 6.

Description

  The present invention relates to a load degree changing self-running test method and apparatus in which a propeller rotation speed and a ship speed can be independently set (or a propeller load degree can be freely adjusted) in a self-running test of a model ship.

There are two types of model tests as means for examining the performance of a ship: a restraint model test and a self-running test. The former is a test carried out by towing a model ship with a device generally called a towing vehicle, and the latter is a self-propelled by rotating the model propeller by itself with a power device without using a towing vehicle. This is a test to be conducted.
In any model test, the test is generally performed by satisfying the similarity law by determining the speed of the model ship by matching the fluid number with the actual ship. Here, the Froude number is a value obtained by multiplying a value obtained by multiplying the length (m) of a ship by a gravitational acceleration (m / s ² ) to a power of 1/2, It is a dimensionless number obtained by dividing m / s). This Froude number has a one-to-one relationship with a coefficient of wave-making resistance (wave-making resistance coefficient) generated by causing waves in water when a ship runs. Matching the Froude numbers means matching the ratio of gravity and inertial force, and it means that the phenomenon related to wave formation is similar to that of an actual ship.
If the Froude number is matched with the actual ship, the Reynolds number, which is the ratio of the viscous force to the inertial force, will not match, so phenomena such as viscous resistance will not be similar to the actual ship. The resistance of the ship due to viscosity accounts for a large proportion of the total resistance of the ship, so in the model test in which the fluid number is the same as the actual ship, the resistance is not similar between the model ship and the actual ship. As a result, a relatively large resistance is received.
There are the following methods for solving the problem in the model test due to the fact that the Reynolds numbers do not match when the Froude numbers are matched. In a restraint model test to investigate the resistance of a ship where viscosity-related phenomena are important, the friction resistance due to the difference in Reynolds number is corrected from the measurement results obtained by matching the Froude number with that of the actual ship, and then the resistance of the actual ship is determined. An estimation method has been established. In a restraint model test to investigate the performance related to the propeller characteristics, thrust is applied to the model ship that receives relatively large resistance by a towing vehicle by the difference between the resistance of the model ship and the resistance equivalent to the actual ship. A method has been established in which the test load is similar between the model ship and the actual ship. Here, the propeller load degree is a value obtained by dividing the propeller thrust by the area of a circle having the same diameter as the propeller diameter. Note that these are all restraint model tests only for straight running.

In order to make the rudder effect of the model ship similar to the actual ship, it is necessary to reduce the propeller load of the model ship. As a method for this, a method using an air propeller, a method using compressed nitrogen gas injection (Patent Document 1), a method using air tank pressure adjustment (Patent Document 2), and a method using an outboard motor (Patent Document 3) have been reported. Has been.
Patent Document 1 aims to obtain a free-running model test method and apparatus that can generate a frictional resistance-correcting thrust straight backward with respect to the model hull and that does not mount the source of the frictional resistance-correcting thrust on the model hull. Friction resistance that generates propeller thrust equivalent to the actual ship by generating thrust equivalent to the increase in frictional resistance by injecting nitrogen gas in the air above the model propeller or in the air above the model propeller The correction method is described.
In Patent Document 2, auxiliary thrust is provided by an outboard motor installed far away from a model ship for the purpose of providing a self-propulsion test method that can perform a self-propulsion test outdoors in the same state as in an indoor case. Is described.
In Patent Document 3, one end is fixed to a model in order to apply a constant tension to the model for the purpose of providing a device capable of obtaining an external force having a substantially constant magnitude even when the model moves. A method is described in which the other end of the tension line is connected to a piston that divides into a pressure chamber communicating with the air tank and an atmosphere opening chamber opened to atmospheric pressure.
In any of the methods described in Patent Document 1, it is assumed that the auxiliary thrust is in a constant state and the magnitude of the auxiliary thrust is assumed to be an auxiliary amount. The methods described in Patent Documents 2 and 3 are considered to be directed exclusively to a state in which the auxiliary thrust is constant in a straight traveling state.
As described above, Patent Documents 1 to 3 all describe that a shortage of thrust caused by reducing the propeller load degree by reducing the number of revolutions of the propeller of the model ship is constant auxiliary thrust by another method. It is a method to try to supplement with.

JP 2001-174364 A JP 49-82094 A Japanese Utility Model Application Publication No. Sho 62-34346

The speeds of the actual ship and the model ship are related by the Froude's similarity law, but the frictional resistance due to viscosity does not follow the Froude's similarity law, and the model ship receives a greater resistance than the actual ship. In the restraint test in the straight running state, a method has been established to make the thrust produced by the propeller similar to the model ship and the actual ship by applying a part of the thrust to the model ship by a towing vehicle. Since the necessary thrust is generated only by the propeller of the model ship, the propeller rotation speed of the model ship is generally larger than that of the actual ship. That is, when trying to conduct a self-propelled test with a model ship with the fluid number matched with that of the actual ship, the relationship between the propeller rotation speed and the ship speed, or the propeller load, is generally not similar between the actual ship and the model ship.
If the propeller load degree is not similar between the actual ship and the model ship, the performance of the rudder placed in the wake of the propeller is also not similar. In this case, the rudder of the model ship will be placed in the propeller wake stronger than that of the actual ship, and the model ship will be steered better than the actual ship. Since the rudder effect is strongly related to the maneuvering performance of the ship, the maneuvering performance test by the self-propelled test of the model ship generally does not directly show the performance corresponding to the actual ship.
When conducting tests to investigate changes or fluctuations in the main engine characteristics in the waves or under wind pressure, when the relationship between the propeller rotation speed and ship speed in the basic flat water and the propeller load are not similar to the model ship and the actual ship As for the relationship between the number of revolutions, thrust, torque, and main engine characteristics, the similarity between the model ship and the actual ship is not ensured.
The problem to be solved by the present invention is to solve the above-mentioned problem, not only in a straight traveling state, but also a self-propelled test in which the hull is shaken or turned by a steering or external force, or even the hull is shaken by an external force including waves, Furthermore, in a self-propelled test where the propeller rotational speed changes midway, the relationship between the propeller rotational speed of the model ship and the ship speed can be set arbitrarily, in other words, the propeller load degree in the self-propelled test can be freely set. It is to be able to adjust.

