Ship motion multi-degree-of-freedom simulation device and simulation method

Abstract

The present invention provides a multi-degree-of-freedom simulation device and a simulation method for ship motion, wherein the multi-degree-of-freedom simulation device for ship motion comprises a first-layer platform, a second-layer platform, a third-layer platform and a fourth-layer platform arranged in sequence from top to bottom; wherein the second-layer platform comprises a second-layer frame and a transverse oil cylinder; the first-layer platform is slidably connected to the second-layer frame in the transverse direction; the third-layer platform comprises a third-layer bottom plate, two pitch oil cylinders, and two roll oil cylinders; the pitch oil cylinder and the roll oil cylinder are both rotatably connected to the second-layer frame; the fourth-layer platform comprises a fourth-layer frame, and a yaw oil cylinder arranged on the fourth-layer frame, and the piston rod of the yaw oil cylinder is connected to the third-layer bottom plate. The multi-degree-of-freedom simulation device for ship motion provided by the present invention can simulate various motions of a ship under laboratory conditions through the cooperation of four-layer platforms and oil cylinders arranged in sequence from top to bottom, thereby improving the stability and safety of the ship's navigation.

Description

Technical Field

[0001] The present invention relates to the technical field of ship motion simulation, and in particular to a ship motion multi-degree-of-freedom simulation device and a simulation method. Background Art

[0002] The movement of ships in the waves is relatively complicated, the maritime navigation environment is harsh, and the interference of waves makes the ship's swaying motion increasingly severe, thus threatening the safety of the ship's navigation.

[0003] In order to study the operation of ships at sea and improve the stability and safety of ship navigation, it is a technical problem to be solved urgently to provide a multi-degree-of-freedom simulation device for ship motion based on the movement laws of ships to simulate various movements of ships under laboratory conditions. Summary of the invention

[0004] The problem solved by the present invention is how to simulate various motions of a ship under laboratory conditions.

[0005] In order to solve the above problems, the present invention provides a multi-degree-of-freedom simulation device for ship motion, comprising a first platform, a second platform, a third platform and a fourth platform arranged in sequence from top to bottom; wherein:

[0006] The second-layer platform includes a second-layer frame and a transverse oil cylinder arranged at the bottom of the second-layer frame; the first-layer platform is slidably connected to the second-layer frame in the transverse direction; the piston rod of the transverse oil cylinder is connected to the first-layer platform;

[0007] The third-layer platform includes a third-layer bottom plate, two pitch oil cylinders evenly distributed along the longitudinal direction of the third-layer bottom plate, and two roll oil cylinders evenly distributed along the transverse direction of the third-layer bottom plate; the top ends of the piston rods of the pitch oil cylinders and the top ends of the piston rods of the roll oil cylinders are both rotatably connected to the second-layer frame;

[0008] The fourth-layer platform includes a fourth-layer frame and a yaw cylinder arranged on the fourth-layer frame. The center line of the yaw cylinder is arranged to deviate from the center line of the third-layer bottom plate, and the piston rod of the yaw cylinder is connected to the third-layer bottom plate.

[0009] Optionally, a displacement sensor is provided on the piston rod of the transverse oil cylinder, the piston rod of the pitch oil cylinder, the piston rod of the roll oil cylinder and the piston rod of the yaw oil cylinder;

[0010] The materials of the parts on the ship motion multi-degree-of-freedom simulation device are all non-magnetic materials.

[0011] Optionally, it further includes a base, which is arranged below the fourth layer frame, and the fourth layer frame is slidably connected to the base along the longitudinal direction.

[0012] Optionally, the bottom of the fourth layer frame is provided with track wheels distributed along the longitudinal direction, and the base is provided with tracks matched with the track wheels.

[0013] Optionally, it also includes a support shaft, the bottom end of which is fixedly connected to the center of the fourth layer frame, and the support shaft passes through the center of the third layer bottom plate and is rotatably connected to the center of the bottom end of the second layer frame.

[0014] Another object of the present invention is to provide a method for simulating multi-degree-of-freedom of ship motion, which is implemented by the multi-degree-of-freedom simulation device for ship motion as described above, and a control module connected to the multi-degree-of-freedom simulation device for ship motion by signal;

[0015] The multi-degree-of-freedom simulation method for ship motion comprises the following steps:

[0016] The control module receives the simulated motion instruction;

[0017] If the simulated motion is a lateral motion, controlling the lateral cylinder to operate;

[0018] If the simulated motion is a pitch motion, controlling the two pitch cylinders to operate;

[0019] If the simulated motion is a rolling motion, controlling the two rolling cylinders to operate;

[0020] If the simulated motion is a yaw motion, the yaw cylinder is controlled to operate.

