A roll simulation platform, a test platform and a test system

Abstract

The present invention provides a roll simulation platform, a test platform and a test system. The roll simulation platform includes a vibration frame and a roll frame, wherein the vibration frame is arranged above the roll frame; the roll frame includes a base plate, a main shaft seat and at least one group of branch chain groups, wherein the vibration frame is arranged on the main shaft seat, and the main shaft seat is arranged on the base plate, wherein one end of the branch chain group is connected to the base plate and the other end is connected to the vibration frame. The roll simulation platform simulates the roll motion state under the real sea conditions, provides a simulation environment for the preliminary test of the vibration reduction control technology, and has a simple structure and low cost. The test platform has a simple, compact structure and low cost. The test system simulates the roll motion state under the real sea conditions, provides a simulation environment for the preliminary test of the vibration reduction control technology, conducts a vibration reduction control test of the vibration reduction control device for ships, and ensures the credibility of the test results.

Description

Technical Field

[0001] The invention relates to a roll simulation platform, a test platform and a test system. Background Art

[0002] The noise caused by the vibration of the ship destroys the concealment of the ship; the vibration can cause cracks or fatigue damage to the hull structure, shortening the life of the ship; affecting the performance of the ship's instruments and control systems, creating hidden dangers to navigation; and affecting the work efficiency and living comfort of the crew on board.

[0003] The vibration of various machines (various internal combustion engines, pumps, fans, etc.) in the ship is transmitted to the hull through the machine base, causing the vibration of the ship shell, thereby generating underwater acoustic radiation. In order to effectively suppress the transmission of mechanical vibration inside the hull, various active and passive vibration control technologies have been widely studied and applied. Vibration reduction control devices (active and passive vibration isolators, vibration absorbers, etc.) are generally installed on the vibration transmission path from the excitation source to the hull (the machine base between the hull and the vibration source), reducing or eliminating the impact of the vibrating machinery on the hull from the vibration transmission path.

[0004] In actual ship navigation, the swaying motion of the hull caused by waves, especially the roll, causes the ship to tilt and have a certain swing acceleration. In this state, the propagation path of the excitation force generated by the excitation device to the hull will change, affecting the vibration control effect and even making the control ineffective. Therefore, a ship motion simulation platform is needed to provide a simulation environment for the early testing of existing vibration reduction control technology. Summary of the invention

[0005] The purpose of the present invention is to provide a roll simulation platform which simulates the roll motion state under real sea conditions and provides a simulation environment for the early stage test of vibration reduction control technology, and has a simple and compact structure and low cost.

[0006] In order to solve the above technical problems, the technical solution of the present invention is:

[0007] A roll simulation platform comprises a vibration frame and a roll frame, wherein the vibration frame is arranged above the roll frame, the roll frame comprises a base plate, a spindle seat and at least one group of branch chains, the vibration frame is arranged on the spindle seat, the spindle seat is arranged on the base plate, one end of the branch chain is connected to the base plate, and the other end is connected to the vibration frame.

[0008] Preferably, an angular velocity sensor is further included, and the angular velocity sensor is arranged on the base plate through an adapter frame and connected to the spindle seat.

[0009] Preferably, the branch chain group includes a left branch chain and a right branch chain symmetrically arranged about the main shaft seat, and the projection extension lines of the left branch chain and the right branch chain at the end of the vibration reduction frame intersect.

[0010] Preferably, each of the branch chains comprises a hydraulic cylinder, a first rotating pair and a second rotating pair, one end of the hydraulic cylinder is connected to the roll frame via the first rotating pair, and the other end is connected to the base plate via the second rotating pair.

[0011] Preferably, when the vibration damping frame is in a horizontal position, the thrust of the hydraulic cylinder is perpendicular to the thrust arm.

[0012] Preferably, the spindle seat includes a spindle body, a spindle bearing seat and a matching shaft support frame. The spindle body is fixed to the floor through the spindle bearing seat, and the vibration frame is supported by the matching shaft support seat. The vibration frame performs transverse shaking motion on the spindle body as the spindle body rotates.

[0013] Preferably, the roll frame further comprises a group of photoelectric switches symmetrically arranged about the main shaft seat.

[0014] Preferably, the vibration frame comprises a supporting frame and an excitation source, wherein the excitation source is arranged on the supporting frame, and the supporting frame is arranged on the main shaft seat and connected to the base plate via the branch chain group.

