Three-degree-of-freedom vortex-induced motion test device for deep-sea floating platform based on force feedback

Abstract

The application provides a three-degree-of-freedom vortex-induced motion test device of a deep-sea floating platform based on force feedback, which comprises a sea floating platform model module, a bow rocking motion module, a plane bidirectional motion module and a real-time control system module, the sea floating platform model module is used for measuring platform hydrodynamic information; the bow rocking motion module is arranged on the sea floating platform model module at the lower part and is used for providing the platform bow rocking degree of freedom; the plane bidirectional motion module is installed on the bow rocking motion module and is used for providing the platform transverse and in-line motion; the real-time control system module collects data information of the sea floating platform model module, the bow rocking motion module and the plane bidirectional motion module, calculates the platform predicted position and speed, generates an execution instruction for realizing the position and speed, and controls the bow rocking motion module and the plane bidirectional motion module to run according to the execution instruction. The application is free from the traditional physical spring restraint, so that the vortex-induced motion can be conveniently controlled in the plane.

Description

Technical Field

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

[0002] Currently, oil and gas resource development has shifted from shallow to deep sea. Deep-sea floating platforms, including semi-submersible platforms and tension leg platforms, have become one of the main high-tech equipment for deep-sea oil and gas resource development. For deep-sea floating platforms, the underwater main body is typically a column. Under the influence of ocean currents, periodic vortex shedding occurs at the tail of the platform column, generating periodic excitation forces on the structure. This force causes the platform to undergo periodic reciprocating motion, known as vortex-induced motion. Engineering measurements and research show that vortex-induced motion not only affects the fatigue life of mooring systems but can also, in severe cases, jeopardize the safe operation of offshore platforms and lead to accidents.

[0003] Model tests of vortex-induced motion on offshore platforms are typically conducted in towed tanks in marine engineering projects. The device and model are fixed to a trailer and move at a constant speed alongside the trailer to create a uniform and stable relative flow field. Some test schemes do not impose any restrictions on the roll, pitch, and heave degrees of freedom, causing interference with the accurate acquisition of forces in the transverse and longitudinal directions. Some improved schemes use top plates for restriction; however, the additional friction introduced by the top plate also affects the final measurement results. For the simulation of mooring systems, equivalent horizontal springs are often used. This method introduces additional damping and makes it difficult to simulate the nonlinear stiffness of real mooring chains. Furthermore, deep-sea floating platform model tests suffer from free surface effects, which can severely affect the development of vortex leakage in the platform's columns; existing test schemes cannot effectively address this problem.

[0004] Patent document CN113340562A discloses a test device for the vortex-induced motion of a tension leg platform in a water tank; patent document CN104819857A discloses a test device for a model of vortex-induced motion of a deep-sea floating platform; and patent document CN200962068Y discloses a test device for a model of vortex-induced motion of a single-column marine platform. However, existing technologies have many shortcomings. For example, motion cannot be restricted to a plane. In the vortex-induced motion model experiment of a floating platform, the equivalent mooring method used in existing technologies often fails to restrict the platform's 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's vortex-induced motion, causing errors. Although some improved technologies use a top plate to restrict its motion, the unavoidable resistance will also affect the final response results. Nonlinear stiffness is difficult to represent equivalence. 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 often only simulates linear stiffness, which does not match the nonlinear offset-recovery characteristics of the actual mooring system, leading to errors between experimental results and reality. Free surface effects are difficult to avoid. Current offshore platform vortex-induced motion tank tests have not taken effective measures to avoid the influence of platform column free surface effects on vortex development. The commonly used method is to reduce the Fr number by decreasing the test flow velocity. This method still cannot guarantee experimental accuracy and makes it difficult to extend offshore platform vortex-induced motion tests to the high Reynolds number range. Structural parameters are difficult to change. Traditional offshore platform vortex-induced motion tank model tests are limited to the actual structural performance of the model itself. They can only measure the vortex-induced motion response of a platform model with predetermined structural performance parameters, lacking universality. Furthermore, changing platform models, springs, dampers, etc., is time-consuming and labor-intensive, greatly increasing experimental costs and delaying the experimental schedule. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a force feedback-based three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms.