The load degree changing self-propelled test method according to claim 1 is a self-propelled test method using a self-propelled model, wherein auxiliary thrust is added to the model provided in a tracking means for tracking the model. The auxiliary thrust addition means is controlled according to the calculation result of the auxiliary thrust calculation means for calculating the auxiliary thrust based on the motion state of the model, and the auxiliary thrust based on the motion state of the model is added to the model. Features.
According to this configuration, the auxiliary thrust can be calculated by the auxiliary thrust calculating unit based on the motion state of the model, and the calculated auxiliary thrust can be added to the model by the auxiliary thrust adding unit.
According to a second aspect of the present invention, in the load degree changing self-propelled test method according to the first aspect, a model ship is used as the model, and the auxiliary thrust calculation means has a Reynolds number when the fluid number is matched with an actual ship. It is characterized in that the difference in frictional resistance due to the inconsistency between the two is calculated.
According to this configuration, an auxiliary thrust based on the movement state of the model ship is added corresponding to the change in the movement state, so that self-propelled while correcting the discrepancy between the actual ship and the fluid number and the Reynolds number. A test can be performed.
The third aspect of the present invention is the load degree changing self-running test method according to the second aspect, wherein the tracking means includes an X-axis direction, a Y-axis direction, and a Z-axis in an XYZ three-dimensional orthogonal coordinate system. A towing vehicle moving around is used, and the towing vehicle is controlled in accordance with the detection result of the position and direction of the model ship.
According to this configuration, the movement of the model ship around the X-axis direction, the Y-axis direction, and the Z-axis can be tracked by the towing vehicle.
According to a fourth aspect of the present invention, in the load degree changing self-propelled test method according to the third aspect, the auxiliary thrust calculating means is further based on the acceleration of the model ship and the mass of the moving portion of the auxiliary thrust adding means. The calculated value is corrected.
According to this configuration, it is possible to cancel the influence on the model ship due to the inertia of the moving part of the auxiliary thrust adding means based on the acceleration of the model ship and the mass of the moving part of the auxiliary thrust adding means.

The load degree changing self-propelled testing device according to claim 5 is a self-propelled model, tracking means for tracking the model, and auxiliary thrust for adding auxiliary thrust to the model provided in the tracking means. The model includes: an adding means; an auxiliary thrust calculating means for calculating an auxiliary thrust based on a motion state of the model; and a control means for controlling the auxiliary thrust adding means according to a calculation result of the auxiliary thrust calculating means. Further, an auxiliary thrust based on the motion state of the model is added.
According to this configuration, the auxiliary thrust calculated by the auxiliary thrust calculation means based on the motion state of the self-running model can be added to the model.
According to a sixth aspect of the present invention, in the self-propelled load changing test device according to the fifth aspect, a model ship is used as the model, and the auxiliary thrust calculation means has a Reynolds number when the fluid number is matched with an actual ship. The difference is that the difference in frictional resistance due to the inconsistency is calculated as an auxiliary thrust.
According to this configuration, the auxiliary thrust based on the movement state of the model ship is added in correspondence with the change in the movement state, so that the auxiliary thrust corresponding to the change in the movement state is added, and the fluid number and the Reynolds number are obtained. A self-propelled test can be performed while correcting inconsistencies with the actual ship.
According to a seventh aspect of the present invention, in the load degree changing self-running test apparatus according to the sixth aspect, as the tracking means, a main carriage moving in the X-axis direction in an XYZ three-dimensional orthogonal coordinate system, and the main carriage Using a towing vehicle having a sub-car that moves in the Y-axis direction installed on the top and a turntable that rotates around the Z-axis provided on the sub-car, the main ship is changed according to the position and orientation of the model ship. The cart, the sub-cart, and the turntable are controlled.
According to this configuration, by controlling the main carriage, the sub carriage, and the turntable, the movement of the model ship in the X-axis direction and the Y-axis direction and the rotation around the Z-axis are controlled according to the position and direction. Can be chased.
The present invention according to claim 8 is the load degree changing self-propelled testing apparatus according to claim 7, wherein in the xyz three-dimensional orthogonal coordinate system fixed to the turntable, the swing of the model ship in the x-axis direction is detected. An x-direction shake detecting means, a y-direction shake detecting means for detecting a shake in the y-axis direction, and a bow shake detecting means for detecting a shake around the z-axis. The position and direction of the towing vehicle are controlled by using the tracking means so that the detected value detected by the direction shaking detection means and the bow shaking detection means becomes zero.
According to this configuration, by controlling the main carriage, the auxiliary carriage, and the turntable, the model board shakes in the x-axis direction and the y-axis direction fixed on the turntable and the model ship shake around the z-axis are caused to follow. be able to.
According to a ninth aspect of the present invention, in the self-propelled load changing test apparatus according to the eighth aspect, an x-direction force detector for detecting an x-axis direction force acting on the model ship, and a y-axis direction force are provided. A y-direction force detector for detecting the force, and the force detected by the x-direction force detector and the y-direction force detector so that the x-axis direction component and the y-axis direction component of the auxiliary thrust force coincide with each other. Further, the auxiliary thrust adding means is controlled by the control means.
According to this configuration, since the force acting on the model ship can be detected by the x-direction force detector and the y-direction force detector, the auxiliary thrust addition means is controlled to control the force based on the movement state of the model. The auxiliary propulsive force calculated by the auxiliary thrust calculating means can be applied to the model ship.
According to a tenth aspect of the present invention, in the load degree changing self-propelled test device according to one of the fifth to ninth aspects, acceleration detection is performed to detect acceleration in the x-axis direction and the y-axis direction of the model ship. The auxiliary thrust calculating means corrects the calculated value based on the detected value of the acceleration detecting means and the mass of the moving part of the auxiliary thrust adding means.
According to this configuration, it is possible to cancel the influence on the model ship due to the inertia of the moving part of the auxiliary thrust adding means based on the acceleration of the model ship and the mass of the moving part of the auxiliary thrust adding means.
The present invention of claim 11 is the load degree changing self-propelled test apparatus according to claim 5 or claim 6, wherein the towing vehicle is movable in the traveling direction of the model ship as the tracking means, A robot arm that grips the model mounted on a car is used.
According to this configuration, the model can be tracked by the towing vehicle and the robot arm, and auxiliary thrust can be added to the model by the robot arm.
According to a twelfth aspect of the present invention, in the load degree changing self-running test apparatus according to one of the fifth to eleventh aspects, the tracking means also serves as the auxiliary thrust adding means.
According to this configuration, it is possible to track the model and add auxiliary thrust to the model.

