Semi-physical test system and method for water jet propulsion monitoring device

Abstract

The invention relates to the field of ship dynamic performance testing, in particular to a semi-physical testing system and method for a water jet propulsion monitoring device. The system comprises a simulation test computer, a water jet propulsion system digital simulation model, a real-time simulation machine, real-time simulation management software, an analog quantity input and output board card, a digital quantity input and output board card, a communication interface board card and the like. The device can achieve the optimal matching of the rotating speed of a diesel engine of a water jet propulsion system, the connection and disconnection states of a rudder, a backing bucket and a gearbox clutch, and a tested object water jet propulsion monitoring device, guarantees the stable, safe, reliable and efficient operation of the tested object, retains the partial authenticity of a real object test, and also has the advantages of low cost and high efficiency of a simulation test.

Description

Technical Field

[0001] The present invention relates to the field of ship power performance testing, and in particular to a semi-physical testing system and method for a water jet propulsion monitoring device. Background Art

[0002] As a high-performance marine propulsion method, waterjet propulsion has been increasingly widely used in the field of marine propulsion. The reliable operation of waterjet propulsion is inseparable from a stable and efficient waterjet propulsion monitoring device. In order to meet the testing needs of the test laboratory for waterjet propulsion monitoring devices, a semi-physical test system is composed of a digital simulation model of the waterjet propulsion system and a physical waterjet propulsion monitoring device. This system can realize the performance testing of the waterjet propulsion monitoring device and fully and effectively test the dynamic performance of the waterjet propulsion monitoring device under several typical working conditions. It verifies the automatic control, safety protection, monitoring alarm, fault diagnosis and data management integrated functions of the waterjet propulsion monitoring device, providing technical support for equipment development and product delivery.

[0003] According to the test requirements, the digital simulation model of the waterjet propulsion system consists of multiple propulsion diesel engines, gearboxes, waterjet propulsion pumps, inverted buoys, rudders and hull subsystems. The system configuration and interface are exactly the same as the actual ship equipment. The object to be tested is the waterjet propulsion monitoring device, which is interconnected with the digital simulation model of the waterjet propulsion system through analog input and output boards, digital input and output boards, communication interface boards, etc. The real-time simulation management software is run by the upper computer to control the compilation, loading and running of the digital simulation model of the water jet propulsion system in the real-time simulation machine (lower computer). At the same time, the water jet propulsion monitoring device issues real-time instructions to adjust the parameters of the digital simulation model of the water jet propulsion system according to the operator's operation, such as adjusting the jet pump speed to change the jet pump water spray volume and nozzle speed, and thus adjusting the thrust generated by the water jet propulsion system; the ship's steering, forward and backward are controlled by controlling the steering mechanism and the reverse scoop, and the output signals of the digital simulation model of the water jet propulsion system are collected and monitored. After logical operation processing by the water jet propulsion monitoring device, the control instructions are output to the diesel engine, clutch, rudder and reverse scoop of the digital simulation model of the water jet propulsion system, so as to realize the starting, stopping, speed adjustment, clutch engagement and disengagement, rudder direction and hull speed of the diesel engine of the water jet propulsion system, and realize the test of the performance of the physical water jet propulsion monitoring device.

[0004] Currently, most companies and universities focus solely on fully digital simulations of waterjet propulsion systems, or solely on fully physical waterjets or waterjet monitoring devices. They haven't developed specialized semi-physical testing systems for waterjet monitoring devices and digital simulation models of waterjet propulsion systems. Compared to full-physical testing and full simulation testing, semi-physical simulation testing systems offer lower development difficulty and cost, higher testing efficiency, and shorter testing cycles. Furthermore, existing testing systems are outdated and often comprised of complex hardware. Testing various types of waterjet monitoring devices for different ship waterjets requires constant manual modification of the waterjet hardware structure, which is costly and cumbersome. The testing process is labor-intensive and resource-intensive. Furthermore, testing solely through interface testing or by simulating signal changes with a signal generator cannot truly reflect the equipment's actual operating performance on a real ship. Summary of the Invention

[0005] In order to solve the technical problems of reliability and test interaction in the test of water jet propulsion monitoring device, the present invention proposes a semi-physical testing system and method for water jet propulsion monitoring device, which realizes data collection, instruction issuance, real-time monitoring, online real-time parameter modification of the digital simulation model of the water jet propulsion system through the water jet propulsion monitoring device in a semi-physical environment, real-time data interaction with the lower computer, and storage and query of system information, verifying the automatic control, safety protection, monitoring and alarm, fault diagnosis and data management integration functions of the water jet propulsion monitoring device, thereby ensuring stable, safe, reliable and efficient operation of the tested equipment.