[0021] Optionally, controlling the operation of the transverse cylinder includes:

[0022] Calculating a first standard displacement of the piston rod of the lateral oil cylinder according to the lateral movement instruction;

[0023] Acquire a first real-time displacement of a piston rod of the transverse oil cylinder according to a displacement sensor on the transverse oil cylinder;

[0024] The first real-time displacement is compared with the first standard displacement. If the first real-time displacement reaches the first standard displacement, the piston rod of the transverse oil cylinder stops running.

[0025] Optionally, controlling the operation of the two pitch cylinders includes:

[0026] According to the pitch motion instruction, obtaining a pitch angle;

[0027] Determining a first standard height difference between piston rods of the two pitch cylinders according to the pitch angle;

[0028] Acquiring a first real-time height difference between piston rods of the two pitch cylinders according to displacement sensors on the two pitch cylinders;

[0029] The first real-time height difference is compared with the first standard height difference. If the first real-time height difference reaches the first standard height difference, the piston rods of the two pitch cylinders stop running.

[0030] Optionally, controlling the operation of the two pan cylinders includes:

[0031] According to the rolling motion instruction, obtaining a rolling angle;

[0032] Determining a second standard height difference between the piston rods of the two roll cylinders according to the roll angle;

[0033] Acquiring a second real-time height difference between the piston rods of the two pan cylinders according to the displacement sensors on the two pan cylinders;

[0034] The second real-time height difference is compared with the second standard height difference. If the second real-time height difference reaches the second standard height difference, the piston rods of the two pan cylinders stop running.

[0035] Optionally, controlling the yaw cylinder to operate includes:

[0036] According to the yaw motion instruction, obtaining a yaw angle;

[0037] According to the yaw angle, obtaining a second standard displacement of the piston rod of the yaw cylinder;

[0038] acquiring a second real-time displacement of a piston rod of the yaw cylinder according to a displacement sensor on the yaw cylinder;

[0039] The second real-time displacement is compared with the second standard displacement. If the second real-time displacement reaches the second standard displacement, the yaw cylinder stops running.

[0040] Compared with the prior art, the multi-degree-of-freedom simulation device for ship motion provided by the present invention has the following advantages:

[0041] The multi-degree-of-freedom ship motion simulation device provided by the present invention can simulate various motions of a ship under laboratory conditions through the cooperation of four-layer platforms and oil cylinders arranged in sequence from top to bottom, thereby improving the stability and safety of the ship's navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a side view of the multi-degree-of-freedom simulation device for ship motion according to the present invention;

[0043] Figure 2 This is a simplified structural diagram of the second-layer platform of the present invention;

[0044] Figure 3 A side view of the second-layer platform of the present invention;

[0045] Figure 4 This is a simplified structural diagram of the third-layer platform of the present invention;

[0046] Figure 5 A side view of the third-layer platform of the present invention;

[0047] Figure 6 This is a simplified structural diagram of the fourth-layer platform of the present invention;

[0048] Figure 7 for Figure 6 Middle AA section view;

[0049] Figure 8 for Figure 6 Middle BB section view;

[0050] Fig. 9 It is the principle diagram of the hydraulic system of the present invention;

[0051] Fig.10 This is a block diagram of the electrical control system described in the present invention.

[0052] Description of reference numerals:

[0053] 1-first-layer platform; 11-guide rail; 2-second-layer platform; 21-second-layer frame; 211-track slider; 212-ball head hole seat; 22-transverse cylinder; 3-third-layer platform; 31-third-layer bottom plate; 32-pitch cylinder; 33-roll cylinder; 4-fourth-layer platform; 41-fourth-layer frame; 411-track wheel; 42-yaw cylinder; 5-support shaft; 6-universal ball. DETAILED DESCRIPTION

[0054] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0055] In the description of the present invention, it should be understood that the terms "first" and "second" are only used to simplify the description, and should not be understood as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0056] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" the first feature may include that the first feature is in direct contact with the second feature, or may include that the first feature and the second feature are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0057] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0058] In order to simulate various motions of a ship under laboratory conditions, the present invention provides a multi-degree-of-freedom simulation device for ship motion, see Figure 1 As shown, the ship motion multi-degree-of-freedom simulation device comprises a first-layer platform 1, a second-layer platform 2, a third-layer platform 3 and a fourth-layer platform 4 arranged in sequence from top to bottom; wherein the first-layer platform 1 located at the top is a motion platform of an aluminum profile assembly; see Figure 2 , Figure 3 As shown, the second-layer platform 2 includes a second-layer frame 21, and a transverse cylinder 22 arranged at the bottom of the second-layer frame 21; the first-layer platform 1 is slidably connected to the second-layer frame 21 in the transverse direction; the piston rod of the transverse cylinder 22 is connected to the first-layer platform 1, and the piston rod of the transverse cylinder 22 is distributed horizontally, so that the piston rod of the transverse cylinder 22 can drive the first-layer platform 1 to slide relative to the second-layer frame 21 in the transverse direction.

