An external rudder device for sailboat driving simulation training

Abstract

The present invention discloses a rudder simulation device for sailboat simulation training, comprising a rudder, a clamping device a, a rudder angle recognition device, a rudder rudder plate, a clamping device b, a resistance feedback adjustment device connecting plate, a stern plate, and a rudder resistance feedback adjustment device. The rudder is composed of a rudder of real size, ensuring the authenticity of the simulation; the clamping device a and the clamping device b clamp and fix the entire device to the stern plate to avoid damaging the original sailboat structure and maintain the integrity of the sailboat; the rudder angle recognition device comprises a synchronous wheel, a synchronous belt and an encoder, which is used to output the rudder rotation angle to a computer; the resistance feedback adjustment device connecting plate is used to connect the rudder resistance feedback adjustment device to the rudder. The force feedback adjustment device and the clamping device a and the clamping device b are provided with a structure with adjustable length, which can be adjusted and fixed according to different rudders; the rudder resistance feedback adjustment device includes a resistance generating device and a resistance adjustment device, wherein the resistance adjustment device mainly includes two parts: a transmission device and a reducer device; the present invention solves the technical problems in the prior art that the angle information of the rudder cannot be read by the computer to form effective feedback, and the motion and visual simulation system cannot make real-time feedback changes according to the user's sailboat operation. The present invention can be quickly installed and disassembled, is simple to operate, maintains the integrity of the original sailboat equipment, meets the requirements of portability and installation, and is highly economical.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of driving simulation, in particular to an external rudder device for sailboat driving simulation training. BACKGROUND

[0002] At present, the sailboat sport is a water sport project. The athlete operates the wind sail and the rudder and other equipment, uses the natural wind power to make the sailboat advance, and fully utilizes the influence of the wind and the wave in the process of running. When driving simulation is performed on the sailboat, three aspects are mainly considered, that is, the control of the sailboat, the rudder and the body weight distribution. The athlete changes the windward area and direction of the sailboat by pulling the sail rope to provide the sailing power for the sailboat navigation, and keeps the balance of the sailboat under the action of the stabilizer board and the body weight distribution of the athlete. The rudder of the small sailboat is generally arranged at the stern, and has a rudder handle connected to the rudder rod and an operating rod, wherein the rudder blade is a wing-shaped or flat plate structure with a small aspect ratio. The force of the water flow acting on the rudder blade can be divided into the rudder resistance along the fluid flow direction and the rudder lift perpendicular to the fluid flow direction. The athlete rotates the rudder rod by the operating rod to change the angle between the rudder blade and the main axis of the ship body, so as to change the rudder lift and the rudder resistance, and the rudder lift generates a rudder moment on the ship, so as to make the sailboat turn.

[0003] The training of the traditional sailboat sport is performed in water, but the water training has certain danger, and has strict requirements on the site and the weather. When the sailboat sport is driven to be simulated, the method generally used is to modify the real sailboat, combine with the sports scene simulation, and let the athlete practice on land. Due to the difference between the water and the land environment, the rudder blade of the simulated driving boat will not be subjected to the force varying with the rudder blade angle and the water flow size, so that the athlete is difficult to obtain the relatively real force feedback when operating the rudder, which affects the judgment of the athlete on the driving state and the driving strategy of the athlete.

[0004] Chinese patent CN202110737036.8 discloses a kind of for sailboat driving training simulation rudder device, including fixed plate, variable damping device, steering connecting rod, driving device, tensioning device, electric signal feedback device, fixed plate is set in the sailboat tail for simulation driving, fixed plate surface is provided with variable damping device, variable damping device includes spiral chute rotating cylinder and simulation rudder shaft, spiral chute rotating cylinder is used to change the resistance moment that simulation rudder shaft rotates;Steering connecting rod is set in the upper end of simulation rudder shaft, for rotating simulation rudder shaft and the resistance moment of simulation rudder shaft is transmitted to operator;Driving device is used to drive spiral chute rotating cylinder, and the angle of spiral chute rotating cylinder is converted into electric signal;Tensioning device is used to ensure that synchronous belt and spiral chute rotating cylinder have enough friction force;Electric signal feedback device is used to convert the angle information of simulation rudder shaft and the limit position information of spiral chute rotating cylinder into electric signal.But in the prior art, in the process of training using the rudder of real ship, the angle information of rudder cannot be read by computer to form effective feedback, and the motion and visual simulation system cannot make real-time feedback changes according to the sailboat operation of user, so that the effect of real sailboat training cannot be simulated, the existing simulation device needs to be modified accordingly on sailboat body, which destroys the integrity of sailboat, is complicated to operate, does not have the characteristics of portability, and is poor in economy. SUMMARY