[0006] The specific technical solutions are as follows:

[0007] A semi-physical testing system for a water jet propulsion monitoring device, comprising:

[0008] Test development and test management subsystem: The test development subsystem consists of a simulation test computer and real-time simulation management software; the real-time simulation management software is installed on the simulation test computer; the real-time simulation management software includes: real-time simulation development management software and test management software;

[0009] Real-time simulation subsystem: consists of a real-time simulator and a digital simulation model of the waterjet propulsion system; the real-time simulation subsystem is connected to the test development subsystem via Ethernet; the digital simulation model of the waterjet propulsion system runs on the real-time simulator; the digital simulation model of the waterjet propulsion system pre-sets initial parameters of the simulated ship; the digital simulation model of the waterjet propulsion system generates simulation results for the simulated ship and waterjet propulsion system based on control instructions, and generates feedback signals based on real-time operating status;

[0010] Cross-linking interface device: the cross-linking interface device is installed in the real-time simulation machine;

[0011] A water jet propulsion monitoring device, comprising: a signal receiving module, a controller and a signal interaction module;

[0012] The signal receiving module receives the real-time operation instructions issued by the operator and transmits them to the controller; the controller issues a control instruction for adjusting the thrust generated by the water jet propulsion system through the logic operation module based on the issued operation instruction and adjusts the control instruction in real time based on the feedback signal; the signal interaction module transmits the control instruction to the digital simulation model of the water jet propulsion system of the real-time simulation subsystem through the cross-linking interface device; the feedback signal is transmitted to the controller through the cross-linking interface device.

[0013] Preferably, the digital simulation model of the water jet propulsion system runs a simulated water jet propulsion system based on control instructions, controls the steering, forward and backward movement of the simulated ship, and collects and monitors the real-time operating status of the digital simulation model of the water jet propulsion system as a feedback signal.

[0014] Preferably, the jet pump, steering mechanism and inverted scoop are simulated by a digital simulation model of a water jet propulsion system, and the thrust generated by the simulated water jet propulsion system is adjusted by adjusting the speed of the diesel engine; the steering, forward and backward movement of the simulated ship are controlled by controlling the steering mechanism and inverted scoop.

[0015] Preferably, the cross-linking interface device includes: an analog input and output board, a digital input and output board, a communication interface board, and an expansion module for expanding the interface device based on user needs.

[0016] Preferably, the water jet propulsion system digital simulation model realizes remote control of the water jet propulsion monitoring device based on the real-time simulation machine, or manual control of the water jet propulsion monitoring device.

[0017] Preferably, the manual control has a higher priority than the remote control, and the operating parts are interlocked with each other, and can only be operated by one part at any time.

[0018] Preferably, the control instructions include: start, stop, and speed adjustment control instructions of the diesel engine in the digital simulation model of the water jet propulsion system, clutch engagement and disengagement control instructions, rudder direction control instructions, and forward and backward control instructions of the inverted bucket.

[0019] Preferably, in the test development and test management subsystem, the modules managed and set include: a diesel engine control test module, a spray pump control test module, a diesel engine interlock test module, a monitoring alarm test module and a fault diagnosis and safety protection test module.

[0020] Preferably, the water jet propulsion monitoring device transmits the diesel engine control instructions to the digital simulation model, and detects and judges whether the diesel engine control output signal is within a preset control range through the experimental development and test management subsystem; the diesel engine control output signal includes: diesel engine remote control start and remote control stop, diesel engine speed setting, collection of diesel engine feedback speed, collection of diesel engine feedback power, issuance of emergency operation instructions and collection of feedback information, engine-side control, collection of cold engine status and hot engine status, and collection of diesel engine oil quantity information.