[0015] Preferably, the support frame has a concave cross-section, comprising a frame body and elevated components arranged on both sides of the frame body, the excitation source is arranged on the frame body, and the branch chain group is connected to the elevated components.

[0016] Preferably, the elevated member is a side arm.

[0017] Preferably, the vibration frame further comprises a counterweight block, and the counterweight block is arranged on the supporting frame.

[0018] Preferably, the vibration frame further comprises a group of detachable supporting feet symmetrically arranged about the main shaft seat, and the detachable supporting feet are arranged on the supporting frame.

[0019] A test platform includes a roll frame, a vibration reduction frame and a vibration frame, wherein the vibration reduction frame is arranged on the vibration frame, and the vibration frame is arranged on the roll frame. The roll frame includes a base plate, a spindle seat and at least one group of branch chain groups, and the vibration frame is arranged on the spindle seat, and the spindle seat is arranged on the base plate. One end of the branch chain group is connected to the base plate, and the other end is connected to the vibration frame.

[0020] Preferably, an angular velocity sensor is further included, and the angular velocity sensor is arranged on the base plate through an adapter frame and connected to the spindle seat.

[0021] Preferably, the branch chain group includes a left branch chain and a right branch chain symmetrically arranged about the main shaft seat, and the projection extension lines of the left branch chain and the right branch chain at the end of the vibration reduction frame intersect.

[0022] Preferably, each of the branch chains comprises a hydraulic cylinder, a first rotating pair and a second rotating pair, one end of the hydraulic cylinder is connected to the roll frame via the first rotating pair, and the other end is connected to the base plate via the second rotating pair.

[0023] Preferably, when the vibration damping frame is in a horizontal position, the thrust of the hydraulic cylinder is perpendicular to the thrust arm.

[0024] Preferably, the spindle seat includes a spindle body, a spindle bearing seat and a matching shaft support frame. The spindle body is fixed to the floor through the spindle bearing seat, and the vibration frame is supported by the matching shaft support seat. The vibration frame performs transverse shaking motion on the spindle body as the spindle body rotates.

[0025] Preferably, the roll frame further comprises a group of photoelectric switches symmetrically arranged about the main shaft seat.

[0026] Preferably, the vibration frame includes a supporting skeleton and an excitation source, the vibration reduction frame includes a vibration isolator, a supporting plate, an upper acceleration sensor and a lower acceleration sensor, the vibration isolator is arranged on the supporting skeleton, the supporting plate is arranged on the vibration isolator, the vibration source is arranged on the supporting plate, the upper acceleration sensor is arranged on the supporting plate, the lower acceleration sensor is arranged on the supporting skeleton, the supporting skeleton is arranged on the main shaft seat, and is connected to the base plate through the branch chain group.

[0027] Preferably, the upper acceleration sensor is arranged on a path where the vibration on the support plate is transmitted to the vibration isolator.

[0028] Preferably, the lower acceleration sensor is arranged on a path where the vibration on the vibration isolator is transmitted to the supporting frame.

[0029] Preferably, the vibration isolator is arranged on the supporting frame via a flange, and the lower acceleration sensor is arranged on the flange.

[0030] Preferably, the support frame has a concave cross-section, comprising a frame body and elevated components arranged on both sides of the frame body, the excitation source is arranged on the frame body, and the branch chain group is connected to the elevated components.

[0031] Preferably, the elevated member is a side arm.

[0032] Preferably, the vibration frame further comprises a counterweight block, and the counterweight block is arranged on the supporting frame.

[0033] Preferably, the vibration frame further comprises a group of detachable supporting feet symmetrically arranged about the main shaft seat, and the detachable supporting feet are arranged on the supporting frame.

[0034] A test system comprises the above-mentioned test platform, an electro-hydraulic servo system and a host computer, wherein the test platform, the electro-hydraulic servo system and the host computer are communicatively connected.

[0035] Compared with the prior art, the present invention has the following advantages: the roll simulation platform of the present invention simulates the roll motion state under the real sea conditions, provides a simulation environment for the preliminary test of the vibration reduction control technology, and has a simple, compact and low-cost structure. A single-rod, bidirectional hydraulic rod serial and parallel hybrid mode is adopted to realize the synchronous operation of the hydraulic cylinder, and the swinging action is realized by pushing (pulling) the side wall by the hydraulic rod, which has low cost. At the same time, the connecting seat of the supporting frame and the hydraulic cylinder adopts an elevated structure to reduce the platform height, lower the center of gravity, reduce the platform volume space, and increase the platform stability. The test platform has a simple, compact and low-cost structure. The test system simulates the roll motion state under the real sea conditions, provides a simulation environment for the preliminary test of the vibration reduction control technology, conducts the vibration reduction control test of the vibration reduction control device for ships, and ensures the credibility of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only for illustration purposes and are used to help understand the present invention. They do not specifically limit the shapes and proportional dimensions of the components of the present invention. Under the guidance of the present invention, those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to specific circumstances. In the drawings:

