KR20130052368A - Roll-pitch motion control systems for testing model ship - Google Patents

Abstract

PURPOSE: A roll-pitch motion control system for a model ship test is provided to simulate the roll-pitch movement automatically and accurately. CONSTITUTION: A roll-pitch motion control system for a model ship test comprises a pitch motion unit(100), a roll motion unit(200), and a control unit. The pitch motion unit includes a pitch motion rail(10), a vertical weight unit(30), a vertical driving member(50), and a vertical sensor unit(70a). A rod of predetermined size is installed in the pitch motion rail along a vertical direction of a model ship(5). The vertical weight unit is slid on the pitch motion rail and installed to be movable. The vertical driving member makes the vertical weight unit reciprocate on the pitch motion rail. The vertical sensor unit senses states of the model ship and the vertical weight unit. The roll motion unit includes a roll motion rail(20), a horizontal weight unit(40), a horizontal driving unit(60), and a horizontal sensor unit(70b).

Description

Roll-pitch motion control systems for testing model ship}

The present invention relates to a roll-pitch motion control system for model ship testing, and more particularly to a roll-pitch motion control system for model ships that automatically and accurately provides roll-pitch motion of a model ship.

In recent years, as the performance of civilian ships and military ships has been improved, the necessity of reducing the movement of the ships and controlling the attitude is increasing.

In particular, ships may experience extreme fatigue and discomfort when the ship is continuously flowed by waves such as storms and winds (when they are swayed in the transverse or longitudinal direction), and crew members may be exhausted and carry out their duties. This may cause a problem, and this may cause a failure in safe operation by committing an error of judgment or the like.

In addition, if the vessel is not maintained in a stable manner, there is a fear that a failure of the onboard equipment may occur, and in the case of a high-performance sea vessel, it may not be possible to operate at all because the attitude control is not properly performed.

Therefore, the reduction of the movement of the ship and the attitude control are very important.

On the other hand, ships in blue generally exercise six degrees of freedom. For example, if the ship's forward and backward directions are X-axis, the left and right directions are Y-axis, and the height direction is Z-axis, the ship can move in the X-, Y-, and Z-axis directions, respectively. It can be motion (rolling), pitch motion (axial) about the Y axis, or yawing (axial) about the Z axis.

Among these six degrees of freedom, the motions that are particularly affected by the marine environment such as blue are pitch motion and roll motion.

That is, when a marine environment such as blue is applied to a vessel, the vessel may swing back and forth (pitch motion) or swing left and right (roll motion), thereby causing problems as described above.

In order to solve this problem, an attitude control device for attitude control of a ship has been developed and used, and accurate test modeling for stability, such as resistance measurement, is required.

In the conventional ship model test modeling, the exact roll-pitch angle for the model ship cannot be adjusted and the precise test is impossible, which increases the number of tests and requires a large number of personnel to give the roll-pitch motion.

Accordingly, there is a need for a roll-pitch motion control system for model ship testing that can automatically give accurate model line roll-pitch motion.

The present invention has been made to solve the above problems, an object of the present invention is to provide a model ship test roll-pitch motion control system that can accurately implement the roll-pitch motion to the model ship.

In order to achieve the above object, the present invention provides a pitch motion unit for implementing a pitch motion shaking back and forth along the moving direction of the model ship, a roll motion unit for implementing a roll motion swinging left and right perpendicular to the moving direction of the model ship, and It comprises a control unit for controlling the operation of the pitch motion unit and the roll motion unit,

The pitch motion part includes a pitch motion rail provided with a rod having a predetermined length along the longitudinal direction of the model ship, a longitudinal weight part slidably movable on the pitch motion rail, and the longitudinal weight part on the pitch motion rail. And a longitudinal driving means for reciprocating in the longitudinal direction, and a longitudinal sensor portion for sensing the state of the model vessel and the longitudinal weight portion,

The roll motion part includes a roll motion rail provided with a rod having a predetermined length along the transverse direction of the model ship, a transverse weight part slidably movable on the roll motion rail, and the transverse weight part of the roll motion rail. And a lateral driving means for reciprocating on the model, and a lateral sensor for sensing the state of the model ship and the lateral weight.

Further, in the present invention, the pitch motion / roll motion rail is preferably formed of two rods parallel to each other at a predetermined interval.

In addition, in the present invention, the longitudinal / transverse driving means is installed in parallel with the pitch motion / roll motion rail and the longitudinal / transverse feed screw which is penetrated through the longitudinal / transverse weight portion, and It is preferable that it is comprised with a motor which rotates a longitudinal / lateral feed screw.