[0021] Preferably, the water jet propulsion monitoring device transmits the jet pump control instruction to the digital simulation model, and detects and judges whether the jet pump control output signal is within the preset ideal control range through the test development and test management subsystem; the jet pump control output signal includes: the clutch engagement and disengagement instruction issuance, clutch valve position, oil pressure monitoring, reverse bucket proportional valve opening instruction issuance, collection of reverse bucket proportional valve opening feedback signal, steering proportional valve opening instruction issuance, collection of steering proportional valve opening feedback information, reverse bucket zero thrust position control, rudder left full rudder position and right full rudder position control, jet pump machine-side and remote control, jet pump standby and follow-up control, and collection of impeller shaft sealing air pressure information in the water jet propulsion system digital simulation model.

[0022] Preferably, the experimental development and test management subsystem sets and simulates the diesel engine interlock signal to be transmitted to the diesel engine controller in the water jet propulsion monitoring device, determines whether the diesel engine interlock output signal detected by the water jet propulsion monitoring device is within a preset ideal control range, and decides on the execution of subsequent instructions; the diesel engine interlock output signal includes: diesel engine internal interlock control information, water tank water level monitoring information, gearbox turning device engagement and disengagement status information, gearbox shaft locking device status information, and impeller sealing device air ring status information.

[0023] Preferably, the experimental development and test management subsystem can set and simulate the monitoring alarm signal to be transmitted to the water jet propulsion monitoring device. The water jet propulsion monitoring device detects and collects the monitoring alarm output signal in the digital simulation model of the water jet propulsion system, and determines whether the monitoring alarm output signal is within the preset ideal control range. The monitoring alarm output signal includes: measurement point table parameter collection, general alarm, deterioration condition alarm, and parking alarm.

[0024] Preferably, the test development and test management subsystem sets and simulates the transmission of safety protection signals to the safety protection control subsystem of the water jet propulsion monitoring device, and determines whether the safety protection output signal is within a preset ideal control range, and performs real-time fault diagnosis. The test development and test management subsystem evaluates the execution of instructions, and the safety protection output signals include: emergency stop control, stop override control, external fault stop control, and automatic stop alarm control.

[0025] A semi-physical testing method for a water jet propulsion monitoring device.

[0026] S1: Start the real-time simulation management software of the experimental development and test management subsystem; the real-time simulation management software includes: real-time simulation development management software and test management software;

[0027] S2: configuring initialization parameters of a digital simulation model of a water jet propulsion system of a real-time simulation subsystem, and compiling, loading, and running the digital simulation model of the water jet propulsion system;

[0028] S3: adjusting parameters of the digital simulation model of the water jet propulsion system online;

[0029] S4: The water jet propulsion monitoring device is activated. Based on the maneuvering requirements of the simulated ship, the operator issues an operation instruction in real time to the controller of the water jet propulsion monitoring device to generate a control instruction. The water jet propulsion monitoring device transmits the control instruction to the digital simulation model of the water jet propulsion system via the cross-linking interface device. The digital simulation model of the water jet propulsion system operates the simulated water jet propulsion system based on the control instruction, controls the steering, forward movement, and reverse movement of the simulated ship, and collects and monitors the real-time operation status of the digital simulation model of the water jet propulsion system as a feedback signal.

[0030] S5: The controller of the water jet propulsion monitoring device determines whether the maneuvering requirements of the simulated ship are met based on the feedback signal, adjusts the control instructions in real time, and transmits the control instructions to the water jet propulsion system digital simulation model;

[0031] S6: The controller of the water jet propulsion monitoring device performs performance tests under different working conditions and generates corresponding control instructions to the water jet propulsion system digital simulation model;

[0032] S7: The test management software determines whether the output signal of the digital simulation model of the water jet propulsion system is within a preset signal range; if not, it returns to S3; if so, it determines whether to end the test; if it is determined to end the test, the test ends; if it is determined not to end the test, it returns to S5.

