Floating and towing physical model test system and method for yaw and deviation correction simulation

Abstract

The present invention discloses a floating towing physical model test system for yaw and deviation correction simulation, including a tugboat power simulation system, the tugboat power simulation system including a floating towing platform and a jet loading facility, the main structure of the floating towing platform is composed of a fixed rail, a mobile trailer and a power supply rail, the mobile trailer is mounted on the fixed rail and driven by a motor, a height-adjustable horizontal slide is mounted on the front and rear side beams of the mobile trailer, a hook with a pulley is arranged on the horizontal slide, the hook is connected to the floating component model through a traction cable, the jet loading facility is mounted on the mobile trailer, and is provided with a mechanical arm, a high-pressure plunger pump and a jet nozzle, and the jet nozzle and the water supply pipeline are connected to the end of the mechanical arm. The present invention also discloses a method for conducting an experiment using the above test system. The present invention has the function of flexibly simulating the lateral loading of the tugboat, and can realize a completely similar simulation of the component response during the floating yaw process and the deviation correction process.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering, and in particular relates to a physical model test system and a test method for simulating the yaw and deviation correction process of a floating component model. Background Art

[0002] The deviation of various water, air, road and other transport vehicles or other facilities from the scheduled route, path or direction is mostly caused by environmental or human interference. Deviation usually brings adverse effects and should be avoided as much as possible. Therefore, deviation and correction have always received great attention and importance from relevant scientific research, design and operation and maintenance personnel in the engineering field. In response to the deviation problem, many types of monitoring and early warning systems and simulation control devices have been developed, such as ship deviation devices, which are used to reduce the probability of deviation and reduce the degree of deviation, that is, deviation correction.

[0003] Floating is a relatively mature water construction method that uses the buoyancy of water to transfer components from the factory site to the site in a self-floating manner. It is particularly suitable for large water-related components that need to be transported over long distances. It has the advantages of large load capacity and good economy. At the same time, it is also accompanied by a series of risks in water transportation, and yaw is one of them. Moreover, yaw is relatively common during floating construction, and there is a great need for correction. During the floating of components, yaw phenomena such as heading deflection and route deviation are prone to occur under the action of the lateral components of environmental loads such as wind, waves, and currents. Due to the limited width and depth of the floating channel, floating components usually run aground or touch the shore after the yaw reaches a certain amplitude, causing serious safety accidents. For large floating components in long and complex waterways, the risk of floating yaw is higher, and the safety issues associated with it are particularly prominent.

[0004] At present, theoretical analysis, numerical simulation and simulation devices are mostly used to study the floating yaw and correction problem. Floating yaw and correction not only involves the fluid-solid coupling between the environmental fluid and the rigid solid, but also involves the interaction between the airflow and water flow in the environmental fluid, and the flexible constraint interaction between the floating components and the tugboat through the cable in the rigid solid. It is a complex physical process involving multi-phase strong nonlinear interaction.

[0005] In existing theoretical analysis and numerical simulation, simple theoretical or semi-empirical formulas are often used to calculate environmental loads, and then analyze the yaw risk and correction effect of components under lateral loads. Due to the introduction of certain assumptions and simplifications, the overall simulation effect is unsatisfactory.

[0006] If computational fluid dynamics methods based on viscous flow theory are used for refined simulation, by selecting appropriate turbulence models, fluid-solid coupling models, multiphase flow models and cable dynamics models, more complex physical processes can be inverted to obtain better simulation results. However, the required grid volume is large, the calculation time step is small, the amount of calculation is huge, and the calculation efficiency is restricted by the current level of computing power. At the same time, there is also the problem that the simulation accuracy is limited by the current level of development of mathematical models corresponding to various physical processes.

[0007] As a simulation device, the large-scale ship maneuvering simulator uses the environmental loads obtained based on theoretical analysis, model tests or numerical simulations as input, and can simulate the ship motion response and the yaw and correction process of the floating component model. The simulation effect is related to the accuracy of the input parameters and the cable dynamic model.