[0037] Figure 1 is a structural schematic diagram of a roll simulation platform according to a specific embodiment of the present invention;

[0038] Figure 2 It is a structural schematic diagram of a test platform according to a specific embodiment of the present invention;

[0039] Figure 3 It is a structural schematic diagram of a spindle seat of a test platform according to a specific embodiment of the present invention;

[0040] Figure 4 It is a schematic structural diagram of a support frame of a test platform according to a specific embodiment of the present invention;

[0041] Figure 5 is a structural schematic diagram of a test system according to a specific embodiment of the present invention;

[0042] Figure 6 and Figure 7 It is a structural schematic diagram of an electro-hydraulic servo system of a test system according to a specific embodiment of the present invention.

[0043] 1-counterweight, 2-vibrator, 3-support plate, 4-vibration isolator, 5-lower acceleration sensor, 6-support frame, 7-detachable support foot, 9-base plate, 10-matching shaft support frame, 11-photoelectric switch, 13-spindle bearing seat, 14-spindle body, 15-adapter, 16-angular velocity sensor, 17-hydraulic cylinder, 18-second rotation pair, 19-first rotation pair, 20-adapter, 21-pressure sensor, 22-proportional servo valve, 23-proportional overflow valve, 24-return oil filter, 25-air filter, 26-oil tank, 27-drain valve, 28-hydraulic pump, 29-check valve, 30-energy accumulator, 31-oil block, 32-upper acceleration sensor, 33-host computer, 61-side arm, 62-skeleton body. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0047] See also Figure 1 , a roll simulation platform comprises a vibration frame and a roll frame, wherein the vibration frame is arranged above the roll frame.

[0048] See also Figure 3The roll frame includes a base plate 9, a spindle seat, an angular velocity sensor 16 and at least one branch chain group, and the spindle seat is arranged on the base plate 9. The spindle seat includes a spindle body 14, a spindle bearing seat 13 and a matching shaft support frame 10. The spindle body 14 is fixed to the base plate 9 through the spindle bearing seat 13, and the vibration frame is supported by the matching shaft support frame 10. The vibration frame performs a roll motion on the spindle body 14 as the spindle body 14 rotates. The angular velocity sensor 16 is arranged on the base plate 9 and connected to the spindle body 14, and is used to feedback the position angle value of the vibration frame.

[0049] The branch chain group connects the base plate 9 and the vibration frame. The branch chain group includes a left branch chain and a right branch chain symmetrically arranged about the main shaft body 14, and the projection extension lines of the left branch chain and the right branch chain at the end of the vibration reduction frame intersect. Each branch chain includes a hydraulic cylinder 17, a first rotation pair 19 and a second rotation pair 18. One end of the hydraulic cylinder 17 is connected to the vibration frame through the first rotation pair 19, and the other end is connected to the base plate 9 through the second rotation pair 18. When the vibration reduction frame is in a horizontal position, the thrust of the hydraulic cylinder 17 is set to be perpendicular to the thrust arm to improve the output efficiency of the hydraulic cylinder 17 and reduce the platform height. A fisheye bearing is installed on the top of the push rod of the hydraulic cylinder 17, which is installed on the support frame 6 to realize the first rotation pair 19. The earrings of the lower shell of the hydraulic cylinder 17 are connected to the base plate 9 through the hydraulic support shaft and the hydraulic bearing seat to form the second rotation pair 18. The real-time swing and fixed angle position change of the rolling simulation platform are realized by controlling the movement of the push rod of the hydraulic cylinder 17. Two groups of branch chains are provided, and four branch chains are provided at four corners of a rectangle.

[0050] See also Figure 2 The pan frame also includes a group of photoelectric switches 11 symmetrically arranged about the spindle seat. The photoelectric switches 11 are arranged on the bottom plate 9 and are used for angle limiting to prevent the platform device from being damaged due to excessive swing angle. The photoelectric switches 11 and angular velocity sensors 16 are both arranged on the bottom plate 9 through an adapter frame 15.