According to the load degree changing self-running test method and the load degree changing self-running test apparatus of the present invention, the model capable of self-running is tracked by the tracking means, and the auxiliary thrust adding means provided in the tracking means is used for the model. A predetermined auxiliary thrust calculated by the auxiliary thrust calculation means can be applied based on the motion state. For example, in a self-propelled test in which the steering or external force also causes tilting, turning, or even the hull's swaying by an external force including waves, and in a self-propelled test in which the propeller rotation speed is changed halfway, Auxiliary thrust can be applied.
If a model ship is used as a model, and the auxiliary thrust calculation means calculates the difference in frictional resistance due to the fact that the Reynolds number does not match when the fluid number matches the actual ship, the propeller of the self-propelled model ship It is possible to arbitrarily set the number of rotations, thrust, and load degree according to the magnitude of the auxiliary thrust. As a result, the performance of the ship not only in plain water but also in the waves and under wind pressure is not limited to straight traveling, regardless of navigation conditions such as steering, tilting, turning, accelerating, decelerating, etc., and engine characteristics It becomes possible to clarify including.
As a tracking means, a towing vehicle that moves around the X axis direction, the Y axis direction, and the Z axis in an XYZ three-dimensional orthogonal coordinate system is used. If it is set as the structure which controls, it becomes possible to track the model ship which can be self-propelled, always detecting the position and direction of the model ship which can be self-propelled by the towing vehicle. Further, the towing vehicle can continuously apply the auxiliary thrust calculated by the auxiliary thrust calculation means in the front-rear direction of the model ship in accordance with the orientation of the model ship capable of traveling by itself.
If the auxiliary thrust calculation means corrects the calculated value based on the acceleration of the model ship and the mass of the moving part of the auxiliary thrust adding means, the influence on the model ship due to the inertia of the moving part of the auxiliary thrust adding means is canceled out. Therefore, it is possible to more accurately set the propulsion speed, thrust force, and load degree of the propeller of the self-propelled model ship according to the magnitude of the auxiliary thrust.
If the load degree changing self-running test apparatus of the present invention is configured to include an x-direction shake detecting means, a y-direction shake detecting means and a bow shake detecting means, it can follow the shake of the model ship. It becomes possible to perform the above setting of a possible model ship more accurately.
If the load degree changing self-propelled test device of the present invention is configured to include an x-direction force detector and a y-direction force detector, the assist is based on the auxiliary thrust actually applied to the model ship detected by these. Since the thrust adding means can be controlled, the accuracy of the auxiliary thrust applied to the model ship can be improved.
If a configuration using a towing vehicle and a robot arm mounted on this towing vehicle as a tracking means, or a configuration in which the tracking means also serves as an auxiliary thrust adding means, a means for tracking the model and applying auxiliary thrust can be simplified. This can be realized by the configuration. For example, it is easy to attach the robot arm to the model, and the inertial force can be lowered to widen the measurement range of shaking.

The block diagram which shows the load degree change test apparatus used for the load degree change test method by the 1st Embodiment of this invention. The principal part top view which shows the structure of the water tank and towing vehicle used for the load degree change self-propelled test method by the 1st Embodiment of this invention The principal part perspective view which shows the structure of the load degree change self-propelled testing apparatus by the 1st Embodiment of this invention. Schematic diagram for explaining the relationship between ψ _s , ψ _c and ψ and the auxiliary thrust applied to the model ship Schematic diagram for explaining the longitudinal component u _m of ship speed The principal part perspective view which shows the structure of the load degree change self-propelled test device by the 2nd Embodiment of this invention. The principal part perspective view which shows the structure of the load degree change self-propelled test device by the 3rd Embodiment of this invention. Side view of the main part for explaining the configuration for controlling the auxiliary thrust applied to the model ship by controlling the air nozzle in the self-propelled test device for changing the load degree The block diagram which shows the function implementation | achievement means of the wave force measuring apparatus which applied the fluid action force measuring apparatus provided with the load degree change test apparatus by the 4th Embodiment of this invention to the model ship FIG. 9 is a perspective view of a main part of the wave force measuring device of FIG. FIG. 9 is a cross-sectional view of the main part of the wave force measuring apparatus of FIG. FIG. 9 is an exploded perspective view of the main part of the wave force measuring device of FIG. FIG. 9 is a cross-sectional view of the main part of the wave force measuring apparatus of FIG.

(First embodiment)
A first embodiment of the present invention will be described below with reference to FIGS.
FIG. 1 is a block diagram showing a load degree change test apparatus used in the load degree change test method according to the present embodiment. As shown in the figure, the load degree change test apparatus 10 of this embodiment includes a control means 1, a motion state detection means 2, an auxiliary thrust calculation means 3, an auxiliary thrust addition means 4, a tracking means 5, and a model ship (model) 6. It has.

The control means 1 controls the motion state detection means 2, the auxiliary thrust calculation means 3, the auxiliary thrust addition means 4, the tracking means 5 and the model ship 6, and uses a central processing unit (CPU) or the like. Can be configured. Further, the control means 1 may be connected to information storage means (not shown) for recording and reading information for control as required.
The movement state detection means 2 detects the movement state of the model ship 6. Examples of the motion state detected by the motion state detection means 2 include speed and acceleration. The auxiliary thrust calculation means 3 calculates the auxiliary thrust based on the movement state of the model ship 6 detected by the movement state detection means 2. By means of the auxiliary thrust calculation means 3, an appropriate auxiliary thrust corresponding to the movement state of the model ship 6 can be obtained. The auxiliary thrust adding means 4 adds auxiliary thrust to the model ship 6 according to the calculation result of the auxiliary thrust calculating means 3. By this auxiliary thrust adding means 4, an appropriate auxiliary thrust corresponding to the motion state can be added to the model ship 6. The tracking means 5 tracks a model ship 6 that can be self-propelled.

FIG. 2 is a plan view of an essential part showing the structure of a test water tank and a towing vehicle used in the load degree changing self-propelled test method according to the present embodiment. As shown in the figure, the towing vehicle (tracking means) A includes a main carriage 51, a sub carriage 52 on the main carriage 51, and a turntable 53 on the sub carriage 52.
The water tank H is for making the model ship 6 (see FIG. 1) self-propelled, and an XYZ three-dimensional orthogonal coordinate system is set. Hereinafter, when specifying the position and direction of the model ship 6 using the coordinate system set in the water tank H, capital letters X, Y, Z, and Ψ are used. In the present embodiment, the X direction of the XYZ three-dimensional orthogonal coordinate system refers to a rectangular longitudinal direction formed by the outline of the water surface when water enters the water tank H. A direction orthogonal to the X axis on the water surface is defined as a Y direction, and a vertical direction orthogonal to any of the X direction and the Y direction is defined as a Z direction.

The towing vehicle A can move in the X direction on the rail 54 by the main carriage 51. The main cart 51 is provided with a sub cart 52, and the sub cart 52 can move on the main cart 51 in the Y direction. The sub-carriage 52 includes a turntable 53, and the turntable 53 can rotate about the Z direction (Z axis) as a rotation axis. A rotation direction in which the rotating disk 53 rotates around the Z axis is referred to as a Ψ direction with reference to the X axis. Shows information about the position of the towing vehicle A X _c, and Y _c, the direction of rotation relative to the X axis denoted as [psi _c. The position of the towing vehicle A and the directions X _c , Y _c and Ψ _c can be controlled by signals from the outside.

