Device and method for testing dynamic characteristics of water jet propulsion steering and backing mechanism

Abstract

The invention discloses a dynamic characteristic testing device and method for a water jet propulsion steering and backing mechanism, and the device comprises a steering and backing mechanism model which is fixedly hung below a piezoelectric three-component dynamic force testing platform. The steering and backing mechanism model and the piezoelectric type three-component dynamic force measuring table are both arranged in the circulating water tank test section, a rudder angle control motor is arranged above the circulating water tank test section, the driving end of the rudder angle control motor is connected with a rotating shaft which drives the steering and backing mechanism model to rotate, the rudder angle control motor is connected with a motor controller, and the motor controller is connected with the piezoelectric type three-component dynamic force measuring table. And a plurality of three-way acceleration sensors for collecting the vibration acceleration of the steering and backing mechanism model are arranged on the steering and backing mechanism model. Synchronous testing of three-direction dynamic force and three-direction vibration acceleration of the steering and backing mechanism in different rudder angle and backing bucket angle operation states can be achieved, and meanwhile the testing device is simple in structure, reasonable in design and convenient to mount and dismount.

Description

Technical Field

[0001] This invention relates to a dynamic characteristic testing device and method for a waterjet propulsion steering and reversing mechanism, belonging to the technical field of ship testing equipment. Background Technology

[0002] A waterjet propulsion steering and reversing mechanism is a device that changes the jet of waterjet propulsion to achieve ship steering and reversing by adjusting the rudder angle and reversing angle. The dynamic force and vibration characteristics of the steering and reversing mechanism during operation affect the ship's handling and noise performance. Therefore, achieving multi-component dynamic force and vibration characteristic measurement of the waterjet propulsion steering and reversing mechanism is of great significance for the optimized design of the steering and reversing mechanism and for vibration and noise reduction.

[0003] Current methods for measuring the force characteristics of steering and reversing mechanisms mainly focus on the steady-state force measurement of the steering and reversing mechanism and the steady-state force measurement of the pin shaft rotating pair, failing to measure the multi-component unsteady forces of the steering and reversing mechanism. Existing technologies, such as the device disclosed in Chinese Patent CN 104787238B that can directly measure the control force of a steering and reversing mechanism, only achieve steady-state force measurement and cannot meet the requirement for measuring the multi-component unsteady forces of the steering and reversing mechanism. Chinese Patent CN111806649A discloses a testing device and method for the radial force of the pin shaft rotating pair in a waterjet propulsion steering and reversing mechanism, which mainly uses a strain gauge sensor to test the pin shaft shear steady-state force; this device is not suitable for measuring the multi-component unsteady forces of the steering and reversing mechanism.

[0004] Currently, there is a lack of devices and methods to test the multi-component dynamic force and vibration characteristics of waterjet propulsion steering and reversing mechanisms. Summary of the Invention

[0005] The technical problem to be solved by this invention is: how to achieve multi-component dynamic force and vibration characteristic testing of a waterjet propulsion steering and reversing mechanism.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is to provide a dynamic characteristic testing device for a waterjet propulsion steering and reversing mechanism. The device is characterized by comprising a steering and reversing mechanism model, which is fixedly suspended below a piezoelectric three-component dynamic force measuring platform. The piezoelectric three-component dynamic force measuring platform is used to measure the dynamic force of the steering and reversing mechanism model. Both the steering and reversing mechanism model and the piezoelectric three-component dynamic force measuring platform are located within a circulating water tank test section. A rudder angle control motor is located above the circulating water tank test section. The drive end of the rudder angle control motor is connected to a rotating shaft that drives the steering and reversing mechanism model to rotate. The rudder angle control motor is connected to a motor controller. The piezoelectric three-component dynamic force measuring platform is connected to a charge conditioner via a cable. The charge conditioner is connected to a data acquisition unit via signal transmission. The steering and reversing mechanism model is equipped with multiple triaxial acceleration sensors for collecting the vibration acceleration of the steering and reversing mechanism model. All triaxial acceleration sensors are connected to the data acquisition unit via signal transmission.