[0008] Through physical model tests based on similarity theory, the floating yaw problem can be well studied, but currently no practical experimental simulation device has been developed, especially in the correction simulation. The existing floating towing simulation devices either do not have the yaw simulation function at all, or only have a roughly similar yaw simulation function. For example, the automatic towing device for floating test disclosed in Chinese patent document CN 210364313 U does not have the correction simulation function.

[0009] The core difficulty of simulating the yaw and correction process of floating components through physical model experiments lies in how to accurately simulate the lateral force of environmental loads and the lateral pushing or pulling of the lateral tugboat. Traditional loading methods, such as block loading, hydraulic loading or magnetic loading, are usually difficult to use to simulate the lateral force of the lateral tugboat on the floating components during the correction process, or they are applicable but the implementation method is too complicated and expensive. To simulate the lateral load during the correction process, new controllable loading methods need to be sought. Summary of the invention

[0010] In order to solve the technical problems existing in the known technology, the present invention provides a floating and towing physical model test system and method for yaw and correction simulation. The system and method not only have the function of reflecting complex dynamic environment, longitudinal towing and cable constraints, but also have the function of flexibly simulating the lateral loading of the tugboat, and can achieve a completely similar simulation of the component response of the floating yaw process and the correction process.

[0011] The present invention adopts a technical solution to solve the technical problems existing in the known technology: a floating towing physical model test system for yaw and deviation correction simulation, including an environmental dynamic simulation system, a tugboat power simulation system and a test parameter measurement system, the environmental dynamic simulation system includes a test pool, flow-making facilities, wave-making facilities, and wind-making facilities, the tugboat power simulation system includes a floating towing platform and a jet loading facility, the test parameter measurement system includes a cable force measurement system and a motion measurement system, the main structure of the floating towing platform is composed of a fixed guide rail, a mobile trailer and a power supply rail, two of the fixed guide rails are arranged in the middle of the test pool along the longitudinal direction of the test pool, the mobile trailer is mounted on the fixed guide rail, driven by a motor, a height-adjustable horizontal slide is mounted on the front and rear side beams of the mobile trailer, a hook with a pulley is arranged on the horizontal slide, the hook is connected to the floating component model through a traction cable, and the power supply rail is mounted on any one of the fixed guide rails. The motor is powered by a busbar on the outer side of the rail; the jet loading facility is mounted on the mobile trailer, and is provided with a mechanical arm, a high-pressure plunger pump, a jet nozzle, a water supply tank, a water supply pipeline, a motion tracking system and a control system. The water supply tank is connected to the jet nozzle through the water supply pipeline, and a high-pressure plunger pump and a regulating valve are provided on the water supply pipeline. The jet nozzle and the water supply pipeline are connected to the end of the mechanical arm. The motion tracking system uses a binocular camera to track the motion state of the floating component model and the jet nozzle in real time, and calculates the motion parameters of the mechanical arm according to the orientation of the floating component model and the relative orientation of the jet, so as to realize the real-time tracking of the floating component model by the jet nozzle; the control system uses the motion parameters of the mechanical arm calculated by the motion tracking system as input, controls the jet nozzle to track the floating component model in real time in a predetermined manner, and realizes vertical jet loading in a preset orientation; the control system controls the high-pressure plunger pump and the valve opening according to the jet force, wherein the jet force is calculated by the following formula:

[0012]

[0013] in, It is a dimensionless correction coefficient, which is related to the jet distance, jet nozzle type, and pipeline resistance characteristics, and is obtained through experimental calibration; is the cross-sectional area of ​​the jet outlet, unit: m 2 ; It is the relative pressure increase of the high-pressure plunger pump, unit: Pa.

[0014] The jet nozzle adopts a cone-shaped cylindrical nozzle, and the main body is a cone section that gradually decreases from back to front. A large-diameter cylindrical section is provided at the rear end of the cone section, and a small-diameter cylindrical section is provided at the front end. The lengths of the large-diameter cylindrical section and the small-diameter cylindrical section are equal, and the value is 2 to 4 times the nozzle outlet diameter. The cone angle of the cone section is 10 to 15°, and the nozzle outlet diameter is determined according to the design pressure increase and the jet flow rate.

