Anchor windlass low-temperature test semi-physical simulation system and method

Abstract

The invention provides a semi-physical simulation test system and method for a low-temperature anchor and mooring machine. The test system is divided into a real object part and a model part according to whether the test system is a real object or not, and comprises a test environment system, a data acquisition system, a semi-physical simulation system, a joint simulation system and a display system. According to the semi-physical simulation test system and method for the low-temperature anchor and mooring equipment, semi-physical simulation of the anchor and mooring equipment based on actual low-temperature working condition data is achieved, the accuracy degree of a semi-physical simulation result is improved, a real hydraulic system and other simulated components can be operated in a combined mode, and the test efficiency is improved. Or the simulated hydraulic system is jointly operated with other real parts, and data processing and display of test data and simulation data are realized through the data processing and display assembly.

Description

Technical Field

[0001] The invention relates to a semi-physical simulation test system and method for a low-temperature anchor winch, belonging to the technical field of simulation. Background Art

[0002] With the rapid development of the world's shipping industry and the continuous extension of the navigation window of the Arctic route, in order to meet the navigation and functional requirements of the ships themselves, the demand for cold protection of deck machinery of polar ships has become increasingly greater.

[0003] As an indispensable and important equipment for deck machinery, the anchor winch is currently mainly designed to be cold-resistant based on experience in terms of material selection and transmission system. Due to the lack of actual verification in polar environments, only a higher safety factor can be used to ensure its safety. There is a large difference between the theoretical cold-resistant capability and the actual cold-resistant capability.

[0004] In the research of cryogenic anchor winches, experimental verification is a relatively important link. Existing cryogenic tests usually adopt semi-physical simulation. The traditional semi-physical simulation test method aims to connect as many physical objects as possible when conditions permit. However, due to the extreme polar low temperature environment, some components fail at low temperatures, making it difficult to conduct normal tests, resulting in a significant gap with the actual field environment. In addition, the test is highly complex and costly, which is not conducive to the research and development of cryogenic anchor winches. Summary of the invention

[0005] The purpose of the present invention is to provide a semi-physical simulation test system and method capable of performing functional verification on an anchor winch at low temperature in response to the problems pointed out in the background technology, so as to improve the independent research and development capability of my country's deck machinery.

[0006] In order to achieve the above-mentioned purpose, one aspect of the present invention is to disclose a semi-physical simulation test system for a low-temperature anchor winch, the simulation test system comprising: a test environment system, a data acquisition system, a semi-physical simulation system, a joint simulation system and a display system, wherein: the test environment system is used to set up an environment for a low-temperature test of the anchor winch; the data acquisition system is used to acquire and process the test data of various components of the anchor winch; the semi-physical simulation system is used to acquire real-time semi-physical simulation data obtained by a system model of the corresponding part of the anchor winch based on real-time operating data, wherein the real-time operating data is obtained based on the test environment system test; the joint simulation system is used to connect the physical part and the model part for real-time simulation; the display system is used to receive the real-time semi-physical simulation data and the test environment system test data, and simultaneously display the real-time semi-physical simulation data and the test environment system test data in the display area of ​​the display system.

[0007] Furthermore, the test environment system includes outdoor tests and indoor tests, and users can select different test environments for testing according to actual conditions.

[0008] According to one embodiment of the present invention, the field test is conducted in an actual low-temperature field environment, and the field test includes a low-temperature operation test, a low-temperature load test, and a braking force test.

[0009] According to one embodiment of the present invention, the infield test is conducted in a low-temperature laboratory environment, and the infield test includes a hydraulic system component test.

[0010] Furthermore, the data acquisition system includes a sensor component, a data transmission component and a data processing component.

[0011] According to one embodiment of the present invention, the sensor assembly includes a temperature sensor, a flow sensor, a pressure sensor, a hydraulic oil viscosity sensor, a surface temperature sensor, a liquid level sensor, a surface stress sensor, a dynamometer, a meteorological data acquisition instrument, an ambient temperature sensor, a laser distance sensor, a speed sensor, a vibration sensor, etc. The temperature sensor is arranged at the oil inlet and outlet of each actuator, the pressure sensor is arranged at the oil inlet and outlet of each actuator, the flow sensor is arranged at the oil inlet and outlet of the hydraulic motor and the pump station, the liquid level and temperature sensor are arranged in the oil tank, the dynamometer is arranged on the anchor chain and the cable, the laser distance sensor is arranged on the load device, the speed sensor is arranged beside the anchor chain wheel and the drum, the vibration sensor is arranged at the bottom of the anchor winch rig, the surface temperature sensor and the surface stress sensor are arranged on the surface of the anchor winch, and the meteorological data acquisition instrument and the ambient temperature sensor are arranged around the anchor winch. The sensor outputs 4-20mA, 0-5V, RS422 communication and other signals to facilitate the data processing component to collect.

[0012] According to one embodiment of the present invention, the data transmission component includes a line insulation device and a signal acquisition card, wherein the line insulation device includes a wire sleeve, thermal insulation tape and thermal insulation rubber, etc., which are used for sensor line insulation, probe insulation, and thermal insulation treatment for entering and exiting the indoor laboratory environment, and are used to safely transmit data to the signal acquisition card. The signal acquisition card is used to transmit the environmental test data as actual working condition data to the real-time semi-physical simulation system and display system.

