Intelligent ship dynamic test system based on distributed architecture

Abstract

The invention relates to an intelligent ship dynamic test system based on a distributed architecture. Comprising a navigation radar, a visible light and infrared panoramic setup system, a comprehensive navigation situation sensing system, an intelligent steering system, an intelligent collision avoidance system, an automatic berthing and leaving system, an intelligent integrated propeller propelling device, an intelligent deep sea winch and a wind power boosting rotor intelligent control system. And asynchronous data communication between the acquisition system and an upper computer is realized by subscribing to a published communication protocol, and time synchronization of data of a dynamic test system is realized. According to the invention, a dynamic test architecture with variable functions is established by applying a distributed, systematic and extensible design, and full-link connection, instant sharing, dynamic evaluation and visual result display of ship data are realized by integrating an edge test sensor, an edge computing power, an efficient data middle table and advanced application test software in a whole ship range.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic testing systems, and in particular to an intelligent ship dynamic testing system based on a distributed architecture. Background Art

[0002] In order to promote the development of shipping and breakthroughs in navigation technology, my country has made strategic arrangements to build a strong maritime country, a strong science and technology country, and a strong transportation country. While supporting the national strategy, relevant shipping departments are also actively promoting the development of smart shipping and smart ship technology; at the same time, China Classification Society also issued relevant specifications for smart ships in 2015 and 2020, combining the International Maritime Organization (IMO) Maritime Autonomous Surface Ship (MASS) Convention applicability sorting work and the application practice of smart ship specification guidelines, and proposed the "Smart Ship Specification (2020)". At present, countries around the world are actively developing smart ship-related technologies, among which marine equipment companies focus on the research and development of intelligent integrated systems. Companies represented by Rolls-Royce, Wärtsilä, Kongsberg, etc. have successively researched and developed intelligent systems such as ship energy efficiency management systems and autonomous berthing and unberthing systems; China, Japan and South Korea have all taken the intelligentization of mainstream "oil bulk" ships as the main development direction and launched a series of ship products with intelligent functions. With the emergence of smart ships, the existing shipping technology and management system will change, and multiple links such as ships, shore bases, ports, and cargoes will realize information interconnection, promoting the intelligent development of shipping.

[0003] For a long time, the development mode of my country's shipbuilding industry has been to focus on assembly and neglect supporting equipment, which has led to weak independent capabilities in key supporting equipment, especially the serious lack of research and development of basic technologies such as core components, key devices and equipment, so that some core components, basic devices and equipment mainly rely on foreign manufacturers. The localization of key technologies for ship and marine equipment has become the key to threatening the healthy and sustainable development of my country's shipbuilding industry. Realizing independent design of ship and marine equipment and independent research and development of key supporting equipment has become an inevitable choice for my country's shipbuilding industry to seize the commanding heights of the industry. In particular, the lack of means of ship loading verification is the biggest obstacle to the promotion of independently developed key supporting equipment. Building a scientific and reasonable, fully functional, complete system, resource-sharing, military and civilian offshore test platform that integrates multiple functions such as equipment technology, equipment testing, method research, achievement transformation, scientific observation, and establishing a supporting standard inspection system has become an urgent need for national marine equipment scientific and technological progress and industrial development, and a broad consensus has been formed in relevant fields.

[0004] To this end, we propose an intelligent ship dynamic testing system based on distributed architecture. Summary of the invention

[0005] In response to the shortcomings of the above-mentioned existing production technologies, the applicant provides an intelligent ship dynamic testing system based on a distributed architecture, which has basic, platform and scalability characteristics, and supports the testing and verification of key components, equipment and systems such as intelligent sensing equipment and systems, intelligent control equipment and systems, intelligent cabin machinery, intelligent deck machinery and new energy-saving devices in real marine environments.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An intelligent ship dynamic test system based on distributed architecture, comprising:

[0008] Navigation radar, used to test and verify various indicators of the navigation radar;