[0015] The fixed guide rail is provided with a rack and limit blocks at both ends. The mobile trailer is provided with a load-bearing guide roller and a gear connected to the fixed guide rail. The gear is meshed with the rack and driven by the motor.

[0016] The mobile trailer adopts wireless remote automatic control, and is equipped with a power control cabinet and a command control cabinet for power supply voltage regulation and control command reception and execution.

[0017] The cable force measurement system is used to measure the tension of the traction cable, and is mainly composed of a tension sensor, an amplifier, and data acquisition and analysis software.

[0018] The motion measurement system is mainly used for measuring the six-degree-of-freedom motion response of a floating component model. It is based on electromagnetic principles and consists of a transmitting end, a receiving end and acquisition and control software.

[0019] The flow-making facility is composed of a flow-making water pump group, a motor group, an electromagnetic flow meter, a return pipe or corridor, an energy dissipation rectifying device and flow control software.

[0020] The wave-making facility comprises a wave-making machine and a wave-breaking device, which are used to simulate a wave field.

[0021] The wind-generating facility is composed of a plurality of independent fans and frequency converters and is used to simulate a wind field.

[0022] Another technical solution adopted by the present invention to solve the technical problems existing in the known technology is: a method for conducting a test using the above-mentioned physical model test system, using the following steps:

[0023] 1) Determine the model scale, make the floating component model and cable model according to the model scale, and determine the test towing speed, test flow velocity, test wave elements and test wind speed;

[0024] 2) The model is installed in place;

[0025] 3) Preliminarily estimate the pressure increase amplitude and jet velocity of the jet loading system based on the model scale, calibrate the correlation coefficient, and determine the pressure regulation method of the high-pressure plunger pump and the valve opening during the jet loading process in the test;

[0026] 4) By regulating the flow, wave and wind facilities, the predetermined test flow field, wave field and wind field are reflected in the test pool;

[0027] 5) The mobile trailer tows the floating component model at a predetermined speed. The component yaws under the lateral component of the environmental load. The motion tracking system analyzes the position of the floating component model and detects whether the yaw amplitude of the floating component model exceeds the warning value.

[0028] 6) If the yaw amplitude of the floating component model exceeds the warning value, the jet loading system is started to correct the deviation, and the boost amplitude of the high-pressure plunger pump and the opening of the flow control valve are adjusted to achieve a jet with a predetermined flow rate and velocity, and a lateral pushing force is applied to the floating component model. Under the action of the lateral pushing force, the yaw speed of the floating component model gradually slows down, stops, and then begins to recover. During this process, the motion tracking system tracks the position of the floating component model in real time, and calculates the motion parameters of the robot arm according to the position of the floating component model and the relative position of the jet, so as to realize the real-time tracking of the floating component model by the jet nozzle;

[0029] 7) When the floating component model returns to the planned route position, the jet loading system stops jetting;

[0030] 8) Analyze the changing law of the navigation trajectory of the floating component model with the lateral component of the environmental load and the changing law of the navigation trajectory of the floating component model with the correcting force, obtain the yaw effect under different dynamic environmental conditions, and clarify the correcting effect of different lateral loads.

[0031] The advantages and positive effects of the present invention are: using the jet loading method to flexibly simulate the lateral pushing effect of the tugboat on the floating component model, using the floating towing platform to simulate the longitudinal pulling effect of the tugboat on the floating component model, having the function of accurately inverting the complex dynamic environment, and being able to achieve similar simulation of the component response during the floating yaw process and the correction process, with high similarity and good simulation effect. The present invention achieves precise control of the position and size of the jet force through flexible regulation of the nozzle jet orientation, valve opening and high-pressure pump pressure, thereby achieving precise simulation of the lateral force during the yaw and correction process, solving the problem of controllable loading of the lateral force in the physical simulation test of the floating yaw and correction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the jet loading system;

[0033] Figure 2 is a schematic diagram of a jet nozzle;

[0034] Figure 3 It is a working schematic diagram of the jet nozzle;

[0035] Figure 4 It is a schematic diagram of the test pool layout;