[0006] The present invention provides a force feedback-based three-degree-of-freedom vortex-induced motion test device for a deep-sea floating platform, comprising a floating platform model module, a yaw motion module, a planar bidirectional motion module, and a real-time control system module, wherein:

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

[0008] The lower part of the bow motion module is mounted on the floating platform model module to provide the bow motion degree of freedom of the platform;

[0009] The planar bidirectional motion module is mounted on the bow-rocking motion module and is used to provide lateral and downstream motion of the platform;

[0010] The real-time control system module collects data from the floating platform model module, the bow motion module, and the planar bidirectional motion module, calculates the platform's expected position and velocity, generates execution commands to achieve the stated position and velocity, and controls the bow motion module and the planar bidirectional motion module to operate according to the execution commands.

[0011] Preferably, the floating platform model module includes a deep-sea floating platform model, on which multiple platform columns are provided. The upper end of each platform column is provided with an end prosthesis module, and a hydrodynamic force sensor for measuring the platform is installed inside the end prosthesis module.

[0012] Preferably, it also includes a flow deflector, which is disposed between the bow motion module and the deep-sea floating platform model.

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

[0014] Preferably, the bow-rocking motion module includes a lower connector, a rotary bearing, a bow-rocking control servo motor, and an upper connector, wherein:

[0015] The lower end of the lower connector is connected to the convex connector of the deep-sea floating platform model module; a rotary bearing is fixed to the upper plane of the lower connector.

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

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

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

[0019] The transverse fixed frame of the transverse motion module is connected by the frame connector between the transverse linear guide sliders to form a whole planar bidirectional motion module.

[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 by the downstream track fixing truss, and the downstream track slider, which is 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 a downstream linear track connector;

[0023] The slider of the downstream linear guide is set on the downstream linear guide, and the downstream linear guide is fixed to the downstream fixed frame;

[0024] A frame connector is provided between the linear guide sliders in the forward direction to connect the transverse fixed frame of the transverse motion module.

[0025] Preferably, 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 yaw module connector, a cross-flow linear rail, and a cross-flow linear rail slider, wherein:

[0026] The transverse track is fixed to the transverse fixed frame by the transverse track fixing truss, and the transverse track slider, which is fastened to the transverse track synchronous belt, is driven to move by the transverse servo motor.

[0027] The transverse flow linear rail slider is set on the transverse flow linear rail, and the transverse flow linear rail is fixed to the transverse flow fixed frame;

[0028] The transverse track slider is connected to the bow motion module via the bow module connector, and the bow module connector also engages with the transverse 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 realizes real-time communication of signals between the systems through the EtherCAT bus.

[0031] The data acquisition system is used to collect data from the floating platform model module, the bow motion module, and the two-way planar 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 uses displacement, velocity, and force data obtained from the data acquisition system, combined with model parameters, to solve the motion equations and calculate the position and velocity that the platform should reach after 2ms. The results are then output to the motion controller. After receiving the execution command, the motion controller controls the yaw motion module and the planar bidirectional motion module to run according to the execution command.

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

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

[0035] 1. This invention adopts a force feedback control technology that combines physical model testing with numerical simulation calculation, which breaks away from the constraints of traditional physical springs and other devices, making it easy to control vortex-induced motion within a plane.

[0036] 2. Furthermore, due to the presence of force feedback technology, the model parameters of this invention are no longer limited to individual performance, and can accurately simulate the nonlinear stiffness of the mooring system, and can effectively achieve rapid traversal of the physical parameters of the mechanistic test.