In addition, in the present invention, it is preferable that a weight having a predetermined weight is mounted on the upper surface of the support plate slidably coupled to each rod of the pitch motion / roll motion rail to the longitudinal / lateral weight portion.

In addition, in the present invention, the support plate is provided with a fastening portion on the lower side, it is preferable that the longitudinal / transverse feed screw is coupled through the fastening portion.

Further, in the present invention, it is preferable that the longitudinal / lateral drive means is axially connected to the longitudinal / lateral feed screw by a timing belt to transmit rotational force.

In addition, in the present invention, the longitudinal direction / transverse direction sensor unit is a pitch motion / roll motion angle sensor for detecting the pitch motion / roll motion of the model ship, and the direction change to detect the movement of the longitudinal / transverse weight portion It is preferable that each of the proximity sensor and emergency stop proximity sensor.

Further, in the present invention, it is preferable that the direction change proximity sensor and the emergency stop proximity sensor are provided while forming a pair adjacent to both ends of the pitch motion / roll motion rail, respectively.

As described above, in the roll-pitch motion control system for model ship testing, the present invention can implement accurate and various roll-pitch motions, thereby accurately modeling the performance of the actual ship, thereby securing the stability of the ship and propelling the ship. There is an effect that can increase the efficiency.

1 is a plan view of a roll-pitch motion control system for model ship testing according to the present invention;
2 is a side view of a roll-pitch motion control system for model ship testing according to the present invention;
3 is a conceptual diagram of one embodiment of a roll motion unit according to the present invention;
4 is a control conceptual diagram of a roll-pitch motion control system for model ship testing according to the present invention;
5 is a flow chart of a roll motion control algorithm for model ship test according to the present invention;
6 is a flow chart of a pitch motion control algorithm for model ship test according to the present invention;
7 is a plan view of another embodiment of a roll-pitch motion control system for model ship testing according to the present invention;
Figure 8 shows a plan view of another embodiment of a roll-pitch motion control system for model ship testing according to the present invention.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

1 is a plan view of a roll-pitch motion control system for model ship testing according to the present invention, and FIG. 2 shows a side view of a roll-pitch motion control system for model ship testing according to the present invention.

As shown in FIG. 1 and FIG. 2, the present invention includes a pitch motion unit 100, a roll motion unit 200, and a controller 80.

First, the pitch motion unit 100 will be described.

The pitch motion unit 100 implements pitch motion (pitch motion, pitching) that swings back and forth along the moving direction of the model ship 5, and the roll motion unit 200 is perpendicular to the moving direction of the model ship 5. It is to implement roll montion (rolling) that shakes from side to side.

The controller 80 controls the operations of the pitch motion unit 100 and the roll motion unit 200.

The pitch motion part 100 includes a pitch motion rail 10, a longitudinal weight part 30, a longitudinal driving means 50, and a longitudinal sensor part 70a.

The pitch motion rail 10 has a rod of a predetermined length formed along the longitudinal direction, which is the moving direction of the model ship 5, on the model ship 5.

Here, the pitch motion rail 10 is composed of two parallel rods spaced apart at regular intervals.

At this time, the rod is made of a circular rod having a predetermined length and diameter, the support of a predetermined width is formed at both ends of the rod to prevent the separation of the longitudinal weight portion (30).

The longitudinal weight portion 30 is slidably and movably installed on the pitch motion rail 10. The longitudinal weight portion 30 includes a weight having an arbitrary weight that changes weight and number according to a ship model test. 31) is mounted.

Here, the weight 30 is mounted on the upper surface of the support plate of a predetermined size, the weight 31 is mounted, the lower portion of the support plate is slidably coupled on the rod of the pitch motion rail (10).

The longitudinal drive means 50 causes the longitudinal weight portion 30 to reciprocate on the pitch motion rail 10.

The longitudinal drive means 50 is composed of a longitudinal feed screw 55 and a motor 57.

The longitudinal feed screw 55 is installed in parallel between the two rods.

The motor 57 supplies the rotational force to the longitudinal feed screw 55.

Here, the longitudinal feed screw 55 is preferably directly connected to the motor 57 and the shaft connection.

Alternatively, the longitudinal feed screw 55 and the motor 57 may be formed by connecting a timing gear and a timing belt.

Alternatively, the motor and the transfer screw may be directly connected, or an accelerator gear or a reduction gear may be used between the motor and the transfer screw.

In addition, the system can be constructed using a linear motor, without being limited to a system consisting of rods, feed screws, and rails.