  FIG. 3 is a perspective view of a main part showing the structure of the load degree change test apparatus according to the present embodiment, and shows an outline of the structure of the load degree change test apparatus 10 for detecting displacement and adding auxiliary thrust. This load degree change test apparatus 10 is installed on the turntable 53 of the towing vehicle A shown in FIG. And in the model fixing | fixed part 11 of the lower end, it fixes to the gravity center position of the model ship 6 shown with the broken line. By providing the gimbal portion 12 for keeping the model ship 6 horizontal, the towing vehicle A shown in FIG. 2 does not restrain the model ship 6 from rolling, pitching and bowing. That is, the gimbal portion 12 allows the model ship 6 to move in the pitch direction, roll direction, and yaw direction.

As shown in FIG. 3, in addition to the XYZ three-dimensional orthogonal coordinate system (see FIG. 2) set in the water tank H, the load degree changing test apparatus 10 has an xyz three-dimensional orthogonal coordinate system. Is set. Hereinafter, when specifying the position / direction of the model ship 6 using the coordinate system set in the load degree change test apparatus 10, lowercase letters x, y, z, and ψ are used. The x direction of the xyz three-dimensional orthogonal coordinate system refers to a predetermined direction parallel to the water surface of the water tank H fixed on the rotating disk 53. A direction parallel to the water surface and orthogonal to the x-axis is defined as the y direction, and a vertical direction orthogonal to any of the x and y directions is defined as the z direction.
Since the xyz three-dimensional orthogonal coordinate system is fixed on the turntable 53, the x direction and the y direction change as the turntable 53 rotates. However, since the reference position in the rotation direction around the z axis is the x direction, the rotation direction ψ around the z axis does not change with the rotation of the rotating disk 53.
In the load degree change test apparatus 10, a support column portion 13 including a model fixing portion 11 and a gimbal portion 12 is attached to an x moving portion (auxiliary thrust adding means) 14 in a state of being movable in the vertical direction. The support column 13 is kept vertical by a roller (auxiliary thrust adding means) 15 in the x moving unit 14 and does not restrain vertical swing of the model ship 6 at the same time.
The x moving unit 14 includes a roller 15 below, and the roller 15 is on the x rail 16. As the roller 15 rotates and moves along the x rail 16, the x moving part 14 can move in the x direction. A roller (auxiliary thrust adding means) 17 is provided below the x rail 16, and the roller 17 rides on a y rail (auxiliary thrust adding means) 18. As the roller 17 rotates and moves on the y rail 18, the x rail 16 can move in the y direction.

  Shaking of the model ship 6 in the x direction is detected by an x shaking detecting potentiometer (motion state detecting means) 19. Shaking of the model ship 6 in the y direction is detected by a y shaking detection potentiometer (motion state detecting means) 20. The bow of the model ship 6 is detected by a bow shake detection potentiometer (motion state detecting means) 21. The values of x swing, y swing, and bow swing detected by these potentiometers are denoted as x, y, and ψ.

An x force servomotor (auxiliary thrust adding means) 23 is connected to the x moving part 14 via an x swinging wire 22, and a force in the x direction can be applied to the x moving part 14 via these. . A y-force servomotor (auxiliary thrust adding means) 25 is connected to the x-rail 16 via a y-swing wire 24, and a force in the y-direction can be applied to the x-rail 16 through these. The x-direction of force x power servo motor 23 generate F _x, the y direction of the force servo motor 25 generate a y force referred to F _y. The total weight of the model fixing part 11, the gimbal part 12 and the column part 13 is included in the drainage amount of the model ship 6.

The detected x, y, and ψ are converted into signals and input to the towing vehicle A, and X _c , Y _c , and Ψ are controlled by feedback control such as PID control so that these x, y, and ψ become zero. _c is controlled. As a result, the towing vehicle A moves by tracking the position and direction of the self-propelled model ship 6.

The bow direction of the model ship 6 in the XYZ three-dimensional orthogonal coordinate system of the water tank H is denoted as Ψ _s . The following relationship holds for ψ _s , the direction of rotation ψ _c of the turntable 53, and ψ detected by the bow shake detection potentiometer 21.

It may be given the F _x and F _y as: When providing auxiliary thrust T _a to model ship 6. FIG. 4 is a schematic diagram for explaining the relationship between ψ _s , ψ _c and ψ and the auxiliary thrust applied to the model ship.

When the model ship 6 has acceleration in the x direction, the mass m _x of the x moving unit 14 is the sum of the mass m _x of the x moving unit 14 and the mass m _r of the x rail 16 when having acceleration in the y direction. Acting on the model ship 6 as an inertial force. If these inertial forces cannot be ignored, a force sufficient to cancel these inertial forces may be applied in the x and y directions. In this case, the x direction of the force F _x which x force servomotor 23 produces a force F _y in the y direction servo motor 25 generate a y force is given by the following equation.

In the equation (3), a _x and a _y represent acceleration values in the x and y directions directly measured by the xy accelerometer 26 shown in FIG. These can also be obtained from the analysis of X _C , Y _C , Ψ _C , x, y as shown in the above equations. The measured values of the accelerations a _x and a _y can be fed back according to the equation (3) after removing noise through a filter or the like as necessary.
Auxiliary thrust T _a is may be a variable value may be constant values or calculated from boat speed of the model ship 6 and propeller speed, ship motions like changes from moment to moment. That is, when the model ship 6 goes straight at a constant speed, _a constant value can be used as the auxiliary thrust Ta, but according to the load degree change test apparatus 10 of the present embodiment, the motion state of the model ship 6 Based on the above, the auxiliary thrust calculated by the auxiliary thrust calculation means 3 can be added to the model ship 6. Thereby, in the self-propelled test of the model ship 6, the load degree of the propeller can be freely adjusted, that is, by applying an appropriate auxiliary thrust corresponding to the changing motion state of the model ship 6, It becomes possible to freely adjust the load degree of the propeller.

In general, as a method of the self-running test, a method of constant propeller rotation speed, constant thrust, constant torque, and constant horsepower can be considered. Regardless of which method is used for the self-running test, if there is a disturbance such as in the waves or under wind pressure, it is generally accompanied by a maneuvering motion such as hull shaking or skew. Or even if there is no disturbance, there is a case where a steering motion by steering is accompanied. In such a case, the boat speed changes. Value of the auxiliary thrust T _a be given if the boat speed change also changes. This is because the auxiliary thrust T _a corresponds to the general friction components. Frictional resistance component to be applied as an auxiliary thrust T _a can be determined as a function of the longitudinal component u _m of Funesoku from resistance characteristics of previously enforced or otherwise estimated ship as follows.