[0051] See also Figure 4The vibration frame includes a support frame 6, a counterweight 1 and an exciter 2. The exciter 2 and the counterweight 1 are arranged on the support frame 6. A plurality of counterweights 1 are arranged evenly around the exciter 2. The support frame 6 has a concave cross-section, including a frame body 62 and side arms 61 of a raised member arranged on both sides of the frame body. The exciter 2 and the counterweight 1 are arranged on the frame body 62. The branch chain connects the side arms 61, that is, the hydraulic cylinder 17 is connected to the side arms 61 through the first rotating pair 19. The partial structure is raised, and the hydraulic rod 17 is used to push (pull) the side arm to achieve the swinging action, thereby lowering the platform height, lowering the center of gravity, reducing the platform volume space, and increasing the platform stability.

[0052] The roll simulation platform also includes a group of detachable support feet 7 symmetrically arranged about the main shaft body 14. The detachable support feet 7 are set on the support frame 6 through flat head pins. They are used when the platform needs the hydraulic cylinder 17 to be disassembled, adjusted and placed horizontally and does not need to swing. They can be disassembled or suspended (suspended on the side of the platform) when not in use.

[0053] The roll simulation platform simulates the roll motion state under real sea conditions, provides a simulation environment for the early stage test of vibration reduction control technology, and has a simple and compact structure and low cost.

[0054] See also Figure 2 to Figure 4A test platform includes a vibration reduction frame, a vibration frame and a roll frame. The vibration frame is arranged on the roll frame. The vibration frame includes a support frame 6 and an exciter 2, and the vibration reduction frame is arranged between the support frame 6 and the exciter 2 to reduce or eliminate the influence of vibration on the support frame 6. The vibration reduction frame includes a vibration isolator 4, a support plate 3, an upper acceleration sensor 32 and a lower acceleration sensor 5, and the support plate 3 is arranged on the vibration isolator 4, and the vibration isolator 4 supports the support plate 3. The vibration isolator 4 is arranged on the support frame 6, the support plate 3 is arranged on the vibration isolator 4, the exciter 2 is arranged on the support plate 3, the upper acceleration sensor 32 is arranged on the support plate 3, and is located on the path where the vibration on the support plate 3 propagates to the vibration isolator 4, and the lower acceleration sensor 4 is arranged on the support frame 6, and is located on the path where the vibration isolator 4 propagates to the support frame 6. The upper acceleration sensor 32 is arranged on the other side of the vibration isolator 4 contacting the support plate 3, and the lower acceleration sensor 5 is arranged on the support frame 6 through a flange, and the lower acceleration sensor 5 is arranged on the flange. In this embodiment, four vibration isolators 4 are arranged at the four corners of a rectangle, and correspondingly, four upper acceleration sensors 32 and four lower acceleration sensors 5 are arranged, which are arranged one-to-one with the vibration isolators, that is, each vibration isolator 4 is provided with an upper acceleration sensor 32 and a lower acceleration sensor 5 for signal collection. The vibration frame also includes a counterweight 1, and a plurality of counterweights 1 are arranged, which are evenly arranged around the exciter 2, and different loads are simulated by matching counterweights 1 of different masses and quantities.

[0055] The roll frame includes a base plate 9, a spindle seat, an angular velocity sensor 16 and at least one branch chain group, and the spindle seat is arranged on the base plate 9. The spindle seat includes a spindle body 14, a spindle bearing seat 13 and a matching shaft support frame 10. The spindle body 14 is fixed to the base plate 9 through the spindle bearing seat 13, and the vibration frame is supported by the matching shaft support seat 10. The vibration frame performs a roll motion on the spindle body 14 as the spindle body 14 rotates. Specifically, the spindle body 14 supports the support skeleton 6 through the matching shaft support seat 10 to support the vibration frame. The angular velocity sensor 16 is arranged on the base plate 9 and connected to the spindle body 14, and is used to feedback the position angle value of the vibration frame.

