A ship rudder surface load simulation system

Abstract

The application discloses a ship rudder surface load simulation system and belongs to the field of electro-hydraulic servo control and semi-physical simulation. The system comprises a rudder system and a load simulation system. The application solves the problem that the active motion of the rudder system seriously influences the loading performance of the load simulator, i.e. the problem of redundant force. The application adopts hydraulic loading to simulate the hydrodynamic force of seawater on the ship rudder surface, and the loading force is not influenced by the redundant force. Therefore, the control strategy does not need to consider the problem of redundant force compensation, the complexity of the control strategy is reduced, and the control strategy is simple and reliable. The application solves the problem that the loading precision is low due to the redundant force existing in the electro-hydraulic load simulator, and the structure is scientific and reasonable.

Description

TECHNICAL FIELD

[0001] The present application relates to a ship rudder surface load simulation system, and belongs to the field of electro-hydraulic servo control and semi-physical simulation. BACKGROUND

[0002] The ship rudder surface load simulation system is a semi-physical simulation device for simulating the dynamic force / torque of a bearing system in the actual working process under laboratory conditions. The system can be applied to simulate the seawater hydrodynamic force / torque of a ship rudder. Using the load simulation system, the above-mentioned load can be simulated in a laboratory environment to evaluate the structural material strength, control accuracy, response speed and system reliability of the rudder device, and to evaluate the overall performance of the rudder device, thereby reducing the product development cost and cycle, and having great practical significance for the field of national defense and industrial production. In the prior art, the rudder system and the loading system are connected by an approximately rigid connection. When the rudder system moves, the loading system hydraulic cylinder piston rod moves together, which causes forced flow in the loading system hydraulic cylinder, and further causes excessive force, which seriously affects the loading accuracy. In addition, since the load spectrum to be simulated is a nonlinear function, the load simulator is required to be a high-order static error-free system. However, due to the existence of excessive force, it is difficult to achieve the accuracy of dynamic loading. The control strategy of the loading system needs to compensate for the excessive force, which makes the design of the control strategy more difficult and complex, and is difficult to apply to different objects.

[0003] In order to eliminate the excessive force, achieve high-precision loading, reduce the complexity of the control strategy, and realize the production and use of the load simulation system, there is an urgent need for a load simulation system that is not affected by the excessive force. SUMMARY

[0004] The purpose of the present application is to provide a ship rudder surface load simulation system to solve the problems raised in the background art. To achieve the above purpose, the present application provides the following technical solutions:

[0005] A ship rudder surface load simulation system, characterized in that: comprising a rudder system and a load simulation system, the rudder system comprising a rudder system hydraulic cylinder, a rudder system piston rod, a displacement sensor, a servo amplifier, a controller, an asymmetric servo valve, a force sensor, a connecting rod, a hinge A, a position signal generator, a ship rudder surface, a hinge B; the rudder system hydraulic cylinder is fixedly connected with the ground; the rudder system piston rod is in sliding connection with the rudder system hydraulic cylinder; the rudder system piston rod is fixedly connected with the displacement sensor; the output end of the displacement sensor is connected with the input end of the servo amplifier; the output end of the servo amplifier is connected with the input end of the controller; the output end of the position signal generator is connected with the input end of the controller; the output end of the controller is connected with the input end of the asymmetric servo valve; the output end of the asymmetric servo valve is connected with the rudder system hydraulic cylinder; the piston rod of the rudder system hydraulic cylinder is fixedly connected with the force sensor; the force sensor is fixedly connected with the connecting rod; the connecting rod is connected with the ship rudder surface through the hinge A; the ship rudder surface is connected with the ground through the hinge B; the load simulation system comprises an industrial computer, a left switch, a left frequency converter, a left centrifugal pump, a right switch, a right frequency converter and a right centrifugal pump; the input end of the industrial computer is connected with the output end of the force sensor; the output end of the industrial computer is connected with the left switch and the right switch; the left switch is connected with the input end of the left frequency converter; the output end of the left frequency converter is connected with the input end of the left centrifugal pump; the right switch is connected with the input end of the right frequency converter; the output end of the right frequency converter is connected with the input end of the right centrifugal pump; the left port of the left centrifugal pump is connected with a water pipe, and the right port is a water outlet; the left port of the right centrifugal pump is a water outlet, and the right port is connected with a water pipe.

