Deep sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback

Abstract

The invention provides a deep sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback, which comprises a sea floating platform model module, a yawing motion module, a planar bidirectional motion module and a real-time control system module, and is characterized in that the sea floating platform model module is used for measuring platform hydrodynamic information; the lower part of the yawing motion module is arranged on the sea floating type platform model module and is used for providing a platform yawing freedom degree; the planar bidirectional movement module is mounted on the yawing movement module and is used for providing transverse and forward movement of the platform; the real-time control system module collects data information of the sea floating platform model module, the yawing motion module and the planar bidirectional motion module, calculates the predicted position and speed of the platform, generates execution instructions for realizing the position and speed, and controls the yawing motion module and the planar bidirectional motion module to operate according to the execution instructions. The device gets rid of the constraint of a traditional physical spring and the like, so that the vortex-induced motion can be conveniently controlled in a plane.

Description

Technical Field

[0001] The invention relates to the field of marine engineering, and in particular to a three-degree-of-freedom vortex-induced motion test device for a deep-sea floating platform based on force feedback. Background Art

[0002] At present, the development of oil and gas resources has shifted from shallow waters to deep seas. Deep-sea floating platforms, including semi-submersible platforms and tension-leg platforms, have become one of the main high-tech equipment for the development of deep-sea oil and gas resources. For deep-sea floating platforms, their underwater main bodies are usually columns, so that under the action of ocean currents, the tail of the platform columns produces periodic vortex shedding, which produces periodic exciting forces on the structure. This force causes the platform to undergo periodic reciprocating motion, which is called vortex-induced motion. Engineering measurements and studies have shown that vortex-induced motion will not only affect the fatigue life of the mooring system, but in severe cases it will even affect the safe operation of the offshore platform and cause accidents.

[0003] The model test of vortex-induced motion of offshore platforms is usually carried out in the towing tank of marine engineering. The device and the model are fixed under the trailer and move at a constant speed with the trailer to form a uniform and stable relative flow field. Some test schemes do not take any restrictive measures for the roll, pitch and heave degrees of freedom, so that the forces in the transverse and downstream directions of the platform are disturbed and cannot be accurately obtained. Some improved schemes use the top plate to limit, but the additional friction introduced by the top plate will also affect the final measurement results; for the simulation of the mooring system, the horizontal spring equivalent simulation is usually used. This method will introduce additional damping on the one hand, and it is difficult to simulate the nonlinear stiffness of the real mooring anchor chain on the other hand. At the same time, there is a free surface effect in the model test of deep-sea floating platforms, which will affect the development of vortex leakage of the platform columns in severe cases. The existing test schemes cannot effectively solve this problem.

[0004] Patent document CN113340562A discloses a tension leg platform vortex-induced motion pool test device, patent document CN104819857A discloses a deep-water floating platform vortex-induced motion model test device, and patent document CN200962068Y discloses a single-column marine platform vortex-induced motion model test device. However, the prior art has many shortcomings, such as the inability to restrict motion to a plane. In the floating platform vortex-induced motion model experiment, the equivalent mooring method used in the prior art often makes it difficult to restrict the platform motion to a plane. The motion of degrees of freedom such as roll and pitch will affect the force and response results of the platform vortex-induced motion, resulting in errors. Although some improved technologies use a top plate to restrict its motion, the inevitable resistance will also affect the final response results. Nonlinear stiffness is difficult to be equivalent. Most mooring simulations of offshore floating platforms use multiple linear springs to make the horizontal stiffness of the entire model mooring system similar to the original mooring system. However, this method can only simulate linear stiffness, which is inconsistent with the nonlinear offset-recovery characteristics of the actual mooring system, and will lead to errors between the test results and the actual situation. The free surface effect is difficult to avoid. The existing vortex-induced motion pool tests of offshore platforms have not taken effective measures to avoid the influence of the free surface effect of the platform column on the development of vortex shedding. The commonly used method is to reduce the Fr number by reducing the test flow rate. This method still cannot guarantee the accuracy of the test and makes it difficult to extend the vortex-induced motion test of the offshore platform to the high Reynolds number range. Structural parameters are difficult to replace. The traditional vortex-induced motion pool model test of the offshore platform is limited to the actual structural performance of the model itself. It can only measure the vortex-induced motion response of the platform model with established structural performance parameters. It has no universality. At the same time, it is time-consuming and labor-intensive to replace the platform model, springs, dampers, etc., which greatly increases the test cost and delays the test progress. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a three-degree-of-freedom vortex-induced motion test device for a deep-sea floating platform based on force feedback.