[0013] According to one embodiment of the present invention, the data processing component includes a signal conditioning board and a signal conditioning module, wherein: the signal conditioning board is used to perform consistency adjustments on interactive signals in the test systematization test, display system and semi-physical simulation system; the signal conditioning module is used to convert the output signal of the sensor component to obtain the target sensor output signal that meets the input standard of the display system.

[0014] Furthermore, the semi-physical simulation system includes a dynamic simulation module, a thermodynamic simulation module, a hydraulic simulation module, an anchor winch moving part, an anchor winch hydraulic system and an anchor winch heating module.

[0015] According to one embodiment of the present invention, the dynamics simulation module includes a chain wheel model, a cable drum model, a cable drum model, and a gear box model. Each model is packaged as a dynamics simulation module, and relevant parameters can be set in the display system interface according to actual conditions.

[0016] Furthermore, the dynamic simulation module runs on a simulation computer, uses SolidWorks to build a three-dimensional model, uses Adams to perform real-time operation status simulation calculations, and sends the operation status data to the display system through the communication interface of the joint simulation system.

[0017] According to one embodiment of the present invention, the thermodynamic simulation module includes a surface temperature model of the anchor winch, a thermodynamic model of the hydraulic system, a thermodynamic model of the heating module, and a heat transfer model. Each model is packaged as a thermodynamic simulation module, which can be displayed in the display system interface and related parameters can be set.

[0018] Furthermore, the thermodynamic simulation module runs on a simulation computer, uses Ansys to build a mathematical model, uses Fluent to perform real-time operation status simulation calculations, and sends the operation status data to the display system through the communication interface of the joint simulation system.

[0019] According to one embodiment of the present invention, the hydraulic simulation module includes a component model and a pipeline model. The component model includes a hydraulic motor model, a pump model, and a valve model. Each model is packaged as a hydraulic simulation module, which can be displayed in the display system interface and related parameters can be set.

[0020] Furthermore, the hydraulic simulation module runs on a simulation computer, uses Amesim to perform real-time operation status simulation calculations, and sends the operation status data to the display system through the communication interface of the joint simulation system.

[0021] Furthermore, the joint simulation system includes a joint simulation interface, a control system, a load system and a control simulation system.

[0022] According to one embodiment of the present invention, the joint simulation interface is used to transmit the information collected by the data acquisition system to the semi-physical simulation system and the display system, and to transmit the semi-physical real-time simulation information of each model to each other and display it to the display system, while receiving and parsing the display system data uploaded by the semi-physical simulation system, and parsing the corresponding system status parameters, alarm information, and fault information.

[0023] According to one embodiment of the present invention, the control system further comprises a control component, wherein the control component is used to control the motor, hydraulic motor, oil pump, heater, etc. in the data acquisition system and the semi-physical simulation system.

[0024] According to one embodiment of the present invention, the load system includes an external field test load system and an internal field test load system, wherein the external field test load system is used to provide working load conditions for the anchor winch in an external field test environment, and the internal field test load system is used to provide working load conditions for the anchor winch in a laboratory environment.

[0025] According to one embodiment of the present invention, the control simulation system uses Simulink to perform simulation calculations of the real-time operating status of the control system, and relevant parameters can be displayed and set in the display system interface.

[0026] Furthermore, the control system and control simulation system can receive the actuator drive control signal output by the anchor winch controller, and convert it into a simulation control command recognizable by the real-time simulation system according to the form of the control signal, so as to control the start and stop of the actuator in the simulation system.

[0027] Furthermore, the display system includes a motion display component, a temperature display component and a status display component.

[0028] According to one embodiment of the present invention, the motion display component is used to display real-time monitoring information of the motion component and real-time operation status simulation information of the dynamic model.

[0029] According to one embodiment of the present invention, the temperature display component is used to display real-time monitoring information of the windlass temperature and real-time operation status simulation information of the thermodynamic model.

[0030] According to one embodiment of the present invention, the status display component is used to display real-time monitoring information of the hydraulic system of the anchor winch and real-time operation status simulation information of the hydraulic simulation model.

[0031] Furthermore, the status display component is also used to provide an instrument-type real-time data display of the anchor winch; it displays the status parameter information, alarm information, and fault information of the anchor winch in real time, and plots key parameters into curves, and can store status data and historical playback.

[0032] Another aspect of the present invention further discloses a semi-physical simulation test method for a low-temperature anchor winch, the test method comprising the following steps:

[0033] Step s100, designing an outdoor test of the anchor winch, collecting low-temperature operation and load operation data of the anchor chain wheel, drum, hydraulic system, etc.;

[0034] Step s110, constructing a dynamic model of the sprocket and reel parts through the moving parts data;

[0035] Step s120, collecting surface and internal temperature data to construct a thermodynamic model of the thermal system;

[0036] Step s130, designing a low-temperature test for the hydraulic system and collecting low-temperature test data for the hydraulic system;

[0037] Step s140, establishing a hydraulic system simulation model through hydraulic system test data;

[0038] Step s150, selecting a semi-physical combination method and designing a joint simulation interface;

[0039] Step s160: Conduct a semi-physical simulation test to verify the performance through the display system.

