Flexible six-dof rope traction ship model pool test control method and system

Abstract

The invention discloses a flexible six-dof (degree-of-freedom) rope traction ship model pool test control method and system. Rope length control and ship model attitude control can be accurately realized through a ship model rope traction supporting mechanism. According to the method, rope length adjustment amount of each traction rope connected with a ship model is calculated by a main loop controller according to a preset target attitude angle and an attitude feedback signal, the calculated rope length adjustment amount of each traction rope is sent to a secondary loop controller, pulse adjustment amount of each traction rope connected with the ship model is calculated by the secondary loop controller according to the rope length adjustment amount of each traction rope and a pulse feedback signal of each servo motor, the calculated pulse adjustment amount of each traction rope is sent to a driver corresponding to each traction rope, the corresponding servo motors are driven by the drivers to rotate according to the pulse adjustment amount, a motion distance of a transmission mechanism is controlled through rotation of the servo motors, change of rope length of the traction ropes is controlled, and a present attitude of the ship model is adjusted through change of rope length of the traction ropes.

Description

technical field [0001] The invention relates to the technical field of ship model automatic control, in particular to a test control method and system for a ship model pool pulled by a flexible six-degree-of-freedom rope. Background technique [0002] The ship model towing pool test is a solution for hydrodynamic experiments. It is a test pool that uses a ship model (referred to as: ship model) test to obtain the motion, speed, propulsion power and other performance of the ship. The test is pulled by an electric trailer. The ship model is in progress. The towing methods include trailer type, gravity type and so on. The towing pool mainly conducts optimal design of ship type and propulsion system for various ships or energy-saving equipment (such as: motor energy-saving equipment, water treatment energy-saving equipment) by studying resistance and propulsion. The scale and towing speed of the pool can accommodate large-scale, self-propelled ship model tests of high-speed sh...

AI Technical Summary

Problems solved by technology

[0006] However, the above two control methods are both used for motion control without external force interference, and do not take into account the precision control when the rope is flexible in the rope traction parallel mechanism. The freedom motion control of the above robot and the resistance test scene of the ship model have certain There is a big difference. In addition to the air resistance, the ship model receives more force from the water flow resistance and buoyancy. The complex effect of the fluid on the ship model makes the above-mentioned rope traction parallel mechanism unable to achieve rope length control when it is applied to the ship model towing pool test. As well as the control accuracy of the attitude angle of the ship model, the ship model control method when the rope traction parallel mechanism is applied to the ship model towing tank test has not yet been given

Images