[0059] The transverse direction in the present application specifically refers to the direction along the width distribution of the first layer platform 1, and the longitudinal direction refers to the direction along the length distribution of the first layer platform 1; the specific size of the first layer platform can be determined according to demand. In the present application, the preferred length of the first layer platform 1 is 3500mm, the width is 1500mm, and the thickness is 30mm.

[0060] In order to realize the sliding connection between the first layer platform 1 and the second layer frame 21, in the present application, two horizontally distributed guide rails 11 are arranged at the bottom of the first layer platform 1, and the two guide rails 11 are symmetrically distributed along the longitudinal center line of the first layer platform 1; sliding holes matching the two guide rails 11 are arranged on the second layer frame 21, and the two guide rails 11 are arranged in the corresponding sliding holes, and the sliding connection between the first layer platform 1 and the second layer frame 21 is realized by sliding the guide rails 11 in the sliding holes. In order to reduce the friction during the sliding process, a sliding sleeve is also arranged in the sliding hole.

[0061] Furthermore, the present application sets a track slider 211 on the second layer frame 21 , and then sets a sliding hole in the track slider 211 , so as to achieve low-friction movement of the first layer platform 1 in the second layer frame 21 .

[0062] The preferred number of track sliders 211 in the present application is eight, and the eight track sliders 211 are divided into two columns. The four track sliders 211 in each column are evenly distributed in the horizontal direction, so as to reduce the contact area between the guide rail 11 and the sliding hole, thereby reducing the friction force during the horizontal movement of the first platform 1.

[0063] See also Figure 4 , Figure 5 As shown, the third-layer platform 3 includes a third-layer bottom plate 31, two pitch cylinders 32 evenly distributed along the longitudinal direction of the third-layer bottom plate 31, and two roll cylinders 33 evenly distributed along the transverse direction of the third-layer bottom plate 31; wherein the bottom ends of the pitch cylinders 32 and the roll cylinders 33 are fixedly connected to the third-layer bottom plate 31, and the top ends of the piston rods of the pitch cylinders 32 and the top ends of the piston rods of the roll cylinders 33 are rotatably connected to the second-layer frame 21; four cylinders arranged on the third-layer bottom plate 31 connect the third-layer bottom plate 31 with the second-layer frame 21.

[0064] See also Figure 6 to Figure 8 As shown, the fourth-layer platform 4 includes a fourth-layer frame 41, and a yaw cylinder 42 arranged on the fourth-layer frame 41. The center line of the yaw cylinder 42 is set to deviate from the center line of the third-layer bottom plate 31. The piston rod of the yaw cylinder 42 is distributed in the horizontal direction, and the piston rod of the yaw cylinder 42 is connected to the third-layer bottom plate 31.

[0065] When using the multi-degree-of-freedom simulation device for ship motion, the corresponding cylinder is selected for operation according to the multi-degree-of-freedom simulation requirements for ship motion; specifically, when lateral movement is required, the lateral cylinder 22 is operated, and the piston rod of the lateral cylinder 22 contracts and moves in the lateral direction, while driving the first-layer platform 1 connected thereto to move in the lateral direction, thereby realizing lateral simulated movement.

[0066] When pitching motion is required, the two pitching cylinders 32 form a differential oil circuit, and the second-layer frame 21 connected to the two pitching cylinders 32 is operated to be longitudinally shaken with one end rising and the other end falling in the longitudinal direction, and at the same time, the first-layer platform 1 connected to the second-layer frame 21 is driven to be longitudinally shaken, thereby realizing longitudinal shaking simulation motion.

[0067] Similarly, when rolling motion is required, the two rolling cylinders 33 form a differential oil circuit, and the second-layer frame connected to the two rolling cylinders 33 is operated to move horizontally, with one end rising while the other end falls, thereby moving horizontally, and at the same time driving the first-layer platform 1 connected to the second-layer frame 21 above to move horizontally, thereby realizing horizontal shaking simulation motion.

[0068] When yaw movement is required, the piston rod of the yaw cylinder 42 contracts and drives the third bottom plate 31 to move at the same time. Since the center line of the yaw cylinder 42 deviates from the center line of the third bottom plate 31, the yaw movement is achieved by driving the third bottom plate 31 through the yaw cylinder 42.

[0069] The multi-degree-of-freedom ship motion simulation device provided by the present invention can simulate various motions of a ship under laboratory conditions through the cooperation of four-layer platforms and oil cylinders arranged in sequence from top to bottom, thereby improving the stability and safety of the ship's navigation.

[0070] In order to improve the accuracy of controlling the multi-degree-of-freedom simulation device for ship motion, displacement sensors are provided on the piston rod of the transverse cylinder 22, the piston rod of the pitch cylinder 32, the piston rod of the roll cylinder 33 and the piston rod of the yaw cylinder 42 in the present application; the displacement of the corresponding piston rod is detected by the displacement sensor, and then the displacement of the platform connected to the piston rod is obtained, so as to realize accurate control of the multi-degree-of-freedom simulation device for ship motion.