[0007] Preferably, the circulating water tank test section is equipped with a jet generating device for providing the jet required for dynamic testing, and the jet generating device is located directly in front of the steering and reversing mechanism model.

[0008] Preferably, the steering and reversing mechanism model includes a steering rudder, a lower jaw, and an upper jaw. The upper and lower ends of the steering rudder are rotatably connected to one end of the upper jaw and one end of the lower jaw, respectively. The steering rudder is connected to the other end of the upper jaw via an electrically driven telescopic rod, and the other end of the upper jaw is connected to the other end of the lower jaw via the telescopic rod. The electrically driven telescopic rod is connected to a motor controller. The steering rudder is equipped with a triaxial acceleration sensor I and a triaxial acceleration sensor II, the lower jaw is equipped with a triaxial acceleration sensor III, and the upper jaw is equipped with a triaxial acceleration sensor IV. All three triaxial acceleration sensors I, II, III, and IV are connected to a data acquisition unit via signal transmission.

[0009] Preferably, the steering and reversing mechanism model is fixed on one end of the model fixing flange, the other end of the model fixing flange is connected to the piezoelectric three-component dynamic force measuring table, the piezoelectric three-component dynamic force measuring table is fixedly connected to one end of the force measuring table fixing flange, and the other end of the force measuring table fixing flange is fixedly connected to one end of the rotating shaft.

[0010] Preferably, the steering and reversing mechanism model is located below the model fixing flange, and the model fixing flange is located below the piezoelectric three-component dynamic force measuring platform.

[0011] Preferably, the other end of the rotating shaft passes through the upper surface of the circulating water tank test section and the test stand in sequence and is connected to the drive end of the rudder angle control motor, which is fixed on the test stand.

[0012] Preferably, the test bench is located above the circulating water tank test section, and the rudder angle control motor is located above the test bench.

[0013] Preferably, the cable is wrapped with a watertight flexible tube, and the connection between the cable and the piezoelectric three-component dynamic force measuring table is sealed with sealant to make the watertight flexible tube waterproof.

[0014] A method for testing the dynamic characteristics of a waterjet propulsion steering and reversing mechanism, characterized by using the aforementioned waterjet propulsion steering and reversing mechanism dynamic characteristic testing device, comprising the following steps: Step 1: Open the inflow switch in the circulating water tank test section to create the inflow with a free liquid surface required for the test in the circulating water tank test section; Step 2: Turn on the jet generator switch to create a jet impact model of the steering and reversing mechanism. Step 3: Control the rudder angle and reversing angle of the steering and reversing mechanism model through the motor controller to form various operating postures of the steering and reversing mechanism model; Step 4: The three-dimensional dynamic forces experienced by the steering and reversing mechanism model during the test are converted into charge signals by a piezoelectric three-component dynamic force measuring table and transmitted to the charge conditioner via cable. The charge signals are converted into voltage signals by the charge conditioner and processed by the data acquisition unit to form dynamic force values. Step 5: The vibration acceleration experienced by the steering and reversing mechanism model during the test is converted into voltage signals by triaxial acceleration sensors I, II, III, and IV, and then processed by a data acquisition unit to form acceleration values. This ultimately achieves synchronous testing of the triaxial dynamic force and triaxial vibration acceleration of the steering and reversing mechanism model under different test conditions.

[0015] Preferably, the method for controlling the rudder angle and reversing angle of the steering and reversing mechanism model by means of the motor controller in step 3 is as follows: the rudder angle of the steering and reversing mechanism model is adjusted by means of the motor controller controlling the rudder angle to drive the rotation of the rotating shaft; the reversing angle between the lower jaw and the upper jaw is adjusted by means of the motor controller controlling the electric drive telescopic rod and cooperating with the telescopic rod.