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

[0038] 4. This invention can solve the technical shortcomings of previous deep-sea floating platform vortex-induced motion pool tests, and eliminate problems such as the inability to restrict motion to a plane, inaccurate equivalent nonlinear stiffness, and interference from free surface effects that affect test accuracy. The high-rigidity structural frame design enables the test to run stably, and the introduction of force feedback technology reduces the difficulty of the test, saves the time of changing working conditions, reduces test costs, and improves universality. Attached Figure Description

[0039] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

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

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

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

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

[0044] Figure 5 This is a schematic diagram of the downstream motion module of a force-feedback-based three-degree-of-freedom vortex-induced motion test device for a deep-sea floating platform.

[0045] Figure 6 This is a schematic diagram of the transverse motion module of a force-feedback-based three-degree-of-freedom vortex-induced motion test device for a deep-sea floating platform.

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

[0047] In the picture:

[0048] Rotary bearing 9

[0049] Rotary bearing - planar frame connector 10

[0050] Bow rocking motion module drive motor 11

[0051] Downstream motion module drive motor 12

[0052] Downstream track slider 13

[0053] Transverse linear guide-slider connector 14

[0054] 15 transverse motion module drive motor

[0055] Column end prosthetic shell 16

[0056] 17 Internal force sensors for the implant

[0057] 18 convex connectors

[0058] Downstream motion frame 19

[0059] Downstream Track 20

[0060] Downstream Track Synchronous Belt 21

[0061] Downstream slider-linear guide connector 22

[0062] Downstream track support truss 23

[0063] Flow-direction motion frame linear guide 24

[0064] Flow-direction linear guide slider 25

[0065] Downstream-crossstream track frame connector 26

[0066] Crossflow motion frame 27

[0067] 28 transverse track support trusses

[0068] Cross-flow track 29

[0069] Cross-flow track synchronous belt 30

[0070] Horizontal flow track slider 31

[0071] Bow rocker module connector 32

[0072] Horizontal flow rail 33

[0073] Horizontal flow linear guide 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] Transverse motion servo driver 43

[0083] Bow motion servo drive 44 Detailed Implementation

[0084] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

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

[0086] 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 technology includes: a deep-sea floating platform model module 1, a yaw motion module 3, two downstream motion modules 4, a cross-current 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 yaw motion module 3, the upper end of the yaw motion module 3 is connected to the cross-current motion module 5, the frame of the cross-current motion module 5 is perpendicularly 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 consists of a deep-sea floating platform model, four column end dummy bodies 7, a flow deflector 2, and four convex connectors 18. The main body of the deep-sea floating platform model can be manufactured according to the prototype at a certain scale. The upper end of the platform column is equipped with a column end dummy body 7, and the shell 16 of the column end dummy body is equipped with a three-part force sensor 17, which can measure the hydrodynamic force on the platform without affecting the hydrodynamic shape of the deep-sea floating platform. The flow deflector 2 is connected to the deep-sea floating platform model and the bow motion module 3 through the convex connectors 18, which can effectively avoid the influence of free surface effects. The upper end of the column end dummy body 7 has a convex connector 18, which is used to connect the deep-sea floating platform model and the flow deflector 2.

[0088] The bow motion module 3 consists of a lower connector 8, a rotary bearing 9, a bow control servo motor 11, and an upper connector 10. The lower end of the lower connector 8 is connected to the convex connector 18 of the deep-sea floating platform model module 1. The rotary bearing 9 is fixed to the upper plane of the lower connector 8 and serves as the control actuator for the bow's degree of freedom of the platform body. 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 via pulse signals. The upper connector 10 is connected to the lower end of the bow module connector 32 of the transverse motion module 5 of the planar bidirectional motion module 6. The bow control servo motor 11 is connected to the rotary actuator via the reducer. The real-time control system sends pulse commands to the servo motor through the motion controller to control the platform model to rotate at a predetermined angular velocity at each time step.