This will be described with reference to a conceptual diagram of an embodiment of the roll motion unit illustrated in FIG. 3.

The longitudinal driving means 50 in the pitch motion part 100 and the lateral driving means 60 in the roll motion part 200 described above are the same in the installation direction and the construction and operation principle are the same.

As described above, the motors 57 and 67 and the transfer screws 55 and 65 are not directly connected to each other in the driving means 50 and 60, but the timing gears and the timing belts are connected as follows.

Referring to FIG. 3, which shows the roll motion unit 200, the lateral driving means 60 includes a motor 67 and a lateral feed screw 65, and includes a timing gear formed on one axis of the motor 67. The timing belt 61 is connected to the timing gear 65a formed on one axis of the 67a) and the transverse feed screw 65. As shown in FIG.

The timing belt 61 meshes power from the motor 67 with each gear and transmits the power to the transverse feed screw 65.

Then, the transverse feed screw 65 is connected through the fastening portion 45 formed below the support plate of the transverse weight portion 40, the transverse weight portion 40 is rotated by the transverse feed screw 65 Linear reciprocating movement.

Meanwhile, the remaining components will be described with reference to FIGS. 1 and 2.

The longitudinal sensor unit 70a detects the state of the longitudinal weight unit 30 and the model ship 5 moving on the pitch motion rail 10.

The longitudinal sensor unit 70a includes a pitch motion angle sensor 73, a direction change proximity sensor 71, and an emergency stop proximity sensor 72.

The pitch motion angle sensor 73 is a sensor for detecting the angle and / or the tilt and the tilt of the pitch motion of the model ship 5.

The direction change proximity sensor 71 is a sensor for detecting the longitudinal weight portion 30 approaching each end of both ends of the pitch motion rail 10.

Accordingly, even if the longitudinal weight portion 30 does not reach the desired pitch angle, the longitudinal weight portion 30 is diverted in the opposite direction to the traveling direction for safety when the proximity sensor 71 detects the direction. 80).

The emergency stop proximity sensor 72 is a sensor that detects that the longitudinal weight portion 30 moves more than a predetermined limit distance on the pitch motion rail 10.

Therefore, the emergency stop proximity sensor 72 detects when the longitudinal weight portion 30 passes over the limit distance during the reciprocating motion, transmits a signal to the controller 80, and emergency stops the longitudinal weight portion 30. will be.

Here, the emergency stop proximity sensor 72 is preferably provided on the pitch motion rail 10 outside more than the direction change proximity sensor 71 (ie, closer to the end of the pitch motion rail 10).

In addition, the direction change proximity sensor 71 and the emergency stop proximity sensor 72 may be fixedly installed, and pitch motion / roll motion along the length directions of the pitch motion / roll motion rails 10 and 20 as shown in FIG. 3. The rails 10 and 20 may be spaced apart and moved along the rail formed on one side.

In addition, the direction change proximity sensor 71 and the emergency stop proximity sensor 72 are provided while forming a pair adjacent to both ends of the pitch motion rail 10, respectively.

This is because the movement of the longitudinal weight portion 30 is not detected due to a malfunction of the proximity sensor 71 for changing direction, and thus the longitudinal weight portion 30 continuously moving on the pitch motion rail 10 is moved to the emergency stop. This is to make the sensor 72 detect and stop.

This turn direction proximity sensor 71, emergency stop proximity sensor 72 and pitch motion angle sensor 73 are connected to a programmable logic controller (PLC) 90 which is connected to the controller 80. It is desirable to be.

On the other hand, the horizontal sensor unit 70b is to detect the horizontal weight portion 40 moving on the roll motion rail 20.

The horizontal sensor unit 70b includes a roll motion angle sensor 74, a direction change proximity sensor 71, and an emergency stop proximity sensor 72.

The roll motion angle sensor 74 is a sensor for detecting the angle and / or the tilt and the tilt of the roll motion of the model vessel 5.

The direction change proximity sensor 71 and the emergency stop proximity sensor 72 are replaced with those described above.

4 is a control conceptual diagram of a roll-pitch motion control system for model ship test according to the present invention.

The controller 80 controls the operation of the longitudinal / lateral drive means 50 and 60 through the signal sensed by the sensor unit 70.

The control unit 80 receives speed feedback from an encoder or a tacho generator with respect to the transverse / longitudinal driving means 50 and 60, and also the direction change proximity sensor 71 and the emergency stop proximity. The sensor 72, the roll motion angle sensor 73, the pitch motion angle sensor 74, or the inclinometer preferably receives an angle during the roll / pitch movement.