[0009] Visible light and infrared panoramic vision system, used to test and verify the basic imaging capability of visible light and infrared panoramic systems, panoramic vision layout scheme and spatial coverage capability, multi-channel image stitching effect, image stabilization capability, sea surface image enhancement processing capability, sea target pre-detection and recognition capability, and visual system sea surface environment adaptability;

[0010] Comprehensive navigation situation awareness system, starting from the information collection and data fusion of key navigation situation awareness sensor equipment to evaluate the navigation situation awareness system, test and evaluate its information reception, information fusion, target perception, information warning, and remote operation and maintenance capabilities;

[0011] Intelligent steering system, used to test and verify the performance indicators and functional indicators of the intelligent steering system. The performance indicators include average steering speed, heading stability accuracy, heading sensitivity, and following error value; the functional indicators include heading change function and heading hold function;

[0012] Intelligent collision avoidance system is used to test and verify the performance indicators and functional indicators of the intelligent collision avoidance system. The performance indicators include collision avoidance effectiveness, collision avoidance timeliness and collision avoidance economy; the functional indicators refer to whether the collision avoidance system controls the ship maneuvers in compliance with the Maritime Collision Regulations;

[0013] The automatic berthing and unberthing system monitors and collects the longitude and latitude of the ship, the course of the ship, the speed of the ship, the size of the berthing area, and the longitude and latitude of the berthing area. It calculates the coordinate position of the ship, the change in the speed of the ship, the distance and angle between the ship and the berthing area, and comprehensively evaluates the position, speed, course, berthing time, distance between the ship and the ships already moored in the berthing area, and the frequency of rudder and propeller operation to complete the evaluation and analysis of the ship's intelligent berthing and unberthing performance.

[0014] The propeller-engine integrated propulsion device is used to test and verify the vibration noise, mooring thrust, hydrodynamic force, and durability performance of the propeller-engine integrated propulsion device;

[0015] Intelligent deep-sea winch, used to test the intelligent sensing system, deep-sea cable storage device, automatic cable arrangement device, and key parts of the multi-drive drive control system of the intelligent deep-sea winch, and to test and verify the heave dynamic compensation function of the intelligent deep-sea winch under real ship disturbance conditions;

[0016] The wind turbine rotor intelligent control system is used to conduct offshore intelligent testing of the rotor's quality and functional characteristics to verify that its thrust performance meets the design requirements and ensure that the rotor product meets the specification requirements and usage requirements;

[0017] Among them, a distributed acquisition system is adopted to standardize the collected and monitored data through an intelligent gateway, and asynchronous data communication between the acquisition system and the host computer is realized through a subscription-based communication protocol. Combined with time synchronization equipment, time synchronization of dynamic test system data is achieved.

[0018] It is further characterized by:

[0019] It also includes a performance acquisition system, which uses inertial navigation, high-precision GPS, motion acceleration sensor, rudder angle sensor, telemetry torque meter, speed sensor, and data acquisition instrumentation.

[0020] The time, acceleration, angular velocity, pitch angle, roll angle, trim angle, heel angle, ship speed, navigation track, ship heading angle, rudder angle, propeller shaft speed, shaft torque, and shaft power parameters are measured and stored in real time.

[0021] According to the functional characteristics of the key components of the propulsion motor and thruster under test, industrial computers and acquisition card equipment are arranged, and the cabin monitoring alarm, automatic rudder and rudder angle monitoring equipment are connected to measure the key parameters of the propulsion motor temperature rise and the propulsion motor operating power; for the aggregation switch and core switch, high-speed Ethernet is used to ensure the communication bandwidth of a single node and switch the communication path without delay.

[0022] For the main engine, motor group, wind-assisted propulsion rotor, and deep-sea winch equipment of the ship system, data and instructions are converted through the data acquisition gateway and command control gateway.

[0023] The dynamic test system test workstation is the carrier for the dynamic test system to connect to the computing server. It displays and projects the test results by acquiring the computing and analysis data from the dynamic test system server. At the same time, at the beginning of the test task, it provides a communication terminal for data acquisition and system configuration operations to realize onboard control of the dynamic test system.