[0056] The branch chain group connects the base plate 9 and the vibration frame. The branch chain group includes a left branch chain and a right branch chain symmetrically arranged about the main shaft body 14, and the projection extension lines of the left branch chain and the right branch chain intersect at the end of the vibration reduction frame. Each of the branch chains includes a hydraulic cylinder 17, a first rotating pair 19 and a second rotating pair 18. One end of the hydraulic cylinder 17 is connected to the vibration frame through the first rotating pair 19, and the other end is connected to the base plate 9 through the second rotating pair 18. When the vibration reduction frame is in a horizontal position, the thrust of the hydraulic cylinder 17 is set to be perpendicular to the thrust arm to improve the output efficiency of the hydraulic cylinder and reduce the platform height. One end of the hydraulic cylinder 17 is connected to the vibration frame through the first rotating pair 19, and the other end is connected to the base plate through the second rotating pair 18. Specifically, the branch chain connects the base plate 9 and the supporting frame 6. The cross-section of the supporting frame 6 is a concave shape, including a frame body 62 and side arms 61 arranged on both sides of the frame body 62. The vibrator 2 and the counterweight block 1 are arranged on the frame body 62. The branch chain connects the side arms 61, that is, the hydraulic cylinder 17 is connected to the side arms 61 through the first rotating pair 19.

[0057] The pan frame also includes a group of photoelectric switches 11 symmetrically arranged about the main shaft body 14. The photoelectric switches 11 are arranged on the bottom plate 9 for angle limiting to prevent the platform device from being damaged due to excessive swing angle. The photoelectric switches 11 and angular velocity sensors 16 are both arranged on the bottom plate 9 through an adapter frame 15.

[0058] The test platform also includes a group of detachable support feet 7 symmetrically arranged about the main shaft seat. The detachable support feet 7 are set on the support frame 6 through flat head pins. They are used when the platform needs the hydraulic cylinder 17 to be disassembled, adjusted and placed horizontally and does not need to swing. They can be disassembled or suspended (suspended on the side of the platform) when not in use.

[0059] On the basis of the provided roll simulation platform, the test platform installs a vibration reduction frame on the roll simulation platform to test the vibration isolation effect of the vibration isolator 4 installed on the vibration reduction frame.

[0060] See also Figure 5 to Figure 7 A test system comprises the test platform described in the second embodiment, as well as an electro-hydraulic servo system and a host computer 33, wherein the test platform, the electro-hydraulic servo system and the host computer 33 are communicatively connected with each other.

[0061] The electro-hydraulic servo system includes a hydraulic cylinder 17, a proportional servo valve 22, a proportional relief valve 23, a pressure sensor 21, an oil circuit block 31, an oil tank 26, a hydraulic pump 28, a one-way valve 29, an oil return filter 24, an air filter 25, an accumulator 30, an oil drain valve 27 and a hydraulic pipeline. The hydraulic cylinder 17 is an actuator arranged on the test platform. When the push rod is extended, it is a process hydraulic cylinder, and when the push rod is retracted, it is a return hydraulic cylinder. It is connected to the oil circuit block 31 through a hydraulic pipeline. The proportional servo valve 22, the proportional relief valve 23 and the pressure sensor 21 are all installed on the oil circuit block 31, wherein the proportional servo valve 22 controls the opening and closing and direction of the hydraulic pipeline, the proportional relief valve 23 controls the pressure of the hydraulic pipeline, and the pressure sensor 21 is used to feedback the inlet and outlet pressure of the proportional servo valve 22. The oil circuit block 31 is installed on the oil tank 26. It is an oil circuit adapter in the electro-hydraulic servo system. It is used to install various valve bodies and sensors. It is suitable for short-distance transmission of hydraulic oil, which can reduce the use of hydraulic pipelines and make the device integration of the electro-hydraulic servo system higher. The oil tank 26 is an oil storage device for the electro-hydraulic servo system. It is also a mounting base for other components. It is filled with hydraulic oil for energy transmission and also plays a role in system lubrication and cooling. The hydraulic pump 28 is installed on the oil tank 26 and is the power source of the electro-hydraulic servo system. It drives the hydraulic oil to flow in the hydraulic pipeline to realize the telescopic action of the terminal hydraulic cylinder 17 and drive the test platform to swing. The one-way valve 29 is installed between the hydraulic pump 28 and the proportional servo valve 23 to make the hydraulic oil flow in one direction and prevent reverse backflow. The return oil filter 24 is installed on the hydraulic pipeline at the end of the system to filter out the pollutants generated or invaded in the system before returning to the oil tank. The air filter 25 is installed on the oil tank 26, which can not only prevent particulate pollutants from invading the system through the oil tank breathing port, but also prevent particulate pollutants from mixing in during refueling. The accumulator 30 is installed on the oil tank 26 and is used to absorb hydraulic circuit pulses, compensate flow and maintain pressure. The electro-hydraulic servo system is a commonly used electro-hydraulic servo system.