[0005] Therefore, the present application proposes an external rudder device for sailboat driving simulation training, which can more realistically restore the simulation effect of rudder, send the change of rudder angle to the computer system in real time, form a good feedback mechanism with the motion and visual system, and maintain the overall integrity of the original sailboat structure, meeting the requirements of portability and installation.

[0006] The present application adopts the following technical solutions:

[0007] A rudder simulation device for sailboat simulation training, comprising a rudder, a clamping device a, a rudder angle identification device, a rudder plate, a clamping device b, a rudder resistance feedback adjustment device connecting plate, a stern plate and a rudder resistance feedback adjustment device, the rudder is composed of a real-size rudder, ensuring the authenticity of simulation.

[0008] The clamping device a and the clamping device b clamp and fix the whole device with the transom, avoid damaging the original sailboat structure, and maintain the integrity of the sailboat; the rudder angle recognition device comprises a synchronous wheel, a synchronous belt and an encoder, which is used to output the rudder rotation angle to the computer; the rudder resistance feedback adjusting device connecting plate is used to connect the rudder resistance feedback adjusting device and the clamping device a and the clamping device b, and is provided with a structure with adjustable length, which can be adjusted and fixed according to different rudders; the rudder resistance feedback adjusting device comprises a resistance generating device and a resistance adjusting device, wherein the resistance adjusting device mainly comprises a transmission device and a speed reducer.

[0009] Preferably, the rudder comprises an operating connecting rod, an elastic short rope, a tiller, a rudder fixing block spring, a rudder fixing block, a rudder plate and a rudder plate connecting piece; the operating connecting rod is connected with the tiller through the elastic short rope, the tiller tail is provided with a certain width space for connecting and fixing the upper side of the rudder plate; the rudder fixing block spring is located between the rudder fixing block and the transom, and there are two on the upper side and the lower side respectively, and the pressure is adjusted by the tightness of the screw, so as to limit the rotation of the rudder fixing block, and the upper side of the two ends is provided with a hole position, and the hole position close to the transom is connected with the original fixing device hole position of the transom through a bolt; the rudder plate connecting piece is fixedly connected with the rudder plate through a screw.

[0010] Preferably, the clamping device a or the clamping device b comprises a fixing spring, a positioning bolt, a positioning block, a rubber gasket, a bolt hole position a and a fixing bolt a; the fixing spring and the positioning bolt form opposite pressure, so that the upper end and the lower end of the positioning block can advance and retreat synchronously, and when the fixing bolt is twisted outwards, the positioning block can be brought back to the initial position under the action of the spring; the front side of the clamping block is provided with three hole positions, the middle hole position is used for the fixing bolt, and the inner wall is provided with a corresponding thread, the two side hole positions are used for the positioning bolt, the rear side of the clamping block is internally provided with two rubber gaskets corresponding to the two ends of the positioning block, which increases friction and improves clamping effect, and the bottom side of the clamping block is provided with a corresponding bolt hole position a, which is used for connecting the rudder resistance feedback adjusting device connecting plate or the encoder fixing plate; the fixing bolt is engaged with the thread in the middle hole position of the front side of the clamping block; the positioning block is provided with a space corresponding to the clamping block on one side, and the hole positions on the two sides are internally provided with threads and are engaged with the threads of the positioning bolt, and the middle hole position corresponds to the fixing bolt.

[0011] Preferably, the rudder angle recognition device comprises an encoder fixing plate, a synchronous wheel, an encoder and a synchronous belt; the encoder fixing plate is used to connect the clamping device a or the clamping device b with the encoder; the synchronous wheel is used to synchronize the angle change information of the rudder; the encoder is used to convert the rudder angle information into an electrical signal.