[0033] Beneficial effects:

[0034] The present invention provides a semi-physical testing system and method for a waterjet propulsion monitoring device. The system comprises a simulation test computer, a digital simulation model of the waterjet propulsion system, a real-time simulator, real-time simulation management software, analog input and output boards, digital input and output boards, and a communication interface board. The system can optimally match the waterjet propulsion system's diesel engine speed, rudder and rudder, and gearbox clutch engagement and disengagement status with the waterjet propulsion monitoring device under test, ensuring stable, safe, reliable, and efficient operation of the test object. This system retains some of the authenticity of physical testing while also offering the low-cost and high-efficiency advantages of simulation testing. Various ship equipment is digitally modeled to construct a digital simulation model of the waterjet propulsion system. By building an accurate and realistic physical model to simulate the operation of the actual ship's equipment, the interface uses input and output boards that are identical to those of the actual ship. This creates a control environment for the control system under test that is completely consistent with the actual ship's requirements and allows for testing at scales far exceeding those required by the actual ship (e.g., extreme boundary conditions that affect the safety of the actual ship or equipment). This system ensures stable, safe, reliable, and efficient operation of the test object. The key technical points and key protection points of the present invention are primarily the following:

[0035] The equipment under test is also part of the actual ship's equipment, and the waterjet propulsion system digital simulation model simulates some of the equipment on the actual ship. In the ship's propulsion control system, the equipment under test is the various controllers of the ship's propulsion system. The waterjet propulsion system digital simulation model simulates the hull, diesel engine, shafting, gearbox, and waterjet propulsion. The designed control system (waterjet propulsion monitoring device) is connected to the waterjet propulsion system digital simulation model to test the performance of the waterjet propulsion monitoring device. The present invention builds a waterjet propulsion system digital simulation model based on the parameters of the actual ship's equipment, combines the waterjet propulsion system digital simulation model with the waterjet propulsion monitoring device to form a semi-physical simulation model. This enables data collection, command issuance, real-time monitoring, and online, real-time parameter modification of the waterjet propulsion system digital simulation model through the waterjet propulsion monitoring device in a semi-physical environment. This not only retains some of the authenticity of physical testing, but also has the advantages of low cost and high efficiency of simulation testing.

[0036] At the same time, the present invention enables real-time data interaction and parameter adjustment. The physical components of the entire system and the digital simulation model can interact in real time, allowing for convenient reconfiguration and adjustment of model-related parameters as needed, facilitating testing and verification of various functions of the object under test, greatly increasing the flexibility of the test system.

[0037] Third, the present invention can provide realistic input and output. The digital simulation model of the waterjet propulsion system can receive input signals from the waterjet propulsion monitoring device (the physical device under test) and generate realistic output responses acting on the waterjet propulsion monitoring device. This allows for relatively realistic testing of the input and output performance of the device under test. By directly simulating the actual operation of the device under test on a real ship, the present invention achieves real-time, continuous testing. Compared to traditional fully physical testing systems, this system is a semi-physical testing system, which is less difficult and less expensive to develop, has higher testing efficiency, and a shorter test cycle.

[0038] Fourth, the present invention can also simulate extreme working condition tests, such as simulating diesel engine overspeed tests or overload tests. By using semi-physical simulation equipment to simulate extreme conditions, the test control equipment can be tested to see whether it can automatically protect itself and ensure that the machine can run in a safe direction as soon as possible.

[0039] Fifth, the test system is safe and stable. The data interaction between the simulation model and the real object is at the signal level with low power level, which will cause little damage to the system in the event of failure or misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a structural diagram of a semi-physical test system for a water jet propulsion monitoring device in an embodiment.

[0041] Figure 2 2 is a structural diagram of a real-time simulation machine in an embodiment.

[0042] Figure 3 2 is a structural diagram of a water jet propulsion monitoring device in an embodiment.

[0043] Figure 4 This is a flow chart of a semi-physical testing method for a water jet propulsion monitoring device in an embodiment. DETAILED DESCRIPTION

[0044] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0045] like Figure 1 As shown, a semi-physical testing system for a water jet propulsion monitoring device includes:

[0046] Test development and test management subsystem: The test development subsystem consists of a simulation test computer and real-time simulation management software; the real-time simulation management software is installed on the simulation test computer; the real-time simulation management software includes: real-time simulation development management software and test management software;

[0047] Real-time simulation subsystem: consists of a real-time simulator and a digital simulation model of the waterjet propulsion system; the real-time simulation subsystem is connected to the test development subsystem via Ethernet; the digital simulation model of the waterjet propulsion system runs on the real-time simulator; the digital simulation model of the waterjet propulsion system pre-sets initial parameters of the simulated ship; the digital simulation model of the waterjet propulsion system generates simulation results for the simulated ship and waterjet propulsion system based on control instructions, and generates feedback signals based on real-time operating status;