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

[0090] The real-time control system module comprises: an RTOS real-time control system 35, an EtherCAT bus 36, a data acquisition system 37, a numerical simulation system 38, a motion controller 39, and an interactive display 40. The RTOS real-time control system is connected to the data acquisition system 37, the numerical simulation system 38, the motion controller 39, and the interactive display 40, respectively, and real-time communication between the systems is achieved via the EtherCAT bus 36. The analog input terminals of the data acquisition system 37 are connected to the three-dimensional force sensors 17 inside the four column end prostheses and the encoders 41 integrated into each servo motor; its output terminal is connected to the RTOS system 35. The numerical simulation system 38 is connected to the RTOS real-time control system 35. The input terminal of the motion controller 39 is connected to the RTOS system 35, and its output terminal is connected to the downstream motion servo driver 42, the transverse motion servo driver 43, and the bow yaw motion servo driver 44. The downstream motion servo driver 42, the cross-flow motion servo driver 43, and the bow-rocking motion servo driver 44 are respectively connected to the downstream motion servo motor 12, the cross-flow motion servo motor 15, and the bow-rocking motion servo motor 11 via motor power lines. 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 experiment begins, the physical parameters such as mass, damping, and stiffness of the simulated marine platform structure model are input into the numerical simulation system 38 through the interactive display 40. During the experiment, the entire experimental device is driven by a trailer in the marine engineering towing tank, moving horizontally in the towing tank at a certain speed. The relative speed obtained by moving forward in still water is used to simulate the phenomenon of vortex-induced motion generated by uniform flow on the deep-sea floating platform model 1.

[0092] During the experiment, the three-part force meter 17 inside the spur module 7 at the end of the column measured the hydrodynamic force 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 encoders 41 of the downstream motion servo motor 12, the cross-flow motion servo motor 15, and the bow motion servo motor 11 measured the real-time displacement, real-time velocity, real-time bow angle, and real-time bow angular velocity of the deep-sea floating platform model; the data acquisition system 37 collected the encoder data in real time at a high-frequency sampling rate, and after real-time filtering, noise reduction, force, and torque analysis, the results were output to the numerical simulation system 38, and the data was also output to the interactive display 40 to display the visualized data; the numerical simulation system 38 based on the data acquisition system The displacement, velocity, and force data obtained by the system 37 are combined with model parameters to solve the motion equations, calculate the position and velocity that the deep-sea floating platform model 1 should reach after 2ms, and output the results to the motion controller 39. After receiving the execution command, the motion controller 39 transmits the signals to the downstream motion servo driver 42, the cross-current 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-current motion servo motor 15, and the bow motion servo motor 11 respectively, driving the sliders of the bow motion module 3, the downstream motion module 4, and the upstream motion module 5 to move on a high-speed linear track according to the predetermined command. Thus, the device according to the present invention has completed one working cycle. Afterwards, the three-dimensional force meter and encoder continue to measure the hydrodynamic information, displacement, and velocity information of the deep-sea floating platform, repeating the above working cycle to form a force feedback system, and finally simulating the three-degree-of-freedom vortex-induced motion of the deep-sea floating platform under uniform current.

[0093] This invention employs a force feedback control technique that combines physical model testing with numerical simulation calculations, freeing it from the constraints of traditional physical springs and other mechanisms, thus enabling convenient control of vortex-induced motion within a plane. Furthermore, the force feedback technology allows model parameters to be more flexible, no longer limited to individual performance characteristics, enabling accurate simulation of the nonlinear stiffness of the mooring system and facilitating rapid traversal of physical parameters for mechanistic experiments. This invention is the first deep-sea floating platform vortex-induced motion experimental device equipped with a baffle module, effectively avoiding free surface effects, facilitating accurate measurement of vortex-induced motion response results, and extending to high Reynolds numbers. This invention addresses the shortcomings of previous deep-sea floating platform vortex-induced motion pool tests, eliminating problems such as the inability to confine motion to a plane, inaccurate nonlinear stiffness equivalence, and interference from free surface effects that affect experimental accuracy. The high-stiffness structural frame design ensures stable operation, and the introduction of force feedback technology reduces experimental difficulty, eliminates the time required for changing operating conditions, lowers experimental costs, and improves versatility.