The driver may check the driving state through a driving unit 95 such as a screen or a monitor.

On the other hand, the roll motion unit 200 is the same as the pitch motion unit 100 described above and the advancing direction is different in length and configuration and operation principle is the same.

Therefore, the description of the configuration and operation of the roll motion unit 200 is replaced with the description of the pitch motion unit 100.

Looking at the roll-pitch control algorithm of the present invention consisting of these components are as follows.

5 is a flowchart illustrating a model motion test roll motion control algorithm according to the present invention, and FIG. 6 is a flowchart illustrating a model motion test pitch motion control algorithm according to the present invention.

First, the roll motion control setpoint, roll angle, acceleration / deceleration, and the like are selected, and the initial motion progression direction is selected.

Then select manual / automatic mode.

In manual mode operation, the driver can directly reverse run the roll and the pitch, respectively.

The driver inputs the desired speed, selects the desired acceleration / deceleration, and presses the START button to perform the operation.

Here, it is preferable to build a system so that the acceleration / deceleration can be selected in four stages.

In the automatic mode operation, the driver inputs the desired roll-pitch speed and angle, selects the acceleration / deceleration, selects the initial direction, and presses the START button.

Here, look at the operation of the automatic mode in more detail as follows.

As shown in FIG. 5, the roll motion control algorithm in the automatic mode operation in the present invention is as follows.

First, in the PLC 90, the automatic mode is selected to determine whether the lateral weight portion 40 is detected by the emergency stop proximity sensor 72 (S101).

When the horizontal weight portion 40 is detected by the emergency stop proximity sensor 72, the controller 80 stops the operation of the horizontal driving means 60 to stop the horizontal weight portion 40.

If the horizontal weight portion 40 is not detected by the emergency stop proximity sensor 72, the controller 80 allows the horizontal weight portion 40 to continue to be automatically operated in the traveling direction (S102).

Next, it is determined whether the STOP button is pressed, the operation is terminated if the STOP button is pressed, otherwise it continues to be automatically operated (S106).

Next, the PLC 90 determines whether the model ship 5 has reached the selected roll angle through the signal sensed by the roll motion angle sensor 74 (S103).

Here, when the model ship 5 has reached the set roll angle, the control unit 80 switches the traveling direction of the transverse weight portion 40 by 180 ° to keep the transverse weight portion 40 automatically moving ( S104).

On the other hand, if the model vessel 5 has not reached the selected roll angle, the controller 80 continues to move the transverse weight portion 40 in the advancing direction and detects whether or not it is detected by the direction switching proximity sensor 71. It is determined (S105).

When the transverse weight portion 40 is detected by the direction change proximity sensor 71, the controller 80 switches the advancing direction of the transverse weight portion 40 by 180 ° to continue the transverse weight portion 40. Allow to exercise automatically.

If the horizontal weight portion 40 is not detected by the direction change proximity sensor 71, the controller 80 keeps the horizontal weight portion 40 in the traveling direction automatically.

Meanwhile, the pitch motion control algorithm is illustrated in FIG. 6 and is the same as the roll motion control algorithm described above.

However, in the pitch motion control algorithm, the sensor for detecting the pitch angle of the model vessel 5 is the pitch motion angle sensor 73.

In addition, in the pitch motion control algorithm, each sensor senses the angle of the model vessel 5, and the position of the longitudinal weight portion 30 can be known by counting an encoder pulse, and the model vessel 5 and the longitudinal weight. The state of the unit 30 is detected through the pitch motion angle sensor 73, the emergency stop proximity sensor 72 and the direction change proximity sensor 71.

A brief description of the pitch motion control algorithm during automatic mode operation shown in FIG. 6 is given below.

First, the PLC 90 determines whether the longitudinal weight unit 30 is detected by the emergency stop proximity sensor 72 (S201).

When the longitudinal weight portion 30 is detected by the emergency stop proximity sensor 72, the longitudinal weight portion 30 is stopped.

If the longitudinal weight portion 30 is not detected, the automatic operation continues (S202).

Next, it is determined whether the STOP button is pressed, the operation is terminated if the STOP button is pressed, otherwise it continues to be automatically operated (S206).

Then, the PLC 90 determines whether the model ship 5 has reached the pitch angle (S203).

When the model ship 5 has reached the pitch angle, the direction of the longitudinal weight part 30 is changed (S204) and it continues to operate automatically.

If the model ship 5 has not reached the pitch angle, it is determined whether the longitudinal weight part 30 is detected by the proximity sensor 71 for changing directions (S205).