[0062] The host computer 33 provides the computer operating system required for operation, builds the foundation of the software operation platform, and realizes the program algorithm writing by installing and building the corresponding software, completing the data collection, analysis, calculation and output control of the entire system. The host computer 33 includes a data acquisition module and a data analysis output module. The data acquisition module reads the status data of the test platform and the electro-hydraulic servo system. The data analysis output module is used to analyze the status data collected by the data acquisition module for regulation and output to the test platform and the electro-hydraulic servo system. The data acquisition module is connected to the proportional servo valve 22 and pressure sensor 21 in the electro-hydraulic servo system, the angular velocity sensor 16, the lower acceleration sensor 5, the upper acceleration sensor 32, and the photoelectric switch 11 in the test platform through a coaxial cable for the collection of feedback signals from various sensors; the data analysis output module is connected to the exciter 2, the proportional servo valve 22 and the proportional relief valve 23, and is used to control the vibration of the exciter 2 and the valve core position change of the proportional servo valve 22 and the proportional relief valve 23 in the electro-hydraulic servo system. In addition, an external rudder is installed on the host computer 33, and the platform operation status is controlled in real time by turning the rudder.

[0063] The data acquisition and motion control program is built using the host computer software labview. First, the data acquisition module reads the reference signal of the upper acceleration sensor 32, the lower layer error signal of the lower acceleration sensor 5, the angle signal of the angular velocity sensor 16, and the switch signal of the photoelectric switch 11 on the bottom plate 9 to realize real-time data monitoring of the test platform, and reads the valve core position feedback signal of the proportional servo valve 22 and the pressure signal of the pressure sensor 21 to realize real-time data monitoring of the electro-hydraulic servo system. The original data is filtered into signal data that is conducive to later calculation and control reference through the FFT filtering algorithm.

[0064] Then, the data analysis output module performs data analysis and controls the vibrator 2 , the proportional servo valve and the proportional overflow valve.

[0065] The excitation signal type, frequency, amplitude, phase and other parameters are set on the host computer 33, and the parameter information is transmitted to the amplifier of the exciter 2 through communication to drive the exciter 2 to operate, and the vibration of the device is simulated in combination with the counterweight, including the single-frequency vibration, multi-frequency vibration and swept-frequency vibration of the simulated device.

[0066] The proportional servo valve control mainly realizes the fixed angle position control, real-time control and simulation control of the rolling simulation platform. The fixed angle position control is to preset the static tilt angle value of the rolling platform through software, and control the valve core position change of the proportional servo valve 22 through the algorithm to realize the platform static at a fixed angle. The specific implementation method is: when the upper computer detects the fixed angle value instruction, it will subtract the instruction value from the angle signal of the angular velocity sensor 16 to obtain the angle signal error value, and then multiply the angle signal error value by Kp, add the integral of the angle signal error value with respect to time multiplied by Ki and output it to the proportional servo valve 22. After receiving the signal, the valve core position of the proportional servo valve 22 changes, and controls the oil flow to the progress hydraulic cylinder and the return hydraulic cylinder, so that the angle of the support plate 3 moves in the direction of reducing the angle signal error value, until the angle signal error value is less than the preset error value, and the valve core of the proportional servo valve 22 is closed. At this time, there is no oil flowing to the process hydraulic cylinder and the return hydraulic cylinder. The upper computer gives the proportional relief valve 23 an instruction to open the valve core of the proportional relief valve 23, so that when the valve core of the proportional servo valve 22 is closed, the oil returns to the oil tank 26 through the proportional relief valve 23 (where Kp and Ki are PID control parameters). Real-time control is to use the external rudder to control the swing and stillness of the rolling simulation platform. The specific implementation method is as follows: when the upper computer 33 detects the rudder angle value instruction, the upper computer 33 will subtract the instruction value from the angle signal of the angular velocity sensor 16 to obtain the angle signal error value, and then multiply the angle signal error value by Kp, add the integral of the angle signal error value with respect to time multiplied by Ki and output it to the proportional servo valve 22. After receiving the signal, the valve core position of the proportional servo valve 22 changes, and controls the oil flow to the process hydraulic cylinder and the return hydraulic cylinder, so that the angle of the upper support plate 3 moves in the direction of reducing the angle signal error value until the angle signal error value is less than the preset error value. At the same time, the upper computer 33 will multiply the angle signal error value by Kp plus the integral of the angle signal error value with respect to time by Ki and output it to the proportional relief valve 23 to instruct the proportional relief valve 23 valve core to control the oil flow to the process hydraulic cylinder and the return hydraulic cylinder. In this way, when the angle signal error value is large, the oil flow and pressure to the process hydraulic cylinder and the return hydraulic cylinder are large; when the angle signal error value is small, the oil flow and pressure to the process hydraulic cylinder and the return hydraulic cylinder are small. This control can avoid the vibration and heating of the hydraulic system caused by the large oil pressure when the error value is small. The simulation control is for the test platform to automatically run according to the planned motion path and speed change. The specific implementation method is: the upper computer 33 will import the angle-time signal set in advance, and control it in the same way as above.