When the model ship 6 is moving in the front-rear direction, the auxiliary thrust _Ta is constant. However, when the model ship 6 turns, since the model ship 6 usually turns while sliding, the bow direction does not coincide with the moving direction. For this reason, in examining the frictional resistance component, the front-rear component u _m of the velocity in the bow direction becomes a problem.
Figure 5 is a schematic view for explaining a front-rear direction component u _m of boat speed. As shown in the figure, when turning to draw a locus indicated by a two-dot chain line in the figure, the model ship 6 generally turns its bow to the inside of the turning track. Here, frictional resistance component to be applied as an auxiliary thrust Ta, not the turning direction can be determined as a function of the longitudinal component u _m of boat speed. Longitudinal direction component u _m of boat speed is calculated by the following equation.

However, the variable in the right side of equation (5) is obtained by the following equation.

Although there are some possible implementations of the equation (4), for example, it can be expressed as the following equation.

In the equation (7), L is the length of the ship, u is the longitudinal component of the ship speed, ρ is the density of water, S is the surface area of the submerged ship, ν is the kinematic viscosity coefficient of water, and the subscript m s represents values corresponding to the model ship (m) and the actual ship (s), respectively. K represents a shape influence coefficient.
As described above, according to the present method, even when there is a fluctuation in the ship speed, it is possible to apply the auxiliary thrust that fluctuates according to the fluctuation every moment.

  In addition, the load degree change test apparatus of this embodiment uses a potentiometer as the motion state detection means. In the configuration employing the potentiometer in this way, the tracking means also functions as the auxiliary thrust adding means, so it is difficult to strictly separate the two. For this reason, the mass of the moving part of the auxiliary thrust adding means used for correcting the calculated value by the auxiliary thrust calculating means includes the mass of the portion corresponding to the tracking means. However, as a means for tracking the model ship, it is possible to adopt another configuration in which, for example, the position of the model ship is recognized by a camera. When such a configuration is adopted, the mass of the moving part of the tracking means does not exist, no potentiometer is required, and all the moving parts can be regarded as auxiliary thrust adding means. For this reason, what is used for the correction of the calculated value as the mass of the moving part of the auxiliary thrust adding means is the mass of the moving part not including the part corresponding to the tracking means.

(Second Embodiment)
The devices and means used in the present embodiment are almost the same as those in the first embodiment, but a slightly different displacement detection / auxiliary thrust addition device as shown in FIG. 6 is used. The load degree change test apparatus 30 of the present embodiment is different from the load degree change test apparatus 10 of FIG. 3 in that it does not require the xy-direction accelerometer 26 and instead detects the force in the x direction on the gimbal portion 12. An x-direction force detector (movement state detection means) 31 and a y-direction force detector (movement state detection means) 32 for detecting a force in the y direction are provided. In addition, about the member demonstrated in 1st Embodiment, the same number is attached | subjected and description is abbreviate | omitted in this embodiment.
If the auxiliary thrust force to be applied is T _a, the force detected by the x-direction force detector 31 F _xm, the force detected by the _y-direction force detector 32 and F _ym. At this time, the x-force servomotor 23 and the y-force servomotor 25 may be controlled so that the following expression is satisfied.

x-direction force detector 31 and the y-direction force detector 32 for longitudinal force F _L and the side force x power servo motor 23 and y force as when detecting F _T satisfies the following model ship 6 in place of The servo motor 25 may be controlled.

While the first embodiment controls the force generated by the x-force servomotor 23 and the y-force servomotor 25 to be a certain value, this embodiment controls the x-direction force detector 31 and the y-direction force. The difference is that the force measured by the detector 32 is controlled to be a certain value. In the present embodiment, since the force actually applied to the model ship 6 is measured, the mass of the moving unit including the x moving unit 14 and the x rail 16 is automatically corrected.

(Third embodiment)
A third embodiment of the present invention will be described below with reference to FIGS. The present embodiment is different from the above-described first and second embodiments in that a method of applying auxiliary thrust using a compressed gas (air) cylinder as auxiliary thrust adding means is used. In addition, about the member demonstrated in 1st and 2nd embodiment, the same number is attached | subjected and description is abbreviate | omitted in this embodiment.
FIG. 7 is a perspective view of a main part showing the structure of the load degree changing self-running test apparatus according to the present embodiment. As shown in the figure, the load degree changing test apparatus 40 of this embodiment includes an air nozzle (auxiliary thrust adding means) 41 at the stern of the model ship 6. The towing vehicle A has a main car 51, a sub car 52, and a turntable 53 (see FIG. 2) as separate automatic tracking means to track the model ship 6 and is provided at the stern of the model ship 6. The magnitude of the auxiliary thrust applied to the model ship 6 by controlling the air nozzle 41 is changed according to the situation. In addition, as a control method of the air nozzle 41 by the towing vehicle A, a conventionally well-known method can be used.

FIG. 8 is a side view of an essential part for explaining a configuration for controlling the auxiliary thrust applied to the model ship by controlling the air nozzle 41 in the load degree changing self-running test apparatus. As shown in the figure, the model ship 6 can obtain its propulsive force not only from the propeller 61 but also from the air nozzle 41. For this reason, by changing the auxiliary propulsive force by the gas injection from the air nozzle 41 according to the calculation result obtained by the auxiliary thrust calculation means 3 based on the information obtained by the motion state detection means 2, the propeller 61 The rotation speed and the ship side of the model ship 6 can be set independently, and the load degree of the propeller 61 can be adjusted freely.
In the present embodiment, the x-direction force detector 31 and the y-direction force detector 32 are used as in the second embodiment. However, the present embodiment is implemented in combination with the configurations described as other embodiments. It is also possible to do.

(Fourth embodiment)
A fourth embodiment of the present invention will be described below with reference to FIGS. This embodiment demonstrates the case where a load degree change test apparatus is implemented using a robot arm, and this invention is implemented as a fluid action force measuring apparatus provided with the said load degree change test apparatus. In this case, the robot arm moves so that the towing vehicle automatically tracks the model ship according to the displacement and direction of the model ship detected by the robot arm, and at the same time, an auxiliary thrust that changes from time to time according to the situation is applied to the model ship. . Thereby, the subject of this invention can be solved also by using a robot arm.