[0071] In this application, the pressure oil of each cylinder is controlled by a servo valve, and the pressure oil supply of the servo valve comes from a dedicated hydraulic source. Fig. 9 As shown, each set of servo valves, oil cylinders, displacement sensors and corresponding controllers form a platform servo closed loop, so that the ship motion multi-degree-of-freedom simulation device can simulate the required motion.

[0072] In order to prevent the operation of the ship motion multi-degree-of-freedom simulation device from being affected by external magnetism, the materials of the components of the ship motion multi-degree-of-freedom simulation device in this application are all non-magnetic materials.

[0073] Specifically, all steel materials in the present application are made of 316 type non-magnetic stainless steel. The first-layer platform 1, that is, the moving platform, is made of a combination of aluminum profiles. The screws and nuts are made of 316 type non-magnetic stainless steel or brass. The welding wire is made of special non-magnetic stainless steel. The high-pressure hose required in the simulation device has an inner layer of thermoplastic polyester and an outer layer of oil-resistant synthetic rubber, and the hose connector is made of non-magnetic stainless steel. After these components are manufactured, they need to be inspected for non-magnetism.

[0074] Furthermore, the multi-degree-of-freedom simulation device for ship motion in the present application also includes a base (not shown in the figure), which is arranged below the fourth-layer frame 41. The fourth-layer frame 41 is slidably connected to the base along the longitudinal direction, so that the fourth-layer frame 41 can move longitudinally on the base to realize the simulation of the longitudinal movement of the ship, that is, to simulate the forward movement of the ship.

[0075] In order to realize the longitudinal movement of the fourth-layer frame 41 on the base, the present application preferably provides a longitudinally distributed track wheel 411 at the bottom of the fourth-layer frame 41, and a track compatible with the track wheel 411 is provided on the base, and the track is distributed along the longitudinal direction, so that the track wheel 411 at the bottom of the fourth-layer frame 41 slides in the track on the base, driving the fourth-layer frame 41 to move longitudinally, and then driving the first-layer platform 1, that is, the moving platform to move longitudinally, thereby realizing the simulation of the longitudinal movement of the ship.

[0076] The forward motion of the ship can be simulated by driving the track wheel 411 to move in the track on the base through a steel cable. In general, the distance of longitudinal motion is long, so the length of the connected hydraulic oil pipe is also long; in order to enable the oil pipe to move in an orderly manner, the present application preferably places the oil pipe in a drag chain device made of plastic, so that the oil pipe can follow the ship motion multi-degree-of-freedom simulation device to move regularly.

[0077] Further, when the ship motion multi-degree-of-freedom simulation device provided by the present invention is in working state, due to closed-loop control, once the power is cut off, the system cannot be controlled, the ship motion multi-degree-of-freedom simulation device will be in an uncertain state, and the safety cannot be guaranteed; to ensure that the posture of the ship motion multi-degree-of-freedom simulation device can remain unchanged when the ship motion multi-degree-of-freedom simulation device is in a power-off state, the present application superimposes a set of A and B port two-way electromagnetic ball valves (normally closed) under each servo valve, and when the servo loop is in working state, the electromagnetic ball valve must be energized; when the working state is switched to the power-off state, the oil ports A and B of the oil cylinder are closed, and the ship motion multi-degree-of-freedom simulation device remains in the original state; if all channel electrical signals are returned to zero before power is cut off, the ship motion multi-degree-of-freedom simulation device is in the initial neutral state, and then the power is cut off, the ship motion multi-degree-of-freedom simulation device will not move at this time, and maintain the initial neutral state, so that the safety of the ship motion multi-degree-of-freedom simulation device is guaranteed. In order to achieve this function, strict requirements are put forward for the internal sealing of each oil cylinder, that is, the oil cylinder has no internal leakage.

[0078] In order to further improve the safety of the multi-degree-of-freedom simulation device for ship motion, the pump station in this application is equipped with an oil level alarm, which will sound an alarm when the oil level is lower than 60%. At the same time, a temperature sensor is provided to detect the hydraulic oil temperature. When the hydraulic oil temperature is higher than 50 degrees, the cooling system starts, and when it is lower than 40 degrees, the cooling system is shut down. When the oil temperature is higher than 60 degrees, the system alarms and the system will be shut down.

[0079] Set up an oil pollution alarm. The system uses multi-stage cleaning and filtration. Each filter element is equipped with a blockage sensor. When the filter element is about to be replaced, the system will prompt.

[0080] Multiple emergency stop buttons are set up on site. When the system loses control, the emergency button can be used to shut down the system urgently and the multi-degree-of-freedom simulation device for ship motion is in a fixed state.

