A servo test ship model motion attitude control mechanism
By building a follower motion attitude control mechanism on the experimental ship model, and using guide rails and return springs to release the motion of the six degrees of freedom, the problem that traditional methods cannot effectively control the six degrees of freedom of the ship model was solved, and stable navigation and model response were achieved in complex wave environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HARBIN ENG UNIV
- Filing Date
- 2023-06-28
- Publication Date
- 2026-06-02
AI Technical Summary
Existing technologies struggle to effectively control the six degrees of freedom of a ship model in a confined indoor test tank, especially the pitching, swaying, and rolling motions. Traditional methods suffer from problems such as long restoring force cycles, the inability of the autopilot to correct the course, and the influence of spring connections on the model's motion, making them unsuitable for testing in complex wave environments.
The motion attitude control mechanism of the experimental ship model is adopted, including longitudinal and transverse guide rails, motion platform, steering connection device, wire rope winding device and return spring. The movement and rotation of the platform release six degrees of freedom of motion, providing stable restoring torque to ensure stable navigation of the model in complex wave environment.
It achieves six-degree-of-freedom motion control of the ship model in complex wave environments, avoids motion mode lock-up, provides smooth restoring torque, and ensures the stability of the test ship model's course and the uninterrupted response of other degrees of freedom of the model.
Smart Images
Figure CN117002695B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of shipbuilding and marine engineering technology, and specifically relates to a follow-up experimental ship model motion attitude control mechanism. Background Technology
[0002] With the rapid development of the shipping industry, modern ships need to adapt to navigation in complex sea conditions, and correspondingly, the requirements for seakeeping tests of ship models in complex wave environments are also increasing. In wave tank tests, the actual rolling motion of a ship has six degrees of freedom: pitch, sway, heel, roll, pitch, and yaw. Among them, the pitch, sway, and yaw motions of the ship model do not have restoring forces, and restoring forces need to be applied manually to ensure that the test ship model does not yaw.
[0003] Adding an autopilot system to the stern of the model for heading correction is one approach, but the autopilot's recovery cycle is too long, making it ineffective in limited indoor test tanks. Furthermore, the autopilot cannot correct at zero speed, further limiting its capabilities. Another method involves connecting the model with springs, using the restoring force provided by the spring tension to control the model's pitch, roll, and yaw movements. One approach is to place two diagonal springs at the bow and stern of the model, but this method generates significant pitch and yaw moments, affecting the model's actual pitch effect. Another approach is to use existing seakeeping instruments to restrict the model's motion; however, current mature four-DOF and five-DOF seakeeping instruments often lock one or two degrees of freedom, significantly impacting the model's other motion responses. With increasing demands for simulation realism and test stability, traditional methods for controlling model motion in seakeeping tests are increasingly inadequate to meet practical requirements. Summary of the Invention
[0004] The purpose of this invention is to provide a follow-up experimental ship model motion attitude control mechanism that can release all six degrees of freedom of the swaying motion of the experimental ship model.
[0005] The objective of this invention is achieved through the following technical solution:
[0006] A follow-up experimental ship model motion attitude control mechanism includes a longitudinal guide rail, a longitudinal motion platform, a transverse guide rail, a transverse motion platform, a rectangular long rod, a steering connection device, an experimental ship model, a thin steel wire rope winding device, a front baffle of the longitudinal motion platform, a top baffle of the longitudinal motion platform, a side baffle of the longitudinal motion platform, a horizontal guide wheel of the longitudinal motion platform, a vertical guide wheel of the longitudinal motion platform, a steel wire rope fixing point, a front baffle of the transverse motion platform, a side plate of the transverse motion platform, a top baffle of the transverse motion platform, a horizontal guide wheel of the transverse motion platform, a vertical guide wheel of the transverse motion platform, a longitudinal guide wheel of the rectangular long rod, a transverse guide wheel of the rectangular long rod, a long rod connecting plate, a yaw rotation bushing, a pitch rotation bushing, a roll rotation bushing, a cross round rod, a ship model connecting plate, a roll pivot plate, a pitch pivot plate, a guide groove, a thin steel wire rope, a longitudinal motion return spring, and a transverse motion return spring.