[0016] This invention enables simultaneous testing of three-dimensional dynamic forces (i.e., multi-component unsteady forces) and three-dimensional vibration accelerations (i.e., vibration characteristics) of the steering and reversing mechanism under different rudder angles and reversing angles. It also features a simple structure, reasonable design, and ease of installation and disassembly.

[0017] This invention enables the adjustment of the rudder angle of the steering and reversing mechanism model by controlling the rudder angle through a motor controller and driving the rotating shaft with a motor. It also enables the adjustment of the reversing angle of the steering and reversing mechanism model by driving an electric telescopic rod, thereby adjusting the operating attitude of the steering and reversing mechanism model. In the circulating water tank test section, combined with a jet generator, the invention achieves synchronous testing of the three-dimensional dynamic force and vibration acceleration of the steering and reversing mechanism model under multiple operating conditions by installing a piezoelectric three-component dynamic force measuring platform and arranging three-dimensional acceleration sensors. Attached Figure Description

[0018] Figure 1 A schematic diagram of a dynamic characteristic testing device for a waterjet propulsion steering and reversing mechanism; Figure 2 for Figure 1 A magnified view of a portion of the image. Detailed Implementation

[0019] To make the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings.

[0020] This invention provides a dynamic characteristic testing device for a waterjet propulsion steering and reversing mechanism. This device can simultaneously test the three-dimensional dynamic force and three-dimensional vibration acceleration of the steering and reversing mechanism under different rudder angles and reversing angles. Figure 1 , Figure 2 As shown, it includes a jet generator 1, a piezoelectric three-component dynamic force measuring platform 2, a model fixing flange 3, a steering and reversing mechanism model 4, a telescopic rod 5, an electrically driven telescopic rod 6, a force measuring platform fixing flange 7, a rotating shaft 8, a platform 9, a rudder angle control motor 10, a motor controller 11, a charge conditioner 13, a data acquisition unit 12, a bolt I 14, a three-dimensional acceleration sensor I 15, a three-dimensional acceleration sensor II 16, a three-dimensional acceleration sensor III 17, a three-dimensional acceleration sensor IV 18, a bolt II 19, a screw 20, a bolt III 21, sealant 22, a watertight hose 23, a cable 24, a steering rudder 41, a lower jaw 42, and an upper jaw 43.

[0021] like Figure 1As shown, the steering and reversing mechanism model 4 is fixed to the model fixing flange 3 by bolt I 14. The model fixing flange 3 is connected to the piezoelectric three-component dynamic force measuring platform 2 by bolt II 19, thus realizing the fixed suspension of the steering and reversing mechanism model 4 at the lower end of the piezoelectric three-component dynamic force measuring platform 2. The steering and reversing mechanism model 4 is located below the model fixing flange 3, and the model fixing flange 3 is located below the piezoelectric three-component dynamic force measuring platform 2. The piezoelectric three-component dynamic force measuring platform 2 is fixed to the measuring platform fixing flange 7 by screw 20. The measuring platform fixing flange 7 is connected to one end of the rotating shaft 8 by bolt III 21. The other end of the rotating shaft 8 passes through the upper surface of the circulating water tank test section and the platform 9 in sequence and is connected to the drive end of the rudder angle control motor 10. The rudder angle control motor 10 is fixed on the platform 9. The platform 9 is located above the circulating water tank test section, and the rudder angle control motor 10 is located above the platform 9.

[0022] The rudder angle is controlled by the motor controller 11, which drives the rotating shaft 8 to control the rudder angle of the steering and reversing mechanism model 4. The electric drive telescopic rod 6 is controlled by the motor controller 11 and works in conjunction with the telescopic rod 5 to adjust the reversing angle between the lower jaw 42 and the upper jaw 43.