[0036] Figure 5It is a three-dimensional schematic diagram of the floating towing platform;

[0037] Figure 6 This is a schematic diagram of the jet loading system setup on a mobile trailer;

[0038] Figure 7 It is a three-dimensional schematic diagram of the jet loading simulating the lateral pushing action of the tugboat on the floating component model;

[0039] Figure 8 It is a schematic diagram of the actual yaw and correction process of the floating component model;

[0040] Fig. 9 It is a schematic diagram of the simulated yaw and deviation correction process of the floating component model;

[0041] Fig.10 This is a graph showing the relationship between the jet force and the jet velocity when the nozzle diameters are 5mm, 7mm, and 10mm respectively.

[0042] In the figure: 111—side wall; 112—water inlet; 113—drain outlet; 114—pool bottom; 121—inlet; 122—outlet; 131—wave-making plate; 132—wave-breaking device; 141—fan; 211—fixed rail; 2111—support; 2112—limiting block; 212—mobile trailer; 2121—slideway; 2122—hook; 213—power supply rail; 2131—power supply cable; 2211—jet nozzle; 2212—water supply pipeline; 2213—flow regulating valve; 2214—high-pressure plunger pump; 2215—water supply tank; 222—mechanical arm; 31—floating component model; 311—floating component model wall; 32—traction cable; 33—lateral environmental load; 34—water surface; 35—water flow. DETAILED DESCRIPTION

[0043] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings:

[0044] See also Figure 1 to Figure 7 A floating towing physical model test system for yaw and deviation correction simulation includes an environmental dynamic simulation system, a tugboat dynamic simulation system and a test parameter measurement system.

[0045] See also Figure 4 The above-mentioned environmental dynamic simulation system mainly includes a test pool 111, flow-making facilities, wave-making facilities, and wind-making facilities, which are used to realize the individual simulation of omnidirectional wind, waves, and currents and the combined simulation of their various combined forms, and can truly reflect the complex dynamic environment of the floating route.

[0046] See also Figure 1 , Figure 2 , Figure 3 and Figure 5 The above-mentioned tugboat power simulation system mainly includes a floating towing platform and a jet loading facility, which is used to truly reflect the longitudinal traction and lateral loading effects of the tugboat.

[0047] The test parameter measurement system mainly includes a cable force measurement system and a motion measurement system, which are used to measure the dynamic response of the traction cable and the six-degree-of-freedom motion response of the floating component model.

[0048] The main structure of the test pool is the side wall 111 and the pool bottom 114, and the plane shape is rectangular. The test pool can be divided into a non-test area and a test area. The non-test area is used for the generation, transition or elimination of waves and flow forces. This area is equipped with an inlet 121, an outlet 122, a wave-making plate 131, and a wave-breaking facility 132. The dynamic conditions in the test area are balanced and stable, which is used for conducting experiments. The pool bottom terrain in the test area can be scaled according to the actual terrain. The corners of the non-test area are equipped with water injection ports 112 and drainage ports 113 to regulate the total water volume of the pool.

[0049] The flow-making facilities are arranged along two opposite sides and are divided into transverse flow-making facilities and longitudinal flow-making facilities, which are used to construct transverse flow fields and longitudinal flow fields respectively.

[0050] The flow-making facilities are composed of a flow-making water pump group, a motor group, an electromagnetic flowmeter, a return pipe or corridor, an energy dissipation rectifier and a flow control software. An inlet 121 is arranged near one side wall of the two opposite sides of the test pool, and an outlet 122 is arranged near the other side wall. Wave-breaking facilities are arranged behind the inlet 121 and in front of the outlet 122 to achieve a rapid and smooth transition of the water flow. The outlet 122 is connected to the inlet 121 by a return pipe or corridor, and a water pump and an electromagnetic flowmeter are arranged on the return pipe or corridor. The motor drives the water pump to realize water circulation, and the flow rate is measured by the electromagnetic flowmeter. The flow-making water pump is a reversible water pump, and the motor is a variable frequency motor. The flow control software realizes flexible regulation of the flow direction and flow rate by controlling the direction and speed of the variable frequency motor.