[0006] Further, the position signal generator transmits a position signal instruction to the rudder system controller; the displacement sensor detects the position information of the rudder system piston rod, and the detection signal is input to the controller through the servo amplifier; the controller controls the asymmetric servo valve according to the position signal and the detection information; the asymmetric servo valve drives the rudder system piston rod to move; the movement of the rudder system piston rod drives the force sensor, the connecting rod and the hinge A fixedly connected with the rudder system piston rod to move; the movement of the rudder system piston rod drives the ship rudder surface to swing; the ship rudder surface is a concave surface, which can increase the force receiving area and reduce energy loss; the force sensor detects the force between the connecting rod and the rudder system piston rod; the force sensor feeds back the detection signal to the industrial computer in real time; the industrial computer controls the left frequency converter and the right frequency converter according to the load signal and the feedback signal; the left frequency converter regulates the water outlet speed of the left centrifugal pump; the right frequency converter regulates the water outlet pressure of the right centrifugal pump.

[0007] Further, the rudder system piston rod initial position is the rudder system hydraulic cylinder middle position; when the rudder system piston rod moves to the right side, the right switch opens and the left switch closes; the left centrifugal pump works, and the water outlet outputs water column to the left side of the ship rudder surface, and the ship rudder surface is loaded with water power, simulating the left side seawater hydrodynamic force suffered by the ship when turning; when the rudder system piston rod moves to the left side, the left switch opens and the right switch closes; the right centrifugal pump works, and the water outlet outputs water column to the right side of the ship rudder surface, and the ship rudder surface is loaded with water power, simulating the right side seawater hydrodynamic force suffered by the ship when turning, which can simulate the liquid dynamic force suffered by the ship rudder surface when low-frequency reversing, and the loading force is not affected by the excess force.

[0008] The working principle of the application is: the controller controls the asymmetric servo valve according to the deviation between the position signal given by the position signal generator and the rudder system piston rod position signal detected by the displacement sensor, and then drives the rudder system piston rod to move, and the rudder system piston rod drives the force sensor, connecting rod and hinge A which are fixedly connected with the rudder system piston rod to move, and then drives the ship rudder surface to swing. When the rudder system piston rod moves to the right from the middle position, it drives the ship rudder surface to swing to the left, at this time the right switch opens and the left switch closes. The industrial computer transmits the force loading signal to the left frequency converter, and then controls the left centrifugal pump to work, and the left centrifugal pump right outlet shoots water column to the left side of the ship rudder surface, and loads the ship rudder surface. The force sensor detects the force between the connecting rod and the rudder system piston rod, and feeds back the detection value to the input end of the industrial computer in real time, and the industrial computer controls the left frequency converter according to the detection signal, and then adjusts the water outlet pressure of the left centrifugal pump. When the rudder system piston rod moves to the left from the middle position, it drives the ship rudder surface to swing to the right, at this time the left switch opens and the right switch closes. The industrial computer transmits the force loading signal to the right frequency converter, and then controls the right centrifugal pump to work, and the right centrifugal pump left outlet shoots water column to the right side of the ship rudder surface, and loads the ship rudder surface. The force sensor detects the force between the connecting rod and the rudder system piston rod, and feeds back the detection value to the input end of the industrial computer in real time, and the industrial computer controls the right frequency converter according to the detection signal, and then adjusts the water outlet pressure of the right centrifugal pump, simulating the liquid dynamic force suffered by the ship rudder surface when low-frequency reversing.