[0067] The proportional relief valve control is to control the pressure change in the hydraulic circuit of the electro-hydraulic system according to the demand. Specifically, according to the proportional relief valve 23 and its power amplifier parameters, the control parameters of the proportional relief valve 23 corresponding to the actual system required pressure are set on the host computer 33, and the parameters are sent to the proportional relief valve power amplifier. The valve core position of the proportional relief valve 23 is driven by the power amplifier to change, so as to realize the pressure control. In addition, the impedance control algorithm is written on the host computer 33 software, and the pressure control parameters corresponding to the relief valve are adjusted according to the real-time change of the hydraulic circuit pressure fed back by the pressure sensor 21, so as to realize the impedance control of the rolling simulation platform. By controlling the exciter 2, the proportional servo valve and the proportional relief valve, the rolling motion state under the real sea conditions is obtained, and the vibration isolator is tested. By judging the reference signal measured by the upper acceleration sensor 32 and the error signal measured by the lower acceleration sensor 5, the smaller the error signal, that is, the acceleration signal, the better the vibration isolation effect is, so as to judge the vibration control effect of the vibration isolator 4 used.

[0068] The roll simulation platform of the present invention simulates the roll motion state under real sea conditions, provides a simulation environment for the preliminary test of vibration reduction control technology, and adds a vibration isolator to the roll simulation platform for vibration reduction to form a test platform. The test platform has a simple structure, is compact and has low cost. The test platform is connected to a test system formed by an electro-hydraulic servo system and a host computer. The test system simulates the roll motion state under real sea conditions, provides a simulation environment for the preliminary test of vibration reduction control technology, and conducts vibration reduction control tests of vibration reduction control devices for ships to ensure the credibility of the test results. The vibration isolator 4 is used to eliminate the influence of the upper layer vibration on the lower layer skeleton. Here, the reference signal can be the vibration signal of the vibration source (exciter), and the error signal is the vibration signal of the skeleton below the vibration isolator. When the error signal, that is, the acceleration signal, is smaller, the vibration isolation effect is better (the smaller the lower layer vibration, that is, the vibration transmitted from the upper layer to the lower layer is eliminated by the vibration isolator).

[0069] It should be understood that the above description is for illustration and not for limitation. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the foregoing claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended to be a waiver of such subject matter, nor should it be considered that the applicant has not considered such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A roll simulation platform, characterized in that: It comprises a vibration frame and a roll frame, wherein the vibration frame is arranged above the roll frame; the roll frame comprises a bottom plate, a spindle seat and at least one set of branch chain groups, wherein the vibration frame is arranged on the spindle seat, the spindle seat is arranged on the bottom plate, one end of the branch chain group is connected to the bottom plate, and the other end is connected to the vibration frame; The branch chain group includes a left branch chain and a right branch chain symmetrically arranged about the main shaft seat, and the projection extension lines of the left branch chain and the right branch chain at the end of the vibration reduction frame intersect; Each branch chain of the branch chain group includes a hydraulic cylinder, a first rotating pair and a second rotating pair. One end of the hydraulic cylinder is connected to the roll frame through the first rotating pair, and the other end is connected to the base plate through the second rotating pair.

2. The roll simulation platform according to claim 1, characterized in that: The roll frame further comprises an angular velocity sensor, which is arranged on the base plate and connected to the main shaft seat.

3. The roll simulation platform according to claim 1, characterized in that: When the vibration frame is in a horizontal position, the hydraulic cylinder thrust is perpendicular to the thrust arm.

4. The roll simulation platform according to claim 1, characterized in that: The spindle seat comprises a spindle body, a spindle bearing seat and a matching shaft support frame. The spindle body is fixed to the bottom plate through the spindle bearing seat, and the vibration frame is supported by the matching shaft support frame.

5. The roll simulation platform according to claim 1, characterized in that: The pan frame also includes a group of photoelectric switches symmetrically arranged about the main shaft seat.