[0007] The control mechanism is based on a rectangular frame. Longitudinal guide rails made of round rods are installed on the two long sides of the rectangular frame. A longitudinal motion platform that moves along the guide rails is installed on the longitudinal guide rails. A thin steel wire rope is connected to one end of the longitudinal motion platform. After passing through the guide groove at the end of the longitudinal guide rail, the thin steel wire rope is connected to a longitudinal motion return spring arranged on the crossbar of the rectangular frame. The movement of the longitudinal motion platform pulls the longitudinal motion return spring, thereby generating a reverse tension, so as to release the longitudinal motion degree of freedom of the longitudinal motion platform and provide it with a stable longitudinal restoring force.
[0008] Two longitudinal motion platforms, one in front of the other, are installed on the longitudinal guide rails on each side of the rectangular frame. Each platform is connected to a platform on the other longitudinal guide rail by a transverse guide rail composed of long round rods. On each transverse guide rail, a transverse motion platform is installed that can move independently along the transverse guide rail. A transverse motion return spring is used to connect the transverse motion platform and the longitudinal motion platform. The movement of the transverse motion platform pulls the spring, thereby generating a reverse pulling force, which achieves the purpose of releasing the transverse motion platform's transverse motion degree of freedom and providing it with a stable transverse restoring force.
[0009] A rectangular rod is installed on one side of each transverse motion platform, running vertically through the platform. The rectangular rod is restricted by four pairs of guide wheels to move horizontally relative to the transverse motion platform, and can only move vertically relative to the transverse motion platform. A steering connection device is installed at the lower end of the rectangular rod, which can simultaneously release the rotational motion in the three directions of yaw, pitch, and sway at the connection point.
[0010] The present invention may also include:
[0011] 1. The longitudinal guide rail is composed of two identical round rods arranged on the upper and lower sides of the longitudinal rectangular frame; the independently movable longitudinal motion platform mounted on the longitudinal guide rail is provided with a total of five pairs of guide wheels, of which four pairs of horizontal guide wheels are arranged horizontally and contact the round rods of the longitudinal guide rail to limit the lateral positional changes of the longitudinal motion platform and the longitudinal guide rail; one pair of vertical guide wheels are arranged vertically and contact the round rods of the longitudinal guide rail to limit the vertical positional changes of the longitudinal motion platform and the longitudinal guide rail; so that the longitudinal motion platform on the longitudinal guide rail can only move along the guide rail.
[0012] 2. The transverse guide rail is composed of two horizontally arranged circular cross-section long rods, connected by spaced vertical thin rods to enhance the overall structural strength of the transverse guide rail. A transverse motion platform, installed on the transverse guide rail and moving independently, is equipped with six pairs of guide wheels. Four pairs of horizontal guide wheels are arranged horizontally and contact the circular rods of the transverse guide rail to limit the longitudinal positional changes of the transverse motion platform and the transverse guide rail. Two pairs of vertical guide wheels are arranged vertically and contact the circular rods of the transverse guide rail to limit the vertical positional changes of the transverse motion platform and the transverse guide rail. This ensures that the transverse motion platform on the transverse guide rail can only move along the guide rail.
[0013] 3. The steering connection device below the rectangular rod has a rectangular rod connecting plate at its top for rigid connection to the end of the rectangular rod; a yaw rotation sleeve extends from below the rod connecting plate, with a vertical circular shaft connected to the inner ring of the horizontally arranged yaw rotation sleeve, and the outer ring of the yaw rotation sleeve connected to a pair of pitching pivot plates; connected to the pitching pivot plates are two pitching pivot sleeves in the transverse direction of a cross-shaped circular rod; rigidly connected to the test ship model is a longitudinally arranged horizontal ship model connecting plate, with roll pivot plates arranged on the front and rear sides of the ship model connecting plate, and connected to the roll pivot plates are two roll pivot sleeves in the longitudinal direction of a cross-shaped circular rod; thus releasing the three degrees of freedom of the model's roll, pitch, and yaw.