[0009] The beneficial effects of the present application are: the ship rudder surface load simulation system provided by the present application, the active movement of the rudder system does not interfere with the loading force of the load simulation system, because the rudder system and the load simulation system are not rigidly connected. When the ship rudder surface swings in a certain direction, the centrifugal pump outlet of the corresponding side of the direction shoots a water column, which acts on the ship rudder surface, and the water potential pressure is used to load the rudder surface, the loading force can be accurately calculated and controlled, and is not affected by the excess force, so that high-precision loading can be realized, the control strategy does not need to consider the compensation problem of the excess force, and the complexity of the control strategy is reduced. In this way, continuous same-direction load simulation loading can be realized, and similarly, after reversing, the other side can also realize continuous same-direction load simulation loading; in addition to the two loading modes, low-frequency alternating loading of both sides can also be realized, and the change of the three loading modes can be realized by switching control. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed for the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0011] Figure 1 The structure of the present application is shown in the figure.

[0012] Figure 2 The structure of the ship rudder surface is shown in the figure.

[0013] In the figure: 1-rudder system hydraulic cylinder, 11-rudder system piston rod, 111-displacement sensor, 112-servo amplifier, 12-controller, 13-asymmetric servo valve, 14-force sensor, 15-connection rod, 16-hinge A, 2-position signal generator, 3-ship rudder surface, 31-hinge B, 4-industrial computer, 41-left switch, 42-left frequency converter, 43-left centrifugal pump, 44-right switch, 45-right frequency converter, 46-right centrifugal pump. DETAILED DESCRIPTION

[0014] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0015] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0016] A ship rudder surface load simulation system, as shown in the figure, comprising a rudder system and a load simulation system, the rudder system comprising a rudder system hydraulic cylinder 1, a rudder system piston rod 11, a displacement sensor 111, a servo amplifier 112, a controller 12, an asymmetric servo valve 13, a force sensor 14, a connecting rod 15, a hinge A 16, a position signal generator 2, a ship rudder surface 3, a hinge B 31; the rudder system hydraulic cylinder 1 is fixedly connected with the ground; the rudder system piston rod 11 is in sliding connection with the rudder system hydraulic cylinder 1; the rudder system piston rod 11 is fixedly connected with the displacement sensor 111; the output end of the displacement sensor 111 is connected with the input end of the servo amplifier 112; the output end of the servo amplifier 112 is connected with the input end of the controller 12; the output end of the position signal generator 2 is connected with the input end of the controller 12; the output end of the controller 12 is connected with the input end of the asymmetric servo valve 13; the output end of the asymmetric servo valve 13 is connected with the rudder system hydraulic cylinder 1; the rudder system hydraulic cylinder piston rod 11 is fixedly connected with the force sensor 14; the force sensor 14 is fixedly connected with the connecting rod 15; the connecting rod 15 is connected with the ship rudder surface 3 through the hinge A 16; the ship rudder surface 3 is connected with the ground through the hinge B 31; the load simulation system comprises an industrial computer 4, a left switch 41, a left frequency converter 42, a left centrifugal pump 43, a right switch 44, a right frequency converter 45, a right centrifugal pump 46; the input end of the industrial computer 4 is connected with the output end of the force sensor 14; the output end of the industrial computer 4 is connected with the left switch 41 and the right switch 44; the left switch 41 is connected with the input end of the left frequency converter 42; the output end of the left frequency converter 42 is connected with the input end of the left centrifugal pump 43; the right switch 44 is connected with the input end of the right frequency converter 45; the output end of the right frequency converter 45 is connected with the input end of the right centrifugal pump 46; the left port of the left centrifugal pump 43 is connected with a water pipe, and the right port is a water outlet; the left port of the right centrifugal pump 46 is a water outlet, and the right port is connected with a water pipe.