[0040] Furthermore, the step s100 also includes arranging sensors and displaying system parameters according to the test items.

[0041] Furthermore, the step s110 also includes running the simulation of the dynamic model in real time according to the configuration parameter instruction, and sending the simulation operation parameters to the semi-physical simulation system and the display system. Wherein, constructing the dynamic model also includes determining the input and output points of all signals in the process of constructing the dynamic model, such as signals such as the reel speed and the load signal. Wherein, the data processing and display component interface in the dynamic model can be used to set the number of input and output signals, and each signal can be connected to the joint simulation system and the display system, and a real-time file (dll file) can be generated in the "Interface" status bar, where the dll file can be used to initialize the dynamic model, and set the step size of the solver, the global parameters of the model, the input and output of the model, and the conditions for terminating the model simulation.

[0042] Further, the step s120 includes determining the input and output points of all signals in the process of building the thermodynamic model, such as the surface temperature signal of the anchor winch, etc. Among them, the data processing and display component interface in the thermodynamic model can be used to set the number of input and output of the signal, and connect each signal with the joint simulation system and the display system, and generate a real-time file (dll file) in the "Interface" status bar, wherein the dll file can be used to initialize the dynamic model, and set the step size of the solver, the global parameters of the model, the input and output of the model, and the conditions for terminating the model simulation, etc.

[0043] Furthermore, the step s130 also includes arranging sensors according to the test items, setting the controller to collect system operating parameters in real time, and making fault judgments and alarms based on the collected information, and uploading the information to the monitoring module.

[0044] Furthermore, the step s140 also includes determining the input and output points of all signals in the process of constructing the hydraulic simulation model, such as the flow, pressure, temperature and other signals of the hydraulic motor inlet and outlet, as well as the load signal, etc. Among them, the data processing and display component interface in the hydraulic simulation model can be used to set the number of input and output signals, and each signal can be connected to the joint simulation system and the display system, and a real-time file (dll file) can be generated in the "Interface" status bar, wherein the dll file can be used to initialize the hydraulic system model, and set the solver step size, model global parameters, model input and output, and conditions for terminating model simulation, etc.

[0045] It should be noted that the parameters input into the hydraulic system model may be data in a format corresponding to a data acquisition card or data in Excel format that can be read by a data processing and display system. The data in Excel format may be preset ideal operating condition data or actual operating condition data output by a semi-physical test and data acquisition system.

[0046] Furthermore, the step s150 also includes simulating the low-temperature operation and load operation process of the anchor winch after the dynamic model, the thermodynamic model, and the hydraulic system simulation model are established, monitoring parameters such as temperature, pressure, and flow during the simulation process, and completing the low-temperature performance test using the simulation model.

[0047] Furthermore, the step s150 includes a semi-physical simulation system consisting of a physical part and a model part, and the semi-physical simulation system can simulate the entire system, wherein the real-time simulation model of the simulation model part can equivalently replace the physical part, and the physical part and the model part are combined according to test requirements.

[0048] Furthermore, the step s160 also includes further correcting the parameters of the simulation model by analyzing and comparing the differences between the simulation results and the actual test results, so as to finally achieve consistency between the simulation accuracy of the simulation model and the actual operating system status.

[0049] The semi-physical simulation test system and method for low-temperature anchor winch proposed in the present invention realizes the semi-physical simulation of the anchor winch based on actual low-temperature working condition data, improves the accuracy of the semi-physical simulation results, can operate the real hydraulic system in conjunction with other simulated components, or operate the simulated hydraulic system in conjunction with other real components, and realizes data processing and display of test data and simulation data through data processing and display components. Compared with a pure physical test system, the semi-physical simulation test system of the present invention effectively avoids the drawbacks of being unable to carry out test verification due to lack of components and high difficulty in achieving low-temperature test conditions, greatly shortens the research and development cycle of the low-temperature anchor winch, reduces costs and risks, and can more realistically simulate the low-temperature working conditions of the system. The test results have a high degree of credibility, and at the same time optimizes the simulation method of the anchor winch system, improves the efficiency of data processing, and can be used to guide the improvement and enhancement of equipment in low-temperature environments.

[0050] It should be understood that the content described in the present invention is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of a semi-physical simulation test system for an anchor winch according to an embodiment of the present invention;

[0052] Figure 2 It is the overall scheme of the semi-physical simulation test system of the anchor winch according to another embodiment of the present invention;

[0053] Figure 3 It is a schematic diagram of the specific simulation test method of the present invention.

[0054] Explanation of the reference numerals: 100 - test environment system, 101 - field test, 102 - field test, 200 - data acquisition system, 201 - sensor component, 202 - data transmission component, 203 - data processing component, 300 - semi-physical simulation system, 301 - moving parts, 302 - dynamic simulation system, 303 - hydraulic system, 304 - hydraulic simulation module, 305 - heating module, 306 - thermodynamic simulation module, 400 - joint simulation system, 500 - display system, 501 - motion display component, 502 - temperature display component, 503 - status display component. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0056] Herein, the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application.