[0023] The piezoelectric three-component dynamic force measuring platform 2 is used to measure the dynamic force of the steering and reversing mechanism model 4. The cable 24 is wrapped with a watertight hose 23. At the connection between the cable 24 and the piezoelectric three-component dynamic force measuring platform 2, the watertight hose 23 is sealed with sealant 22 to prevent water damage. The dynamic force experienced by the steering and reversing mechanism model 4 during operation is transmitted to the piezoelectric three-component dynamic force measuring platform 2 through the model fixing flange 3. The piezoelectric three-component dynamic force measuring platform 2 converts the force signal into an electric charge signal. The electric charge signal is amplified and conditioned by the charge conditioner 13 and then transmitted to the data acquisition unit 12 for data processing to realize the dynamic force (Fx, Fy, Fz) test of the steering and reversing mechanism in the x, y, and z directions.

[0024] The steering and reversing mechanism model 4 includes a steering rudder 41, a lower jaw 42, and an upper jaw 43. The upper and lower ends of the steering rudder 41 are rotatably connected to one end of the upper jaw 43 and one end of the lower jaw 42, respectively. The steering rudder 41 is connected to the other end of the upper jaw 43 through an electrically driven telescopic rod 6. The other end of the upper jaw 43 is connected to the other end of the lower jaw 42 through a telescopic rod 5. The electrically driven telescopic rod 6 is connected to the motor controller 11 through a cable.

[0025] The steering and reversing mechanism model 4 has a triaxial acceleration sensor I15 and a triaxial acceleration sensor II16 installed on the steering rudder 41, a triaxial acceleration sensor III17 installed on the lower jaw 42, and a triaxial acceleration sensor IV18 installed on the upper jaw 43. The four triaxial acceleration sensors collect the vibration acceleration of the steering and reversing mechanism model 4 and transmit it to the data acquisition unit 12 via cable. The dynamic force signal and vibration acceleration signal of the steering and reversing mechanism model 4 can be transmitted to the data acquisition unit 12 at the same time to realize the synchronous testing of dynamic force characteristics and acceleration characteristics.

[0026] This invention provides an installation method and a testing method for testing the dynamic characteristics of a waterjet propulsion steering reversing mechanism, comprising the following steps: Step 1: The steering and reversing mechanism model 4 is suspended and fixed to the lower end of the piezoelectric three-component dynamic force measuring table 2 through the model fixing flange 3. The piezoelectric three-component dynamic force measuring table 2 is used to measure the dynamic forces Fx, Fy, and Fz experienced by the steering and reversing mechanism model 4 in the x, y, and z directions. Step 2: Triaxial acceleration sensor I15 and triaxial acceleration sensor II16 are fixed on the surface of steering rudder 41, triaxial acceleration sensor III17 is fixed on the surface of lower jaw 42, and triaxial acceleration sensor IV18 is fixed on the surface of upper jaw 43. The four triaxial acceleration sensors are used to measure the vibration acceleration of steering reversing mechanism model 4. Step 3: The steering and reversing mechanism model 4 is fixed to the piezoelectric three-component dynamic force measuring table 2 through the model fixing flange 3. The piezoelectric three-component dynamic force measuring table 2 is connected to the rotating shaft 8 through the force measuring table fixing flange 7. The rudder angle of the steering and reversing mechanism model 4 is adjusted by controlling the rudder angle control motor 10 through the motor controller 11 to drive the rotation of the rotating shaft 8. Step 4: Control the electric drive telescopic rod 6 through the motor controller 11 and cooperate with the telescopic rod 5 to adjust the reversing angle between the lower jaw 42 and the upper jaw 43; Step 5: Install a jet generator 1 directly in front of the steering and reversing mechanism model 4 in the circulating water tank test section to provide the jet required for dynamic testing; Step 6: Connect the piezoelectric three-component dynamic force measuring platform 2 to the charge conditioner 13 via cable 24, and connect the charge conditioner 13 to the data acquisition unit 12. Step 7: Connect the triaxial accelerometer I 15, triaxial accelerometer II 16, triaxial accelerometer III 17, and triaxial accelerometer IV 18 to the data acquisition unit 12 via coaxial cables; Step 8: Connect the rudder angle control motor 10 and the electric drive telescopic rod 6 to the motor controller 11; Step 9: Open the inflow switch in the circulating water tank test section to form the inflow with a free liquid surface required for the test in the circulating water tank test section, and open the jet generator 1 switch to form the jet impact steering reversing mechanism model 4 through the jet generator 1. Step 10: Control the rudder angle and reversing angle of the steering and reversing mechanism model 4 through the motor controller 11 to form multiple operating attitudes of the steering and reversing mechanism model 4; Step 11: The three-dimensional dynamic force experienced by the steering and reversing mechanism model 4 during the test is converted into a charge signal by the piezoelectric three-component dynamic force measuring table 2 and transmitted to the charge conditioner 13 through the cable 24. The charge signal is converted into a voltage signal by the charge conditioner 13 and processed by the data acquisition unit 12 to form a dynamic force value. Step 12: The vibration acceleration experienced by the steering and reversing mechanism model 4 during the test is converted into voltage signals by triaxial acceleration sensors I 15, II 16, III 17, and IV 18 and processed by the data acquisition unit 12 to form acceleration values. This ultimately achieves synchronous testing of triaxial dynamic force and triaxial vibration acceleration of the steering and reversing mechanism model 4 under different test conditions.