[0094] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0095] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0096] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A three-degree-of-freedom vortex-induced motion test device for a deep-sea floating platform based on force feedback, characterized in that, It includes a deep-sea floating platform model module, a bow motion module, a two-way planar motion module, and a real-time control system module, among which: The deep-sea floating platform model module is used to measure the platform's hydrodynamic information; The lower part of the bow motion module is mounted on the deep-sea floating platform model module to provide the bow motion degree of freedom of the platform; The planar bidirectional motion module is mounted on the bow-rocking motion module and is used to provide lateral and downstream motion of the platform; The real-time control system module collects data from the deep-sea floating platform model module, the yaw motion module, and the planar bidirectional motion module, calculates the platform's expected position and velocity, generates execution commands to achieve the position and velocity, and controls the yaw motion module and the planar bidirectional motion module to operate according to the execution commands. The planar bidirectional motion module includes a downstream motion module and a cross-flow motion module, wherein: The transverse fixed frame of the transverse motion module is connected by the frame connector between the transverse linear guide sliders to form a whole planar bidirectional motion module.

2. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms based on force feedback as described in claim 1, characterized in that, The deep-sea floating platform model module includes a deep-sea floating platform model, on which multiple platform columns are set. The upper end of each platform column is provided with an end prosthesis module, and a hydrodynamic force sensor for measuring the platform is installed inside the end prosthesis module.

3. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms based on force feedback as described in claim 2, characterized in that, It also includes a flow deflector, which is disposed between the bow motion module and the deep-sea floating platform model.

4. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms based on force feedback as described in claim 3, 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 flow deflector.

5. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms based on force feedback as described in claim 1, characterized in that, The bow-mounted motion module includes a lower connector, a rotary bearing, a bow-mounted control servo motor, and an upper connector, wherein: The lower end of the lower connector is connected to the convex connector of the deep-sea floating platform model module; a rotary bearing is fixed to the upper plane of the lower connector. The rotary bearing is connected to the reducer and the yaw control servo motor; the yaw control servo motor controls the rotation of the rotary bearing through pulse signals; The upper connector is connected to the planar bidirectional motion module.

6. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms based on force feedback according to claim 1, 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 by the downstream track fixing truss, and the downstream track slider, which is 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 a downstream linear track connector; The slider of the downstream linear guide is set on the downstream linear guide, and the downstream linear guide is fixed to the downstream fixed frame; A frame connector is provided between the linear guide sliders in the forward direction to connect the transverse fixed frame of the transverse motion module.

7. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms based on force feedback as described in claim 1, 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 yaw module connector, a cross-flow linear rail, and a cross-flow linear rail slider, wherein: The transverse track is fixed to the transverse fixed frame by the transverse track fixing truss, and the transverse track slider, which is fastened to the transverse track synchronous belt, is driven to move by the transverse servo motor. The transverse flow linear rail slider is set on the transverse flow linear rail, and the transverse flow linear rail is fixed to the transverse flow fixed frame; The transverse track slider is connected to the bow motion module via the bow module connector, and the bow module connector also engages with the transverse linear rail.

8. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms based on force feedback according to claim 1, 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 realizes real-time communication of signals between the systems through the EtherCAT bus. The data acquisition system is used to collect data from the deep-sea floating platform model module, the bow motion module, and the two-way planar 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 uses displacement, velocity, and force data obtained from the data acquisition system, combined with model parameters, to solve the motion equations and calculate the position and velocity that the platform should reach after 2ms. The results are then output to the motion controller. After receiving the execution command, the motion controller controls the yaw motion module and the planar bidirectional motion module to run according to the execution command.

9. The three-degree-of-freedom vortex-induced motion test device for deep-sea floating platforms based on force feedback as described in claim 8, characterized in that, It also includes an interactive display, which is connected to the RTOS control system and is used to display visualized data.

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