[0012] Preferably, the rudder resistance feedback adjusting device comprises a lower connecting plate, a stepping motor, a reducer, a bolt hole, a synchronous belt, a synchronous shaft, a synchronous wheel, a spiral spring, a gear guide rail, a limiting block, a reduction gear, a synchronous gear; the lower connecting plate is used for connecting the rudder resistance adjusting feedback adjusting device; the stepping motor adjusts the damping size by rotating a certain angle; the reducer is used for improving the output torque size and stroke length of the stepping motor; the bolt hole is used for connecting the lower connecting plate and the rudder resistance feedback adjusting device shell through bolts; the synchronous belt is used for synchronizing the damping condition; the synchronous shaft is used for fixed welding with the rudder plate connector, synchronous rotation, the lower side of the synchronous shaft is inserted into the other side hole of the rudder fixing block, the end of the upper side of the synchronous shaft is provided with a synchronous wheel, and the lower side of the synchronous shaft is provided with two synchronous wheels; the synchronous wheel is used for synchronizing the resistance feedback; the spiral spring is used for reciprocating movement of the gear guide rail through compression and stretching; the gear guide rail is used for converting the change of the rudder angle into linear change; the limiting block is used for stretching protection of the spring limit position and preventing equipment collision damage; the reduction gear is used for improving the output torque size and stroke length of the stepping motor; and the synchronous gear is used as a medium for converting the rotation of the rudder into linear motion.

[0013] Preferably, the rudder resistance feedback adjusting device connecting plate comprises a bolt hole, a fixed bolt b, an adjusting track and an upper connecting plate; the bolt hole is used for corresponding with the bottom hole of the clamping device a / clamping device b; the fixed bolt is used for fixing the upper connecting plate and the lower connecting plate in the rudder resistance feedback adjusting device; the adjusting track is used for adjusting the vertical spacing of the connecting plate by adjusting the position of the fixed bolt; and the upper connecting plate is used for connecting the lower connecting plate and the clamping device a / clamping device b.

[0014] The technical scheme of the present application has at least the following advantages and beneficial effects:

[0015] 1. The operation connecting rod and the rudder plate of the present application adopt the facilities on the real physical sailboat, and can truly restore the sailboat rudder operation method; the rudder angle signal reading is realized based on the encoder hardware equipment, the change of the rudder angle can be sent to the computer in the form of electrical signal in real time, and the closed loop of the simulation system is realized.

[0016] The rudder resistance feedback adjusting device can simulate the resistance of the water flow to the rudder equipment when the physical sailboat sails on the water, realize resistance feedback, and adjust the resistance size of the rudder according to different marine environments and water flow rates.

[0017] 2. The whole device is established on the basis of the original real sailboat, and the simulation authenticity is further improved; the device belongs to a physical external device, can be quickly installed and disassembled, is simple to operate, maintains the integrity of the original sailboat equipment and meets the requirements of portability and installation, and has strong economy. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the overall structure of the external driving training rudder simulation device of the application which can adjust resistance and provide feedback;

[0019] Figure 2 is the rudder connection structure of the application;

[0020] Figure 3(a) is a schematic diagram of the structure of the clamping device of the application;

[0021] Figure 3(b) is a schematic diagram of the overall structure of the clamping device of the application;

[0022] Figure 4 is the rudder angle recognition device structure of the application;

[0023] Figure 5 is the rudder resistance feedback adjustment device connecting plate structure of the application;

[0024] Figure 6(a) is a schematic diagram of the external structure of the rudder resistance feedback adjustment device of the application;

[0025] Figure 6(b) is a schematic diagram of the internal structure of the rudder resistance feedback adjustment device of the application.