[0051] The wave-making facilities include a wave-making machine and a wave-breaking device, which are used to simulate a wave field. The wave-making machine consists of a wave-making plate 131, a servo drive motor, and a wave-making software. A wave-making plate with an overall cross-sectional shape of "L" is arranged near two adjacent side walls, and a wave-breaking device 132 is arranged near the side wall facing it. The wave-making plate and the wave-breaking device are arranged above the inlet and the outlet. The wave-making software controls the servo drive motor to drive the wave-making panel to simulate waves of all directions and types in the pool.

[0052] The wind-generating facility is composed of multiple independent fans 141 and frequency converters, which are used to simulate wind fields. The fans can be freely moved and arranged in any combination, and are set up at a preset plane position and vertical height in the test area of ​​the test pool through brackets to control the height and direction of the wind field; the fan speed is adjusted by the frequency converter to achieve wind speed regulation.

[0053] The tugboat power simulation system mainly includes a floating towing platform and a jet loading facility, which is used to truly reflect the longitudinal traction and lateral loading effects of the tugboat.

[0054] See also Figure 5 and Figure 7 The floating towing platform is used to simulate the longitudinal traction of the tugboat during the floating process. The main structure consists of four parts: a fixed guide rail 211, a mobile trailer 212, a power supply guide rail 213, and a towing control system. The fixed guide rail 211 is arranged in the center along the longitudinal direction of the test pool, and is provided with a support 2111. A rack is arranged on the guide rail, and limit blocks 2112 are arranged at both ends of the guide rail. The mobile trailer 212 is mounted on the fixed guide rail 211 and is a square frame structure. The load-bearing guide rollers and gears are arranged on both sides. The load-bearing guide rollers are used to guide and limit the movement of the mobile trailer. The gears are used to mesh with the racks and are driven by a motor; a height-adjustable horizontal slide 2121 is mounted on the front and rear side beams of the mobile trailer, and a hook 2122 with a pulley is arranged on it for mooring. The hook 2122 is connected to the floating component model 31 through a traction cable 32, and the floating component model 31 moves under the traction of the mobile trailer 212. The mobile trailer 212 is equipped with a power control cabinet and a command control cabinet for power supply voltage regulation and control command reception and execution. The power supply rail 213 is connected to the power supply cable 2131 and is installed on the outer side of one of the fixed rails. The busbar power supply scheme is used to power the mobile trailer. The floating towing platform is controlled by wireless remote automatic control.

[0055] See also Figure 1 to Figure 3 as well as Figure 6 and Figure 7 The jet loading facility is used to simulate the lateral loading effect of the tugboat during floating. It is carried on the mobile trailer 212 and is mainly composed of a mechanical arm 222, a high-pressure plunger pump assembly 2214, a jet nozzle 2211, a water supply tank 2215, a water supply pipeline 2212, a motion tracking system, and a control system.

[0056] The mechanical arm 222 is used to carry the water supply pipeline 2212 and the jet nozzle 2211. The orientation of the jet nozzle 2211 is adjusted by adjusting the mechanical arm 222, thereby achieving control of the position and direction of the jet outlet.

[0057] The high-pressure plunger pump 2214 is used to generate high-pressure water to provide power for the jet.

[0058] The jet nozzle 2211 sprays the water flow 35 onto the wall surface 311 of the floating component model, and can control the jet type and jet shape, and convert the pressure potential energy into fluid kinetic energy. In order to make the jet water flow have good aggregation and a long range, the jet nozzle 2211 adopts a cone-shaped cylindrical nozzle, and the main body is a cone section that gradually decreases from back to front. The rear end of the cone section is provided with a large-diameter cylindrical section, and the front end is provided with a small-diameter cylindrical section. The lengths of the large-diameter cylindrical section and the small-diameter cylindrical section are equal, and the cone angle of the cone section is 10-15°. The nozzle outlet diameter is determined according to the design pressure increase and the jet flow rate. It is recommended that the cone angle of the cone section is 13°, and the length of the cylindrical section is 2-4 times the nozzle outlet diameter. The nozzle outlet diameter is determined according to the design pressure increase and the jet flow rate.