[0006] According to the present invention, a three-degree-of-freedom vortex-induced motion test device for a deep-sea floating platform based on force feedback comprises a sea floating platform model module, a bow rolling motion module, a planar bidirectional motion module and a real-time control system module, wherein:

[0007] The offshore floating platform model module is used to measure the platform hydrodynamic information;

[0008] The lower part of the bow rolling motion module is arranged on the sea floating platform model module, and is used to provide the platform bow rolling freedom;

[0009] The planar bidirectional motion module is installed on the bowing motion module to provide the platform with lateral and downstream motion;

[0010] The real-time control system module collects data information of the offshore floating platform model module, the bow rolling motion module, and the plane bidirectional motion module, calculates the expected position and speed of the platform, generates execution instructions for realizing the position and speed, and controls the bow rolling motion module and the plane bidirectional motion module to operate according to the execution instructions.

[0011] Preferably, the sea floating platform model module comprises a deep-sea floating platform model, a plurality of platform columns are arranged on the deep-sea floating platform model, an end prosthesis module is arranged at the upper end of the platform column, and a three-force sensor for measuring the hydrodynamics of the platform is installed in the end prosthesis module.

[0012] Preferably, it further comprises a baffle, wherein the baffle is arranged between the bow rolling motion module and the deep-sea floating platform model.

[0013] Preferably, a convex connector for connecting the deep-sea floating platform model and the baffle is provided at the upper end of the end prosthesis module.

[0014] Preferably, the bowing motion module comprises a lower connecting member, a rotary bearing, a bowing control servo motor and an upper connecting member, wherein:

[0015] The lower end of the lower connecting piece is connected to the convex connecting piece of the deep-sea floating platform model module; a rotating bearing is fixed on the upper end plane of the lower connecting piece;

[0016] The rotary bearing is connected to the reducer and the bow control servo motor; the bow control servo motor controls the rotation of the rotary bearing through a pulse signal;

[0017] The upper connecting piece is connected to the planar bidirectional motion module.

[0018] Preferably, the planar bidirectional motion module includes a downstream motion module and a cross-stream motion module, wherein:

[0019] The transverse fixed frames of the transverse motion module are connected through frame connectors between the downstream linear rail sliders to form a planar bidirectional motion module as a whole.

[0020] Preferably, the downstream motion module includes a downstream fixed frame, a downstream track fixed truss, a downstream track, a downstream motion servo motor, a downstream track synchronous belt, a downstream track slider, a downstream linear rail, a downstream linear rail slider, a downstream linear rail connector and a frame connector, wherein:

[0021] The downstream track is fixed to the downstream fixed frame through the downstream track fixing truss, and the downstream track slider fastened to the downstream track synchronous belt is driven to move by the downstream motion servo motor;

[0022] The downstream track slider is connected to the downstream linear track slider via the downstream linear track connector;

[0023] The downstream linear rail slider is arranged on the downstream linear rail, and the downstream linear rail is fixed to the downstream fixed frame;

[0024] A frame connector is provided between the downstream linear rail sliders for connecting the downstream fixed frame of the downstream motion module.

