A thrust measuring device and measuring method for an underwater pull-type full-rotation propeller

Abstract

The application discloses a kind of underwater pull type full-rotation propeller thrust measuring device and measuring method, measuring device includes lower platform, middle platform, upper platform, underwater pull type full-rotation propeller, force measuring device, host computer, portal frame, pool, main propulsion motor, steering motor, central control unit and frequency conversion cabinet;The application is measured, underwater pull type full-rotation propeller is installed on force measuring device, force measuring device is fixed on portal frame;Underwater pull type full-rotation propeller drives middle platform and upper platform to move along first linear guide and second linear guide, and transmits thrust or tension to first tension and pressure sensor and second tension and pressure sensor, host computer calculates the two horizontal directions perpendicular to each other of first tension and pressure sensor and second tension and pressure sensor measured force;Change underwater pull type full-rotation propeller rudder angle θ And propeller speed v test.The application realizes the accurate measurement of the size and direction of underwater pull type full-rotation propeller thrust.

Description

Technical Field

[0001] This invention relates to a thrust measurement device, and more particularly to a thrust measurement device and method for an underwater pull-type azimuth thruster. Background Technology

[0002] The underwater pull-type azimuth thruster is a highly efficient, stable, multifunctional, and energy-saving thruster that can meet all the requirements of modern high-performance ships.

[0003] With the continuous development of marine resources, the application range of underwater thrusters is becoming wider and wider. Their still water thrust and thrust in cruise mode are key design parameters. Since the still water thrust of the thruster is usually estimated based on theoretical parameters, there is a certain deviation from the actual thrust. Therefore, it is of great significance to accurately measure the thrust of the thruster in the actual environment.

[0004] Chinese patent application CN201721425608.4 discloses a small underwater thruster still water thrust testing device, which utilizes the equal-arm principle, with a force gauge at the other end of the equal-arm lever reading the force value. Chinese patent application CN201920429139.6 discloses an underwater robot thruster thrust testing device, which uses a force gauge to test the propeller thrust. Force gauges measure force based on spring deformation; however, springs have low sensitivity to force, resulting in poor measurement accuracy when using force gauges. Chinese patent application CN202111475061.X discloses a thrust testing device for underwater propellers, including a fixed frame consisting of two longitudinal beams and three transverse beams. Each longitudinal beam has a square seat mounted on it, and a bearing seat is rotatably connected between two square seats. A calibration rod passes through the bearing seat, and both ends of the calibration rod have balance adjustment rods. A first upright is also mounted on the bearing seat, and a mounting plate that mates with the underwater propeller is mounted on the first upright. A second upright is mounted on the middle transverse beam, and a pressure sensor is mounted on the second upright. However, this testing device can only measure thrust in one direction. Chinese patent application CN202210357629.6 discloses a propeller thrust-pull force measuring device and method. This invention can perform torque balance calculations based on the lever principle and a first and second force gauge, allowing for the determination of propeller thrust or pull without re-measuring when the propeller is replaced. However, when the test object is an underwater pull-type azimuth thruster, the above-mentioned device and method cannot accurately measure the exact thrust magnitude and direction of the thruster. Summary of the Invention

[0005] Purpose of the invention: To address the shortcomings of existing technologies in accurately measuring the magnitude and direction of thrust in underwater pull-type azimuth thrusters, this invention proposes a thrust measurement device and method for underwater pull-type azimuth thrusters. This method allows two tension and pressure sensors to be subjected to force simultaneously, enabling real-time measurement of thrust or tension in two directions. The real-time magnitude and direction of the thrust or tension of the underwater pull-type azimuth thruster can then be calculated. This method is convenient to measure and has minimal calculation error.

[0006] Technical solution: The thrust measurement device for the underwater pull-type full-rotation thruster of the present invention includes a lower platform, a middle platform, an upper platform, an underwater pull-type full-rotation thruster, a force measuring device, a host computer, a gantry, a water tank, a main propulsion motor, a steering motor, a central control unit, and a frequency converter cabinet;

[0007] The underwater pull-type azimuth thruster includes an upper azimuth component, a lower thruster, and a middle connecting component;

[0008] The lower platform connects to the gantry frame; the upper platform connects to the middle connecting component.