[0048] Cross-linking interface device: the cross-linking interface device is installed in the real-time simulation machine;

[0049] like Figure 2 As shown, the water jet propulsion monitoring device includes: a signal receiving module, a controller and a signal interaction module;

[0050] The signal receiving module receives the real-time operation instructions issued by the operator and transmits them to the controller; the controller issues a control instruction for adjusting the thrust generated by the water jet propulsion system through the logic operation module based on the issued operation instruction and adjusts the control instruction in real time based on the feedback signal; the signal interaction module transmits the control instruction to the digital simulation model of the water jet propulsion system of the real-time simulation subsystem through the cross-linking interface device; the feedback signal is transmitted to the controller through the cross-linking interface device.

[0051] In the embodiment, if the diesel engine speed needs to be controlled to 500 rpm, maintained for 30 seconds, and then to 1000 rpm, the control process is to observe whether the diesel engine speed in the simulation model changes according to this requirement after the control instruction is issued.

[0052] like Figure 1 As shown, the test personnel run the real-time simulation management software on the upper computer to control the digital simulation model of the water jet propulsion system to compile, load and run it in the real-time simulation machine (lower computer). At the same time, the water jet propulsion monitoring device issues real-time instructions according to the operator's operation to adjust the jet pump speed of the digital simulation model of the water jet propulsion system to change the water spray volume and nozzle speed of the jet pump and thus adjust the thrust generated by the water jet propulsion system; the ship's steering, forward and backward are controlled by controlling the steering mechanism and the reverse scoop, and the feedback signal of the numerical simulation model of the water jet propulsion system is collected and monitored. After the water jet propulsion monitoring device performs logical operation processing, the control instructions are output to the diesel engine, clutch, rudder and reverse scoop of the digital simulation model of the water jet propulsion system to realize the starting, stopping, speed adjustment, clutch engagement and disengagement, rudder direction and hull speed of the diesel engine of the water jet propulsion system, thereby realizing the control performance test of the physical water jet propulsion monitoring device.

[0053] The real-time simulation machine structure is as follows Figure 3As shown, the cross-linking interface equipment includes a digital input and output board, an analog input and output board, and a communication interface board installed in a real-time simulator.

[0054] The real-time simulation management software is installed on the simulation test computer and connected to the real-time simulation machine via Ethernet. The digital simulation model of the waterjet propulsion system runs on the real-time simulation machine. The cross-linking interface device is installed in the real-time simulation machine. The waterjet propulsion monitoring device exchanges data with the real-time simulation machine through the cross-linking interface device.

[0055] Preferably, the digital simulation model of the water jet propulsion system runs a simulated water jet propulsion system based on control instructions, controls the steering, forward and backward movement of the simulated ship, and collects and monitors the real-time operating status of the digital simulation model of the water jet propulsion system as a feedback signal.

[0056] Preferably, the jet pump, steering mechanism and inverted scoop are simulated by a digital simulation model of a water jet propulsion system, and the thrust generated by the simulated water jet propulsion system is adjusted by adjusting the speed of the diesel engine; the steering, forward and backward movement of the simulated ship are controlled by controlling the steering mechanism and inverted scoop.

[0057] Preferably, the cross-linking interface device includes: an analog input and output board, a digital input and output board, a communication interface board, and an expansion module for expanding the interface device based on user needs.

[0058] Preferably, after the digital simulation test subsystem is started, the water jet propulsion system digital simulation model realizes remote control of the water jet propulsion monitoring device based on the real-time simulation machine, or manual control of the water jet propulsion monitoring device.

[0059] Preferably, the manual control has a higher priority than the remote control, and the operating parts are interlocked with each other, and can only be operated by one part at any time.

[0060] Preferably, the control instructions include: start, stop, and speed adjustment control instructions of the diesel engine in the digital simulation model of the water jet propulsion system, clutch engagement and disengagement control instructions, rudder direction control instructions, and forward and backward control instructions of the inverted bucket.

[0061] Preferably, in the test development and test management subsystem, the modules managed and set include: a diesel engine control test module, a spray pump control test module, a diesel engine interlock test module, a monitoring alarm test module and a fault diagnosis and safety protection test module.