[0057] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element, or connected to the other element through an intermediate element. In addition, the "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if there is transmission of electrical signals or data between the connected objects.

[0058] In one embodiment, Figure 1 and Figure 2 As shown, a semi-physical simulation test system for an anchor winch is provided.

[0059] Figure 1 FIG. 1 is a schematic diagram of a semi-physical simulation test system for an anchor winch according to an embodiment of the present invention. Figure 1 As shown, the semi-physical simulation test system for the anchor winch includes a test environment system 100, a data acquisition system 200, a semi-physical simulation system 300, a joint simulation system 400, and a display system 500, wherein:

[0060] The test environment system 100 includes: an external field test 101 and an internal field test 102, which are used to set up a windlass test environment for low temperature test verification.

[0061] Field test 101 is used to test the anchor winch in an actual low-temperature field environment. The field test includes low-temperature operation test, low-temperature load test, and braking force test, among which: the low-temperature operation test is to verify the operation coordination and functional completeness of the mechanical and hydraulic systems of the anchor winch equipment in a low-temperature cold state, and to prove that the deformation coordination and key kinematic pair matching of the equipment in low temperature meet the design and use requirements; the low-temperature load test is to verify the load capacity of the anchor winch equipment structure and hydraulic system in a low-temperature cold state; the braking force test is to test the reliability and efficiency of the belt brake structure of the anchor winch under low-temperature conditions.

[0062] In one of the embodiments, during the field test 101, the anchor winch drum and the anchor chain wheel are not equipped with wire ropes or anchor chains, the anchor winch body is placed in an open air environment and reaches a temperature stable state, and the remaining accompanying test equipment is placed in a shielded indoor environment.

[0063] In one embodiment, the field test 101 needs to record the air temperature and humidity before the test, and the temperature of each bearing position, hydraulic motor, control valve, hydraulic oil, etc. before the system is operated.

[0064] In one embodiment, the field test 101 further includes a fault simulation test, wherein the fault simulation test includes a motor overload simulation, a hydraulic oil freezing simulation, and an automatic switching valve low temperature failure simulation.

[0065] Infield test 102 is used to test the components of the anchor winch in a low temperature laboratory environment.

[0066] In one embodiment, the infield testing 102 includes testing of hydraulic system components.

[0067] In one embodiment, the field test 102 measures key parameters of the hydraulic system under different low temperature environments, including motor torque, oil pressure, temperature, and viscosity.

[0068] In one embodiment, the field test 102 also includes a test system, which is composed of a flow field control system, a temperature control system, a data monitoring system, etc., to simulate as many extreme polar working conditions as possible and explore the influence of these variables on the hydraulic system.

[0069] The data acquisition system 200 includes a sensor component 201, a data transmission component 202 and a data processing component 203, and is used to acquire and process the test data of various components of the anchor winch.

[0070] The sensor assembly 201 includes a temperature sensor, a flow sensor, a pressure sensor, a hydraulic oil viscosity sensor, a surface temperature sensor, a liquid level sensor, a surface stress sensor, a dynamometer, a weather data collector, an ambient temperature sensor, a laser distance sensor, a rotation speed sensor, a vibration sensor, etc.

[0071] In one of the embodiments, the temperature sensor is arranged at the oil inlet and outlet of each actuator, the pressure sensor is arranged at the oil inlet and outlet of each actuator, the flow sensor is arranged at the oil inlet and outlet of the hydraulic motor and the pump station, the liquid level and temperature sensor are arranged in the oil tank, the dynamometer is arranged on the anchor chain and the cable, the laser distance sensor is arranged on the load device, the speed sensor is arranged next to the anchor chain wheel and the drum, the vibration sensor is arranged at the bottom of the anchor winch stand, the surface temperature sensor and the surface stress sensor are arranged on the surface of the anchor winch, and the meteorological collector and the ambient temperature sensor are arranged around the anchor winch.

[0072] In one embodiment, the sensor outputs signals such as 4-20 mA, 0-5 V, RS422 communication, etc., so as to facilitate the data processing component to collect data.

[0073] The data transmission component 202 is used to transmit the real-time collected data to the display system and the generated semi-physical test simulation data to the semi-physical simulation system.

[0074] In one embodiment, the data transmission component 202 also includes a line insulation device and a signal acquisition card, wherein the line insulation device includes a wire sleeve, insulation tape and insulation rubber, etc., which are used for sensor line insulation, probe insulation and insulation treatment for entering and exiting the indoor laboratory environment, and are used to safely transmit data to the signal acquisition card.

[0075] In one of the embodiments, the signal acquisition card is used to transmit the environmental test data as actual working condition data to the real-time semi-physical simulation system and display system.

[0076] The data processing component 203 is used to process the test data and the semi-physical simulation data.

[0077] In one embodiment, the data processing component 203 also includes a signal conditioning board and a signal conditioning module, wherein: the signal conditioning board is used to adjust the consistency of the interactive signals in the test systematization test, display system and semi-physical simulation system; the signal conditioning module is used to convert the output signal of the sensor component to obtain the target sensor output signal that meets the input standard of the display system.