[0024] The analysis and evaluation subsystem provides test and verification functions for typical intelligent sensing equipment, control systems, cabin machinery, deck machinery, and energy-saving devices, including dynamic test and analysis of navigation radar, visible light and infrared panoramic vision systems, integrated navigation situation awareness systems, intelligent steering systems, intelligent collision avoidance systems, automatic berthing and unberthing systems, intelligent integrated propulsion devices for propellers, intelligent deep-sea winches, and wind-assisted rotor intelligent control systems.

[0025] The beneficial effects of the present invention are as follows:

[0026] The present invention has a compact and reasonable structure, is easy to operate, and is a system for ship intelligent testing. It takes conventional and intelligent ships as the object to realize the testing, verification and evaluation of the intelligent functions of key components, equipment and even the entire system. This system uses a distributed, systematic and scalable design to establish a dynamic testing architecture with variable functions. By integrating edge test sensors, edge computing capabilities, efficient data middleware and advanced application testing software throughout the ship, it realizes the full-link connection, instant sharing, dynamic evaluation and intuitive result display of ship data. Using a distributed gateway as the core architecture, this system establishes an edge data fusion and precise analysis and distribution mechanism close to the terminal collection point, ensuring that accurate time synchronization, efficient preprocessing, fine classification and deep fusion are achieved at the front end of data collection, greatly improving the flexibility of testing, allowing users to easily and dynamically adjust the measurement point layout, test parameters and data classification dimensions. Compared with traditional technologies, it significantly simplifies the test process and enhances test efficiency and accuracy.

[0027] At the same time, the present invention also has the following advantages:

[0028] (1) By combining subscription-based publishing communications, a scalable dynamic test system software architecture is constructed, and the intelligent function testing of key ship components, equipment, and systems can be freely expanded within the hardware tolerance range.

[0029] (2) The system's software, modules, and algorithms are implemented through nodes and can be replaced freely. The loss of a single module will not affect the operation of other modules.

[0030] (3) Mainly aimed at the needs of ship intelligent testing, it includes the intelligent testing functions of navigation radar, visible light and infrared panoramic vision system, integrated navigation situation awareness system, intelligent steering system, intelligent collision avoidance system, automatic berthing and unberthing system, intelligent integrated propulsion device of propeller, intelligent deep-sea winch, and wind-assisted rotor intelligent control system.

[0031] (4) It should be capable of testing the overall performance of a ship, including its speed, seakeeping, maneuverability, etc., as well as its structural safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1Schematic diagram of the network architecture of the present invention.

[0033] Figure 2 It is a schematic diagram of the hardware composition of the present invention. DETAILED DESCRIPTION

[0034] The specific implementation of the present invention is described below in conjunction with the accompanying drawings.

[0035] like Figure 1-Figure 2 As shown, an intelligent ship dynamic test system based on a distributed architecture includes a navigation radar, a visible light and infrared panoramic perception system, an integrated navigation situation awareness system, an intelligent steering system, an intelligent collision avoidance system, an automatic berthing and unberthing system, an intelligent integrated propulsion device for propellers, an intelligent deep-sea winch, and an intelligent control system for wind-assisted rotors.

[0036] Navigation radar dynamic test: The main purpose of navigation radar dynamic test verification is to test and verify various indicators of navigation radar, including: situation reconstruction, detection range, target speed detection error, target position detection error, target type identification, target update frequency, and target tracking capability.

[0037] Visible light and infrared panoramic vision test: The main purpose of the dynamic test and verification of the visible light and infrared panoramic vision system is to test and verify the basic imaging capability of the visible light panoramic system / infrared panoramic system, the panoramic vision layout plan and spatial coverage capability, the multi-channel image stitching effect, the image stabilization capability, the sea surface image enhancement processing capability, the maritime target pre-detection and recognition capability, and the visual system's ability to adapt to the sea surface environment.