[0062] Preferably, the water jet propulsion monitoring device transmits the diesel engine control instructions to the digital simulation model, and detects and judges whether the diesel engine control output signal is within a preset control range through the experimental development and test management subsystem; the diesel engine control output signal includes: diesel engine remote control start and remote control stop, diesel engine speed setting, collection of diesel engine feedback speed, collection of diesel engine feedback power, issuance of emergency operation instructions and collection of feedback information, engine-side control, collection of cold engine status and hot engine status, and collection of diesel engine oil quantity information.

[0063] Preferably, the water jet propulsion monitoring device transmits the jet pump control instruction to the digital simulation model, and detects and judges whether the jet pump control output signal is within the preset ideal control range through the test development and test management subsystem; the jet pump control output signal includes: the clutch engagement and disengagement instruction issuance, clutch valve position, oil pressure monitoring, reverse bucket proportional valve opening instruction issuance, collection of reverse bucket proportional valve opening feedback signal, steering proportional valve opening instruction issuance, collection of steering proportional valve opening feedback information, reverse bucket zero thrust position control, rudder left full rudder position and right full rudder position control, jet pump machine-side and remote control, jet pump standby and follow-up control, and collection of impeller shaft sealing air pressure information in the water jet propulsion system digital simulation model.

[0064] Preferably, the experimental development and test management subsystem sets and simulates the diesel engine interlock signal to be transmitted to the diesel engine controller in the water jet propulsion monitoring device, determines whether the diesel engine interlock output signal detected by the water jet propulsion monitoring device is within a preset ideal control range, and decides on the execution of subsequent instructions; the diesel engine interlock output signal includes: diesel engine internal interlock control information, water tank water level monitoring information, gearbox turning device engagement and disengagement status information, gearbox shaft locking device status information, and impeller sealing device air ring status information.

[0065] Preferably, the experimental development and test management subsystem can set and simulate the monitoring alarm signal to be transmitted to the water jet propulsion monitoring device. The water jet propulsion monitoring device detects and collects the monitoring alarm output signal in the digital simulation model of the water jet propulsion system, and determines whether the monitoring alarm output signal is within the preset ideal control range. The monitoring alarm output signal includes: measurement point table parameter collection, general alarm, deterioration condition alarm, and parking alarm.

[0066] Preferably, the test development and test management subsystem sets and simulates the transmission of safety protection signals to the safety protection control subsystem of the water jet propulsion monitoring device, and determines whether the safety protection output signal is within a preset ideal control range, and performs real-time fault diagnosis. The test development and test management subsystem evaluates the execution of instructions, and the safety protection output signals include: emergency stop control, stop override control, external fault stop control, and automatic stop alarm control.

[0067] like Figure 4 As shown, a semi-physical testing method for a water jet propulsion monitoring device is

[0068] S1: Start the real-time simulation management software of the experimental development and test management subsystem; the real-time simulation management software includes: real-time simulation development management software and test management software;

[0069] S2: configuring initialization parameters of a digital simulation model of a water jet propulsion system of a real-time simulation subsystem, and compiling, loading, and running the digital simulation model of the water jet propulsion system;

[0070] S3: adjusting parameters of the digital simulation model of the water jet propulsion system online;

[0071] S4: The water jet propulsion monitoring device is activated. Based on the maneuvering requirements of the simulated ship, the operator issues an operation instruction in real time to the controller of the water jet propulsion monitoring device to generate a control instruction. The water jet propulsion monitoring device transmits the control instruction to the digital simulation model of the water jet propulsion system via the cross-linking interface device. The digital simulation model of the water jet propulsion system operates the simulated water jet propulsion system based on the control instruction, controls the steering, forward movement, and reverse movement of the simulated ship, and collects and monitors the real-time operation status of the digital simulation model of the water jet propulsion system as a feedback signal.

[0072] S5: The controller of the water jet propulsion monitoring device determines whether the maneuvering requirements of the simulated ship are met based on the feedback signal, adjusts the control instructions in real time, and transmits the control instructions to the water jet propulsion system digital simulation model;

[0073] S6: The controller of the water jet propulsion monitoring device performs performance tests under different working conditions and generates corresponding control instructions to the water jet propulsion system digital simulation model;

[0074] S7: The test management software determines whether the output signal of the digital simulation model of the water jet propulsion system is within a preset signal range; if not, it returns to S3; if so, it determines whether to end the test; if it is determined to end the test, the test ends; if it is determined not to end the test, it returns to S5.

