Offshore large-scale ship model test system for improving safety of ship model

Abstract

The invention discloses an offshore large-scale ship model test system capable of improving the safety of a ship model, and relates to the field of ship model tests.In the system, a ship model control host is carried on a large-scale ship model and is connected with and controls a propelling assembly, and the ship model control host and a guarantee test host are of a double-host structure; when the communication between the ship model control host and the guarantee test host is normal, the ship model control host controls the propulsion assembly to drive the large-scale ship model to move and carry out a ship model test according to the control instruction data of the guarantee test host; the ship model control host controls the large-scale ship model to carry out emergency sailing motion in the storm environment, automatic protection of the large-scale ship model in the storm environment on the sea under the condition that the large-scale ship model is not controlled by the guarantee test host is achieved, model towing and protection cost is reduced, and the efficiency of the large-scale ship model test on the sea is improved.

Description

Technical Field

[0001] The present application relates to the field of ship model testing, and in particular to a large-scale offshore ship model testing system for improving the safety of ship models. Background Art

[0002] In order to test and analyze the motion characteristics of a ship, the handling characteristics under high-speed full-rudder maneuvers, and the motion characteristics of a ship under a damaged state, it is often necessary to conduct ship model experiments on the ship to obtain ship model test data, thereby providing verification data for the theoretical numerical prediction method.

[0003] The tank self-propelled model test refers to the method of making a small-scale ship model and conducting relevant tests in the test tank. The tank self-propelled model test is easy to implement, but it is greatly affected by the scale effect, resulting in a large difference between the test data and the performance of the actual ship. The large-scale ship model test at sea is carried out by making a large-scale ship model and conducting relevant tests in a real marine environment. The ship model has a large scale, large displacement, and large propulsion and control power, which can more accurately characterize the characteristics of the ship in a real marine environment.

[0004] In the pool self-propelled model test scenario, please refer to Figure 1 As shown in the control diagram, a shore-based controller is used to control the propulsion components in a small-scale ship model arranged in a test tank to carry out a tank self-propulsion model test. The battery in the small-scale ship model is connected to various electrical equipment through a power supply remote control switch for power supply. Figure 1 Only the connection between the battery and the propulsion assembly is shown, and the actual small-scale ship model also includes other electrical equipment. During the test, when the test personnel found that the small-scale ship model was out of control, the power supply remote control switch in the small-scale ship model was remotely controlled to disconnect the connection between the battery and each propulsion assembly, thereby switching the total power supply of the small-scale ship model, and then the test personnel drove the workboat to tow the small-scale ship model back to the shore of the test pool. However, the wind and wave environment is complex during the large-scale ship model test at sea, and the ship model is usually far away from the support ship where the test personnel are located, often beyond the control range of the power supply remote control switch. Therefore, when the test personnel found that the large-scale ship model was out of control, it was often difficult to directly control the power supply remote control switch in the large-scale ship model in the field as in the pool self-propelled model test scenario, and due to the uncontrollable wind and wave conditions, directly cutting off the total power supply of the large-scale ship model will also cause the large-scale ship model to lose power in the wind and waves, creating a risk of capsizing. Summary of the invention

[0005] In view of the above problems and technical requirements, this application proposes a large-scale marine ship model test system that improves the safety of ship models. The technical solution of this application is as follows:

[0006] A large-scale ship model test system at sea for improving the safety of ship models, the large-scale ship model at sea comprising a large-scale ship model and a support test host mounted on a support ship of the large-scale ship model, the large-scale ship model comprising a model body and a ship model control host and a propulsion component mounted on the model body, the ship model control host connecting and controlling each propulsion component; the large-scale ship model is placed in a marine environment, and the support test host establishes a wireless communication connection with the ship model control host;

[0007] Ensure that the test host sends control instruction data and heartbeat monitoring data matching the ship model test requirements to the ship model control host synchronously;

[0008] When the ship model control host receives the control command data, it controls the propulsion component according to the control command data to drive the large-scale ship model to move and carry out the ship model test;

[0009] When the ship model control host determines that the communication with the support test host is interrupted based on the heartbeat monitoring data, it controls the propulsion component to drive the large-scale ship model to perform emergency navigation movements according to the predetermined emergency instructions.