[0026] In which, the corresponding part names of the reference signs are as follows:

[0027] 1. rudder; 2. clamping device a; 3. rudder angle recognition device; 4. clamping device b; 5. rudder resistance feedback adjustment device connecting plate; 6. transom; 7. rudder resistance feedback adjustment device; 8. sailboat hull;

[0028] 101. operating link; 102. elastic short rope; 103. tiller; 104. rudder fixed block spring; 105. rudder fixed block; 106. rudder plate; 107. rudder plate connecting piece;

[0029] 201. fixing spring; 202. positioning bolt; 203. clamping block; 204. rubber gasket; 205. bolt hole position a; 206. fixed bolt a; 207. positioning block;

[0030] 301. encoder fixing plate; 302. synchronous wheel a; 303. encoder; 304. synchronous belt a; 305. synchronous wheel b;

[0031] 501. bolt hole position b; 502. fixed bolt b; 503. adjustment track; 504. upper connecting plate;

[0032] 701. Lower connecting plate; 702. Stepping motor; 703. Reducer; 704. Bolt hole site c; 705. Synchronous belt; 706. Synchronous shaft; 707. Synchronous wheel c; 708. Coil spring; 709. Gear guide rail; 710. Limit block; 711. Reducing gear; 712. Synchronous gear; 713. Guide rail rack a; 714. Guide rail rack b; DETAILED DESCRIPTION

[0033] The present application will be described in detail below with reference to the drawings and specific embodiments.

[0034] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application.

[0035] Therefore, the following detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but merely represents some embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative work fall within the scope of the present application.

[0036] It should be noted that similar reference numerals and letters in the following drawings represent similar items, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0037] In the description of the present application, it should be noted that the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer”, “back” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed. Such terms are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] It should also be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms “set”, “install”, “connect”, “connect” should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] AsFigure 1 As shown in Fig. 6, as a preferred embodiment of the present application, the application provides an adjustable resistance and feedback external driving training rudder simulation device, which comprises a rudder simulation device for sailboat simulation training;

[0040] The rudder simulation device for sailboat simulation training comprises a rudder 1, a clamping device a 2, a rudder angle identification device 3, a clamping device b 4, a rudder resistance feedback adjustment device connecting plate 5, a transom 6, and a rudder resistance feedback adjustment device 7. The clamping device a 2 and the clamping device b 4 are arranged on both sides of the upper end of the transom 6, and the rudder 1 is located in the middle of the transom 6. The rudder angle identification device 3 is connected to the clamping device a 2 by bolts, and the rudder resistance feedback adjustment device 7 is connected and fixed to the clamping device b 4 by the rudder resistance feedback adjustment device connecting plate 5. The transom 6 is a transom of a real sailboat.

[0041] As shown in Fig. 6, as a preferred embodiment of the present application, the application provides an adjustable resistance and feedback external driving training rudder simulation device, which comprises a rudder simulation device for sailboat simulation training; Figure 2 As shown in Fig. 6, as a preferred embodiment of the present application, the application provides an adjustable resistance and feedback external driving training rudder simulation device, which comprises a rudder simulation device for sailboat simulation training;

[0042] As shown in Fig. 6, as a preferred embodiment of the present application, the application provides an adjustable resistance and feedback external driving training rudder simulation device, which comprises a rudder simulation device for sailboat simulation training;

[0043] As shown in Fig. 6, as a preferred embodiment of the present application, the application provides an adjustable resistance and feedback external driving training rudder simulation device, which comprises a rudder simulation device for sailboat simulation training; Figure 4As shown in the preferred embodiment of the application, the rudder angle identification device 3 includes an encoder fixing plate 301, a synchronous wheel a 302, an encoder 303, a synchronous belt a 304, and a synchronous wheel b 305. One end of the encoder fixing plate 301 is connected to the bolt hole site a 205 of the clamping device a 2, and the other end is connected to the encoder 303. The synchronous wheel a 302 is installed on the input shaft of the encoder 303 to synchronize the rotation angle information of the rudder. The synchronous belt a 304 is connected to the synchronous wheel a 302 and the upper synchronous wheel b 305, respectively, to synchronize the angle change information of the rudder plate 106 to the encoder 303.