[0059] The water supply tank 2215 is a water reserve for the jet, and the water supply pipeline 2212 connects the water supply tank 2215, the high-pressure plunger pump 2214 and the jet nozzle 2211 in series. A flow regulating valve 2213 is installed on the water supply pipeline 2212 to adjust the flow by controlling the valve opening.

[0060] The motion tracking system is based on image recognition technology and is implemented by carrying a binocular camera. Marking points are set on the floating component model 31 and the jet nozzle 2211. By identifying the marking points, the motion status of the floating component model 31 and the jet nozzle 2211 can be obtained in real time.

[0061] The control system involves high-pressure plunger pump control, valve control and robotic arm control. Specifically, it includes the control of the start and stop of the high-pressure plunger pump, the pressure increase amplitude, the pressure process, the valve opening, and the robotic arm movement. In the robotic arm movement control, the floating component model and the motion state parameters of the nozzle obtained by the motion tracking system are used as input to control the jet nozzle to track the floating component model in real time in a predetermined manner to achieve jet loading in a preset direction. The control system controls the high-pressure plunger pump and adjusts the valve opening according to the jet force. Jet force calculation: According to the momentum theorem, the jet force of the vertical jet F (Unit: N) is expressed as follows:

[0062]

[0063] in, is the water density, unit: kg / m 3 ; Q is the jet flow rate, unit: m 3 / s; V is the absolute velocity of water at the jet outlet, unit: m / s; is the absolute velocity of the jet action point on the floating component model, unit: m / s; The momentum correction factor is used to consider the turbulence effect from the jet outlet to the jet action point, which is closely related to the jet distance from the jet outlet to the jet action point. If the jet velocity is large and the jet distance is short, the movement speed of the floating component model is relatively small and can be ignored. The momentum correction factor is approximately 1, and the jet force of the vertical jet is F The calculation expression can be simplified as follows:

[0064]

[0065] in is the cross-sectional area of ​​the jet outlet, unit: m 2 According to Bernoulli's equation, the square of the jet velocity and the relative pressure increase of the high-pressure plunger are known. (Unit: Pa) is proportional, so we get:

[0066]

[0067] in, It is a dimensionless correction coefficient, which is related to factors such as jet distance, jet nozzle type, and pipeline resistance characteristics, and can be obtained through experimental calibration.

[0068] The above-mentioned jet loading facilities can not only be used to simulate the lateral force applied by the lateral tugboat on the floating structure, but also can be used to simulate the lateral environmental loads generated by environmental factors such as wind, waves, and currents. The cable force measurement system is used to measure the cable tension and is composed of a high-precision lightweight tension sensor, an amplifier, and data acquisition and analysis software.

[0069] The motion measurement system is mainly used to measure the six-degree-of-freedom motion response of floating component models. It is based on electromagnetic principles and consists of a transmitter, a receiver and acquisition and control software.

[0070] The method of conducting the test using the above system first builds a physical model test platform, including the environmental dynamic simulation system, tugboat dynamic simulation system and test parameter measurement system involved. After the platform is built, the following steps are used to conduct the test:

[0071] 1) Determine the model scale, make the floating component model and cable model according to the model scale, and determine the test towing speed, test flow velocity, test wave elements and test wind speed;

[0072] 2) The model is installed in place, and the floating component model 31 floats on the water surface 34.

[0073] 3) Preliminary estimate of the boost amplitude and jet velocity of the jet loading system based on the model scale, calibrate the correlation coefficient, and determine the pressure regulation method of the high-pressure plunger pump and the valve opening during the jet loading process in the test. Assuming that the thrust provided by a single tugboat is 500kN, the model geometry scale is selected as 1:40, and the corresponding jet force in the model is 7.8125N. Taking nozzles with diameters of 5mm, 7mm, and 10mm as examples, the jet velocity corresponding to such a large jet force is in the range of 10~22m / s, please refer to Fig.10 .