[0038] Comprehensive navigation situation awareness test: The information that ships need to perceive during navigation mainly includes environmental factors, dynamic obstacles, static obstacles and other factors that affect the safety of ship navigation. It is necessary to integrate multiple sensing devices to make up for the shortcomings. The dynamic test and verification of the comprehensive navigation dynamic perception software system evaluates the navigation situation awareness system from the information collection and data fusion of key sensor equipment for navigation situation awareness, and tests and evaluates its information reception, information fusion, target perception, information warning, remote operation and maintenance and other capabilities.

[0039] Intelligent steering test: The main purpose of the dynamic test and verification of the intelligent steering system is to test and verify two major indicators: performance indicators and functional indicators of the intelligent steering system. The performance indicators include: average steering speed, heading stability accuracy, heading sensitivity, and following error value; the functional indicators include: heading change function and heading keeping function.

[0040] Intelligent collision avoidance test: The main purpose of the dynamic test and verification of the intelligent collision avoidance system is to test and verify two major indicators: performance indicators and functional indicators of the intelligent collision avoidance system. The performance indicators include collision avoidance effectiveness, collision avoidance timeliness and collision avoidance economy; the functional indicators refer to whether the collision avoidance system controls the ship maneuvers in compliance with the Maritime Collision Regulations.

[0041] Automatic berthing and unberthing test: The dynamic test and verification of the automatic berthing and unberthing system mainly includes the following functions: berthing maneuver evaluation, docking maneuver evaluation, and unberthing maneuver evaluation. It monitors and collects data such as the longitude and latitude of the ship, the course of the ship, the speed of the ship, the size of the berthing area, the longitude and latitude of the berthing area, and calculates the ship's coordinate position, ship speed change, distance from the ship to the berth, and angle. It also integrates the ship's position, speed, course, docking time, distance between the ship and the ships already moored in the berthing area, frequency of rudder and propeller manipulation, and other evaluation indicators to complete the evaluation and analysis of the ship's intelligent berthing and unberthing performance.

[0042] Test of the intelligent integrated propulsion device with propeller and motor: Based on the functional characteristics of the key components under test, such as the propulsion motor, bearings, and sealing devices, test sensors suitable for the operating environment of the intelligent integrated propulsion device with propeller and motor are arranged to measure key parameters such as the temperature rise of the propulsion motor, the operating power of the propeller, and the vibration, noise, and thrust of the propeller. Combined with the ship operation data, the vibration and noise, mooring thrust, hydrodynamics, durability and other performance of the intelligent integrated propulsion device with propeller and motor are tested and verified.

[0043] Intelligent deep-sea winch test: The test objectives of the intelligent deep-sea winch are: to test and verify the heave dynamic compensation function of the intelligent deep-sea winch under actual ship disturbance conditions, including the intelligent sensing system, deep-sea cable storage device, automatic cable arrangement device, multi-drive drive control system and other key components of the intelligent deep-sea winch.

[0044] Wind-assisted rotor intelligent control test: The wind-assisted rotor intelligent control system dynamic test verification system will conduct offshore intelligent tests on the quality and functional characteristics of the rotor to verify that its thrust performance meets the design requirements and ensure that the rotor product meets the specification requirements and usage requirements. Specifically, starting from the reliability, safety, environmental adaptability and testability of the product's "six properties", combined with the functional characteristics of the rotor's adaptive adjustment, the rotor energy efficiency, rotor safety, rotor adaptability, reliability and system control capabilities are tested.

[0045] In order to realize the application on the test ship, the test requirements of navigation radar, visible light and infrared panoramic vision system, integrated navigation situation awareness system, intelligent steering system, intelligent collision avoidance system, automatic berthing and unberthing system, propeller intelligent integrated propulsion device, intelligent deep-sea winch, wind-assisted rotor intelligent control system, etc. are met. Considering the variability of the system's test objects and the scalability of the system architecture, a distributed acquisition system is used to standardize the collected and monitored data through an intelligent gateway, and asynchronous data communication between the acquisition system and the host computer is realized through subscription-based communication protocols such as ROS / ROS2 and MQTT, and then combined with time synchronization equipment to achieve time synchronization of dynamic test system data.