[0044] As shown in the preferred embodiment of the application, the rudder angle identification device 3 includes an encoder fixing plate 301, a synchronous wheel a 302, an encoder 303, a synchronous belt a 304, and a synchronous wheel b 305. One end of the encoder fixing plate 301 is connected to the bolt hole site a 205 of the clamping device a 2, and the other end is connected to the encoder 303. The synchronous wheel a 302 is installed on the input shaft of the encoder 303 to synchronize the rotation angle information of the rudder. The synchronous belt a 304 is connected to the synchronous wheel a 302 and the upper synchronous wheel b 305, respectively, to synchronize the angle change information of the rudder plate 106 to the encoder 303. Figure 5 As shown in the preferred embodiment of the application, the rudder angle identification device 3 includes an encoder fixing plate 301, a synchronous wheel a 302, an encoder 303, a synchronous belt a 304, and a synchronous wheel b 305. One end of the encoder fixing plate 301 is connected to the bolt hole site a 205 of the clamping device a 2, and the other end is connected to the encoder 303. The synchronous wheel a 302 is installed on the input shaft of the encoder 303 to synchronize the rotation angle information of the rudder. The synchronous belt a 304 is connected to the synchronous wheel a 302 and the upper synchronous wheel b 305, respectively, to synchronize the angle change information of the rudder plate 106 to the encoder 303.

[0045] As shown in the preferred embodiment of the application, the rudder angle identification device 3 includes an encoder fixing plate 301, a synchronous wheel a 302, an encoder 303, a synchronous belt a 304, and a synchronous wheel b 305. One end of the encoder fixing plate 301 is connected to the bolt hole site a 205 of the clamping device a 2, and the other end is connected to the encoder 303. The synchronous wheel a 302 is installed on the input shaft of the encoder 303 to synchronize the rotation angle information of the rudder. The synchronous belt a 304 is connected to the synchronous wheel a 302 and the upper synchronous wheel b 305, respectively, to synchronize the angle change information of the rudder plate 106 to the encoder 303.

[0046] As a preferred embodiment of the present application, a method for operating an external rudder device for sailboat driving simulation training, comprising the following steps:

[0047] (1) First, the clamping device 2 and the clamping device 4 in the device are installed on the upper side of the rear side of the sailboat hull 8 according to the corresponding space, and the stern plate 6 is tightly attached to the rear side of the sailboat hull 8. The positioning block 207 is adjusted by twisting the fixing bolt a 206 to press the stern plate 6. The same step is used to operate the clamping device 4, so that the entire device is fixed to the sailboat hull 8.

[0048] (2) The operator first controls the swing of the operating connecting rod 101 by the arm, and the operating connecting rod 101 drives the swing of the tiller 103 through the elasticity of the elastic short rope 102, and then rotates the rudder plate 106. The rotation signal of the rudder plate 106 is transmitted to the synchronous shaft 706 through the rudder plate connecting piece 107, and the synchronous wheel b 305 on the upper side of the synchronous shaft 706 transmits the rotation signal to the synchronous wheel a 302 through the synchronous belt a 304. The synchronous wheel a 302 is coaxially connected with the encoder 303, and the rotation signal is transmitted to the computer through the encoder 303 to be converted into an electric signal, realizing the reading of the rudder angle signal.

[0049] (3) During the simulation of sailboat movement, the operator operates the rudder plate 106 to change direction, and the synchronous shaft 706 of the rudder plate connecting piece 107 is connected with the synchronous wheel c 707 of the rudder resistance feedback adjusting device 7 through the synchronous belt 705. The synchronous gear 712 coaxially connected with the synchronous wheel c 707, the movement of the guide rack a 713 of the rudder resistance feedback adjusting device 7 drives the stretching and compression of the spiral spring 708, thereby realizing resistance feedback. When the simulation environment changes, the computer transmits a signal to the stepping motor 702 in the rudder resistance feedback adjusting device 7 to rotate by a corresponding angle to drive the gear guide rail 714 to adjust the stretching and compression degree of the spiral spring 708, thereby realizing the adjustment of the damping size. The output shaft of the stepping motor 702 is connected with the reducer 703, which improves the output torque size and stroke length of the stepping motor 702. The reduction gear 711 at the end of the reducer 703 is connected with the spiral spring 708 in the rudder resistance feedback adjusting device 7 through the guide rack b 714, which is used to control the extension amount of the spiral spring 708 in the rudder resistance feedback adjusting device 7, thereby controlling the output torque size.