[0010] Its further technical solution is that when the large-scale ship model is conducting ship model tests under high sea condition scenarios, the ship model control host controls the propulsion component to drive the large-scale ship model to perform an emergency navigation movement as straight sailing against the waves according to predetermined emergency instructions; when the large-scale ship model is conducting ship model tests under medium and low sea condition scenarios, the ship model control host controls the propulsion component to drive the large-scale ship model to perform an emergency navigation movement as low-speed rotational movement according to predetermined emergency instructions.

[0011] Its further technical solution is that the lower the sea conditions of the ocean environment in which the large-scale ship model is located when conducting ship model tests, the greater the rudder angle of the ship model control host when it controls the propulsion component to drive the large-scale ship model to perform low-speed rotation in accordance with predetermined emergency instructions.

[0012] Its further technical solution is that after the ship model control host determines that the communication with the support test host is interrupted, it continues to monitor the heartbeat monitoring data and control command data, and when it determines that the communication with the support test host is restored based on the heartbeat monitoring data, it controls the propulsion component according to the control command data to drive the large-scale ship model to move and carry out the ship model test.

[0013] Its further technical solution is that the security test host sends heartbeat monitoring data and control instruction data to the ship model control host through the UDP port based on the UDP protocol, and the ship model control host continues to listen to the input data of the original UDP port after determining that the communication with the security test host is interrupted.

[0014] Its further technical solution is to ensure that the test host sends heartbeat monitoring data and control instruction data matching the ship model test requirements to the ship model control host synchronously, including:

[0015] The guarantee test host sends a control message to the ship model control host. The effective data instruction carried by the control message includes a predetermined character string and control instruction data. The predetermined character string is used to identify the heartbeat monitoring data.

[0016] A further technical solution is that the ship model control host parses the received control message to obtain a valid data instruction, and when it is detected that the valid data instruction contains a predetermined character string, the propulsion component is controlled according to the control instruction data in the valid data instruction to drive the large-scale ship model to move and carry out the ship model test;

[0017] When the length of time during which the ship model control host fails to detect the predetermined character string reaches a predetermined length of time, it is determined that the communication with the support test host is interrupted.

[0018] Its further technical solution is that the propulsion assembly on the model body includes a propulsion motor and a steering gear, and the control instruction data sent by the test host to the ship model control host includes a motor speed field, a rudder angle field, and a forward and reverse field;

[0019] The ship model control host controls the propulsion component to drive the large-scale ship model to move and carry out ship model tests according to the control command data, including: parsing the control command data to obtain the field contents of the motor speed field, the rudder angle field and the forward and reverse fields, controlling the rotation direction of the propulsion motor according to the content of the forward and reverse fields, controlling the rotation speed of the propulsion motor according to the content of the motor speed field, and controlling the rudder angle of the servo according to the content of the rudder angle field.

[0020] The beneficial technical effects of this application are:

[0021] The present application discloses a large-scale ship model test system at sea that improves the safety of ship models. The system adopts a dual host structure of a test host and a ship model control host. After the communication between the ship model control host and the test host is interrupted, the ship model control host controls the large-scale ship model to perform emergency navigation in a windy and wave environment, thereby realizing automatic protection of the large-scale ship model when it is not controlled by the test host under the windy and wave environment at sea, reducing the model towing and protection costs, and improving the efficiency of large-scale ship model tests at sea. The system also has good application prospects in traditional small-scale self-propelled model tank tests and lake tests. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a control schematic diagram of an existing small-scale ship model.

[0023] Figure 2 It is a system structure block diagram of a large-scale offshore ship model test system according to an embodiment of the present application.