[0017] Further, the position signal generator 2 transmits position signal instructions to the steering gear system controller 12; the displacement sensor 111 detects the position information of the steering gear system piston rod 11, and the detection signal is amplified by the servo amplifier 112 and input to the controller 12; the controller 12 controls the asymmetric servo valve 13 according to the position signal and the detection information; the asymmetric servo valve 13 drives the steering gear system piston rod 11 to move; the movement of the steering gear system piston rod 11 drives the force sensor 14, the connecting rod 15, and the hinge A 16 that are fixedly connected to the steering gear system piston rod 11 to move; the movement of the steering gear system piston rod 11 drives the ship rudder surface 3 to swing; the ship rudder surface 3 is a concave surface, which can increase the force receiving area and reduce energy loss; the force sensor 14 detects the force between the connecting rod 15 and the steering gear system piston rod 11; the force sensor 14 feeds back the detection signal to the industrial computer 4 in real time; the industrial computer 4 controls the left variable frequency converter 42 and the right variable frequency converter 45 according to the loading signal and the feedback signal; the left variable frequency converter 42 regulates the water outlet speed of the left centrifugal pump 43; the right variable frequency converter 45 regulates the water outlet pressure of the right centrifugal pump 46.

[0018] Further, the initial position of the steering gear system piston rod 11 is the middle position of the steering gear system hydraulic cylinder 1; when the steering gear system piston rod 11 moves to the right, the right switch 44 is opened and the left switch 41 is closed; the left centrifugal pump 43 works, and the water column is output to the left side of the ship rudder surface 3 to load the ship rudder surface 3 with water power, simulating the left side water hydrodynamic force on the ship rudder surface 3 when the ship turns; when the steering gear system piston rod 11 moves to the left, the left switch 41 is opened and the right switch 44 is closed; the right centrifugal pump 46 works, and the water column is output to the right side of the ship rudder surface 3 to load the ship rudder surface 3 with water power, simulating the right side water hydrodynamic force on the ship rudder surface 3 when the ship turns, which can simulate the hydrodynamic force on the ship rudder surface 3 when the ship turns at low frequency, and the loading force is not affected by the excess force.

[0019] The working principle of the application is that the controller 12 controls the asymmetric servo valve 13 according to the deviation between the position signal given by the position signal generator 2 and the position signal of the rudder system piston rod 11 detected by the displacement sensor 111, and then drives the rudder system piston rod 11 to move, the rudder system piston rod 11 moves the force sensor 14, the connecting rod 15 and the hinge A 16, and then drives the ship rudder surface 3 to swing. The rudder system piston rod 11 moves to the right from the center, and drives the ship rudder surface 3 to swing to the left, at this time the right switch 44 is opened and the left switch 41 is closed. The industrial computer 4 transmits the force loading signal to the left frequency converter 42, and then controls the left centrifugal pump 43 to work, and the water column is shot from the right outlet of the left centrifugal pump 43 to the left side of the ship rudder surface 3 to load the ship rudder surface 3. The force sensor 14 detects the force between the connecting rod 15 and the rudder system piston rod 11, and feeds back the detection value to the input end of the industrial computer 4 in real time, and the industrial computer 4 controls the left frequency converter 42 according to the detection signal, and then adjusts the water outlet pressure of the left centrifugal pump 43. The rudder system piston rod 11 moves to the left from the center, and drives the ship rudder surface 3 to swing to the right, at this time the left switch 41 is opened and the right switch 44 is closed. The industrial computer 4 transmits the force loading signal to the right frequency converter 45, and then controls the right centrifugal pump 46 to work, and the water column is shot from the left outlet of the right centrifugal pump 46 to the right side of the ship rudder surface 3 to load the ship rudder surface 3. The force sensor 14 detects the force between the connecting rod 15 and the rudder system piston rod 11, and feeds back the detection value to the input end of the industrial computer 4 in real time, and the industrial computer 4 controls the right frequency converter 45 according to the detection signal, and then adjusts the water outlet pressure of the right centrifugal pump 46, simulating the liquid dynamic force suffered by the ship rudder surface 3 in low frequency commutation.

[0020] Although embodiments of the application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the application, and the scope of the application is defined by the appended claims and their equivalents.