FIG. 9 is a block diagram showing a function realization means of the wave force measuring device in which the fluid acting force measuring device provided with the load degree changing test device according to the present embodiment is applied to a model ship.
The wave force measuring apparatus according to the present embodiment includes a model (model ship) 101 that performs a fluid force test, an action force detection means (motion state detection means) 102 that detects the force of the fluid acting on the model 101, and a fluid. A fluid changing means 103 for changing the model 101, a model operating means 104 for operating the model 101, and a robot arm (auxiliary thrust adding means, tracking means) 105 provided with an acting force detecting means 102 at its end. Since the robot arm 105 does not require a carriage unlike the conventional heave rod / carriage type wave force measuring device, the fluctuation measurement range can be widened.
The acting force detection means 102 is composed of a plurality of load cells. In the present embodiment, a four-axis load cell is used to detect the acting forces in the surge direction, sway direction, heave direction, and yaw direction. The acting force detecting means 102 detects the force acting on the model 101 under the fluid fluctuation by the fluid changing means 103 and the force acting on the model 101 when the model 101 is actuated by the model actuating means 104.

The end of the robot arm 105 is configured to be kept horizontal by a mechanical mechanism or a control mechanism. An excessive load prevention mechanism 106 and a one-touch mechanism 107 are provided at the tip of the robot arm 105. In FIG. 9, the overload prevention mechanism 106 is provided on the robot arm 105 via the one-touch mechanism 107, but may be provided directly on the robot arm 105.
The acting force detection means 102 is coupled to the robot arm 105 by the one-touch mechanism 107 via the overload prevention mechanism 106, and is connected to the gimbal 108 via the casing 118. Further, the excessive load prevention mechanism 106 grips the casing 118 that is a peripheral structure of the acting force detection means 102 when the model 101 is operated or stopped, and prevents an excessive load from being applied to the acting force detection means 102. It is configured to be possible.
The one-touch mechanism 107 may be provided between the acting force detection means 102 and the gimbal 108 or between the gimbal 108 and the model 101. When the one-touch mechanism 107 is provided between the gimbal 108 and the model 101, the model 101 is directly gripped by the one-touch mechanism 107, but between the robot arm 105 and the overload prevention mechanism 106, and the detection of the acting force. If it is provided between the means 102 and the gimbal 108, it will be grabbed indirectly. Whether the gripping method is direct or indirect is arbitrarily selected according to the configuration of the related part and the ease of the attaching / detaching operation.
Note that the one-touch mechanism 107 includes the whole mechanism that can easily attach and detach an object without using a tool, such as a mechanism that can be attached and detached with a single hand contact.
In the conventional heave rod / carriage type wave force measuring device, the work of fixing the gimbal to the model ship is extremely troublesome because of fixing a plurality of bolts. However, since the one-touch mechanism 107 is provided, the robot arm 105 can be attached to the model 101 without using a large number of bolts, so that the labor required for installing the wave force measuring device can be reduced. Further, the problem of the inertia force of the carriage in the surge direction and the sway direction, which has been a problem in the conventional heave rod / carriage type wave force measuring device, can be reduced.
Further, the overload prevention mechanism 106 may have a configuration for gripping the model 101 or a configuration for gripping the upper part of the gimbal 108 in addition to the configuration for gripping the casing 118. Where the overload prevention mechanism 106 grasps is arbitrarily selected according to the configuration of related parts and the ease of experimentation.
As shown in FIG. 9, the overload prevention mechanism 106 is opened and closed by an opening / closing means 106a using a motor, a solenoid or the like. When the overload prevention mechanism 106 is in the clamp open state, that is, not clamped, the action force detecting means 102 is connected to the robot arm 105 via the overload prevention mechanism 106 by the one-touch mechanism 107. The overload prevention mechanism 106 grips the casing 118 of the acting force detection means 102 in the clamp closed state, that is, in the clamped state. In a state where the casing 118 is gripped by the overload prevention mechanism 106, even if a force is applied from the robot arm 105 to the model 101, the force of the robot arm 105 does not act on the applied force detection means 102. When the model 101 is operated / stopped, that is, when moving or stopping until the model 101 is installed at a predetermined test position, or while accelerating to a predetermined speed, the clamp is closed by the opening / closing means 106a, and an excessive load is applied. Control is performed so that the casing 118 is gripped by the prevention mechanism 106. In addition, when force is applied to the model 101, the clamp is closed by the opening / closing means 106 a and the casing 118 is gripped by the overload prevention mechanism 106.

The acting force detection means 102 is attached to the model 101 via the gimbal 108. The gimbal 108 allows the model 101 to move in the pitch direction and the roll direction.
As the model actuating means 104, a towing vehicle A (see FIG. 2) for towing the model 101 can be used, and the model actuating means 104 is preferably actuated via a robot arm 105.
The detection value storage unit 109 stores the detection value detected by the applied force detection unit 102 and corrected by the additive inertia force correction unit 114. The following motion calculation means (auxiliary thrust calculation means) 110 calculates the movement direction and movement distance of the robot arm 105 based on the detection value stored in the detection value storage means 109 so that the detected force becomes zero. The robot arm driving means (auxiliary thrust adding means, tracking means) 111 drives the robot arm 105 based on the data calculated by the tracking operation calculating means 110.
When the robot arm 105 is made to follow the model 101, the clamp is opened by the opening / closing means 106a, and the robot arm 105 is operated so that the force detected by the acting force detection means 102 becomes zero as described above. Therefore, the force from the robot arm 105 can be operated by causing the end of the robot arm 105 to follow the movement of the acting force detecting means 102 without acting on the acting force detecting means 102. Further, the auxiliary thrust calculated by the following operation calculating unit 110 can be applied to the model 101 via the robot arm 105.
As described in the first embodiment, the auxiliary thrust to be added is a constant value or a fluctuation value that is calculated from the ship speed of the model 101, the propeller rotation speed, the hull motion, etc., and changes every moment. It doesn't matter. By applying an appropriate auxiliary thrust corresponding to the moving state of the model 101 that changes, it is possible to freely adjust the load of the propeller of the model 101.

As hull motion detection means for detecting the hull motion of the model 101, acceleration detection means (motion state detection means) 112 and robot arm position detection means (motion state detection means) 113 are provided. The acceleration detecting means 112 is provided at the end of the robot arm 105 together with the acting force detecting means 102. The acceleration detecting means 112 preferably detects accelerations in the surge direction, sway direction, heave direction, and yaw direction. The robot arm position detecting means 113 can detect the position data of the end of the robot arm 105 using data of an encoder such as a servo motor normally provided in the robot arm mechanism, for example.
The additive inertia force correcting means (acceleration detecting means, auxiliary thrust adding means) 114 calculates the inertial force applied to the acting force detecting means 102 that accelerates together with the model 101 according to the present embodiment, and uses the detected acting force. to correct. The appendage is an acting force detection means 102 and an acceleration detection means 112 provided at the end of the robot arm 105, and a jig for fixing them, and the mass of the appendage is stored in advance. The additive inertia force correcting means 114 calculates the detected acceleration and the mass of the additive stored in advance.