[0046] Data acquisition design, performance acquisition system uses inertial navigation, high-precision GPS, motion acceleration sensor, rudder angle sensor, telemetry torque meter, speed sensor, data collector and other instruments and equipment. Real-time measurement, monitoring, recording and storage of time, acceleration, angular velocity, pitch angle, roll angle, pitch angle, heel angle, ship speed, navigation track, ship heading angle, rudder angle, propeller shaft speed, shaft torque, shaft power and other parameters.

[0047] According to the functional characteristics of the key components under test such as propulsion motors and thrusters, industrial computers, acquisition cards and other equipment are arranged, and the cabin monitoring alarm, automatic rudder and rudder angle monitoring equipment are connected to measure key parameters such as the temperature rise of the propulsion motor and the operating power of the propulsion motor.

[0048] The system uses high-speed Ethernet for aggregation switches and core switches to ensure the communication bandwidth of a single node and switch the communication path without delay. For the main engine, motor group, wind-assisted propulsion rotor, deep-sea winch and other equipment of the ship system, since there is only one set of such ship equipment, data and instructions can only be converted through the data acquisition gateway or command control gateway.

[0049] The dynamic test system test workstation is the carrier for the dynamic test system to connect to the computing server. It displays and projects the test results by acquiring the computing and analysis data in the dynamic test system server. At the same time, at the beginning of the test task, it provides a communication terminal for data acquisition, system configuration and other operations to realize onboard control of the dynamic test system.

[0050] The dynamic test system software platform has three subsystems: the task management subsystem includes 8 first-level functional modules, the data management subsystem includes 9 first-level functional modules, and the analysis and evaluation subsystem includes 5 first-level functional modules. The main functions implemented are as follows:

[0051] (1) Front-end data collection and storage

[0052] The system provides the Design Studio dynamic data modeling tool, which is compatible with the ASAM-ODS standard. It dynamically establishes and maintains database models through a friendly interface, and generates the tables and views actually needed. Referring to the basic model for describing test data and actual business requirements provided by the ASAM-ODS standard, an application model that meets business requirements can be constructed to describe test data. The data is finally stored in the data center, and the temporary storage provides a combination of structured and unstructured storage. Data records that can be parsed and processed to form database tables are called structured data; files that do not need to be decomposed, such as pictures, sounds, and videos, are collectively referred to as unstructured files.

[0053] (2) Task Management Subsystem

[0054] The functions of the test task management subsystem include test task information management, test equipment information management, test personnel information management, test vessel information management, test product information management, physical interface channel management, test environment conditions management, external parameter management, etc., to achieve the management of the entire test task process.

[0055] Test equipment information management is used to manage test equipment. The main contents include: equipment number, equipment name, equipment model, equipment type, equipment responsible person, equipment status, collected data, signal type, sampling frequency, and original data storage address.

[0056] (3) Data management subsystem

[0057] The functions of the data management subsystem include data collection, data storage, data management, data visualization, data playback and other functions to achieve full-cycle management of data. The data collection function is mainly implemented based on the intelligent gateway interface and other reliable data transmission interfaces. The system provides a data collection interface to establish an uplink channel information for receiving fusion test data and related information sent by the intelligent gateway or data acquisition subsystem. For subsystems that collect data through the intelligent gateway, the data collection function is customized based on the data acquisition control API provided by the intelligent gateway product, including message reception, parsing, verification and other functions. For subsystems that do not collect data through the intelligent gateway, data collection and aggregation are implemented according to the data transmission protocol provided by the corresponding subsystem.