[0081] In order to improve the stability of the structure of the multi-degree-of-freedom simulation device for ship motion, the multi-degree-of-freedom simulation device for ship motion in the present application also includes a support shaft 5, the bottom end of the support shaft 5 is fixedly connected to the center of the fourth layer frame 41, and the support shaft 5 passes through the center of the third layer bottom plate 31 and is rotatably connected to the center of the bottom end of the second layer frame 21.

[0082] The top end of the support shaft 5, the top ends of the piston rods of the two pitch cylinders 32, and the top ends of the piston rods of the two roll cylinders 33 are all rotatably connected to the bottom end of the second layer frame 21, forming five movable fulcrums, which can realize the pitch and roll of the second layer frame 21, and then drive the pitch and roll of the first layer platform 1 connected to the second layer frame 211.

[0083] In the present application, the top of the support shaft 5, the top of the piston rod of the two pitch cylinders 32 and the top of the piston rod of the two roll cylinders 33 are preferably provided with a universal ball 6, and a ball head hole seat 212 compatible with each universal ball 6 is provided at the corresponding position of the bottom end of the second-layer frame 21. By setting the universal ball 6 in the corresponding ball head hole seat 212, the top of the support shaft 5, the top of the piston rod of the two pitch cylinders 32 and the top of the piston rod of the two roll cylinders 33 are all hinged to the second-layer frame 21, thereby realizing the rotational connection between the support shaft 5, the two pitch cylinders 32, the two roll cylinders 33 and the second-layer frame 21.

[0084] The multi-degree-of-freedom simulation device for ship motion provided by the present invention drives the platform to move through the lateral cylinder 22, the pitch cylinder 32, the roll cylinder 33 and the yaw cylinder 42, wherein the four driving cylinders can move independently or perform compound movements, so that the simulation device for ship motion can simulate the lateral and longitudinal movements of the ship in the horizontal direction, and can simulate the roll (roll) movement, pitch (pitch) movement and yaw movement of the ship in the attitude; at the same time, the structure of the multi-degree-of-freedom simulation device for ship motion provided by the present application is reasonable and compact, especially the total height of the simulation device is relatively low, such as the total height of the multi-degree-of-freedom simulation device for ship motion is less than 450mm. To this end, each structure in the present application has been miniaturized, and the size of each component is controlled.

[0085] Another object of the present invention is to provide a multi-degree-of-freedom simulation method for ship motion, which is implemented by the multi-degree-of-freedom simulation device for ship motion as described above; in order to facilitate the precise control of the simulation process of ship motion, the multi-degree-of-freedom simulation device for ship motion in the present application also includes a control module, which is connected to the multi-degree-of-freedom simulation device for ship motion through signals. Specifically, the transverse cylinder 22, the pitch cylinder 32, the roll cylinder 33 and the yaw cylinder 42 are all connected to the control module signal.

[0086] The multi-degree-of-freedom simulation method for ship motion comprises the following steps:

[0087] The control module receives the simulated motion instruction;

[0088] If the simulated motion is lateral motion, the lateral cylinder 22 is controlled to operate;

[0089] If the simulated motion is a pitch motion, the two pitch cylinders 32 are controlled to operate;

[0090] If the simulated motion is a rolling motion, the two rolling cylinders 33 are controlled to operate;

[0091] If the simulated motion is a yaw motion, the yaw cylinder 42 is controlled to operate.

[0092] In order to improve the intelligence and accuracy of the simulation method, in the present application, the transverse cylinder 22, the pitch cylinder 32, the roll cylinder 33 and the yaw cylinder 42 are all connected to the control module signal; wherein the control module specifically includes a human-machine interface computer and a PAC, the human-machine interface computer is used to receive the user's data instructions, and display the real-time data feedback of the ship motion multi-degree-of-freedom simulation device on the display screen of the human-machine interface computer; the PAC is used to collect real-time data of the ship simulation device; specifically, during use, the user sends a corresponding instruction through the computer in the control module, and transmits the instruction to the corresponding device connected to the control module signal via Ethernet communication, such as the transverse cylinder 22, the pitch cylinder 32, the roll cylinder 33 and the yaw cylinder 42, and the corresponding device then acts according to the received instruction to realize the simulation of the corresponding movement.

[0093] When the simulated motion is performed specifically, the motion modes of the transverse cylinder 22 , the pitch cylinder 32 , the roll cylinder 33 and the yaw cylinder 42 are as described above and will not be described in detail herein.

[0094] The ship motion simulation method provided by the present invention realizes receiving the operator's instructions through the human-machine interface through the setting of the control module, realizes real-time communication between the human-machine interface computer and the lower computer, realizes real-time data collection of the ship motion multi-degree-of-freedom simulation device, realizes local control and remote control of the hydraulic servo system, and realizes servo motion control of the motion platform.