[0014] 4. The test ship model has two interconnected points on its longitudinal section, one in front and one behind, with a steering connection device installed below the rectangular rod. The swaying motion of the test ship model will cause the transverse guide rail and the longitudinal motion platform connected to the transverse guide rail and installed on the longitudinal guide rail to move along the longitudinal guide rail. The heave motion of the test ship model will directly cause the rectangular rod to move vertically. The roll and yaw motion of the test ship model will cause the transverse motion platform on the transverse guide rail to move along the transverse guide rail. At the same time, the yaw motion of the test ship model will cause the horizontal bearing on the steering connection device to rotate. The roll and pitch motion of the test ship model will also correspondingly cause the cross rod in the steering connection device to rotate. The entire attitude control mechanism can completely release the six degrees of freedom of the model. The weak resistance generated by rolling friction will not have a significant impact on the amplitude of the ship model's movement. The longitudinal motion platform and the transverse motion platform are respectively connected to the longitudinal motion return spring and the transverse motion return spring, so that the test ship model has restoring force and restoring torque in the swaying, roll and yaw motion modes.
[0015] The beneficial effects of this invention are as follows:
[0016] This invention provides a follow-up motion attitude control mechanism for test models lacking course correction capabilities in water tank experiments. The control mechanism is fixed to a water tank trailer and connected to the test model, thus achieving the basic requirement that the trailer, control mechanism, and model move at the same speed. When the experiment encounters complex wave conditions in the water tank, resulting in six-degree-of-freedom swaying motion, the platforms and steering connection devices in the control mechanism will also generate corresponding linear or angular motions, without locking any particular motion mode. Springs connected to the longitudinal and transverse platforms provide a smooth restoring force under tension to control the model's pitching, swaying, and yaw movements, ensuring the stability of the test model's course. Simultaneously, the steering connection device, fixed to the model, is installed at the center of gravity height, effectively preventing the restoring force from generating additional torque that interferes with the model's motion response in other degrees of freedom. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the overall motion attitude control mechanism of the experimental ship model of the present invention;
[0018] Figure 2 This is a schematic diagram of the longitudinal motion platform structure of the present invention;
[0019] Figure 3 This is a schematic diagram of the transverse motion platform structure of the present invention;
[0020] Figure 4 This is a schematic diagram of the steering connection device of the present invention;
[0021] Figure 5This is a schematic diagram illustrating the recovery of the ship model's swaying, rolling, and heaving motions according to the present invention. Detailed Implementation
[0022] The present invention will now be further described with reference to the accompanying drawings.
[0023] Combination Figure 1 The follow-up motion attitude control mechanism of this invention is built on a rectangular frame, in which two round rods are installed at the top and bottom of the long side of the rectangular frame to form a longitudinal guide rail 1. Two longitudinal motion platforms 2, capable of independent movement along each longitudinal guide rail, are installed on each longitudinal guide rail. Guide wheels mounted on the platforms 2 restrict their movement to the longitudinal guide rail. A transverse guide rail 3 rigidly connects the corresponding platforms 2 on the two longitudinal guide rails 1, ensuring that the two platforms 2 can move synchronously in the longitudinal direction. A transverse motion platform 4, capable of independent movement along each transverse guide rail 3, is installed on each transverse guide rail 3. Guide wheels mounted on the platforms 4 restrict their movement to the transverse guide rail 3. A rectangular rod 5, perpendicularly penetrating the platform 4, is installed on one side of each transverse motion platform 4. The rod 5 is restricted by guide wheels to move only vertically relative to the platform 4. The lower end of the rectangular rod 5 is connected to a steering connection device 6. The steering connection device 6 can simultaneously release the three degrees of freedom of the bottom plate below it: yaw rotation, pitch rotation, and roll rotation. The bottom plate of the steering connection device 6 is fixed to the test ship model 7.
[0024] Combination Figure 2 The outer shell of the longitudinal motion platform 2 consists of a pair of front baffles 9, a pair of top baffles 10, and a pair of side baffles 11, all riveted together with screws. Four pairs of horizontal guide wheels 12 are installed on the side baffles 11, making seamless contact with the surface of the longitudinal guide rail 1, thus limiting the lateral displacement of the longitudinal motion platform 2 relative to the longitudinal guide rail 1. Between the side baffles 11 on both sides of the longitudinal motion platform 2 are round rod brackets for installing vertical guide wheels 13, which also make seamless contact with the surface of the longitudinal guide rail 1, thus limiting the vertical displacement of the longitudinal motion platform 2 relative to the longitudinal guide rail 1. Through the aforementioned installation of four pairs of horizontal guide wheels 12 and one pair of vertical guide wheels 13, the longitudinal motion platform 2 is restricted to moving only along the longitudinal guide rail 1. The side plate 11 of the longitudinal motion platform 2 is rigidly connected to the transverse guide rail 3, and a wire rope fixing point 14 is installed on the front baffle 11 of the platform.