[0024] Figure 3 It is a flowchart of an execution method of a ship model control host according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0026] This application discloses a large-scale marine ship model test system that improves the safety of ship models. Please refer to Figure 2 As shown in the schematic diagram of the system control structure, the offshore large-scale ship model test system includes a large-scale ship model and a support test host. The large-scale ship model is placed in a marine environment for offshore large-scale ship model testing, and is generally used in conjunction with a support ship during the test. The support test host is usually carried on a support ship for the large-scale ship model.

[0027] The large-scale ship model includes a model body and a propulsion component mounted on the model body, and the propulsion component includes a propulsion motor and a steering gear. The present application also carries a ship model control host on the model body of the large-scale ship model, and the ship model control host connects and controls each propulsion component. In one embodiment, the ship model control host connects and controls each propulsion component via a serial port, a CAN port or other types of device control interfaces. The large-scale ship model is also equipped with a battery. In the offshore large-scale ship model test system of the present application, since the large-scale ship model will not be powered off, the battery does not need to be connected to the electrical equipment through a power supply remote control switch as in conventional practice, but is directly connected to the electrical equipment. Figure 2 Taking the battery powering the propulsion components and the ship model control host as an example, those skilled in the art can understand that large-scale ship models also include various other basic electrical equipment and components, which will not be elaborated in this application.

[0028] The security test host establishes a wireless communication connection with the ship model control host. In one embodiment, the security test host and the ship model control host are respectively connected to a MESH self-organizing network image transmission radio. After the image transmission radio is turned on, it will automatically match the network. At this time, it can be considered that the security test host and the ship model control host have been connected to the same switch, and then the IP addresses of the security test host and the ship model control host are set to the same network segment, thereby establishing a wireless communication connection between the security test host and the ship model control host.

[0029] When conducting a large-scale ship model test system at sea, ensure that the test host continuously sends control command data and heartbeat monitoring data matching the ship model test requirements to the ship model control host at a predetermined frequency. Based on the structural characteristics of the propulsion component including the propulsion motor and the steering gear, the control command data includes the control command data of the propulsion motor and the control command data of the steering gear.

[0030] In one embodiment, the security test host sends a control message to the ship model control host, and the effective data instruction carried by the control message includes a predetermined string and control instruction data, and the predetermined string is used to identify the heartbeat monitoring data, such as using a predetermined string "ctrl" to identify the heartbeat monitoring data. The specific format of the control message is determined according to the communication protocol used between the security test host and the ship model control host.

[0031] Based on the structural characteristics of the control component including the propulsion motor and the steering gear, the control command data sent by the test host to the ship model control host includes the motor speed field, the rudder angle field and the forward and reverse fields. The motor speed field carries the motor speed, the rudder angle field carries the rudder angle, and the forward and reverse fields carry the motor direction. Different fields are separated by English commas.

[0032] For example, in one example, the motor speed field carries the motor speed in rpm. The rudder angle field carries the rudder angle in degrees, and a positive value indicates a positive rudder angle, and a negative value indicates a negative rudder angle. The forward and reverse field uses 1 to indicate forward rotation of the motor, and 0 to indicate reverse rotation of the motor. When the ship model test requirement is to control the motor speed to 100rpm, the rudder angle to positive 20 degrees, and the forward vehicle to move forward, the control instruction data matching the ship model test requirement is "100,20,1". Combined with the predetermined string ctrl, the valid data instruction is expressed as "ctrl,100,20,1", and the valid data instruction is encapsulated into a control message according to the communication protocol and sent to the ship model control host. This example takes the control component including a propulsion motor and a steering gear as an example. It can be understood by those skilled in the art that when multiple propulsion motors and multiple steering gears are included, the motor speed field carries multiple motor speeds arranged in a predetermined order, and the same applies to other fields.

[0033] The ship model control host monitors the control message sent by the guarantee test host, and parses the received control message to obtain a valid data instruction. When a predetermined string is detected in the valid data instruction, it is determined that the heartbeat monitoring data is received, and the propulsion component is controlled to drive the large-scale ship model to move and carry out the ship model test according to the control instruction data in the valid data instruction. Including: parsing the control instruction data to obtain the field contents of the motor speed field, the rudder angle field and the forward and reverse fields, controlling the rotation direction of the propulsion motor according to the content of the forward and reverse fields, controlling the rotation speed of the propulsion motor according to the content of the motor speed field, and controlling the rudder angle of the servo according to the content of the rudder angle field.