Claims

1. A ship rudder surface load simulation system, characterized by: The application relates to a rudder system and a load simulation system, and the rudder system comprises a rudder system hydraulic cylinder (1), a rudder system piston rod (11), a displacement sensor (111), a servo amplifier (112), a controller (12), an asymmetric servo valve (13), a force sensor (14), a connecting rod (15), a hinge A (16), a position signal generator (2), a ship rudder surface (3) and a hinge B (31); the rudder system hydraulic cylinder (1) is fixedly connected with the ground; the rudder system piston rod (11) is in sliding connection with the rudder system hydraulic cylinder (1); the rudder system piston rod (11) is fixedly connected with the displacement sensor (111); the output end of the displacement sensor (111) is connected with the input end of the servo amplifier (112); the output end of the servo amplifier (112) is connected with the input end of the controller (12); the output end of the position signal generator (2) is connected with the input end of the controller (12); the output end of the controller (12) is connected with the input end of the asymmetric servo valve (13); the output end of the asymmetric servo valve (13) is connected with the rudder system hydraulic cylinder (1); the rudder system hydraulic cylinder piston rod (11) is fixedly connected with the force sensor (14); the force sensor (14) is fixedly connected with the connecting rod (15); the connecting rod (15) is connected with the ship rudder surface (3) through the hinge A (16); the ship rudder surface (3) is connected with the ground through the hinge B (31); the load simulation system comprises an industrial computer (4), a left switch (41), a left frequency converter (42), a left centrifugal pump (43), a right switch (44), a right frequency converter (45) and a right centrifugal pump (46); the input end of the industrial computer (4) is connected with the output end of the force sensor (14); the output end of the industrial computer (4) is connected with the left switch (41) and the right switch (44); the left switch (41) is connected with the input end of the left frequency converter (42); the output end of the left frequency converter (42) is connected with the input end of the left centrifugal pump (43); the right switch (44) is connected with the input end of the right frequency converter (45); the output end of the right frequency converter (45) is connected with the input end of the right centrifugal pump (46); the left end port of the left centrifugal pump (43) is connected with a water pipe, and the right end port is a water outlet; the left end port of the right centrifugal pump (46) is a water outlet, and the right end port is connected with a water pipe.

2. A ship rudder surface load simulation system according to claim 1, characterized in that: The position signal generator (2) transmits position signal instructions to the steering gear system controller (12); the displacement sensor (111) detects the position information of the steering gear system piston rod (11), and the detection signal is amplified by the servo amplifier (112) and input to the controller (12); the controller (12) controls the asymmetric servo valve (13) according to the position signal and the detection information; the asymmetric servo valve (13) drives the steering gear system piston rod (11) to move; the movement of the steering gear system piston rod (11) drives the force sensor (14), the connecting rod (15) and the hinge A (16) to move; the movement of the steering gear system piston rod (11) drives the ship rudder surface (3) to swing; the ship rudder surface (3) is a concave surface, which can increase the force area and reduce energy loss; the force sensor (14) detects the force between the connecting rod (15) and the steering gear system piston rod (11); the force sensor (14) feeds back the detection signal to the industrial computer (4) in real time; the industrial computer (4) controls the left frequency converter (42) and the right frequency converter (45) according to the load signal and the feedback signal; the left frequency converter (42) controls the water outlet speed of the left centrifugal pump (43); the right frequency converter (45) controls the water outlet pressure of the right centrifugal pump (46).

3. A ship rudder surface load simulation system according to claim 1, characterized in that: The initial position of the steering gear system piston rod (11) is the middle position of the steering gear system hydraulic cylinder (1); when the steering gear system piston rod (11) moves to the right, the right switch (44) is opened and the left switch (41) is closed; the left centrifugal pump (43) works, and the water column at the water outlet is output to the left side of the ship rudder surface (3), which loads the ship rudder surface (3) with water power, simulating the left side sea water hydrodynamic force on the ship when it turns; when the steering gear system piston rod (11) moves to the left, the left switch (41) is opened and the right switch (44) is closed; the right centrifugal pump (46) works, and the water column at the water outlet is output to the right side of the ship rudder surface (3), which loads the ship rudder surface (3) with water power, simulating the right side sea water hydrodynamic force on the ship when it turns, which can simulate the hydrodynamic force on the ship rudder surface (3) when it changes direction at low frequency, and the loading force is not affected by the excess force.

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