The wave force calculating means 115 calculates the wave force based on the detection value detected by the acting force detecting means 102 and corrected by the additive inertia force correcting means 114.
The measured value storage means 116 stores the wave force calculated by the wave force calculation means 115 from which the influence of the additive has been removed, and stores the position data of the model 101 detected by the robot arm position detection means 113.
The drift amount calculation means 17 calculates the drift amount of the model 101 based on the detection value detected by the robot arm position detection means 113. As a result of calculation by the drift amount calculation means 17, when it is necessary to give the robot arm 105 a force for restoring the drift, the robot arm driving means 11 is given a force for restoring the drift, thereby obtaining a certain average position. Maintain the model 101 around. Further, when the force for restoring the drift exceeds the capacity of the acting force detecting means 102, the clamp is closed by the opening / closing means 106a so that the overload prevention mechanism 106 grasps the casing 118, and the acting force detecting means 102 is damaged. To prevent.

10 is a perspective view of the main part of the wave force measuring device, FIG. 11 is a sectional view of the main part of the wave force measuring device, FIG. 12 is an exploded perspective view of the main part of the wave force measuring device, and FIG. It is principal part sectional drawing of an apparatus.
The gimbal 108 includes a first axis 108a and a second axis 108b in directions orthogonal to each other, the front-rear direction of the model 101 is the first axis 108a, and the left-right direction of the model 101 is the second axis 108b. It is fixed to the model 101 so that The movement of the model 101 in the roll direction is allowed by the first axis 108a, and the movement of the model 101 in the pitch direction is allowed by the second axis 108b.
The acting force detection means 102 is accommodated in the casing 118 and attached to the gimbal 108 via the casing 118. The acting force detection means 102 is attached to the gimbal 108 and is not affected by the movement of the model 101 in the roll direction and the pitch direction.
An excessive load prevention mechanism 106 is provided at the tip of the robot arm 105 via a one-touch mechanism 107.

  As shown in FIG. 12, the acting force detection means 102 includes a load cell 102a for detecting the acting force in the surge direction, a load cell 102b for detecting the acting force in the sway direction, a load cell 102c for detecting the acting force in the heave direction, It is comprised from the load cell 102d which detects action force. These load cells 102 a, 102 b, 102 c, 102 d are accommodated in the casing 118. A groove is formed on the outer peripheral surface of the casing 118, and the overload prevention mechanism 106 is provided with a protrusion that engages with the groove.

  10 to 12 show a configuration in which the overload prevention mechanism 106 grasps the gimbal 108 indirectly by grasping the casing 118. As described above, the overload prevention mechanism 106 does not apply the force of the robot arm 105 to the acting force detection unit 102 by grasping any of the casing 118, the gimbal 108, or the model 101.

The one-touch mechanism 107 is shown in FIGS.
The one-touch mechanism 107 includes a joint 107a formed with a recess into which the tip 105a of the robot arm 105 can be inserted, a ball holder 107b, a ball 107c, and a lock member 107d that presses the ball 107c against the tip 105a, It is composed of a release lever 107e that releases the pressure on the ball 107c by the lock member 107d. Further, a knurl 105b for preventing rotation is formed at the end of the front end portion 105a.

When the distal end portion 105a of the robot arm 105 is inserted into the recess, the ball 107c is fitted into a groove formed in a ring shape on the outer periphery of the distal end portion 105a, and the distal end portion 105a is brought into contact with the joining portion 107a by the pressing of the lock member 107d. Engaged.
By pushing down the release lever 107e toward the bottom surface of the recess, the pressing of the lock member 107d to the ball 107c is released, and the engagement of the distal end portion 105a with the joint portion 107a is released.

As described above, according to the present embodiment, the model 101 that performs the wave action force test, the action force detection means 102 that detects the wave force acting on the model 101, and the action force detection means 102 are provided at the end. A robot arm 105 and a fluid fluctuation means 103 for generating a wave are provided, and by providing an acting force detection means 102 at the end of the robot arm 105, the movement of the model 101 is controlled by the wave without being restricted as much as possible. The robot arm 105 can easily follow the movement of the model 101, the model 101 can be easily attached and detached, a compact measuring apparatus can be realized, and the fluctuation of the model 101 in a wide range can be measured.
In addition, according to the present embodiment, the load cells 102a, 102b, 102c, and 102d are used as the acting force detection means 102, so that the wave force acting on the model 101 is extracted with an electrical signal, and therefore feedback to the robot arm 105 is performed. Easy to control.

Further, according to the present embodiment, the tip portion 105a of the robot arm 105 is provided with the one-touch mechanism 107 that grips the model 101. By gripping the model 101 by the one-touch mechanism 107, the robot arm 105 can be attached to the model 101. Since it can be performed without using a large number of bolts, it is possible to reduce the labor required for installing the wave force measuring device.
In addition, according to the present embodiment, the gimbal 108 that allows the movement of the model 101 is further provided. When the one-touch mechanism 107 grips the gimbal 108, the gimbal 108 controls the rotational movement by rolling or pitching with restoring force. The robot arm 105 can be attached to the model 101 by grasping the gimbal 108.
Further, according to the present embodiment, the model operating means 104 for pulling the model 101 via the robot arm 105 is further provided, and the model 101 is operated by pulling and operating the model 101 by the model operating means 104. The force acting on the model 101 can be measured, and the operation of the model 101 can be performed by the robot arm 105.

Further, according to the present embodiment, when the model 101 is operated / stopped, the casing 118 is gripped by the excessive load prevention mechanism 106, thereby eliminating the load on the acting force detecting means 102 accompanying the operation / stop of the model 101, Damage to the acting force detection means 102 can be prevented.
Further, according to the present embodiment, the robot arm 105 is controlled so that the force detected by the acting force detection means 102 becomes zero, so that the movement of the model ship 101 is restrained as much as possible. The robot arm can follow the movement.
Further, according to the present embodiment, the force detecting unit 102 applies the force for restoring the drift caused by the wave acting on the model 101 to the robot arm 105 and maintains the model 101 around a certain average position. By measuring the wave force by obtaining the detected average load, while preventing drift of surging, swaying, and yawing, the robot arm is made to follow the hull motion of the encounter wave cycle, and the surge, sway, A steady (average) force in the yaw direction can be accurately measured.

In addition, according to the present embodiment, the hull motion detecting means for detecting the hull motion of the model 101 is further provided, and the hull motion of the model 101 is detected by the hull motion detecting means when the force acting on the model 101 is detected. The ship motion can be measured simultaneously.
In addition, according to the present embodiment, the hull motion detection means is constituted by the acceleration detection means 112 and the robot arm position detection means 113, so that the measurement object such as the acting force detection means 102 is detected using the detection value of the acceleration detection means 112. It is possible to correct the influence of inertial force due to.