[0034] Please refer to Figure 3The execution flow chart of the ship model control host shown in the figure, the ship model control host generally also monitors and detects the communication port between the ship model control host and the guarantee test host at the same predetermined frequency. When the ship model control host fails to detect the predetermined string for a predetermined period of time, it determines that the communication with the guarantee test host is interrupted. In practice, the interruption counter generally counts the number of times to determine the length of time for which the predetermined string is not detected. When the number of counts reaches the threshold, it indicates that the length of time for which the predetermined string is not detected reaches the predetermined length of time, and the predetermined length of time can be customized. When the ship model control host determines that the communication with the guarantee test host is interrupted according to the heartbeat monitoring data, it controls the propulsion component according to the predetermined emergency instructions to drive the large-scale ship model to perform emergency navigation movements, so as to avoid the large-scale ship model from capsizing due to power loss in the wind and wave environment at sea.

[0035] The emergency navigation motion can adjust the predetermined emergency instructions executed by the ship model control host according to the sea conditions when the ship model test is carried out before the large-scale ship model test at sea. In one embodiment, when the large-scale ship model carries out the ship model test in a high sea condition scenario, the ship model control host controls the propulsion component to drive the large-scale ship model to perform an emergency navigation motion as a head-wave straight-line motion according to the predetermined emergency instructions. When the large-scale ship model carries out the ship model test in a medium and low sea condition scenario, the ship model control host controls the propulsion component to drive the large-scale ship model to perform an emergency navigation motion as a low-speed rotation motion according to the predetermined emergency instructions, thereby avoiding the capsizing danger of the test ship model due to power loss in the offshore wind and wave environment, and also avoiding intrusion into other ship channels, providing sufficient time for subsequent communication recovery or test model towing and maintenance. For example, according to the predetermined emergency instructions, the propulsion motor is controlled to rotate forward at 150rpm and the steering angle is positive 20 degrees, thereby driving the large-scale ship model to rotate at a low speed.

[0036] In addition, the lower the sea conditions of the ocean environment in which the large-scale ship model is located when conducting the ship model test, the greater the rudder angle when the ship model control host controls the propulsion component to drive the large-scale ship model to perform a low-speed rotation movement according to the predetermined emergency command, so that the large-scale ship model can have a smaller rotation diameter while ensuring that it does not capsize during emergency navigation, further reducing the impact on other ships. The predetermined emergency commands corresponding to different emergency navigation movements are predetermined and preset in the ship model control host. The specific predetermined emergency commands for each emergency navigation movement can be determined according to the motion equation of the large-scale ship model, which will not be repeated here.

[0037] After the ship model control host determines that the communication with the support test host is interrupted and during the process of controlling the large-scale ship model to perform emergency navigation movements, the ship model control host still continues to monitor the heartbeat monitoring data and control command data, and when it is determined based on the heartbeat monitoring data that the communication with the support test host is restored, it re-controls the propulsion component according to the control command data to drive the large-scale ship model to move and carry out the ship model test, and also resets the interruption counter.

[0038] Based on this, in one embodiment, the safety test host sends heartbeat monitoring data and control instruction data to the ship model control host through the UDP port based on the UDP protocol, and the ship model control host continues to listen to the input data of the original UDP port after determining that the communication with the safety test host is interrupted. Thanks to the characteristics of the UDP protocol, when the network between the safety test host and the ship model control host is reconnected, there is no need to re-handshake to establish a connection, and the ship model control host can receive valid data instructions carrying heartbeat monitoring data and control instruction data on the original UDP port (port 8088).

[0039] It should be noted that the structure of the large-scale offshore ship model test system and its implementation method can also be extended to the water tank test scenario for small-scale ship models. In the water tank test scenario, due to the small scale of the water tank, the emergency navigation movement of the small-scale ship model controlled by the ship model control host can be stopping the ship or reverse braking.