[0025] Preferably, the transverse flow motion module includes a transverse flow fixed frame, a transverse flow track fixed truss, a transverse flow track, a transverse flow servo motor, a transverse flow track synchronous belt, a transverse flow track slider, a bow module connector, a transverse flow linear rail and a transverse flow linear rail slider, wherein:

[0026] The cross-flow track is fixed to the cross-flow fixed frame through the cross-flow track fixed truss, and the cross-flow track slider fastened to the cross-flow track synchronous belt is driven to move by the cross-flow servo motor;

[0027] The cross-flow linear rail slider is arranged on the cross-flow linear rail, and the cross-flow linear rail is fixed to the cross-flow fixed frame;

[0028] The cross-flow track slider is connected to the bow motion module through the bow module connector, and the bow module connector cooperates with the cross-flow linear rail.

[0029] Preferably, the real-time control system includes an RTOS real-time control system, a data acquisition system, a numerical simulation system, and a motion controller, wherein:

[0030] The RTOS real-time control system is connected to the data acquisition system, numerical simulation system, and motion controller respectively, and the real-time communication of signals between the systems is realized through the EtherCAT bus;

[0031] The data acquisition system is used to collect data from the offshore floating platform model module, bow rolling motion module, and planar bidirectional motion module. After real-time filtering, noise reduction, force and torque analysis, the results are output to the numerical simulation system.

[0032] The numerical simulation system solves the motion equation based on the displacement, velocity, and force data obtained by the data acquisition system and the model parameters, calculates the position and velocity that the platform should reach after 2ms, and outputs the results to the motion controller; after obtaining the execution instruction, the motion controller controls the bow motion module and the planar bidirectional motion module to operate according to the execution instruction.

[0033] Preferably, it further includes an interactive display, which is connected to the RTOS control system and used to display visual data.

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

[0035] 1. The present invention adopts a force feedback control technology combining physical model experiments and numerical simulation calculations, getting rid of the constraints of traditional physical springs, etc., so that the vortex-induced motion can be conveniently controlled within a plane.

[0036] 2. Due to the existence of the force feedback technology in the present invention, the model parameters are not limited to individual performances, can accurately simulate the non-linear stiffness of the mooring system, and can effectively achieve a rapid traversal of the physical parameters of the mechanism experiment.

[0037] 3. The present invention is the first experimental device for vortex-induced motion of a deep-sea floating platform equipped with a baffle module, which can effectively avoid the free surface effect, facilitate the accurate measurement of the vortex-induced motion response results, and can be effectively extended to the high Reynolds number range.

[0038] 4. The present invention can solve the technical deficiencies of the previous vortex-induced motion pool tests of deep-sea floating platforms, eliminate the problems affecting the test accuracy such as the motion cannot be restricted within a plane, the non-linear stiffness equivalence is inaccurate, and the interference of the free surface effect, etc. The high-stiffness structural frame design enables the test to run stably. The introduction of the force feedback technology also reduces the test difficulty, saves the time for changing working conditions, reduces the test cost, and improves the universality. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0040] Figure 1 It is a schematic structural diagram of an experimental device for three-degree-of-freedom vortex-induced motion of a deep-sea floating platform based on force feedback.

[0041] Figure 2 It is a front view of an experimental device for three-degree-of-freedom vortex-induced motion of a deep-sea floating platform based on force feedback.

[0042] Figure 3 It is a top view of an experimental device for three-degree-of-freedom vortex-induced motion of a deep-sea floating platform based on force feedback.

[0043] Figure 4 It is a schematic diagram of a deep-sea floating platform model of an experimental device for three-degree-of-freedom vortex-induced motion of a deep-sea floating platform based on force feedback.

[0044] Figure 5 It is a schematic diagram of the cross-flow motion module of an experimental device for three-degree-of-freedom vortex-induced motion of a deep-sea floating platform based on force feedback.

[0045] Figure 6 Schematic diagram of the cross-stream motion module of the three-degree-of-freedom vortex-induced motion test device for deep-sea floating platform based on force feedback.

[0046] Figure 7 This is a structural schematic diagram of the real-time control system module of the deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback.