[0095] During the working process, the human-machine interface computer, PAC, lateral cylinder 22, pitch cylinder 32, roll cylinder 33, yaw cylinder 42, displacement sensors arranged on each cylinder, servo valves corresponding to each cylinder, hydraulic pump station and hydraulic circuit together constitute the electronic control system of the multi-degree-of-freedom simulation device for ship motion, wherein the PAC collects the displacement information of each displacement sensor in real time, and generates the control signal of the corresponding servo valve according to the real-time collected information and the received instructions, and the servo valve converts the control signal into the corresponding flow and pressure output, thereby realizing the control of the corresponding cylinder.

[0096] Specifically, in the present application, controlling the operation of the transverse cylinder 22 includes:

[0097] According to the lateral movement instruction, the first standard displacement of the piston rod of the lateral oil cylinder 22 is calculated;

[0098] According to the displacement sensor on the transverse oil cylinder 22, a first real-time displacement of the piston rod of the transverse oil cylinder 22 is obtained;

[0099] The first real-time displacement is compared with the first standard displacement. If the first real-time displacement reaches the first standard displacement, the piston rod of the transverse oil cylinder 22 stops running.

[0100] The displacement sensor on the transverse cylinder 22 is connected to the control module signal; wherein the first standard displacement value is determined by the specific transverse motion instruction, and the first standard displacement can be directly the displacement value specified in the transverse motion instruction, or it can be the displacement value obtained by rounding or rounding off the displacement value specified in the transverse motion instruction; during operation, the control module collects the real-time displacement data of the displacement sensor on the transverse cylinder 22, records it as the first real-time displacement, and compares the first real-time displacement with the first standard displacement. If the first real-time displacement does not reach the first standard displacement, it is determined that under the drive of the transverse cylinder 22, the transverse displacement of the first layer platform 1 is If the movement value does not meet the requirement of lateral simulated movement, the piston rod of the lateral cylinder 22 continues to move along the original movement direction; on the contrary, when the first real-time displacement reaches the first standard displacement, it is determined that under the drive of the lateral cylinder 22, the lateral movement value of the first-layer platform 1 meets the requirement of lateral simulated movement, and the piston rod of the lateral cylinder 22 is controlled to stop running; if it is still necessary to simulate lateral movement in the reverse direction, the control module receives a lateral movement instruction opposite to the above direction, and then through the above control process, the lateral cylinder 22 continues to drive the first-layer platform 1 to move laterally in the reverse direction. The control process of the lateral movement in the reverse direction is not repeated in this article.

[0101] Controlling the operation of the two pitch cylinders 32 includes:

[0102] According to the pitch motion instruction, obtain the pitch angle;

[0103] Determine a first standard height difference between the piston rods of the two pitch cylinders 32 according to the pitch angle;

[0104] According to the displacement sensors on the two pitch cylinders 32, a first real-time height difference between the piston rods of the two pitch cylinders 32 is obtained;

[0105] The first real-time height difference is compared with the first standard height difference. If the first real-time height difference reaches the first standard height difference, the piston rods of the two pitch cylinders 32 stop running.

[0106] The present application takes the pitch angle of ±5° specified in the pitch motion instruction as an example to illustrate the simulation process of the pitch motion; the present application preferably sets the distance from the two pitch cylinders 32 to the support shaft 5 to be 400mm; the control module determines, based on the pitch angle, that when the vertical movement distance of the piston rods of the two pitch cylinders 32 is ±35mm, the pitch angle of the first motion platform 1 is ±5°, that is, the first standard height difference is 70mm; the two pitch cylinders 32 work differentially, monitor the displacement values ​​of the displacement sensors on the two pitch cylinders 32 in real time, and add the two displacement values ​​to obtain the first real-time height difference; the control module compares the first real-time height difference with the first standard height difference. If the first real-time height difference does not reach the first standard height difference, that is, it is not If the first real-time height difference reaches 70 mm, it is determined that the pitch angle of the first platform 1 has not reached ±5° in the instruction, and the piston rods of the two pitch cylinders 32 are controlled to continue to move in the original direction; on the contrary, if the first real-time height difference reaches the first standard height difference, that is, it reaches 70 mm, it is determined that the pitch angle of the first platform 1 has reached ±5° in the instruction, meeting the simulation requirements, and the piston rods of the two pitch cylinders 32 are controlled to stop moving; if it is necessary to simulate the ship to continue to pitch in the opposite direction, the control module continues to receive the pitch instruction, and according to the above control process, the two pitch cylinders 32 continue to drive the first platform 1 to continue to pitch in the opposite direction, and so on, until the control module receives the pitch motion stop instruction, and the two pitch cylinders 32 stop running.

[0107] Controlling the operation of the two rolling cylinders 33 includes:

[0108] According to the rolling motion instruction, the rolling angle is obtained;

[0109] Determine a second standard height difference between the piston rods of the two roll cylinders 33 according to the roll angle;

[0110] According to the displacement sensors on the two roll cylinders 33, a second real-time height difference between the piston rods of the two roll cylinders 33 is obtained;

[0111] The second real-time height difference is compared with the second standard height difference. If the second real-time height difference reaches the second standard height difference, the piston rods of the two pan cylinders 33 stop running.