[0025] Combination Figure 3The outer shell of the lateral movement platform 4 consists of a pair of front baffles 15, a pair of side plates 16, and a pair of top baffles 17, all riveted together with screws. Four pairs of horizontal guide wheels 18 are installed on the side plates 16, making seamless contact with the surface of the lateral guide rail 3, thus limiting the longitudinal offset of the lateral movement platform 4 relative to the lateral guide rail 3. Round rod brackets are installed between the side plates 16 on both sides of the lateral movement platform 4 to install two pairs of vertical guide wheels 19, which also make seamless contact with the surface of the lateral guide rail 3, thus limiting the vertical offset of the lateral movement platform 4 relative to the lateral guide rail 3. Through the aforementioned four pairs of horizontal guide wheels 18 and two pairs of vertical guide wheels 19, the lateral movement platform 3 is restricted to moving only along the lateral guide rail 3.
[0026] A rectangular rod 5, running vertically through the transverse motion platform 4, is restricted from horizontal displacement relative to the platform by four pairs of guide wheels. Specifically, two longitudinal guide wheels 20 are installed at the top and bottom of the transverse platform. One longitudinal guide wheel 20 is fixed to the top baffle 17 of the transverse motion platform via a pivot, and the other guide wheel is mounted on a rectangular bracket connected to the side plate 16 of the transverse motion platform. The longitudinal guide wheels 20 make seamless contact with both the front and rear surfaces of the rectangular rod 5, thus restricting the longitudinal displacement of the rectangular rod 5 relative to the transverse motion platform 4. A circular shaft is located on the inner side of the side plate 16 of the transverse motion platform for mounting transverse guide wheels 21. Two pairs of transverse guide wheels 21 make seamless contact with the left and right surfaces of the rectangular rod 5, respectively, thus restricting the transverse displacement of the rectangular rod 5 relative to the transverse motion platform 4. By installing two pairs of rectangular long rod longitudinal guide wheels 20 and two pairs of rectangular long rod transverse guide wheels 21, it is ensured that the rectangular long rod 5 can only move vertically relative to the transverse motion platform 4.
[0027] Combination Figure 4The steering connection device 6 is rigidly connected to a rectangular rod 5 at its top via a rectangular plate 22. A vertical circular shaft extends from below the rectangular plate and connects to the yaw rotation sleeve 23, thus releasing the yaw motion freedom of the steering connection device 6. A horizontal plate is rigidly fixed to the yaw rotation sleeve 23, with pitching shaft uprights 29 extending downwards from both ends. Pitching shaft sleeves 24 are mounted on these uprights. A cross-shaped circular rod 26 is connected to the pitching shaft sleeve 24 via a horizontal circular shaft, and the longitudinal circular shaft of the cross-shaped circular rod 26 connects to the yaw rotation sleeve 25 mounted on the yaw rotation shaft upright 28. The yaw rotation shaft upright 28 is fixed to the ship model connecting plate 27.
[0028] Combination Figure 5 The control and recovery of the three degrees of freedom of the ship model's motion—swaying, rolling, and pitching—are described above. For the control and recovery of swaying motion, a thin steel wire rope 31 is connected to a steel wire rope fixing point 14 installed in front of the longitudinal motion platform 2. The thin steel wire rope 31 is deflected through a guide groove 30 and connected to one end of a longitudinal motion recovery spring 32 installed on the frame crossbar. The other end of the spring 32 is connected to a thin steel wire rope retraction device 8 fixed at the midpoint of the frame crossbar. The longitudinal motion platform 2 on the other side of the longitudinal guide rail is also connected to the thin steel wire rope retraction device 8 via the thin steel wire rope 31 and the longitudinal motion recovery spring 32. When the longitudinal motion platform 2 moves along the longitudinal guide rail, the longitudinal motion recovery spring 32 is pulled, generating a restoring force to control and recover the swaying motion.