[0047] In the figure:

[0048] Rotary bearing 9

[0049] Rotating bearing-plane frame connector 10

[0050] Bow motion module drive motor 11

[0051] Downstream motion module drive motor 12

[0052] Downstream track slider 13

[0053] Cross-flow linear rail-slider connector 14

[0054] Cross-flow motion module drive motor 15

[0055] Column end prosthesis shell 16

[0056] Three-point force sensor inside the prosthesis 17

[0057] Male connector 18

[0058] Downstream motion frame 19

[0059] Downstream to track 20

[0060] Downstream track synchronous belt 21

[0061] Downstream slider-line rail connector 22

[0062] Downstream track support truss 23

[0063] Downstream motion frame rail 24

[0064] Downstream linear rail slider 25

[0065] Downstream-crossstream track frame connector 26

[0066] Cross-flow motion frame 27

[0067] Cross-flow track support truss 28

[0068] Cross-flow track 29

[0069] Cross-flow track synchronous belt 30

[0070] Cross flow track slider 31

[0071] Bow crank module connector 32

[0072] Cross-flow linear guide 33

[0073] Cross-flow linear rail slider 34

[0074] RTOS Control System 35

[0075] EtherCAT Bus 36

[0076] Data Acquisition System 37

[0077] Numerical simulation system 38

[0078] Motion Controller 39

[0079] User Interface 40

[0080] Displacement encoder 41

[0081] Downstream motion servo drive 42

[0082] Cross-flow motion servo drive 43

[0083] Yawing motion servo drive 44 DETAILED DESCRIPTION

[0084] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0085] like Figures 1 to 7 As shown, in view of the shortcomings of the existing water tank model experimental technology for vortex-induced motion of deep-sea floating platforms, the present invention proposes a new deep-sea floating platform vortex-induced motion experimental scheme based on force feedback control technology, so as to realize the requirements of restricting the planar motion of the platform, simulating the real mooring stiffness characteristics, avoiding free surface effects, and quickly traversing structural parameters.

[0086] A deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback technology provided by the present invention comprises: a deep-sea floating platform model module 1, a bow motion module 3, two downstream motion modules 4, a transverse motion module 5 and a real-time control system module. The deep-sea floating platform model module 1 is connected to the lower end of the bow motion module 3, the upper end of the bow motion module 3 is connected to the transverse motion module 5, the frame of the transverse motion module 5 is vertically connected to the two downstream motion modules 4, and the real-time control system module is connected to each motion module through a motion controller.

[0087] The deep-sea floating platform model module 1 is composed of a deep-sea floating platform model, four column end prostheses 7, a baffle 2 and four convex connectors 18. The main body of the deep-sea floating platform model can be made according to the prototype at a certain scale ratio; the upper end of the platform column is provided with a column end prosthesis 7, and a three-force sensor 17 is installed inside the column end prosthesis shell 16, which can measure the hydrodynamic force of the platform without affecting the hydrodynamic shape of the deep-sea floating platform; the baffle 2 is connected to the deep-sea floating platform model and the bow motion module 3 through a convex connector 18, which can effectively avoid the influence of the free surface effect. There is a convex connector 18 on the upper end of the column end prosthesis 7, which is used to connect the deep-sea floating platform model and the baffle 2.

[0088] The bow motion module 3 is composed of a lower connecting member 8, a rotary bearing 9, a bow control servo motor 11, and an upper connecting member 10. The lower end of the lower connecting member 8 is connected to the convex connecting member 18 of the deep-sea floating platform model module 1; the upper end plane of the lower connecting member 8 is fixed with a rotary bearing 9, which is the control actuator of the bow freedom of the platform body, and the rotary bearing 9 is connected to the reducer and the bow control servo motor 11; the bow control servo motor 11 controls the bearing rotation through a pulse signal; the upper connecting member 10 is connected to the lower end of the bow module connecting member 32 of the cross-flow motion module 5 of the planar bidirectional motion module 6. The bow control servo motor 11 is connected to the rotary actuator through the reducer, and the real-time control system sends a pulse command to the servo motor through the motion controller to control the platform model to rotate a certain angle at the expected angular velocity at each time step.