[0050] The above embodiments are only used for illustration and not limit the technical solutions of the present application. Any modification or partial replacement without departing from the spirit of the present application shall be covered in the scope of the claims of the present application.

Claims

1. An external rudder device for sailboat driving simulation training, characterized by: The invention comprises a rudder (1), a clamping device a (2), a rudder angle recognition device (3), a clamping device b (4), a rudder resistance feedback adjustment device connecting plate (5), a stern plate (6), and a rudder resistance feedback adjustment device (7). The clamping device a (2) and the clamping device b (4) are respectively arranged on both sides of the upper end of the stern plate (6). The rudder (1) is located in the middle of the stern plate (6). The rudder angle recognition device (3) is connected to the clamping device a (2) by bolts. The rudder resistance feedback adjustment device (7) is respectively connected and fixed to the clamping device b (4) by the rudder resistance feedback adjustment device connecting plate (5). The stern plate (6) is the stern plate of a sailboat in reality. The clamping device a (2) or the clamping device b (4) comprises a fixing spring (201), a positioning bolt (202), a clamping block (203), a rubber gasket (204), a bolt hole a (205), a fixing bolt a (206), and a positioning block (207); the fixing spring (201) and the positioning bolt (202) are combined to provide elastic force for the positioning bolt (202); the positioning bolt (202) is connected to the positioning block (207) to apply the elastic force to the positioning block (207) to drive the fixing spring (201) and the positioning bolt (202) to provide elastic force for the positioning bolt (202). It returns to its initial position. A rubber gasket (204) is provided inside the clamping block (203) for increasing friction and improving the clamping effect. A bolt hole a (205) is provided on the front portion of the lower side of the clamping block (203) for connecting the rudder angle recognition device (3) and the rudder resistance feedback adjustment device connecting plate (5). Three holes are provided on the front side of the clamping block (203) for receiving two positioning bolts (202) and a fixing bolt a (206), respectively. The fixing bolt a (206) is used to provide clamping pressure. The rudder angle recognition device (3) comprises an encoder fixing plate (301), a synchronous wheel a (302), an encoder (303), a synchronous belt a (304), and a synchronous wheel b (305); one end of the encoder fixing plate (301) is connected to a bolt hole position a (205) of a clamping device a (2), and the other end is connected to the encoder (303); a synchronous wheel a (302) is mounted on the input shaft of the encoder (303) for synchronizing the rotation angle information of the rudder; the synchronous belt a (304) is respectively connected to the synchronous wheel a (302) and the upper end synchronous wheel b (305) for synchronizing the angle change information of the rudder plate (106) to the encoder (303).

2. The external rudder device for sailboat driving simulation training according to claim 1, characterized in that: The rudder (1) comprises an operating link (101), an elastic short rope (102), a tiller (103), a rudder fixing block spring (104), a rudder fixing block (105), a rudder plate (106), and a rudder plate connecting piece (107); the operating link (101) and the tiller (103) are connected via an elastic short rope (102), the elastic short rope (102) having a rebound characteristic; the other end of the tiller (103) and the upper end of the rudder plate (106) are connected via bolts; a rudder fixing block spring (104) is provided between the rudder fixing block (105) and the stern plate (6) for limiting the rotational movement of the rudder fixing block (105); the rudder fixing block (105) is connected to the rudder plate connecting piece (107) via a synchronous shaft (706) via bolts; and the rudder plate connecting piece (107) is connected to the side of the rudder plate (106) via bolts.

3. The external rudder device for sailboat driving simulation training according to claim 1, characterized in that: The rudder resistance feedback adjustment device connecting plate (5) comprises a bolt hole position b (501), a fixing bolt b (502), an adjustment track (503), and an upper connecting plate (504); the bolt hole position b (501) cooperates with the bolt hole position a (205) in the clamping device a (2) and the clamping device b (4); the fixing bolt b (502) adjusts the length of the upper and lower connecting plates along the adjustment track (503); the upper connecting plate (504) and the lower connecting plate (701) are fixed by the fixing bolt b (502) for connecting the rudder resistance feedback adjustment device (7) and the clamping device b (4).