[0009] The lower platform includes a lower fixed platform, on which a first linear guide rail and a first sensor support are provided;

[0010] The middle platform includes a middle layer platform, on which a second sensor support and a second linear guide are provided; a first slider and a first tension / compression sensor are fixed below the middle layer platform; the middle layer platform is connected to the first sensor support through the first tension / compression sensor; the first slider slides along the first linear guide.

[0011] The upper platform includes an upper connecting platform. A second slider and a second tension / compression sensor are provided below the upper connecting platform. The upper connecting platform is connected to the second sensor support through the second tension / compression sensor. The second slider slides along the second linear guide rail.

[0012] The main propulsion motor is connected to the rudder motor, which in turn is connected to the underwater pull-type azimuth thruster.

[0013] The direction of the first linear guide is perpendicular to the direction in which the second linear guide is laid.

[0014] The first tension / compression sensor is perpendicular to the second tension / compression sensor in its placement direction.

[0015] The upper connecting platform includes a fixing plate, and the bottom of the fixing plate is provided with reinforcing ribs.

[0016] The frequency converter cabinet includes the main drive motor frequency converter cabinet and the steering motor frequency converter cabinet.

[0017] The thrust measurement method for an underwater pull-type azimuth thruster of the present invention is implemented by a thrust measurement device for an underwater pull-type azimuth thruster, and the method includes the following steps:

[0018] (1) Install the underwater pull-type full-rotation thruster on the force measuring device, fix the force measuring device on the gantry, and then put the underwater pull-type full-rotation thruster into the water tank; connect the first tension and pressure sensor and the second tension and pressure sensor to the host computer and calibrate them;

[0019] (2) Set test parameters through a host computer. The test parameters include the rudder angle θ and propeller speed v of the underwater azimuth thruster.

[0020] (3) The host computer sends the set test instructions to the central control unit. The test instructions include the set values ​​of the rudder angle θ and propeller speed v of the underwater azimuth thruster. The central control unit calculates the test instructions, and the frequency converter controls the working state of the rudder motor or the main thrust motor according to the test instructions, so that the underwater pull-type azimuth thruster (4) runs according to the set rudder angle θ and speed v.

[0021] (4) The underwater pull-type full-rotation thruster drives the middle platform and the upper platform to move along the first linear guide rail and the second linear guide rail, and transmits the thrust or pull force to the first tension and pressure sensor and the second tension and pressure sensor. The host computer records the magnitude F and direction θ' of the thrust or pull force of the underwater pull-type full-rotation thruster.

[0022] (5) Calculate and record the magnitude and direction of the thrust or pull of the underwater pull-type full rotation thruster (4), and calculate the two forces perpendicular to each other in the horizontal direction measured by the first tension and pressure sensor and the second tension and pressure sensor;

[0023] (6) Test the rudder angle θ and propeller speed v of the underwater pull-type full rotation thruster.

[0024] In step (3), the central control unit calculates the test command and outputs the corresponding action command to the rudder motor frequency converter cabinet or the main propulsion motor frequency converter cabinet. The frequency converter cabinet controls the working state of the rudder motor or the main propulsion motor according to the command, so that the underwater pull-type full rotation propulsion unit runs according to the set rudder angle θ and speed v.

[0025] In step (5), the formula for calculating the force is as follows:

[0026]

[0027] Among them, F x F represents the magnitude of the thrust or tension measured by the first tension / compression sensor. y The thrust or pull force measured by the second tension / compression sensor is denoted as F, where F is the actual thrust or pull force of the underwater pull-type full-rotation thruster.

[0028] In step (5), the actual thrust direction of the underwater pull-type full-rotation thruster is calculated using the arctangent function, and the formula is:

[0029] θ'=arctan(F y / F x );

[0030] Wherein, θ' represents the direction of the actual thrust or pull of the underwater pull-type full-rotation thruster relative to F. x The angle between the directions.