[0078] The semi-physical simulation system 300 includes a dynamic simulation module 302, a thermodynamic simulation module 306, a hydraulic simulation module 304, an anchor winch moving part 304, an anchor winch hydraulic system 303 and an anchor winch heating module 305, and is used to obtain real-time semi-physical simulation data obtained by the system model of the corresponding part of the anchor winch based on real-time operating condition data, wherein the real-time operating condition data is obtained based on the test environment system test.

[0079] The dynamics simulation module 302 includes an anchor chain wheel model, a cable drum model, a winch drum model, a gear box model, etc., and is used to simulate the moving parts 304 of the anchor winch.

[0080] In one embodiment, each model of the dynamic simulation module 302 can be packaged according to actual conditions, and the test data of the anchor winch moving part 304 and the simulation data of the dynamic simulation module 302 are set with relevant parameters in the display system interface and displayed synchronously.

[0081] In one embodiment, the dynamic simulation module 302 runs on a simulation computer, uses SolidWorks to build a three-dimensional model, uses Adams to perform real-time operation status simulation calculations, and sends the operation status data to the display system through the communication interface of the joint simulation system.

[0082] The thermodynamic simulation module 306 includes a windlass surface temperature model, a hydraulic system thermodynamic model, a heating module thermodynamic model, and a heat transfer model, and is used for simulating the windlass surface temperature and the heating module 305 .

[0083] In one of the embodiments, the test data of the anchor winch heating module 305 and the simulation data of the thermodynamic simulation module 306 are set with relevant parameters in the display system interface and displayed synchronously.

[0084] In one embodiment, the thermodynamic simulation module 306 runs on a simulation computer, uses Ansys to build a mathematical model, uses Fluent to perform real-time operation status simulation calculations, and sends the operation status data to the display system through the communication interface of the joint simulation system.

[0085] The hydraulic simulation module 304 includes a component model and a pipeline model, wherein the component model includes a hydraulic motor model, a pump model, and a valve model, and is used for simulating the hydraulic system 303 of the anchor winch.

[0086] In one embodiment, each model of the hydraulic simulation module 304 is encapsulated, and the test data of the anchor winch hydraulic system 303 and the simulation data of the hydraulic simulation module 304 can be displayed in the display system interface, and relevant parameters can be set and displayed synchronously.

[0087] In one embodiment, the hydraulic simulation module 304 runs on a simulation computer, uses Amesim to perform real-time operation status simulation calculations, and sends the operation status data to the display system through the communication interface of the joint simulation system.

[0088] The joint simulation system 400 includes a joint simulation interface, a control system, a load system and a control simulation system, and is used to connect the physical part and the model part for real-time simulation.

[0089] In one of the embodiments, the joint simulation interface 400 is also used to transmit the information collected by the data acquisition system to the semi-physical simulation system and the display system, and to transmit the semi-physical real-time simulation information of each model to each other and display it to the display system, while receiving and parsing the display system data uploaded by the semi-physical simulation system, and parsing the corresponding system status parameters, alarm information, and fault information.

[0090] In one of the embodiments, the joint simulation interface 400 also analyzes the specific technical parameters of the anchor winch, arranges hydraulic, flow, temperature, tension, rotation speed and other sensors, obtains the low-temperature performance experimental data of the anchor winch field test as input information of the semi-physical simulation system, and iteratively optimizes the digital model settings.

[0091] In one embodiment, the control system further includes a control component, wherein the control component is used to control the motor, hydraulic motor, oil pump, heater, etc. in the data acquisition system and the semi-physical simulation system.

[0092] In one embodiment, the load system includes an external field test load system and an internal field test load system, wherein the external field test load system is used to provide working load conditions for the anchor winch in an external field test environment, and the internal field test load system is used to provide working load conditions for the anchor winch in a laboratory environment.

[0093] In one of the embodiments, the control simulation system uses Simulink to perform simulation calculations on the real-time operating status of the control system, and related parameters can be displayed and set in the display system interface.

[0094] In one embodiment, the control system and control simulation system can receive the actuator drive control signal output by the anchor winch controller, and convert it into a simulation control command that can be recognized by the real-time simulation system according to the form of the control signal, so as to control the start and stop of the actuator in the simulation system.

[0095] The display system 500 includes a motion display component 501 , a temperature display component 502 , and a status display component 503 .

[0096] The motion display component 501 is used to display the real-time monitoring information of the motion components and the real-time operation status simulation information of the dynamic model.

[0097] The temperature display component 502 is used to display the real-time monitoring information of the anchor winch temperature and the real-time operation status simulation information of the thermodynamic model.

[0098] The status display component 503 is used to display the real-time monitoring information of the hydraulic system of the anchor winch and the real-time operation status simulation information of the hydraulic simulation model.

[0099] In one embodiment, the status display component 503 is also used to: provide an instrument-type real-time data display of the anchor winch; display the status parameter information, alarm information, and fault information of the anchor winch in real time, and draw key parameters into curves, and can store status data and historical playback.