[0075] Finally, it should be noted that the above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Although the present invention has been described in detail with reference to the preferred arrangement scheme, those skilled in the art should understand that the technical solution of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A semi-physical testing system for a water jet propulsion monitoring device, characterized in that: include: Test development and test management subsystem: The test development subsystem consists of simulation test computers and real-time simulation management software; The real-time simulation management software is installed on the simulation test computer; The real-time simulation management software includes: real-time simulation development management software and test management software; Real-time simulation subsystem: consists of a real-time simulator and a digital simulation model of the waterjet propulsion system; the real-time simulation subsystem is connected to the test development subsystem via Ethernet; the digital simulation model of the waterjet propulsion system runs on the real-time simulator; the digital simulation model of the waterjet propulsion system pre-sets initial parameters of the simulated ship; the digital simulation model of the waterjet propulsion system generates simulation results for the simulated ship and waterjet propulsion system based on control instructions, and generates feedback signals based on real-time operating status; Cross-linking interface device: the cross-linking interface device is installed in the real-time simulation machine; A water jet propulsion monitoring device, comprising: a signal receiving module, a controller and a signal interaction module; The signal receiving module receives the real-time operation instructions issued by the operator and transmits them to the controller; the controller issues a control instruction for adjusting the thrust generated by the water jet propulsion system through the logic operation module based on the issued operation instruction and adjusts the control instruction in real time based on the feedback signal; the signal interaction module transmits the control instruction to the digital simulation model of the water jet propulsion system of the real-time simulation subsystem through the cross-linking interface device; the feedback signal is transmitted to the controller through the cross-linking interface device.

2. A semi-physical testing system for a water jet propulsion monitoring device according to claim 1, characterized in that: The digital simulation model of the water jet propulsion system runs a simulated water jet propulsion system based on control instructions, controls the steering, forward and reverse of the simulated ship, and collects and monitors the real-time operating status of the digital simulation model of the water jet propulsion system as a feedback signal.

3. A semi-physical testing system for a water jet propulsion monitoring device according to claim 1, characterized in that: The jet pump, steering mechanism and inverted scoop are simulated by a digital simulation model of a water jet propulsion system. The thrust generated by the simulated water jet propulsion system is adjusted by adjusting the speed of the diesel engine; the steering, forward and backward movement of the simulated ship are controlled by controlling the steering mechanism and inverted scoop.

4. A semi-physical testing system for a water jet propulsion monitoring device according to claim 1, characterized in that: The cross-linking interface device includes: an analog input and output board, a digital input and output board, a communication interface board and an expansion module for expanding the interface device based on user needs.

5. A semi-physical testing system for a water jet propulsion monitoring device according to claim 1, characterized in that: The water jet propulsion system digital simulation model realizes remote control of the water jet propulsion monitoring device based on the real-time simulation machine, or manual control of the water jet propulsion monitoring device.

6. A semi-physical testing system for a water jet propulsion monitoring device according to claim 5, characterized in that: The manual control has a higher priority than the remote control, and the operating parts are interlocked with each other, and can only be operated by one part at any time.

7. A semi-physical testing system for a water jet propulsion monitoring device according to claim 1, characterized in that: The control instructions include: diesel engine start, stop, speed regulation control instructions, clutch engagement and disengagement control instructions, rudder direction control instructions, and inverted bucket forward and backward control instructions in the digital simulation model of the water jet propulsion system.

8. A semi-physical testing system for a water jet propulsion monitoring device according to claim 1, characterized in that: In the test development and test management subsystem, the modules managed and set include: diesel engine control test module, injection pump control test module, diesel engine interlock test module, monitoring alarm test module and fault diagnosis and safety protection test module.

9. A semi-physical testing system for a water jet propulsion monitoring device according to claim 8, characterized in that: The water jet propulsion monitoring device transmits the diesel engine control command to the digital simulation model, and the experimental development and test management subsystem detects and judges whether the diesel engine control output signal is within a preset control range; The diesel engine control output signals include: remote start and remote stop of diesel engine, diesel engine speed setting, collection of diesel engine feedback speed, collection of diesel engine feedback power, issuance of emergency operation instructions and collection of feedback information, engine-side control, collection of cold engine status and hot engine status, and collection of diesel engine oil quantity information.