[0058] Data management mainly manages data in the post-processing stage. According to business needs, different post-processing stage data management is established according to different dynamic test systems, that is, the data management of each dynamic test system includes original data, processing process data, and analysis and evaluation data. These include: 1) original data of navigation radar dynamic test radar detection accuracy evaluation; 2) original data of visible light and infrared panoramic vision system dynamic test; 3) dynamic test data of integrated navigation situation awareness software; 4) dynamic test data of intelligent steering system; 5) dynamic test effectiveness evaluation data of intelligent collision avoidance system; 6) original data of dynamic test safety evaluation of automatic berthing and unberthing system; 7) dynamic test data of intelligent integrated propulsion device of propeller; 8) original data of dynamic test of intelligent deep-sea winch; 9) dynamic test data of wind-assisted rotor intelligent control system.

[0059] (4) Analysis and evaluation subsystem

[0060] It provides test and verification functions for typical intelligent sensing equipment, control systems, cabin machinery, deck machinery, and energy-saving devices, including dynamic test and analysis of navigation radar, visible light and infrared panoramic vision systems, integrated navigation situation awareness systems, intelligent steering systems, intelligent collision avoidance systems, automatic berthing and unberthing systems, propeller-engine intelligent integrated propulsion devices, intelligent deep-sea winches, and wind-assisted rotor intelligent control systems.

[0061] The system for intelligent ship testing takes conventional and intelligent ships as the objects to realize the testing, verification and evaluation of the intelligent functions of key components, equipment and even the entire system. This system uses a distributed, systematic and scalable design to establish a dynamic test architecture with variable functions. By integrating edge test sensors, edge computing capabilities, efficient data middleware and advanced application testing software throughout the ship, it realizes the full-link connection, instant sharing, dynamic evaluation and intuitive result display of ship data. Using a distributed gateway as the core architecture, this system establishes an edge data fusion and precise analysis and distribution mechanism close to the terminal collection point, ensuring accurate time synchronization, efficient preprocessing, fine classification and deep fusion at the front end of data collection, greatly improving the flexibility of testing, allowing users to easily and dynamically adjust the measurement point layout, test parameters and data classification dimensions. Compared with traditional technologies, it significantly simplifies the test process and enhances test efficiency and accuracy.

[0062] By combining subscription-based publishing communication, a scalable dynamic test system software architecture is built, and the intelligent function test of key ship components, equipment, and systems can be freely expanded within the hardware tolerance range;

[0063] The system's software, modules, and algorithms are implemented through nodes and can be replaced freely. The loss of a single module does not affect the operation of other modules.

[0064] Mainly for the needs of ship intelligent testing, it includes navigation radar, visible light and infrared panoramic vision system, integrated navigation situation awareness system, intelligent steering system, intelligent collision avoidance system, automatic berthing and unberthing system, intelligent integrated propulsion device for propeller, intelligent deep-sea winch, and intelligent control system for wind-assisted rotor;

[0065] It mainly has the ability to test the overall performance of ships, including speed, seakeeping, maneuverability, etc. as well as structural safety.