[0074] 4) By regulating the flow, wave and wind facilities, the predetermined test flow field, wave field and wind field are reflected in the test pool;

[0075] 5) The mobile trailer tows the floating component model to move at a predetermined speed. The floating component model yaws under the action of the environmental load directional component 33. The motion tracking system analyzes the position of the floating component model and detects whether the yaw amplitude of the floating component model exceeds the warning value.

[0076] 6) If the yaw amplitude of the floating component model exceeds the warning value, the jet loading system is started to correct the deviation, and the boost amplitude of the high-pressure plunger pump and the opening of the flow control valve are adjusted to achieve a jet with a predetermined flow rate and velocity, and a lateral pushing force is applied to the floating component model. Under the action of the lateral pushing force, the yaw speed of the floating component model gradually slows down, stops, and then begins to recover. During this process, the motion tracking system tracks the position of the floating component model in real time, and calculates the motion parameters of the robot arm according to the position of the floating component model and the relative position of the jet, so as to realize the real-time tracking of the floating component model by the jet nozzle;

[0077] 7) When the floating component model returns to the planned route position, the jet loading system stops jetting;

[0078] 8) Analyze the changing law of the navigation trajectory of the floating component model with the lateral component of the environmental load and the changing law of the navigation trajectory of the floating component model with the correcting force, obtain the yaw effect under different dynamic environmental conditions, clarify the correcting effect of different lateral loads, and provide technical support for the design of the floating construction plan of the component.

[0079] See also Figure 8-Figure 9 By comparison, the model test system and method provided by the present invention are used to simulate the yaw and deviation correction process of the floating component model, which has a high degree of similarity with the actual situation and a good simulation effect.

[0080] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can make many forms without departing from the scope of protection of the present invention and the claims, all of which fall within the scope of protection of the present invention.

Claims

1. A floating towing physical model test system for yaw and deviation correction simulation, characterized in that: Including environmental dynamic simulation system, tugboat dynamic simulation system and test parameter measurement system, The environmental dynamic simulation system includes a test pool, flow-making facilities, wave-making facilities, and wind-making facilities. The tugboat power simulation system includes a floating towing platform and a jet loading facility. The test parameter measurement system includes a cable force measurement system and a motion measurement system. The main structure of the floating towing platform is composed of a fixed rail, a mobile trailer and a power supply rail. Two fixed rails are arranged in the middle of the test water pool along the longitudinal direction of the test water pool. The mobile trailer is mounted on the fixed rails and driven by a motor. A height-adjustable horizontal slide is mounted on the front and rear side beams of the mobile trailer. A hook with a pulley is arranged on the horizontal slide. The hook is connected to the floating component model through a traction cable. The power supply rail is mounted on the outside of any one of the fixed rails, and the motor is powered by a busbar. The jet loading facility is mounted on the mobile trailer and is equipped with a mechanical arm, a high-pressure plunger pump, a jet nozzle, a water supply tank, a water supply pipeline, a motion tracking system and a control system. The water supply tank is connected to the jet nozzle through the water supply pipeline, a high-pressure plunger pump and a regulating valve are arranged on the water supply pipeline, and the jet nozzle and the water supply pipeline are connected to the end of the mechanical arm. The motion tracking system uses a binocular camera to track the motion state of the floating component model and the jet nozzle in real time, and calculates the motion parameters of the robot arm according to the orientation of the floating component model and the relative orientation of the jet, so as to realize the real-time tracking of the floating component model by the jet nozzle; The control system uses the robot arm motion parameters calculated by the motion tracking system as input, controls the jet nozzle to track the floating component model in real time in a predetermined manner, and realizes vertical jet loading in a preset orientation; The control system controls the high-pressure plunger pump and the valve opening according to the jet force, wherein the jet force is calculated using the following formula: in, It is a dimensionless correction coefficient, which is related to the jet distance, jet nozzle type, and pipeline resistance characteristics, and is obtained through experimental calibration; is the cross-sectional area of ​​the jet outlet, unit: m 2 ; It is the relative pressure increase of the high-pressure plunger pump, unit: Pa.