[0089] The planar bidirectional motion module 6 is composed of two downstream motion modules 4 and one cross-stream motion module 5. The frames 27 of the cross-stream motion modules 5 are connected by the downstream-cross-stream track frame connector 26 between the downstream linear rail sliders 25 to form the planar bidirectional motion module 6 as a whole. The downstream motion module 4 is composed of a downstream fixed frame 19, a downstream track fixed truss 23, a downstream track 20, a downstream motion servo motor 12, a downstream track synchronous belt 21, two downstream track sliders 13, a downstream linear rail 24, a downstream linear rail slider 25, a downstream linear rail connector 22 and a downstream-cross-flow track frame connector 26; the high-speed linear rail 20 is fixed to the frame 19 through the truss 23, and the downstream track slider 13 fastened to the downstream track synchronous belt 21 is driven to move by the downstream motion servo motor 12; the downstream track slider 13 is connected to the downstream linear rail slider 25 through the linear rail connector 22, and a downstream-cross-flow track frame connector 26 is provided between the downstream linear rail sliders 25 for connecting the cross-flow motion frame 27 of the cross-flow motion module 5. The transverse flow motion module 5 is also composed of a transverse flow fixed frame 27, a transverse flow track fixed truss 28, a transverse flow track 29, a transverse flow servo motor 15, a transverse flow track synchronous belt 30, a transverse flow track slider 31, a bow swing module connector 32, a transverse flow linear rail 33, and a transverse flow linear rail slider 34; the transverse flow track 29 is fixed to the transverse flow fixed frame 27 through the transverse flow track fixed truss, and the transverse flow track slider 31 fastened to the transverse flow track synchronous belt 30 is driven by the transverse flow motion module drive motor 15 to move; the transverse flow track slider 31 is connected to the bow swing motion module 3 through the bow swing module connector 32, and the bow swing module connector 32 also cooperates with the transverse flow linear rail 33 to improve the rigidity and stability of the device.

[0090] The real-time control system module includes: RTOS real-time control system 35, EtherCAT bus 36, data acquisition system 37, numerical simulation system 38, motion controller 39, and interactive display 40. Among them, the RTOS real-time control system is connected to the data acquisition system 37, numerical simulation system 38, motion controller 39, and interactive display 40 respectively, and the real-time communication of signals between the systems is realized through the EtherCAT bus 36. The analog input end of the data acquisition system 37 is connected to the internal three-force sensor 17 of the prosthesis in the four column end prostheses and the encoder 41 of each servo motor, and its output end is connected to the RTOS system 35; the numerical simulation system 38 is connected to the RTOS real-time control system 35; the input end of the motion controller 39 is connected to the RTOS system 35, and the output end is connected to the downstream motion servo driver 42, the cross-flow motion servo driver 43, and the bow motion servo driver 44. The downstream motion servo driver 42, the cross-stream motion servo driver 43 and the yaw motion servo driver 44 are connected to the downstream motion servo motor 12, the cross-stream motion servo motor 15 and the yaw motion servo motor 11 through motor power lines, respectively. The interactive display 40 is connected to the RTOS control system 35.

[0091] The specific working principle of this embodiment is as follows: before the test begins, the physical parameters of the simulated marine platform structure model, such as mass, damping, and stiffness, are input into the numerical simulation system 38 through the interactive display 40. During the test, the entire test device is driven by the trailer of the marine engineering towing tank to move forward in the horizontal direction at a certain speed in the towing tank, and the relative speed is obtained by moving forward in still water to simulate the phenomenon of vortex-induced motion of the deep-sea floating platform model 1 subjected to uniform flow.