In this embodiment, the wave force measuring device applied to the model ship has been described. However, the wave force measuring device can also be applied to a fluid acting force measuring device used for a fluid acting force test on a floating body other than a ship, an underwater vehicle, an aircraft, and the like.
In the present embodiment, the movement of the model is controlled by controlling the end of the robot arm 105 to be horizontal and operating the robot arm 105 so that the force detected by the acting force detection means 102 becomes zero. The case where the end of the robot arm 105 tracks and measures the movement of the model 101 without affecting the above has been described. However, by providing a gyro, the end of the robot arm 105 can be maintained horizontally without keeping the end horizontal. The deviation of the load may be measured, and the measured value of the load may be corrected using the amount of deviation from the horizontal.
Further, as another embodiment, a force corresponding to a restoring force proportional to a steady force and a displacement is applied to a movement in a surge direction, a sway direction, and a yaw direction without a restoring force, and these movements are average positions. It can also be controlled to have a periodic motion around the.

  INDUSTRIAL APPLICABILITY The present invention can be used for a test in which the propeller rotation speed and the model speed can be set independently in a self-running test using various models such as a ship, a floating body other than a ship, an underwater vehicle, and an aircraft.

DESCRIPTION OF SYMBOLS 1 Control means 2 Motion state detection means 3 Auxiliary thrust calculation means 4 Auxiliary thrust addition means 5 Tracking means 6 Model ship (model)
10, 30, 40 Load degree change test device 14 x moving part (auxiliary thrust adding means)
15 Roller (Auxiliary thrust adding means)
16 x rail (auxiliary thrust adding means)
17 Roller (Auxiliary thrust adding means)
18 y rail (auxiliary thrust adding means)
19 x Potentiometer for shaking detection (motion state detecting means)
20 y Potentiometer for shaking detection (motion state detecting means)
21 Bow shake detection potentiometer (motion state detection means)
23 x servo motor for force (auxiliary thrust adding means)
25 y-force servo motor (auxiliary thrust adding means)
26 xy direction accelerometer (motion state detection means)
31 x-direction force detector (motion state detection means)
32 y-direction force detector (motion state detecting means)
41 Air nozzle (Auxiliary thrust adding means)
51 Main cart (tracking means)
52 Sub-trolley (tracking means)
53 Turntable (tracking means)
A Towing vehicle (tracking means)
101 Model (model ship)
102 action force detection means (motion state detection means)
105 Robot arm (auxiliary thrust adding means, tracking means)
110 Tracking operation calculation means (auxiliary thrust calculation means)
111 Robot arm driving means (auxiliary thrust adding means, tracking means)
112 Acceleration detection means (motion state detection means)
113 Robot arm position detection means (motion state detection means)
114 Additive inertia force correction means (acceleration detection means, auxiliary thrust addition means)

Claims (12)

  In the self-running test method using a self-running model, auxiliary thrust adding means for adding auxiliary thrust to the model provided in the tracking means for tracking the model is calculated based on the motion state of the model. The load degree changing self-running test method is characterized in that an auxiliary thrust based on a motion state of the model is added to the model, controlled according to a calculation result of the auxiliary thrust calculating means.   The model ship according to claim 1, wherein a model ship is used as the model, and the auxiliary thrust calculation means calculates a difference in frictional resistance due to the Reynolds number not matching when the Froude number matches the actual ship. Self-propelled test method for changing the load level.   As the tracking means, a towing vehicle that moves around the X axis direction, the Y axis direction, and the Z axis in an XYZ three-dimensional orthogonal coordinate system is used, and the tracking ship moves according to the detection result of the position and direction of the model ship. 3. The load degree changing self-running test method according to claim 2, wherein the towing vehicle is controlled.   4. The load degree changing self-propelled test according to claim 3, wherein the auxiliary thrust calculating means further corrects the calculated value based on the acceleration of the model ship and the mass of the moving part of the auxiliary thrust adding means. Method.   A self-propelled model, tracking means for tracking the model, auxiliary thrust adding means for adding auxiliary thrust to the model provided in the tracking means, and auxiliary for calculating auxiliary thrust based on the motion state of the model A thrust calculating means; and a control means for controlling the auxiliary thrust adding means in accordance with a calculation result of the auxiliary thrust calculating means, wherein an auxiliary thrust based on a motion state of the model is added to the model. The load degree changing self-running test apparatus according to claim 5 of the present invention.   6. The model ship according to claim 5, wherein a model ship is used as the model, and the auxiliary thrust calculation means calculates the difference in frictional resistance due to the fact that the Reynolds number does not match when the fluid number is matched with the actual ship as the auxiliary thrust. Load degree change self-propelled test device as described in 1.   As the tracking means, a main carriage moving in the X-axis direction in the XYZ three-dimensional orthogonal coordinate system, a sub-carriage installed on the main carriage in the Y-axis direction, and a Z axis provided on the sub-cart The tow vehicle having a rotating disk that rotates at a distance is used, and the main carriage, the auxiliary carriage, and the rotating board are controlled according to the position and orientation of the model ship. Self-propelled testing device for changing the load.   In the xyz three-dimensional orthogonal coordinate system fixed to the rotating disk, an x-direction shake detecting means for detecting a shake in the x-axis direction of the model ship, a y-direction shake detecting means for detecting a shake in the y-axis direction, a bow shake detection means for detecting a shake around the z-axis so that the detected value detected by the x-direction shake detection means, the y-direction shake detection means, and the bow shake detection means becomes zero. The load degree changing self-running test apparatus according to claim 7, wherein the position and orientation of the towing vehicle are controlled using the tracking means.   An x-direction force detector for detecting an x-axis direction force acting on the model ship, and a y-direction force detector for detecting a y-axis direction force are further provided, and the x-direction force detector and the y-direction force detection 9. The auxiliary thrust adding means is controlled by the control means so that the force detected by the detector matches a component in the x-axis direction and a component in the y-axis direction of the auxiliary thrust. Self-propelled test device for changing the degree of load described.   Further comprising acceleration detecting means for detecting acceleration in the x-axis direction and y-axis direction of the model ship, the auxiliary thrust calculating means is based on the detection value of the acceleration detecting means and the mass of the moving part of the auxiliary thrust adding means. The load value changing self-running test apparatus according to claim 5, wherein the calculated value is corrected.   7. The tracking device according to claim 5 or 6, wherein a towing vehicle that can move in the traveling direction of the model ship and a robot arm that grips the model mounted on the towing vehicle are used as the tracking means. Self-propelled test device for changing the degree of load described.   The load degree changing self-running test apparatus according to claim 5, wherein the tracking unit also serves as the auxiliary thrust adding unit.