2. The floating towing physical model test system for yaw and deviation correction simulation according to claim 1 is characterized in that: The jet nozzle adopts a cone-shaped cylindrical nozzle, and the main body is a cone section that gradually decreases from back to front. A large-diameter cylindrical section is provided at the rear end of the cone section, and a small-diameter cylindrical section is provided at the front end. The lengths of the large-diameter cylindrical section and the small-diameter cylindrical section are equal, and the value is 2 to 4 times the nozzle outlet diameter. The cone angle of the cone section is 10 to 15°, and the nozzle outlet diameter is determined according to the design pressure increase and the jet flow rate.

3. The floating and towing physical model test system for yaw and deviation correction simulation according to claim 1 is characterized in that: The fixed guide rail is provided with a rack and limit blocks at both ends. The mobile trailer is provided with a load-bearing guide roller and a gear connected to the fixed guide rail. The gear is meshed with the rack and driven by the motor.

4. The floating towing physical model test system for yaw and deviation correction simulation according to claim 1 is characterized in that: The mobile trailer adopts wireless remote automatic control, and is equipped with a power control cabinet and a command control cabinet for power supply voltage regulation and control command reception and execution.

5. The floating and towing physical model test system for yaw and deviation correction simulation according to claim 1 is characterized in that: The cable force measurement system is used to measure the tension of the traction cable, and is mainly composed of a tension sensor, an amplifier, and data acquisition and analysis software.

6. The floating and towing physical model test system for yaw and deviation correction simulation according to claim 1 is characterized in that: The motion measurement system is mainly used for measuring the six-degree-of-freedom motion response of a floating component model. It is based on electromagnetic principles and consists of a transmitting end, a receiving end and acquisition and control software.

7. The floating and towing physical model test system for yaw and deviation correction simulation according to claim 1 is characterized in that: The flow-making facility is composed of a flow-making water pump group, a motor group, an electromagnetic flow meter, a return pipe or corridor, an energy dissipation rectifying device and flow control software.

8. The floating and towing physical model test system for yaw and deviation correction simulation according to claim 1 is characterized in that: The wave-making facility comprises a wave-making machine and a wave-breaking device, which are used to simulate a wave field.

9. The floating and towing physical model test system for yaw and deviation correction simulation according to claim 1 is characterized in that: The wind-generating facility is composed of a plurality of independent fans and frequency converters and is used to simulate a wind field.

10. A method for conducting a test using the physical model test system as claimed in claim 1, characterized in that: Use the following steps: 1) Determine the model scale, make the floating component model and cable model according to the model scale, and determine the test towing speed, test flow velocity, test wave elements and test wind speed; 2) The model is installed in place; 3) Preliminarily estimate the pressure increase amplitude and jet velocity of the jet loading system based on the model scale, calibrate the correlation coefficient, and determine the pressure regulation method of the high-pressure plunger pump and the valve opening during the jet loading process in the test; 4) By regulating the flow, wave and wind facilities, the predetermined test flow field, wave field and wind field are reflected in the test pool; 5) The mobile trailer tows the floating component model at a predetermined speed. The component yaws under the lateral component of the environmental load. The motion tracking system analyzes the position of the floating component model and detects whether the yaw amplitude of the floating component model exceeds the warning value. 6) If the yaw amplitude of the floating component model exceeds the warning value, the jet loading system is started to correct the deviation, and the boost amplitude of the high-pressure plunger pump and the opening of the flow control valve are adjusted to achieve a jet with a predetermined flow rate and velocity, and a lateral pushing force is applied to the floating component model. Under the action of the lateral pushing force, the yaw speed of the floating component model gradually slows down, stops, and then begins to recover. During this process, the motion tracking system tracks the position of the floating component model in real time, and calculates the motion parameters of the robot arm according to the position of the floating component model and the relative position of the jet, so as to realize the real-time tracking of the floating component model by the jet nozzle; 7) When the floating component model returns to the planned route position, the jet loading system stops jetting; 8) Analyze the changing law of the navigation trajectory of the floating component model with the lateral component of the environmental load and the changing law of the navigation trajectory of the floating component model with the correcting force, obtain the yaw effect under different dynamic environmental conditions, and clarify the correcting effect of different lateral loads.

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