[0092] During the test, the three-way force meter 17 in the column end prosthesis module 7 measures the hydrodynamic force exerted on the deep-sea floating platform model 1 in the uniform flow and its hydrodynamic torque relative to the central axis of the platform model; the encoder 41 of the downstream motion servo motor 12, the cross-stream motion servo motor 15, and the bow motion servo motor 11 measures the real-time displacement, real-time speed, real-time bow angle, and real-time bow angular velocity of the deep-sea floating platform model. The data acquisition system 37 collects encoder data in real time at a high-frequency sampling rate, and outputs the results to the numerical simulation system 38 after real-time filtering, noise reduction, force, and torque analysis and processing, and outputs the data to the interactive display 40 to display the visualized data; the numerical simulation system 38 is based on the data acquisition system The displacement, velocity and force data obtained by the system 37 are combined with the model parameters to solve the motion equation, calculate the position and velocity that the deep-sea floating platform model 1 should reach after 2ms, and output the result to the motion controller 39; after obtaining the execution instruction, the motion controller 39 transmits the signal to the downstream motion servo driver 42, the cross-flow motion servo driver 43, and the bow motion servo driver 44 respectively; then each servo driver transmits the pulse quantity through the motor power line to the downstream motion servo motor 12, the cross-flow motion servo motor 15, and the bow motion servo motor 11, respectively, to drive the sliders of the bow motion module 3, the downstream motion module 4, and the flow motion module 5 to move on the high-speed linear track according to the established instructions. At this point, the device according to the present invention realizes a working cycle, and then the three-dimensional force meter and the encoder continue to measure the hydrodynamic information, displacement and velocity information of the deep-sea floating platform, repeat the above working cycle, and form a force feedback system, and finally simulate the three-degree-of-freedom vortex-induced motion of the deep-sea floating platform under the uniform incoming flow.

[0093] The present invention adopts a force feedback control technology that combines physical model tests with numerical simulation calculations, gets rid of the constraints of traditional physical springs, etc., so that vortex-induced motion can be conveniently controlled within a plane. At the same time, due to the existence of force feedback technology, the model parameters are no longer restricted to individual performance, and the nonlinear stiffness of the mooring system can be accurately simulated, and the rapid traversal of the physical parameters of the mechanistic test can be effectively realized. The present invention is the first deep-sea floating platform vortex-induced motion experimental device equipped with a baffle module, which can effectively avoid the free surface effect, facilitate accurate measurement of the vortex-induced motion response results, and can be effectively expanded to a high Reynolds number range. The adoption of the scheme of the present invention can solve the technical deficiencies of the previous deep-sea floating platform vortex-induced motion pool test, eliminate the problems that the motion cannot be restricted to a plane, the nonlinear stiffness equivalent is not accurate, and the free surface effect interferes with the test accuracy. The high-rigidity structural frame design allows the test to run stably, and the introduction of force feedback technology also reduces the difficulty of the test, saves the time for changing the working conditions, reduces the test cost, and improves universality.

[0094] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0095] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0096] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A three-degree-of-freedom vortex-induced motion test device for deep-sea floating platform based on force feedback, It is characterized in that It includes sea floating platform model module, bow rolling motion module, plane bidirectional motion module and real-time control system module, among which: The offshore floating platform model module is used to measure the platform hydrodynamic information; The lower part of the bow rolling motion module is arranged on the sea floating platform model module, and is used to provide the platform bow rolling freedom; The planar bidirectional motion module is installed on the bowing motion module to provide the platform with lateral and downstream motion; The real-time control system module collects data information of the offshore floating platform model module, the bow rolling motion module, and the plane bidirectional motion module, calculates the expected position and speed of the platform, generates execution instructions for realizing the position and speed, and controls the bow rolling motion module and the plane bidirectional motion module to operate according to the execution instructions.

2. The deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback according to claim 1, It is characterized in that The sea floating platform model module comprises a deep sea floating platform model, on which a plurality of platform columns are arranged, and an end prosthesis module is arranged at the upper end of each platform column, in which a three-force sensor for measuring the hydrodynamic force of the platform is installed.

3. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platform based on force feedback according to claim 2, It is characterized in that It also includes a baffle, which is arranged between the bow rocking motion module and the deep-sea floating platform model.

4. The deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback according to claim 3, It is characterized in that The upper end of the end prosthesis module is provided with a convex connector for connecting the deep-sea floating platform model and the baffle.

5. The deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback according to claim 1, It is characterized in that The bowing motion module comprises a lower connecting member, a rotary bearing, a bowing control servo motor and an upper connecting member, wherein: The lower end of the lower connecting piece is connected to the convex connecting piece of the deep-sea floating platform model module; a rotating bearing is fixed on the upper end plane of the lower connecting piece; The rotary bearing is connected to the reducer and the bow control servo motor; the bow control servo motor controls the rotation of the rotary bearing through a pulse signal; The upper connecting piece is connected to the planar bidirectional motion module.

6. The deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback according to claim 1, It is characterized in that The planar bidirectional motion module includes a downstream motion module and a cross-flow motion module, wherein: The transverse fixed frames of the transverse motion module are connected through frame connectors between the downstream linear rail sliders to form a planar bidirectional motion module as a whole.

7. The deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback according to claim 6, It is characterized in that The downstream motion module includes a downstream fixed frame, a downstream track fixed truss, a downstream track, a downstream motion servo motor, a downstream track synchronous belt, a downstream track slider, a downstream linear rail, a downstream linear rail slider, a downstream linear rail connector and a frame connector, wherein: The downstream track is fixed to the downstream fixed frame through the downstream track fixing truss, and the downstream track slider fastened to the downstream track synchronous belt is driven to move by the downstream motion servo motor; The downstream track slider is connected to the downstream linear track slider via the downstream linear track connector; The downstream linear rail slider is arranged on the downstream linear rail, and the downstream linear rail is fixed to the downstream fixed frame; A frame connector is provided between the downstream linear rail sliders for connecting the downstream fixed frame of the downstream motion module.

8. The deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback according to claim 6, It is characterized in that The cross-flow motion module includes a cross-flow fixed frame, a cross-flow track fixed truss, a cross-flow track, a cross-flow servo motor, a cross-flow track synchronous belt, a cross-flow track slider, a bow module connector, a cross-flow linear rail and a cross-flow linear rail slider, wherein: The cross-flow track is fixed to the cross-flow fixed frame through the cross-flow track fixed truss, and the cross-flow track slider fastened to the cross-flow track synchronous belt is driven to move by the cross-flow servo motor; The cross-flow linear rail slider is arranged on the cross-flow linear rail, and the cross-flow linear rail is fixed to the cross-flow fixed frame; The cross-flow track slider is connected to the bow motion module through the bow module connector, and the bow module connector cooperates with the cross-flow linear rail.

9. The deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback according to claim 1, It is characterized in that The real-time control system includes an RTOS real-time control system, a data acquisition system, a numerical simulation system, and a motion controller, wherein: The RTOS real-time control system is connected to the data acquisition system, numerical simulation system, and motion controller respectively, and the real-time communication of signals between the systems is realized through the EtherCAT bus; The data acquisition system is used to collect data from the offshore floating platform model module, bow rolling motion module, and planar bidirectional motion module. After real-time filtering, noise reduction, force and torque analysis, the results are output to the numerical simulation system. The numerical simulation system solves the motion equation based on the displacement, velocity, and force data obtained by the data acquisition system and the model parameters, calculates the position and velocity that the platform should reach after 2ms, and outputs the results to the motion controller; after obtaining the execution instruction, the motion controller controls the bow motion module and the planar bidirectional motion module to operate according to the execution instruction.

10. The deep-sea floating platform three-degree-of-freedom vortex-induced motion test device based on force feedback according to claim 9, It is characterized in that The system also includes an interactive display connected to the RTOS control system for displaying visual data.

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