[0029] For the control and correction of sway and roll movements, the wire rope fixing point 14 installed on the side of the longitudinal motion platform 2 is connected to one end of the lateral motion correction spring 33, and the other end of the lateral motion correction spring 33 is connected to the wire rope fixing point 14 installed on the side of the lateral motion platform 4. In this way, both sides of the lateral motion platform 4 are connected to the corresponding sides of the longitudinal motion platform 2 via the lateral motion correction springs 33. In practical application, the displacement of the two lateral moving platforms 4 along the lateral guide rail 3 will stretch part of the lateral motion correction spring 33, generating a sway correction force and a roll correction torque acting on the ship model, thereby achieving the control and correction of sway and roll movements.
[0030] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A servo-type experimental ship model motion attitude control mechanism, characterized in that: Includes longitudinal guide rail (1), longitudinal motion platform (2), transverse guide rail (3), transverse motion platform (4), rectangular long rod (5), steering connection device (6), test ship model (7), thin steel wire rope winding device (8), front baffle of longitudinal moving platform (9), top baffle of longitudinal moving platform (10), side baffle of longitudinal moving platform (11), horizontal guide wheel of longitudinal moving platform (12), vertical guide wheel of longitudinal moving platform (13), steel wire rope fixing point (14), front baffle of transverse motion platform (15), side plate of transverse motion platform (16), and top of transverse motion platform. Baffle (17), horizontal guide wheel of transverse motion platform (18), vertical guide wheel of transverse motion platform (19), longitudinal guide wheel of rectangular long rod (20), transverse guide wheel of rectangular long rod (21), long rod connecting plate (22), swaying rotating bushing (23), pitching rotating bushing (24), rolling rotating bushing (25), cross round rod (26), ship model connecting plate (27), rolling pivot plate (28), pitching pivot plate (29), guide groove (30), thin steel wire rope (31), longitudinal motion return spring (32), transverse motion return spring (33); The control mechanism is based on a rectangular frame. Longitudinal guide rails (1) made of round rods are installed on the two long sides of the rectangular frame. A longitudinal motion platform (2) that moves along the guide rails (1) is installed on the longitudinal guide rails (1). A thin steel wire rope (31) is connected to one end of the longitudinal motion platform (2). After passing through the guide groove (30) at the end of the longitudinal guide rail (1), the thin steel wire rope (31) is connected to a longitudinal motion return spring (32) arranged on the crossbar of the rectangular frame. The longitudinal motion platform (2) moves and pulls the longitudinal motion return spring (32), thereby generating a reverse pulling force, so as to release the longitudinal motion degree of freedom of the longitudinal motion platform (2) and provide it with a stable longitudinal restoring force. Two longitudinal motion platforms (2) capable of independent longitudinal movement are installed on the longitudinal guide rails (1) on each side of the rectangular frame. Each platform is connected to the platform on the other longitudinal guide rail (1) by a transverse guide rail (3) composed of long round rods. On each transverse guide rail (3), a transverse motion platform (4) capable of independent movement along the transverse guide rail (3) is installed. A transverse motion return spring (33) is used to connect the transverse motion platform (4) and the longitudinal motion platform (2). The movement of the transverse motion platform (4) pulls the spring and generates a reverse pulling force, thereby releasing the transverse motion degree of freedom of the transverse motion platform (4) and providing it with a stable transverse restoring force. A rectangular rod (5) is installed on one side of each transverse motion platform (4) and runs vertically through the platform. The rectangular rod (5) is restricted by four pairs of guide wheels to move horizontally relative to the transverse motion platform and can only move vertically relative to the transverse motion platform. A steering connection device (6) is installed at the lower end of the rectangular rod (5) and can release the rotational motion in the three directions of yaw, pitch and sway at the connection point at the same time.