[0031] The process of step (6) is as follows:

[0032] (6.1) With the propeller speed v constant, the rudder angle θ of the underwater pull-type azimuth thruster is adjusted, rotating clockwise θ each time. * Then, repeat steps (2)-(5) until the rudder angle θ of the underwater pull-type full rotation thruster rotates to 360°, and record the magnitude and direction θ' of the actual thrust or pull force F of the corresponding underwater pull-type full rotation thruster;

[0033] (6.2) After each increase of the propeller speed v by m% of the maximum propeller speed, repeat step (6.1) until the propeller speed v reaches the maximum propeller speed.

[0034] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0035] (1) The thrust measurement method of the underwater pull-type full rotation thruster of the present invention allows two tension and pressure sensors to be subjected to force at the same time, and the thrust or tension in two directions can be measured in real time; then the real-time magnitude and direction of the thrust or tension of the underwater pull-type full rotation thruster can be calculated, which is convenient to measure and has small calculation error.

[0036] (2) The present invention realizes the accurate measurement of the magnitude and direction of the thrust of the underwater pull-type full rotation thruster, which facilitates the improvement of the structure and performance of the underwater pull-type full rotation thruster; and the underwater pull-type full rotation thruster thrust measurement device is easy to install and maintain and is suitable for various environments. Attached Figure Description

[0037] Figure 1 This is a three-dimensional structural schematic diagram of the underwater pull-type full-rotation thrust measuring device of the present invention;

[0038] Figure 2 This is a partial three-dimensional structural diagram of the underwater pull-type full-rotation thrust measuring device of the present invention;

[0039] Figure 3 This is a partial front view of the three-dimensional structure of the underwater pull-type full-rotation thrust measuring device of the present invention;

[0040] Figure 4 This is a three-dimensional structural diagram of the lower fixed platform of the underwater pull-type full-rotation thrust measuring device of the present invention;

[0041] Figure 5 This is a schematic diagram of the three-dimensional structure of the middle platform of the underwater pull-type full-rotation thrust measuring device of the present invention;

[0042] Figure 6 This is a three-dimensional structural diagram of the upper connecting platform of the underwater pull-type full-rotation thrust measuring device of the present invention;

[0043] Figure 7 This is a three-dimensional structural diagram of the first sensor support and the second sensor support of the underwater pull-type full-rotation thrust measuring device of the present invention.

[0044] Figure 8 This is a three-dimensional structural diagram of the tension and pressure sensor of the underwater pull-type full-rotation thrust measuring device of the present invention;

[0045] Figure 9 This is a flowchart of the underwater pull-type full-rotation thrust measurement method of the present invention. Detailed Implementation

[0046] like Figure 1 and Figure 2 As shown, the thrust measurement device for the underwater pull-type azimuth thruster of the present invention includes a lower platform, a middle platform, an upper platform, an underwater pull-type azimuth thruster 4, a force measuring device, a host computer 10, a gantry frame 11, a water tank 12 for experiments, a main propulsion motor 5, a rudder motor 6, a central control unit 8, and a frequency converter cabinet.

[0047] The underwater pull-type azimuth thruster 4 includes an upper azimuth component 4.1, a lower thruster 4.2, and a middle connecting component 4.3.

[0048] The lower platform 1 includes a lower fixed platform 1.1, on which a first linear guide rail 1.2 and a first sensor support 1.3 are mounted. Specifically, the lower fixed platform 1.1 is constructed of a square steel plate and bottom reinforcing ribs. A circular through hole is formed in the center of the square steel plate. The lower fixed platform 1.1 is bolted to the gantry frame 11 as a fixed platform. Two parallel first linear guide rails 1.2 are bolted to the lower fixed platform 1.1. The lower fixed platform 1.1 also has a first sensor support 1.3.