[0112] The present application takes the roll motion instruction in which the roll angle is specified as ±7° as an example to illustrate the simulation process of the roll motion; the present application preferably sets the distance from the two roll cylinders 33 to the support shaft 5 to be 280mm; the control module determines, based on the roll angle, that when the vertical movement distance of the piston rods of the two roll cylinders 33 is ±35mm, the pitch angle of the first motion platform 1 is ±7°, that is, the second standard height difference is 70mm; the two roll cylinders 33 work differentially, monitor the displacement values ​​of the displacement sensors on the two roll cylinders 33 in real time, and add the two displacement values ​​to obtain the second real-time height difference; the control module compares the second real-time height difference with the second standard height difference. If the second real-time height difference does not reach the second standard height difference, that is If the height difference does not reach 70 mm, it is determined that the roll angle of the first platform 1 does not reach ±7° in the instruction, and the piston rods of the two roll cylinders 33 are controlled to continue to move in the original direction; on the contrary, if the second real-time height difference reaches the second standard height difference, that is, reaches 70 mm, it is determined that the roll angle of the first platform 1 has reached ±7° in the instruction, meeting the simulation requirements, and the piston rods of the two roll cylinders 33 are controlled to stop moving; if it is necessary to simulate that the ship continues to roll in the opposite direction, the control module continues to receive the roll instruction, and according to the above control process, the two roll cylinders 33 continue to drive the first platform 1 to roll in the opposite direction, and so on, until the control module receives the roll motion stop instruction, and the two roll cylinders 33 stop running.

[0113] Controlling the operation of the yaw cylinder 42 includes:

[0114] According to the yaw motion instruction, the yaw angle is obtained;

[0115] According to the yaw angle, a second standard displacement of the piston rod of the yaw cylinder 42 is obtained;

[0116] Acquire a second real-time displacement of the piston rod of the yaw cylinder 42 according to a displacement sensor on the yaw cylinder 42;

[0117] The second real-time displacement is compared with the second standard displacement. If the second real-time displacement reaches the second standard displacement, the yaw cylinder 42 stops running.

[0118] The present application takes the yaw motion instruction in which the yaw angle is specified as ±10° as an example to illustrate the simulation process of the yaw motion; the present application preferably places the yaw cylinder 42 horizontally, and the distance from the axis of the yaw cylinder 42 to the support shaft 5 is 280 mm; the control module determines, based on the yaw angle, that when the horizontal movement distance of the piston rod of the yaw cylinder 42 is ±50 mm, the yaw angle of the first motion platform 1 is ±10°, that is, the second standard displacement is ±50 mm; the displacement value of the displacement sensor on the yaw cylinder 42 is monitored in real time to obtain the second real-time displacement; the control module The block compares the second real-time displacement with the second standard displacement. If the second real-time displacement does not reach the second standard displacement, that is, does not reach ±50mm, it is determined that the yaw angle of the first-layer platform 1 does not reach ±10° in the instruction, and the piston rod of the yaw cylinder 42 is controlled to continue to move in the original direction; on the contrary, if the second real-time displacement reaches the second standard displacement, that is, reaches ±50mm, it is determined that the yaw angle of the first-layer platform 1 has reached ±10° in the instruction, meeting the simulation requirements, and the piston rod of the yaw cylinder 42 is controlled to stop the telescopic movement to complete the yaw motion simulation.

[0119] See also Fig.10 As shown, the multi-degree-of-freedom simulation method for ship motion provided by the present invention, each set of oil cylinders and corresponding servo valves, displacement sensors, and corresponding controllers form a platform servo loop, which is controlled by a computer to achieve simulation of the corresponding motion; wherein the attached Fig.10 The “1#”, “2#”, “3#” and “4#” in the figure can all be used to refer to any cylinder among the transverse cylinder 22, the two pitch cylinders 32, the two roll cylinders 33 and the yaw cylinder 42 in this application.

[0120] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom simulation device for ship motion, characterized in that: It comprises a first platform (1), a second platform (2), a third platform (3) and a fourth platform (4) which are arranged in order from top to bottom; wherein: The second-layer platform (2) comprises a second-layer frame (21) and a transverse oil cylinder (22) arranged at the bottom of the second-layer frame (21); the first-layer platform (1) is slidably connected to the second-layer frame (21) in a transverse direction; the piston rod of the transverse oil cylinder (22) is connected to the first-layer platform (1); The third-layer platform (3) comprises a third-layer bottom plate (31), two pitch oil cylinders (32) evenly distributed along the longitudinal direction of the third-layer bottom plate (31), and two roll oil cylinders (33) evenly distributed along the transverse direction of the third-layer bottom plate (31); the top ends of the piston rods of the pitch oil cylinders (32) and the top ends of the piston rods of the roll oil cylinders (33) are both rotatably connected to the second-layer frame (21); The fourth-layer platform (4) comprises a fourth-layer frame (41) and a yaw cylinder (42) arranged on the fourth-layer frame (41); the center line of the yaw cylinder (42) is arranged to deviate from the center line of the third-layer bottom plate (31), and the piston rod of the yaw cylinder (42) is connected to the third-layer bottom plate (31).