Claims

1. A dynamic characteristic testing device for a waterjet propulsion steering and reversing mechanism, characterized in that, The steering and reversing mechanism model (4) is fixedly suspended below a piezoelectric three-component dynamic force measuring table (2). The piezoelectric three-component dynamic force measuring table (2) is used to measure the dynamic force of the steering and reversing mechanism model (4). Both the steering and reversing mechanism model (4) and the piezoelectric three-component dynamic force measuring table (2) are located in the circulating water tank test section. A rudder angle control motor (10) is installed above the circulating water tank test section. The drive end of the rudder angle control motor (10) is connected to drive the steering and reversing mechanism model (4). The rotating shaft (8) rotates, the rudder angle control motor (10) is connected to the motor controller (11), the piezoelectric three-component dynamic force measuring table (2) is connected to the charge conditioner (13) through the cable (24), the charge conditioner (13) is connected to the data acquisition unit (12) through signal transmission, and the steering and reversing mechanism model (4) is equipped with multiple triaxial acceleration sensors to collect the vibration acceleration of the steering and reversing mechanism model (4), and all triaxial acceleration sensors are connected to the data acquisition unit (12) through signal transmission.

2. The dynamic characteristic testing device for a waterjet propulsion steering reversing mechanism as described in claim 1, characterized in that, The circulating water tank test section is equipped with a jet generating device (1) for providing the jet required for dynamic testing. The jet generating device (1) is located directly in front of the steering and reversing mechanism model (4).

3. The dynamic characteristic testing device for a waterjet propulsion steering and reversing mechanism as described in claim 2, characterized in that, The steering and reversing mechanism model (4) includes a steering rudder (41), a lower jaw (42), and an upper jaw (43). The upper and lower ends of the steering rudder (41) are rotatably connected to one end of the upper jaw (43) and the lower jaw (42), respectively. The steering rudder (41) is connected to the other end of the upper jaw (43) through an electric drive telescopic rod (6). The other end of the upper jaw (43) is connected to the other end of the lower jaw (42) through a telescopic rod (5). The electric drive telescopic rod (6) is connected to the motor controller (11). The steering rudder (41) is equipped with a triaxial acceleration sensor I (15) and a triaxial acceleration sensor II (16). The lower jaw (42) is equipped with a triaxial acceleration sensor III (17). The upper jaw (43) is equipped with a triaxial acceleration sensor IV (18). The triaxial acceleration sensors I (15), II (16), III (17), and IV (18) are all connected to the data acquisition unit (12) through signal transmission.