[0049] The middle platform 2 includes a middle platform 2.1, which is composed of a square steel plate and bottom reinforcing ribs. A circular through hole is formed in the center of the square steel plate. Bolt holes are provided on the middle platform 2.1, and two parallel second linear guide rails 2.2 are connected to it via bolts. A second sensor mounting bracket 2.3 is provided on the middle platform. Two rows of parallel first sliders 2.4 are bolted to the bottom of the middle platform 2.1. A first tension / compression sensor 2.5 is bolted to the bottom of the middle platform 2.1. The first sliders 2.4 slide along the first linear guide rails 1.2. One end of the first tension / compression sensor 2.5 is mounted on the reinforcing rib of the middle platform, and the other end is connected to the first sensor bracket 1.3 below the middle platform.

[0050] The second linear guide 2.2 is perpendicular to the first linear guide 1.2 in the horizontal direction. The installation position of the second sensor support 2.3 is offset by 90° relative to the first sensor support 1.3 about the rotation center line of the central circular through hole.

[0051] The upper platform 3 includes an upper connecting platform 3.1. The upper platform 3 is constructed of a square steel plate and bottom reinforcing ribs. A circular through-hole is located in the center of the square steel plate. Bolt holes are evenly distributed around the central circular through-hole of the upper connecting platform 3.1. These bolt holes are bolted to the central connecting component 4.3 of the underwater pull-type full-rotation thruster 4. Two rows of parallel second sliders 3.2 are bolted to the lower part of the upper connecting platform 3.1. Second tension / compression sensors 3.3 are bolted to the reinforcing ribs below the upper connecting platform 3.1. The second sliders 3.2 slide along the second linear guide rail 2.2. The other end of the second tension / compression sensor 3.3 is bolted to the second sensor support 2.3. The first tension / compression sensor 2.5 and the second tension / compression sensor 3.3 are connected to the host computer 10.

[0052] The frequency converter cabinet includes a main drive motor frequency converter cabinet 7 and a steering motor frequency converter cabinet 9. The host computer 10 is connected to one end of the central control unit 8.

[0053] The other end of the central control unit 8 is connected to one end of the main propulsion motor inverter cabinet 7, the rudder motor 6, and the rudder motor inverter cabinet 9. The other end of the rudder motor inverter cabinet 9 is connected to one end of the rudder motor 6, the other end of the main propulsion motor inverter cabinet 7 is connected to the main propulsion motor 5, the other end of the main propulsion motor 5 is connected to the rudder motor 6, and the rudder motor 6 is connected to the pull-type full-rotation propeller 4.

[0054] like Figure 1 and Figure 9 As shown, the thrust measurement method for the underwater pull-type azimuth thruster of the present invention includes the following steps:

[0055] (1) Install the underwater pull-type full-rotation thruster and force measuring device and calibrate the sensors: First, install the underwater pull-type full-rotation thruster 4 on the force measuring device, which is fixed on the gantry frame 11. Then, immerse the underwater pull-type full-rotation thruster in the test water tank 12. Connect the first tension / compression sensor and the second tension / compression sensor to the data acquisition system of the host computer 10 to ensure that the tension / compression data collected by the first tension / compression sensor and the second tension / compression sensor are accurately recorded and stored. Calibrate the first tension / compression sensor and the second tension / compression sensor under zero tension or zero pressure conditions.

[0056] (2) Set test parameters: Set the required test parameters through the host computer 10. The test parameters include the rudder angle θ and propeller speed v of the underwater azimuth thruster.

[0057] (3) Send test commands to control the operation of the underwater pull-type azimuth thruster: The host computer 10 sends the set test commands to the central control unit. The test commands include the set values ​​of the rudder angle θ and the propeller speed v of the underwater azimuth thruster. The central control unit calculates the commands and outputs the corresponding action commands to the rudder motor frequency converter cabinet or the main propeller motor frequency converter cabinet. The frequency converter cabinet controls the working state of the rudder motor or the main propeller motor according to the commands, so that the underwater pull-type azimuth thruster 4 runs according to the set rudder angle θ and speed v.