6. The roll simulation platform according to claim 1, characterized in that: The vibration frame comprises a supporting frame and an excitation source, wherein the excitation source is arranged on the supporting frame, and the supporting frame is arranged on the main shaft seat and connected to the bottom plate through the branch chain group.

7. The roll simulation platform according to claim 6, characterized in that: The support frame has a concave cross-section and includes a frame body and elevated components arranged on both sides of the frame body. The excitation source is arranged on the frame body, and the branch chain group is connected to the elevated components.

8. The roll simulation platform according to claim 7, characterized in that: The elevated member is a side arm.

9. The roll simulation platform according to claim 6, characterized in that: The excitation source is an exciter.

10. The roll simulation platform according to claim 6, characterized in that: The vibration frame also includes a counterweight block, and the counterweight block is arranged on the supporting frame.

11. The roll simulation platform according to claim 6, characterized in that: The vibration frame also includes a group of detachable support feet symmetrically arranged about the main shaft seat, and the detachable support feet are arranged on the support frame.

12. A test platform, characterized in that: It comprises a roll frame, a vibration reduction frame and a vibration frame, wherein the vibration reduction frame is arranged on the vibration frame, the vibration frame is arranged on the roll frame, the roll frame comprises a bottom plate, a main shaft seat and at least one group of branch chains, the vibration frame is arranged on the main shaft seat, the main shaft seat is arranged on the bottom plate, one end of the branch chain group is connected to the bottom plate, and the other end is connected to the vibration frame; The branch chain group includes a left branch chain and a right branch chain symmetrically arranged about the main shaft seat, and the projection extension lines of the left branch chain and the right branch chain at the end of the vibration reduction frame intersect; Each branch chain of the branch chain group includes a hydraulic cylinder, a first rotating pair and a second rotating pair. One end of the hydraulic cylinder is connected to the roll frame through the first rotating pair, and the other end is connected to the base plate through the second rotating pair.

13. The test platform according to claim 12, characterized in that: The roll frame further comprises an angular velocity sensor, which is arranged on the base plate and connected to the main shaft seat.

14. The test platform according to claim 12, characterized in that: When the vibration frame is in a horizontal position, the hydraulic cylinder thrust is perpendicular to the thrust arm.

15. The test platform according to claim 12, characterized in that: The spindle seat comprises a spindle body, a spindle bearing seat and a matching shaft support frame. The spindle body is fixed to the bottom plate through the spindle bearing seat, and the vibration frame is supported by the matching shaft support frame.

16. The test platform according to claim 12, characterized in that: The pan frame also includes a group of photoelectric switches symmetrically arranged about the main shaft seat.

17. The test platform according to claim 12, characterized in that: The vibration frame includes a supporting skeleton and an excitation source, and the vibration reduction frame includes a vibration isolator, a supporting plate, an upper acceleration sensor and a lower acceleration sensor. The vibration isolator is arranged on the supporting skeleton, the supporting plate is arranged on the vibration isolator, the vibration source is arranged on the supporting plate, the upper acceleration sensor is arranged on the supporting plate, the lower acceleration sensor is arranged on the supporting skeleton, the supporting skeleton is arranged on the main shaft seat, and is connected to the base plate through the branch chain group.

18. The test platform according to claim 17, characterized in that: The upper acceleration sensor is arranged on a path where the vibration on the support plate is transmitted to the vibration isolator.

19. The test platform according to claim 17, characterized in that: The lower acceleration sensor is arranged on a path where the vibration on the vibration isolator is transmitted to the supporting frame.

20. The test platform according to claim 19, characterized in that: The vibration isolator is arranged on the supporting frame through a flange, and the lower acceleration sensor is arranged on the flange.

21. The test platform according to claim 17, characterized in that: The support frame has a concave cross-section and includes a frame body and elevated components arranged on both sides of the frame body. The excitation source is arranged on the frame body, and the branch chain group is connected to the elevated components.

22. The test platform according to claim 21, characterized in that: The elevated member is a side arm.

23. The test platform according to claim 17, characterized in that: The excitation source is an exciter.

24. The test platform according to claim 17, characterized in that: The vibration frame also includes a counterweight block, and the counterweight block is arranged on the supporting frame.

25. The test platform according to claim 17, characterized in that: The vibration frame also includes a group of detachable support feet symmetrically arranged about the main shaft seat, and the detachable support feet are arranged on the support frame.

26. A test system, comprising the test platform according to any one of claims 12 to 25, an electro-hydraulic servo system and a host computer, wherein the test platform, the electro-hydraulic servo system and the host computer are communicatively connected.

Images