[0066] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. An intelligent ship dynamic test system based on distributed architecture, characterized in that: include: Navigation radar, used to test and verify various indicators of the navigation radar; Visible light and infrared panoramic vision system, used to test and verify the basic imaging capability of visible light and infrared panoramic systems, panoramic vision layout scheme and spatial coverage capability, multi-channel image stitching effect, image stabilization capability, sea surface image enhancement processing capability, sea target pre-detection and recognition capability, and visual system sea surface environment adaptability; Comprehensive navigation situation awareness system, starting from the information collection and data fusion of key navigation situation awareness sensor equipment to evaluate the navigation situation awareness system, test and evaluate its information reception, information fusion, target perception, information warning, and remote operation and maintenance capabilities; Intelligent steering system, used to test and verify the performance indicators and functional indicators of the intelligent steering system. The performance indicators include average steering speed, heading stability accuracy, heading sensitivity, and following error value; the functional indicators include heading change function and heading hold function; Intelligent collision avoidance system is used to test and verify the performance indicators and functional indicators of the intelligent collision avoidance system. The performance indicators include collision avoidance effectiveness, collision avoidance timeliness and collision avoidance economy; the functional indicators refer to whether the collision avoidance system controls the ship maneuvers in compliance with the Maritime Collision Regulations; The automatic berthing and unberthing system monitors and collects the longitude and latitude of the ship, the course of the ship, the speed of the ship, the size of the berthing area, and the longitude and latitude of the berthing area. It calculates the ship's coordinate position, the change in ship speed, the distance and angle between the ship and the berthing area, and comprehensively evaluates the ship's position, speed, course, berthing time, distance between the ship and the ships already moored in the berthing area, and the frequency of rudder and propeller operation to complete the evaluation and analysis of the ship's intelligent berthing and unberthing performance. The propeller-engine integrated propulsion device is used to test and verify the vibration noise, mooring thrust, hydrodynamic force, and durability performance of the propeller-engine integrated propulsion device; Intelligent deep-sea winch, used to test the intelligent sensing system, deep-sea cable storage device, automatic cable arrangement device, and key parts of the multi-drive drive control system of the intelligent deep-sea winch, and to test and verify the heave dynamic compensation function of the intelligent deep-sea winch under real ship disturbance conditions; The wind turbine rotor intelligent control system is used to conduct offshore intelligent testing of the rotor's quality and functional characteristics to verify that its thrust performance meets the design requirements and ensure that the rotor product meets the specification requirements and usage requirements; Among them, a distributed acquisition system is adopted to standardize the collected and monitored data through an intelligent gateway, and asynchronous data communication between the acquisition system and the host computer is realized through a subscription-based communication protocol. Combined with time synchronization equipment, time synchronization of dynamic test system data is achieved.

2. The intelligent ship dynamic test system based on distributed architecture as claimed in claim 1, characterized in that: It also includes a performance acquisition system, which uses inertial navigation, high-precision GPS, motion acceleration sensor, rudder angle sensor, telemetry torque meter, speed sensor, and data acquisition instrumentation.

3. The intelligent ship dynamic test system based on distributed architecture as claimed in claim 2, characterized in that: The time, acceleration, angular velocity, pitch angle, roll angle, trim angle, heel angle, ship speed, navigation track, ship heading angle, rudder angle, propeller shaft speed, shaft torque, and shaft power parameters are measured and stored in real time.

4. The intelligent ship dynamic test system based on distributed architecture as claimed in claim 1, characterized in that: According to the functional characteristics of the key components of the propulsion motor and thruster under test, industrial computers and acquisition card equipment are arranged, and the cabin monitoring alarm, automatic rudder and rudder angle monitoring equipment are connected to measure the key parameters of the propulsion motor temperature rise and the propulsion motor operating power; for the aggregation switch and core switch, high-speed Ethernet is used to ensure the communication bandwidth of a single node and switch the communication path without delay.

5. The intelligent ship dynamic test system based on distributed architecture as claimed in claim 4, characterized in that: For the main engine, motor group, wind-assisted propulsion rotor, and deep-sea winch equipment of the ship system, data and instructions are converted through the data acquisition gateway and command control gateway.

6. The intelligent ship dynamic test system based on distributed architecture as claimed in claim 5, characterized in that: The dynamic test system test workstation is the carrier for the dynamic test system to connect to the computing server. It displays and projects the test results by acquiring the computing and analysis data from the dynamic test system server. At the same time, at the beginning of the test task, it provides a communication terminal for data acquisition and system configuration operations to realize onboard control of the dynamic test system.

7. The intelligent ship dynamic test system based on distributed architecture as claimed in claim 6, characterized in that: The analysis and evaluation subsystem provides test and verification functions for typical intelligent sensing equipment, control systems, cabin machinery, deck machinery, and energy-saving devices, including dynamic test and analysis of navigation radar, visible light and infrared panoramic vision systems, integrated navigation situation awareness systems, intelligent steering systems, intelligent collision avoidance systems, automatic berthing and unberthing systems, intelligent integrated propulsion devices for propellers, intelligent deep-sea winches, and wind-assisted rotor intelligent control systems.

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