If the longitudinal weight portion 30 is not detected by the proximity sensor 71 for changing the direction, it continues to operate automatically, and the detected direction changes direction and continues to operate automatically.

On the other hand, the arrangement of the transfer device may be configured in various ways. 1 and 2 showed the arrangement of the transfer device of the ┼ type. The arrangement of the conveying device may be in the form of a shap, in the form of a shap, or in the form of a H.

7 and 8 show various types of “roll-pitch motion control system for model ship test”.

7 is a plan view of another embodiment of a roll-pitch motion control system for model ship testing according to the present invention, and FIG. 8 shows a plan view of another embodiment of a roll-pitch motion control system for model ship testing according to the present invention.

7 and 8 show another embodiment of the arrangement of the pitch motion rail 10 and the roll motion rail 20 in the roll-pitch motion control system for model ship test described above.

Each component shown in FIGS. 7 and 8 has the same structure and function as described above, and is replaced with the above description.

The present invention is not limited to the above embodiments, and many variations are possible by those skilled in the art within the spirit of the present invention.

5: model shipping
10: pitch motion rail
20: roll motion rail
30: longitudinal weight portion
31: weight
40: transverse weight portion
41: weight 45: fastening portion
50: longitudinal drive means
55: longitudinal feed screw 57: motor
60: transverse drive means
61: timing belt
65: transverse feed screw 67: motor
65a: Timing gear of transverse feed screw shaft
67a: timing gear of motor shaft
70: sensor
70a: longitudinal sensor part 70b: transverse sensor part
71: proximity sensor for switching direction 72: emergency stop proximity sensor
73: pitch motion angle sensor 74: roll motion angle sensor
80: control unit
90: Programmable Logical Controller
95: operating panel
100: pitch motion part
200: roll motion portion

Claims (8)

A pitch motion part that implements a pitch motion that swings back and forth along the moving direction of the model ship, a roll motion part that implements a roll motion that swings left and right perpendicular to the moving direction of the model ship, and the pitch motion part and the roll motion part operate Configured to include a control unit for controlling,
The pitch motion unit,
A pitch motion rail provided with a rod having a predetermined length along the longitudinal direction of the model ship;
A longitudinal weight part slidably mounted on the pitch motion rail;
Longitudinal drive means for causing the longitudinal weight portion to reciprocate on the pitch motion rail; And
And a longitudinal sensor unit for sensing a state of the model vessel and the longitudinal weight portion,
The roll motion unit,
A roll motion rail provided with a rod having a predetermined length along the transverse direction of the model ship;
A transverse weight portion slidably mounted on the roll motion rail;
Transverse driving means for causing the lateral weight to reciprocate on the roll motion rail; And
Roll-pitch motion control system for a model ship test, characterized in that it comprises a; lateral sensor unit for detecting the state of the model ship and the transverse weight portion. The method of claim 1,
Roll-pitch motion control system for model ship testing, characterized in that the pitch motion / roll motion rail is formed of two rods in parallel, each at a predetermined interval. The method of claim 1,
The longitudinal / lateral drive means,
A longitudinal / lateral feed screw installed in parallel with the pitch motion / roll motion rail and penetratingly coupled to the longitudinal / lateral weight portion;
Roll-pitch motion control system for a model ship test, characterized in that consisting of a motor for rotating the longitudinal / transverse feed screw. The method of claim 1,
In the longitudinal / lateral weight portion,
Roll-pitch motion control system for testing a model ship, characterized in that a weight having a predetermined weight is mounted on the upper surface of the support plate slidably coupled to each rod of the pitch motion / roll motion rail. 5. The method of claim 4,
The support plate is provided with a fastening portion on the lower side and roll-pitch motion control system for a model ship test, characterized in that the longitudinal / transverse feed screw is coupled through the fastening portion. The method of claim 3, wherein
And said longitudinal / lateral drive means is axially connected to said longitudinal / lateral feed screw with a timing belt to transmit rotational force. The method of claim 1,
The longitudinal / transverse sensor unit,
A pitch motion / roll motion angle sensor for detecting pitch motion / roll motion of the model ship;
Roll-pitch motion control system for a model ship test, characterized in that each consisting of a proximity sensor for switching direction and an emergency stop proximity sensor for detecting the movement of the longitudinal / transverse weight portion. 8. The method of claim 7,
The direction change proximity sensor and the emergency stop proximity sensor are provided in a pair of adjacent to both ends of the pitch motion / roll motion rail, respectively, in a model ship test roll-pitch motion control system.

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