[0100] In one embodiment, the display system 500 can integrate the received test data and real-time semi-physical simulation data to obtain the physical quantity values ​​carried in the semi-physical test data and the physical simulation data. Furthermore, the display system 500 combines the obtained physical quantity values ​​with time to generate a corresponding line graph, and then saves the generated report file in a set format through the data report generation space in the relevant technology and stores it in a set location, and displays it in the display area of ​​the motion display component 501, the temperature display component 502 and the status display component 503. It should be noted that the semi-physical test data and real-time semi-physical simulation data that can be displayed simultaneously in the display area of ​​the display system 500 include physical parameters related to the pressure and flow of the anchor winch hydraulic system, the speed and torque of the hydraulic motor, and other physical parameters, and can also include other physical parameters generated during low temperature tests and real-time semi-physical simulations, which are not specifically limited here.

[0101] In the above embodiment, regarding the semi-physical simulation test system of the anchor winch, it is also possible to combine Figure 2 understand, Figure 2 This is the overall scheme of the semi-physical simulation test system of the anchor winch according to another embodiment of the present invention. Figure 2 As shown, the overall scheme of the semi-physical simulation system of the anchor winch of the present invention can be divided into a physical part and a model part according to whether it is a physical object. Among them, the physical part includes the anchor winch moving parts 301, hydraulic system 303, heating system 305, simulation / display computer, sensor, industrial computer, etc., and the model part includes a dynamic model 302, a hydraulic model 304 and a thermodynamic model 306. And the display / simulation computer controls the semi-physical test system to simulate the four mode combinations.

[0102] The four simulation modes are respectively the moving parts of the anchor winch plus the hydraulic system plus the heating system, the moving parts of the anchor winch plus the hydraulic model plus the heating system, the dynamics model plus the hydraulic system heating the mechanical model, and the dynamics model plus the hydraulic model heating the mechanical model.

[0103] The moving parts of the anchor winch plus the hydraulic system plus the heating system are a full physical simulation system, which is used for field tests to obtain actual working condition test data.

[0104] The dynamic model plus the hydraulic model and the heating mechanical model form a full model simulation system, which is used for field tests to obtain extended working condition test data.

[0105] The moving parts of the anchor winch plus the hydraulic model plus the heating system are a semi-physical simulation system, which is used to combine field tests with indoor tests to obtain real-time semi-physical simulation data.

[0106] The dynamic model plus the hydraulic system heating mechanical model is a semi-physical simulation system, which is used to combine field tests with indoor tests to obtain real-time semi-physical simulation data.

[0107] In one of the embodiments, the hydraulic system simulation module first establishes mathematical models of the hydraulic system's pumps, valves, pipelines, motors, etc. based on the HCD library in the Amesim environment, connects the model units and sets up the simulation cam design, and exports the Simulink real-time simulation model after the hydraulic system modeling is completed.

[0108] The HCD library in Amesim establishes the components in the actual hydraulic elements into a professional library, in which the parameters can be set, and the parameters of the friction force can be set as a constant, function or time-varying variable.

[0109] In one embodiment, the data acquisition system receives data collected from field tests and indoor tests of the test environment system as semi-physical test data, performs real-time semi-physical simulation of the anchor winch through a simulation computer, and transmits the real-time semi-physical simulation data of the anchor winch system model obtained by the real-time semi-physical simulation to a display computer.

[0110] like Figure 3 As shown, another aspect of the embodiment of the present invention is to provide a semi-physical simulation test method for a low-temperature anchor winch, the method comprising:

[0111] Step s100, designing an outdoor test of the anchor winch, collecting low-temperature operation and load operation data of the anchor chain wheel, drum, hydraulic system, etc.;

[0112] Step s110, constructing a dynamic model of the sprocket and reel parts through the moving parts data;

[0113] Step s120, collecting surface and internal temperature data to construct a thermodynamic model of the thermal system;

[0114] Step s130, designing a low-temperature test for the hydraulic system and collecting low-temperature test data for the hydraulic system;

[0115] Step s140, establishing a hydraulic system simulation model through hydraulic system test data;

[0116] Step s150, selecting a semi-physical combination method and designing a joint simulation interface;

[0117] Step s160: Conduct a semi-physical simulation test to verify the performance through the display system.

[0118] In one embodiment, the step s100 further includes arranging sensors and displaying system parameters according to the test items.

[0119] In one embodiment, the step s110 also includes running the simulation of the dynamic model in real time according to the configuration parameter instruction, and sending the simulation operation parameters to the semi-physical simulation system and the display system. Wherein, constructing the dynamic model also includes determining the input and output points of all signals in the process of constructing the dynamic model, such as signals such as the reel speed and the load signal. Wherein, the data processing and display component interface in the dynamic model can be used to set the number of input and output signals, and each signal can be connected to the joint simulation system and the display system, and a real-time file (dll file) can be generated in the "Interface" status bar, where the dll file can be used to initialize the dynamic model, and set the step size of the solver, the global parameters of the model, the input and output of the model, and the conditions for terminating the model simulation.