10. A semi-physical testing system for a water jet propulsion monitoring device according to claim 8, characterized in that: The water jet propulsion monitoring device transmits the jet pump control instruction to the digital simulation model, and detects and judges whether the jet pump control output signal is within the preset ideal control range through the experimental development and test management subsystem; the jet pump control output signal includes: the clutch engagement and disengagement instruction issuance, clutch valve position, oil pressure monitoring, reverse bucket proportional valve opening instruction issuance, collection of reverse bucket proportional valve opening feedback signal, steering proportional valve opening instruction issuance, collection of steering proportional valve opening feedback information, reverse bucket zero thrust position control, rudder left full rudder position and right full rudder position control, jet pump machine-side and remote control, jet pump standby and follow-up control, and collection of impeller shaft sealing air pressure information in the water jet propulsion system digital simulation model.

11. A semi-physical testing system for a water jet propulsion monitoring device according to claim 8, characterized in that: The test development and test management subsystem sets and simulates the diesel engine interlock signal and transmits it to the diesel engine controller in the water jet propulsion monitoring device, determines whether the diesel engine interlock output signal detected by the water jet propulsion monitoring device is within a preset ideal control range, and decides on the execution of subsequent instructions; The diesel engine interlock output signal includes: diesel engine internal interlock control information, water tank water level monitoring information, gear box turning device engagement and disengagement status information, gear box shaft locking device status information, and impeller sealing device air ring status information.

12. A semi-physical testing system for a water jet propulsion monitoring device according to claim 8, characterized in that: The experimental development and test management subsystem can set and simulate the monitoring alarm signal to be transmitted to the water jet propulsion monitoring device. The water jet propulsion monitoring device detects and collects the monitoring alarm output signal in the digital simulation model of the water jet propulsion system, and determines whether the monitoring alarm output signal is within the preset ideal control range. The monitoring alarm output signal includes: measurement point table parameter collection, general alarm, deterioration condition alarm, and parking alarm.

13. A semi-physical testing system for a water jet propulsion monitoring device according to claim 8, characterized in that: The test development and test management subsystem sets and simulates the transmission of safety protection signals to the safety protection control subsystem of the water jet propulsion monitoring device, and determines whether the safety protection output signal is within a preset ideal control range, and performs real-time fault diagnosis. The test development and test management subsystem evaluates the execution of instructions. The safety protection output signals include: emergency stop control, stop override control, external fault stop control, and automatic stop alarm control.

14. A semi-physical testing method for a water jet propulsion monitoring device based on the system according to any one of claims 1 to 13, characterized in that: S1: Start the real-time simulation management software of the test development and test management subsystem; The real-time simulation management software includes: real-time simulation development management software and test management software; S2: configuring initialization parameters of a digital simulation model of a water jet propulsion system of a real-time simulation subsystem, and compiling, loading, and running the digital simulation model of the water jet propulsion system; S3: adjusting parameters of the digital simulation model of the water jet propulsion system online; S4: The water jet propulsion monitoring device is activated. Based on the maneuvering requirements of the simulated ship, the operator issues an operation instruction in real time to the controller of the water jet propulsion monitoring device to generate a control instruction. The water jet propulsion monitoring device transmits the control instruction to the digital simulation model of the water jet propulsion system via the cross-linking interface device. The digital simulation model of the water jet propulsion system operates the simulated water jet propulsion system based on the control instruction, controls the steering, forward movement, and reverse movement of the simulated ship, and collects and monitors the real-time operation status of the digital simulation model of the water jet propulsion system as a feedback signal. S5: The controller of the water jet propulsion monitoring device determines whether the maneuvering requirements of the simulated ship are met based on the feedback signal, adjusts the control instructions in real time, and transmits the control instructions to the water jet propulsion system digital simulation model; S6: The controller of the water jet propulsion monitoring device performs performance tests under different working conditions and generates corresponding control instructions to the water jet propulsion system digital simulation model; S7: The test management software determines whether the output signal of the digital simulation model of the water jet propulsion system is within a preset signal range; if not, it returns to S3; if so, it determines whether to end the test; if it is determined to end the test, the test ends; if it is determined not to end the test, it returns to S5.

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