4. The external rudder device for sailboat driving simulation training according to claim 1, characterized in that: The rudder resistance feedback adjustment device (7) comprises a lower connecting plate (701), a stepping motor (702), a speed reducer (703), a bolt hole (704), a synchronous belt b (705), a synchronous shaft (706), a synchronous wheel c (707), a coil spring (708), a gear guide rail (709), a stop block (710), a reduction gear (711), a synchronous gear (712), a guide rail rack a (713), and a guide rail rack b (714); a bolt hole c (704) is provided at the bottom of the lower connecting plate (701) for connection with the housing of the entire rudder resistance feedback adjustment device (7); an upper end is connected to the rudder resistance feedback adjustment device connecting plate (5) for adjusting the distance; an output shaft of the stepping motor (702) is connected to the speed reducer (703) for increasing the motor output torque and stroke length; and a synchronous shaft (708) is provided for increasing the motor output torque and stroke length. The synchronous wheels (305) are respectively installed on the lower and middle synchronous wheels (305) and connected to one end of the synchronous belt (705), and the other ends are respectively connected to the upper and lower synchronous wheels (707). A synchronous gear (712) is installed between the upper and lower synchronous wheels (707). The synchronous gear (712) is engaged with the teeth and grooves on both sides of the outer wall. When the synchronous gear (712) rotates, it drives the gear guide rail (709) to generate displacement, thereby compressing or stretching the coil spring (708) to achieve resistance feedback. The limit block (710) is used to limit the displacement of the gear guide rail (709). When the environment in the simulation scene changes, the reduction gear (711) is rotated by the stepping motor (702) to rotate the corresponding angle. The reduction gear (711) is engaged with the teeth and grooves on the inner wall, thereby adjusting the gear guide rail (709) to achieve the adjustment of the damping size.

5. An external rudder device for sailboat driving simulation training according to any one of claims 1 to 4, characterized in that: The operation method includes the following steps: 1) First, the clamping device a (2) and the clamping device b (4) in the device are installed on the upper rear side of the sailboat hull (8) according to the corresponding empty spaces, and the stern plate (6) is closely attached to the rear side of the sailboat hull (8). The positioning block (207) is adjusted by twisting the fixing bolt a (206) to squeeze the stern plate (6). The same steps are performed to operate the clamping device (4) so ​​that the entire device is fixed to the sailboat hull (8); 2) The operator first controls the swing of the operating link (101) through his arm. The operating link (101) drives the swing of the tiller (103) through the elasticity of the elastic short rope (102), thereby rotating the rudder plate (106). The rotation signal of the rudder plate (106) is transmitted to the synchronous shaft (706) through the rudder plate connecting member (107). The synchronous wheel (305) located on the upper side of the synchronous shaft (706) then transmits the rotation signal to the synchronous wheel (302) through the synchronous belt (304). The synchronous wheel (302) is coaxially connected to the encoder (303). The rotation signal is transmitted to the computer through the encoder (303) and converted into an electrical signal, thereby realizing the reading of the rudder angle signal. 3) During the sailboat motion simulation, similar to step 2), the operator manipulates the rudder plate (106) to perform a reversing operation, and the synchronous shaft (706) of the rudder plate (106) and the rudder plate connecting member (107) is connected to the synchronous wheel (707) of the rudder resistance feedback adjustment device (7) through a synchronous belt (705). The synchronous gear (712) coaxially connected to the synchronous wheel (707) and the movement of the guide rack a (713) of the rudder resistance feedback adjustment device (7) drive the coil spring (708) to stretch and compress, thereby realizing resistance feedback; when the simulation environment changes, the computer transmits a signal to the stepping motor (702) in the rudder resistance feedback adjustment device (7) to rotate the corresponding angle to drive the guide rack b (714) adjusts the extension and compression degree of the coil spring (708) to achieve the adjustment of the damping size; the output shaft of the stepping motor (702) is connected to the reducer (703) to increase the output torque size and stroke length of the stepping motor (702); the reduction gear (711) at the end of the reducer (703) is connected to the coil spring (708) in the rudder resistance feedback adjustment device (7) through the guide rack b (714) to control the extension and contraction amount of the coil spring (708) in the rudder resistance feedback adjustment device (7) to control the output torque size.

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