2. The motion attitude control mechanism for a servo-type experimental ship model according to claim 1, characterized in that: The longitudinal guide rail (1) is composed of two round rods of the same size arranged on the upper and lower sides of the longitudinal rectangular frame. The independently moving longitudinal motion platform (2) installed on the longitudinal guide rail (1) is provided with a total of five pairs of guide wheels. Among them, four pairs of horizontal guide wheels (12) of the longitudinal motion platform are arranged horizontally and contact the round rod line of the longitudinal guide rail (1) to limit the position change of the longitudinal motion platform (2) and the longitudinal guide rail (1) in the lateral direction. One pair of vertical guide wheels (13) of the longitudinal motion platform are arranged vertically and contact the round rod and round rail line of the longitudinal guide rail (1) to limit the position change of the longitudinal motion platform (2) and the longitudinal guide rail (1) in the vertical direction. This ensures that the longitudinal motion platform (2) on the longitudinal guide rail (1) can only move along the guide rail.
3. The motion attitude control mechanism for a servo-type experimental ship model according to claim 1, characterized in that: The transverse guide rail (3) is composed of two horizontally arranged circular cross-section long rods. The two circular rods are connected by vertical thin rods arranged at intervals to improve the overall structural strength of the transverse guide rail. The transverse motion platform (4), which moves independently on the transverse guide rail (3), is equipped with six pairs of guide wheels. Four pairs of horizontal guide wheels (18) of the transverse motion platform are arranged horizontally and contact the circular rod line of the transverse guide rail (3) to limit the longitudinal position change of the transverse motion platform (4) and the transverse guide rail (3). Two pairs of vertical guide wheels (19) of the transverse motion platform are arranged vertically and contact the circular rod line of the transverse guide rail (3) to limit the vertical position change of the transverse motion platform (4) and the transverse guide rail (3). This ensures that the transverse motion platform (4) on the transverse guide rail (3) can only move along the guide rail.
4. The motion attitude control mechanism for a servo-type test ship model according to claim 1, characterized in that: The steering connection device (6) below the rectangular rod (5) has a rectangular rod connecting plate (22) at its top, which is used to rigidly connect with the end of the rectangular rod (5); a first rocking rotating bushing (23) extends from the bottom of the first rocking rotating bushing (22), and the vertical circular shaft is connected to the inner ring of the horizontally arranged first rocking rotating bushing (23). The outer ring of the first rocking rotating bushing (23) is connected to a pair of pitching rotating shaft uprights (29); connected to the pitching rotating shaft uprights (29) The model is connected to a cross-shaped rod (26) with two pitching and rotating bushings (24) in the transverse direction; a longitudinally arranged horizontal model connecting plate (27) is rigidly connected to the test ship model (7), and roll pivot plates (28) are arranged on the front and rear sides of the model connecting plate (27). The roll pivot plates (28) are connected to the roll pivot plates (28) with two longitudinally arranged pitching and rotating bushings (25) of the cross-shaped rod (26); thus releasing the three degrees of freedom of the model: roll, pitch, and yaw.
5. A follow-up experimental ship model motion attitude control mechanism according to claim 1 or 4, characterized in that: The experimental ship model (7) has two positions on its longitudinal section, one in front and one behind, connected to a steering connection device (6) installed below the rectangular rod (5); the swaying motion of the experimental ship model (7) will drive the transverse guide rail (3) and the longitudinal motion platform (2) connected to the transverse guide rail (3) and installed on the longitudinal guide rail (1) to move along the longitudinal guide rail (1); the heave motion of the experimental ship model (7) will directly drive the vertical movement of the rectangular rod (5); the swaying and heave motion of the experimental ship model (7) will drive the transverse motion platform (4) on the transverse guide rail (3) to move along the transverse guide rail (3), while the heave motion of the experimental ship model (7) will cause the transverse motion platform (4) to move along the transverse guide rail (3), and the heave motion of the experimental ship model (7) will cause the transverse motion platform (4) to move along the transverse guide rail (3), while the heave motion of the experimental ship model (7) will cause the transverse motion platform (4) to move along the transverse guide rail (3). This causes the horizontal bearing on the steering connection device (6) to rotate, and the roll and pitch motion of the test ship model (7) also correspondingly drives the cross rod (26) in the steering connection device (6) to rotate; the entire attitude control mechanism can completely release the six degrees of freedom of the model, and the weak resistance generated by rolling friction will not have a significant impact on the amplitude of the ship model's motion; the longitudinal motion platform (2) and the transverse motion platform (4) are respectively connected to the longitudinal motion return spring (32) and the transverse motion return spring (33), so that the test ship model (7) has restoring force and restoring torque in the pitch, roll and yaw motion modes.