4. The dynamic characteristic testing device for a waterjet propulsion steering and reversing mechanism as described in claim 1, characterized in that, The steering and reversing mechanism model (4) is fixed on one end of the model fixing flange (3), and the other end of the model fixing flange (3) is connected to the piezoelectric three-component dynamic force measuring table (2). The piezoelectric three-component dynamic force measuring table (2) is fixedly connected to one end of the force measuring table fixing flange (7), and the other end of the force measuring table fixing flange (7) is fixedly connected to one end of the rotating shaft (8).

5. The dynamic characteristic testing device for a waterjet propulsion steering reversing mechanism as described in claim 4, characterized in that, The steering and reversing mechanism model (4) is located below the model fixing flange (3), and the model fixing flange (3) is located below the piezoelectric three-component dynamic force measuring table (2).

6. The dynamic characteristic testing device for a waterjet propulsion steering reversing mechanism as described in claim 1, characterized in that, The other end of the rotating shaft (8) passes through the upper surface of the circulating water tank test section and the test stand (9) in sequence and is connected to the drive end of the rudder angle control motor (10). The rudder angle control motor (10) is fixed on the test stand (9).

7. The dynamic characteristic testing device for a waterjet propulsion steering reversing mechanism as described in claim 6, characterized in that, The test bench (9) is located above the test section of the circulating water tank, and the rudder angle control motor (10) is located above the test bench (9).

8. The dynamic characteristic testing device for a waterjet propulsion steering reversing mechanism as described in claim 1, characterized in that, The cable (24) is wrapped with a watertight hose (23), and the connection between the cable (24) and the piezoelectric three-component dynamic force measuring table (2) is sealed with sealant (22) to make the watertight hose (23) waterproof.

9. A method for testing the dynamic characteristics of a waterjet propulsion steering and reversing mechanism, characterized in that, The dynamic characteristic testing device for the waterjet propulsion steering reversing mechanism as described in claim 3 includes the following steps: Step 1: Open the inflow switch in the circulating water tank test section to create the inflow with a free liquid surface required for the test in the circulating water tank test section; Step 2: Turn on the switch of the jet generator (1) to form a jet impact steering reversing mechanism model (4) through the jet generator (1); Step 3: Control the size of the rudder angle and reversing angle of the steering and reversing mechanism model (4) through the motor controller (11) to form multiple operating postures of the steering and reversing mechanism model (4); Step 4: The three-dimensional dynamic force experienced by the steering and reversing mechanism model (4) during the test is converted into a charge signal by the piezoelectric three-component dynamic force measuring table (2) and transmitted to the charge conditioner (13) via the cable (24). The charge signal is converted into a voltage signal by the charge conditioner (13) and processed by the data acquisition unit (12) to form a dynamic force value. Step 5: The vibration acceleration experienced by the steering and reversing mechanism model (4) during the test is converted into a voltage signal by the triaxial acceleration sensor I (15), triaxial acceleration sensor II (16), triaxial acceleration sensor III (17), and triaxial acceleration sensor IV (18), and processed by the data acquisition unit (12) to form an acceleration value. Finally, the triaxial dynamic force and triaxial vibration acceleration of the steering and reversing mechanism model (4) under different test conditions are synchronously tested.

10. A method for testing the dynamic characteristics of a waterjet propulsion steering and reversing mechanism as described in claim 9, characterized in that, The method for controlling the rudder angle and reversing angle of the steering reversing mechanism model (4) by the motor controller (11) in step 3 is as follows: the rudder angle of the steering reversing mechanism model (4) is adjusted by controlling the rudder angle of the motor (10) through the motor controller (11) to drive the rotation of the rotating shaft (8); the reversing angle between the lower jaw (42) and the upper jaw (43) is adjusted by controlling the electric drive telescopic rod (6) through the motor controller (11) and cooperating with the telescopic rod (5).

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