[0120] In one embodiment, step s120 includes determining the input and output points of all signals during the construction of the thermodynamic model, such as the surface temperature signal of the anchor winch, etc. The data processing and display component interface in the thermodynamic model can be used to set the number of input and output signals, connect each signal with the joint simulation system and the display system, and generate a real-time file (dll file) in the "Interface" status bar, wherein the dll file can be used to initialize the dynamic model, set the step size of the solver, the global parameters of the model, the input and output of the model, and the conditions for terminating the model simulation, etc.

[0121] In one of the embodiments, step s130 further includes arranging sensors according to the test items, setting the controller to collect system operating parameters in real time, and performing fault judgment and alarm based on the collected information, and uploading it to the monitoring module.

[0122] In one embodiment, the step s140 also includes determining the input and output points of all signals during the construction of the hydraulic simulation model, such as the flow, pressure, temperature and other signals of the hydraulic motor inlet and outlet, as well as the load signal, etc. Among them, the data processing and display component interface in the hydraulic simulation model can be used to set the number of input and output signals, and each signal can be connected to the joint simulation system and the display system, and a real-time file (dll file) can be generated in the "Interface" status bar, wherein the dll file can be used to initialize the hydraulic system model, and set the solver step size, model global parameters, model input and output, and conditions for terminating model simulation, etc.

[0123] In one embodiment, the parameters input into the hydraulic system model may be data in a format corresponding to a data acquisition card or data in Excel format that can be read by a data processing and display system, wherein the data in Excel format may be preset ideal operating condition data or actual operating condition data output by a semi-physical test and data acquisition system.

[0124] In one of the embodiments, the step s150 also includes simulating the low-temperature operation and load operation process of the anchor winch after the dynamic model, the thermodynamic model, and the hydraulic system simulation model are established, monitoring parameters such as temperature, pressure, and flow during the simulation process, and completing the low-temperature performance test using the simulation model.

[0125] In one embodiment, step s150 includes a semi-physical simulation system consisting of a physical part and a model part, and the semi-physical simulation system can simulate the entire system, wherein the real-time simulation model of the simulation model part can equivalently replace the physical part, and the physical part and the model part are combined according to test requirements.

[0126] It should be noted that during the semi-physical test of the anchor winch, each round of testing may only test the regional subsystem. During the test of the regional subsystem, the sensor for collecting the semi-physical test data generated during the test of the regional subsystem may be set in the corresponding part of the regional subsystem.

[0127] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0128] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0129] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0130] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A low-temperature anchor winch semi-physical simulation test system, characterized in that: The test system is divided into a physical part and a model part according to whether it is a physical object, including a test environment system, a data acquisition system, a semi-physical simulation system, a joint simulation system and a display system, wherein: The test environment system is used to set up an environment for conducting the anchor winch low temperature test; The data acquisition system is used to acquire and process the test data of the test environment system of each component of the anchor winch; The semi-physical simulation system is used to obtain real-time semi-physical simulation data obtained by the system model of the corresponding part of the anchor winch based on the real-time working condition data, wherein the real-time working condition data is obtained based on the test environment system test; The joint simulation system is used to connect the physical part and the model part to perform real-time simulation; The display system is used to receive the real-time semi-physical simulation data and the test environment system test data, and simultaneously display the real-time semi-physical simulation data and the test environment system test data in a display area of ​​the display system.

2. A low-temperature anchor winch semi-physical simulation test system according to claim 1, characterized in that: The test environment system includes an outdoor test and an indoor test, wherein: The field test is used to test the anchor winch in an actual low-temperature field environment; The infield test is used to test the components of the anchor winch in a low-temperature laboratory environment.

3. A low-temperature anchor winch semi-physical simulation test system according to claim 2, characterized in that: The field test includes a low temperature operation test, a low temperature load test, and a braking force test, wherein: The low-temperature operation test is to verify the operation coordination and functional completeness of the mechanical and hydraulic systems of the anchor winch equipment in a low-temperature cold state, and to prove whether the equipment meets the design and use requirements, including deformation coordination and key motion pair matching at low temperatures; The low temperature load test is to verify the load capacity of the structure of the anchor winch equipment and the hydraulic system in a low temperature cold state; The braking force test is to examine the reliability and effectiveness of the band brake structure of the anchor winch under low temperature conditions.

4. A low-temperature anchor winch semi-physical simulation test system according to claim 2, characterized in that: The field test includes hydraulic system component test and test system, which consists of flow field control system, temperature control system and data monitoring system, to simulate polar extreme working conditions as much as possible and explore the influence of these variables on the hydraulic system, including: The hydraulic system component test measures key parameters of the hydraulic system under different low temperature environments, including motor torque, oil pressure, temperature and viscosity.

5. A low-temperature anchor winch semi-physical simulation test system according to claim 1, characterized in that: The data acquisition system includes a sensor component, a data transmission component and a data processing component, wherein: The sensor assembly includes a temperature sensor, a flow sensor, a pressure sensor, a hydraulic oil viscosity sensor, a surface temperature sensor, a liquid level sensor, a surface stress sensor, a dynamometer, a weather collector, an ambient temperature sensor, a laser distance sensor, a speed sensor and a vibration sensor; The data transmission component includes a line insulation device and a signal acquisition card, wherein: The line insulation device includes a wire sleeve, insulation tape and insulation rubber, which are used for sensor line insulation, probe insulation and insulation treatment of entering and leaving the indoor laboratory environment; The signal acquisition card is used to securely transmit data to the signal acquisition card; The data processing component includes a signal conditioning board and a signal conditioning module, wherein: The signal conditioning board is used to adjust the consistency of the interactive signals in the test systematization test, display system and semi-physical simulation system; The signal conditioning module is used to convert the output signal of the sensor component and obtain the target sensor output signal that meets the input standard of the display system.