2. The multi-degree-of-freedom simulation device for ship motion according to claim 1, characterized in that: A displacement sensor is provided on the piston rod of the transverse oil cylinder (22), the piston rod of the pitch oil cylinder (32), the piston rod of the roll oil cylinder (33) and the piston rod of the yaw oil cylinder (42); The materials of the parts on the ship motion multi-degree-of-freedom simulation device are all non-magnetic materials.

3. The multi-degree-of-freedom simulation device for ship motion according to claim 1 or 2, characterized in that: It also comprises a base, which is arranged below the fourth layer frame (41), and the fourth layer frame (41) is slidably connected to the base along the longitudinal direction.

4. The multi-degree-of-freedom simulation device for ship motion according to claim 3, characterized in that: The bottom of the fourth layer frame (41) is provided with track wheels (411) distributed in the longitudinal direction, and the base is provided with tracks matching the track wheels (411).

5. The multi-degree-of-freedom simulation device for ship motion according to claim 3, characterized in that: It also includes a support shaft (5), the bottom end of which is fixedly connected to the center of the fourth layer frame (41), and the support shaft (5) passes through the center of the third layer bottom plate (31) and is rotatably connected to the center of the bottom end of the second layer frame (21).

6. A method for simulating multi-degree-of-freedom of ship motion, characterized in that: The method is implemented by the multi-degree-of-freedom simulation device for ship motion as claimed in any one of claims 1 to 5, and a control module connected to the multi-degree-of-freedom simulation device for ship motion by signal; The multi-degree-of-freedom simulation method for ship motion comprises the following steps: The control module receives the simulated motion instruction; If the simulated motion is a lateral motion, controlling the lateral oil cylinder (22) to operate; If the simulated motion is a pitch motion, the two pitch cylinders (32) are controlled to operate; If the simulated motion is a rolling motion, the two rolling cylinders (33) are controlled to operate; If the simulated motion is a yaw motion, the yaw cylinder (42) is controlled to operate.

7. The multi-degree-of-freedom simulation method for ship motion according to claim 6, characterized in that: Controlling the operation of the transverse oil cylinder (22) includes: Calculating a first standard displacement of a piston rod of the lateral oil cylinder (22) according to the lateral movement instruction; Acquiring a first real-time displacement of a piston rod of the transverse oil cylinder (22) according to a displacement sensor on the transverse oil cylinder (22); The first real-time displacement is compared with the first standard displacement, and if the first real-time displacement reaches the first standard displacement, the piston rod of the transverse oil cylinder (22) stops running.

8. The multi-degree-of-freedom simulation method for ship motion according to claim 6, characterized in that: Controlling the operation of the two pitch cylinders (32) includes: According to the pitch motion instruction, obtaining a pitch angle; Determining a first standard height difference between piston rods of two pitch cylinders (32) according to the pitch angle; Acquiring a first real-time height difference between piston rods of the two pitch cylinders (32) according to displacement sensors on the two pitch cylinders (32); The first real-time height difference is compared with the first standard height difference, and if the first real-time height difference reaches the first standard height difference, the piston rods of the two pitch cylinders (32) stop running.

9. The multi-degree-of-freedom simulation method for ship motion according to claim 6, characterized in that: Controlling the operation of the two pan cylinders (33) includes: According to the rolling motion instruction, obtaining a rolling angle; Determining a second standard height difference between the piston rods of the two roll cylinders (33) according to the roll angle; Obtaining a second real-time height difference between the piston rods of the two roll cylinders (33) according to displacement sensors on the two roll cylinders (33); The second real-time height difference is compared with the second standard height difference, and if the second real-time height difference reaches the second standard height difference, the piston rods of the two pan cylinders (33) stop running.

10. The multi-degree-of-freedom simulation method for ship motion according to claim 6, characterized in that: Controlling the operation of the yaw cylinder (42) includes: According to the yaw motion instruction, obtaining a yaw angle; According to the yaw angle, obtaining a second standard displacement of the piston rod of the yaw oil cylinder (42); Acquiring a second real-time displacement of a piston rod of the yaw oil cylinder (42) according to a displacement sensor on the yaw oil cylinder (42); The second real-time displacement is compared with the second standard displacement, and if the second real-time displacement reaches the second standard displacement, the yaw cylinder (42) stops running.

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