[0040] The above is only a preferred embodiment of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.

Claims

1. A large-scale marine ship model test system for improving the safety of ship models, characterized in that: The offshore large-scale ship model test system comprises a large-scale ship model and a support test host mounted on a support ship of the large-scale ship model, wherein the large-scale ship model comprises a model body and a ship model control host and a propulsion component mounted on the model body, wherein the ship model control host connects and controls each propulsion component; the large-scale ship model is placed in an ocean environment, and the support test host establishes a wireless communication connection with the ship model control host; Ensure that the test host sends control instruction data and heartbeat monitoring data matching the ship model test requirements to the ship model control host synchronously; When the ship model control host receives the control instruction data, it controls the propulsion component to drive the large-scale ship model to move and carry out the ship model test according to the control instruction data; When the ship model control host determines that the communication with the support test host is interrupted based on the heartbeat monitoring data, it controls the propulsion component to drive the large-scale ship model to perform emergency navigation movements according to the predetermined emergency instructions.

2. The offshore large-scale ship model test system according to claim 1, characterized in that: When the large-scale ship model is conducting ship model tests under high sea conditions, the ship model control host controls the propulsion components to drive the large-scale ship model to perform an emergency navigation motion as straight sailing against the waves according to predetermined emergency instructions; when the large-scale ship model is conducting ship model tests under medium and low sea conditions, the ship model control host controls the propulsion components to drive the large-scale ship model to perform an emergency navigation motion as low-speed rotation according to predetermined emergency instructions.

3. The offshore large-scale ship model test system according to claim 2, characterized in that: The lower the sea conditions of the ocean environment in which the large-scale ship model is located when conducting the ship model test, the greater the rudder angle adopted by the ship model control host when controlling the propulsion component to drive the large-scale ship model to perform a low-speed rotation motion in accordance with the predetermined emergency instructions.

4. The offshore large-scale ship model test system according to claim 1, characterized in that: After determining that the communication with the support test host is interrupted, the ship model control host continues to monitor the heartbeat monitoring data and control command data. When it is determined based on the heartbeat monitoring data that the communication with the support test host is restored, it controls the propulsion component according to the control command data to drive the large-scale ship model to move and carry out the ship model test.

5. The offshore large-scale ship model test system according to claim 4, characterized in that: The security test host sends heartbeat monitoring data and control command data to the ship model control host through the UDP port based on the UDP protocol. After determining that the communication with the security test host is interrupted, the ship model control host continues to listen to the input data of the original UDP port.

6. The offshore large-scale ship model test system according to claim 1, characterized in that: Ensure that the test host sends heartbeat monitoring data and control command data matching the ship model test requirements to the ship model control host synchronously, including: The guarantee test host sends a control message to the ship model control host, wherein the effective data instruction carried by the control message includes a predetermined character string and control instruction data, and the predetermined character string is used to identify the heartbeat monitoring data.

7. The offshore large-scale ship model test system according to claim 6, characterized in that: The ship model control host parses the received control message to obtain a valid data instruction, and when detecting that the valid data instruction contains a predetermined character string, controls the propulsion component according to the control instruction data in the valid data instruction to drive the large-scale ship model to move and carry out the ship model test; When the length of time during which the ship model control host fails to detect the predetermined character string reaches a predetermined length of time, it is determined that the communication with the support test host is interrupted.

8. The offshore large-scale ship model test system according to claim 6, characterized in that: The propulsion assembly on the model body includes a propulsion motor and a steering gear, and the control instruction data sent by the test host to the ship model control host includes a motor speed field, a rudder angle field, and a forward and reverse field; The ship model control host controls the propulsion component to drive the large-scale ship model to move and carry out ship model tests according to the control instruction data, including: parsing the control instruction data to obtain the field contents of the motor speed field, the rudder angle field and the forward and reverse fields, controlling the rotation direction of the propulsion motor according to the content of the forward and reverse fields, controlling the rotation speed of the propulsion motor according to the content of the motor speed field, and controlling the rudder angle of the servo according to the content of the rudder angle field.

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