6. A low-temperature anchor winch semi-physical simulation test system according to claim 5, characterized in that: The temperature sensor is arranged at the oil inlet and outlet of each actuator; The pressure sensor is arranged at the oil inlet and outlet of each actuator; The flow sensor is arranged at the oil inlet and outlet of the hydraulic motor and the pump station; The liquid level and temperature sensor is arranged in the oil tank; The dynamometer is arranged on the anchor chain and the cable; The laser distance sensor is arranged on the load device; The speed sensor is arranged beside the anchor chain wheel and the drum; The vibration sensor is arranged at the bottom of the anchor winch stand; The surface temperature sensor and the surface stress sensor are arranged on the surface of the anchor winch; The weather collector and the ambient temperature sensor are arranged around the anchor winch.

7. A low-temperature anchor winch semi-physical simulation test system according to claim 1, characterized in that: The semi-physical simulation system includes a dynamic simulation module, a thermodynamic simulation module, a hydraulic simulation module, an anchor winch moving part, an anchor winch hydraulic system and an anchor winch heating module, and is used to obtain real-time semi-physical simulation data obtained by the system model of the corresponding part of the anchor winch based on the real-time working condition data, wherein: The real-time operating condition data is obtained based on the test environment system test; The dynamics simulation module includes an anchor chain wheel model, a cable drum model, a winch drum model, a gear box model, etc., which are used to simulate the moving parts of the anchor winch; The thermodynamic simulation module includes a surface temperature model of the anchor winch, a thermodynamic model of the hydraulic system, a thermodynamic model of the heating module, and a heat transfer model, and is used for simulating the surface temperature of the anchor winch and the heating module; The hydraulic simulation module includes a component model and a pipeline model, wherein the component model includes a hydraulic motor model, a pump model, and a valve model, and is used for simulating the hydraulic system of the anchor winch.

8. The low-temperature anchor winch semi-physical simulation test system according to claim 1 is characterized in that: The joint simulation system includes a joint simulation interface, a control system, a load system and a control simulation system, which are used to connect the physical part and the model part for real-time simulation, wherein: The joint simulation interface is used to transmit the information collected by the data acquisition system to the semi-physical simulation system and the display system, and to mutually transmit the semi-physical real-time simulation information of each model and display it to the display system, and at the same time receive and parse the display system data uploaded by the semi-physical simulation system, and parse out the corresponding system status parameters, alarm information, and fault information; The control system comprises a control assembly, wherein: The control component is used to control the motor, hydraulic motor, oil pump and heater in the data acquisition system and the semi-physical simulation system; The load system includes an external field test load system and an internal field test load system, wherein: The field test load system is used to provide working load conditions for the anchor winch in a field test environment; the indoor test load system is used to provide working load conditions for the anchor winch in a laboratory environment.

9. A low-temperature anchor winch semi-physical simulation test system according to claim 1, characterized in that: The display system includes a motion display component, a temperature display component and a status display component, wherein: The motion display component is used to display real-time monitoring information of the motion components and real-time operation status simulation information of the dynamic model; The temperature display component is used to display the real-time monitoring information of the anchor winch temperature and the real-time operation status simulation information of the thermodynamic model; The state display component is used to display the real-time monitoring information of the hydraulic system of the anchor winch and the real-time operation state simulation information of the hydraulic simulation model; it is also used to provide the real-time data display of the anchor winch in the form of an instrument; it displays the state parameter information, alarm information, and fault information of the anchor winch in real time, and draws the key parameters into curves, and can store state data and historical playback; The display system can integrate the received test data and real-time semi-physical simulation data to obtain the physical quantity values ​​carried in the semi-physical test data and the physical simulation data, combine the obtained physical quantity values ​​with time, generate a corresponding line graph, save the generated report file in a set format through the data report generation space in the relevant technology and store it in a set location, and display it in the display area of ​​the motion display component, the temperature display component and the status display component.

10. A method for testing a low-temperature anchor winch semi-physical simulation test system, the method using the test system according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step s1, designing an outdoor test of the anchor winch, collecting low-temperature operation and load operation data of various parts including the anchor chain wheel, drum, and hydraulic system; Step s2, constructing a dynamic model of the sprocket and reel parts through the moving parts data; Step s3, collecting surface and internal temperature data to construct a thermodynamic model of the thermal system; Step s4, designing a low-temperature test for the hydraulic system and collecting low-temperature test data for the hydraulic system; Step s5, establishing a hydraulic system simulation model through hydraulic system test data; Step s6, selecting a semi-physical combination method and designing a joint simulation interface; Step s7: Conduct a semi-physical simulation test to verify the performance through the display system.

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