[0058] (4) Measurement of thrust or pull data: As the underwater pull-type full-rotation thruster 4 operates, thrust or pull is applied to the force measuring device. The underwater pull-type full-rotation thruster 4 drives the middle platform and the upper connecting platform to generate a motion trend along the first linear guide rail and the second linear guide rail, and transmits the thrust or pull to the corresponding first tension and pressure sensor and second tension and pressure sensor. The measured data is then transmitted back to the host computer through the first tension and pressure sensor and the second tension and pressure sensor. The host computer collects and records the thrust data in the two directions generated by the underwater pull-type full-rotation thruster. These data are the magnitude F and direction θ' of the thrust or pull generated by the underwater pull-type full-rotation thruster.

[0059] (5) Data Analysis and Recording: Calculate and record the magnitude and direction of the thrust or pull of the underwater pull-type full-rotation thruster 4. Calculate the two mutually perpendicular forces in the horizontal direction measured by the first and second tension / compression sensors using a vector addition method. Calculate the resultant force using the following formula:

[0060]

[0061] Among them, F x F represents the magnitude of the thrust or tension measured by the first tension / compression sensor. yThe thrust or pull force measured by the second tension / compression sensor is denoted as F, where F is the actual thrust or pull force of the underwater azimuth thruster.

[0062] The actual thrust direction θ' of the underwater azimuth thruster is calculated using the arctangent function, as shown in the formula:

[0063] θ'=arctan(F y / F x );

[0064] Where θ' represents the direction of the actual thrust or pull of the underwater pull-type full-rotation thruster relative to F. x The angle between the directions of the forces;

[0065] (6) Change the test parameters: Adjust the rudder angle θ and propeller speed v of the underwater pull-type full rotation thruster respectively.

[0066] (6.1) Keep the propeller speed v constant and adjust the rudder angle θ of the underwater pull-type azimuth thruster clockwise each time. * Repeat steps (2) to (5) after each rotation until the rudder angle θ of the underwater pull-type full rotation thruster reaches 360°, and record the magnitude and direction θ' of the actual thrust or pull force F of the corresponding underwater pull-type full rotation thruster.

[0067] (6.2) Increase the propeller speed v by m% of the maximum propeller speed each time. Repeat step (6.1) after each increase in speed until the propeller speed v increases to the maximum propeller speed.

Claims

1. A thrust measuring device for an underwater pull-type azimuth thruster, characterized in that: It includes a lower platform (1), a middle platform (2), an upper platform (3), an underwater pull-type full-rotation thruster (4), a force measuring device, a host computer (10), a gantry (11), a water tank (12), a main propulsion motor (5), a steering motor (6), a central control unit (8), and a frequency converter cabinet; The underwater pull-type full-rotation thruster (4) includes an upper rotating component (4.1), a lower thruster (4.2), and a middle connecting component (4.3); The lower platform (1) is connected to the gantry (11); the upper platform (3) is connected to the middle connecting component (4.3); The lower platform (1) includes a lower fixed platform (1.1), on which a first linear guide rail (1.2) and a first sensor support (1.3) are provided; The intermediate platform (2) includes an intermediate platform (2.1), on which a second sensor support (2.3) and a second linear guide rail (2.2) are provided; a first slider (2.4) and a first tension / compression sensor (2.5) are fixed below the intermediate platform (2.1); the intermediate platform (2.1) is connected to the first sensor support (1.3) through the first tension / compression sensor (2.5); the first slider (2.4) slides along the first linear guide rail (1.2); The upper platform (3) includes an upper connecting platform (3.1), and a second slider (3.2) and a second tension / compression sensor (3.3) are provided below the upper connecting platform (3.1). The upper connecting platform (3.1) is connected to the second sensor support (2.3) through the second tension / compression sensor (3.3); the second slider (3.2) slides along the second linear guide rail (2.2); The main propulsion motor (5) is connected to the rudder motor (6), and the rudder motor (6) is connected to the underwater pull-type full-rotation thruster (4); The direction of the first linear guide (1.2) is perpendicular to the layout direction of the second linear guide (2.2); The first tension / compression sensor (2.5) and the second tension / compression sensor (3.3) are arranged perpendicularly.

Images