A tilt-oscillation test device and a control method of a tilt-oscillation test device

Abstract

The application provides a tilting and rolling test device and a control method of the tilting and rolling test device. The tilting and rolling test device is used for providing a rolling platform for a ship model fixed on the tilting and rolling test device to simulate the rocking of a ship under the action of sea waves. The tilting and rolling test device comprises a controller, a base, a hydraulic actuator assembly and a rolling support. The base is fixed on the ground or a pre-buried base. The base and the rolling support are rotationally connected. The hydraulic actuator assembly comprises a hydraulic oil circuit system and an actuator driven by the hydraulic oil circuit system. The hydraulic oil circuit system is controlled by the controller, and the actuator is fixedly connected with the rolling support. The hydraulic oil circuit system is used for driving the actuator to move in a horizontal direction under the control of the controller, and driving the rolling support to tilt or roll through the actuator. The tilting and rolling test device and the control method of the tilting and rolling test device can accurately simulate the rocking of a ship to guide the design of the ship.

Description

Technical Field

[0001] This application relates to the field of marine engineering technology, and in particular to a tilting and rolling test device and a control method for the tilting and rolling test device. Background Technology

[0002] With the continuous development of marine engineering technology, ship design and performance evaluation have gradually become a crucial part of marine engineering. Among them, ocean waves have a great impact on ships during their voyage at sea, directly affecting the safety of seafarers, the transportation of cargo, and the service life of ships. Therefore, studying and simulating the rolling response of ships in ocean waves has become an important topic in ship design and performance evaluation.

[0003] In traditional ship dynamics, theoretical models and computer simulations are often used to simulate the rolling motion of ships in ocean waves. However, due to the complexity and unpredictability of the marine environment, theoretical models and computer simulations cannot accurately predict the rolling response of ships in complex and variable marine environments. Summary of the Invention

[0004] In view of this, this application provides a tilting and rolling test device and a control method for the tilting and rolling test device, which uses physical test simulation to accurately simulate the rolling state of a ship when encountering waves, so as to collect real dynamic response data of the ship, and subsequently guide the ship design based on the collected data.

[0005] Specifically, this application is implemented through the following technical solution:

[0006] The first aspect of this application provides a tilting and rolling test apparatus, which provides a rolling platform for a ship model fixed on the apparatus to simulate the swaying of a ship under the action of waves; the tilting and rolling test apparatus includes a controller, a base, a hydraulic actuation assembly, and a rolling support; wherein...

[0007] The base is fixed to the ground or a pre-embedded base;

[0008] The base and the swing bracket are rotatably connected;

[0009] The hydraulic actuation assembly includes a hydraulic circuit system and an actuator driven by the hydraulic circuit system; wherein the hydraulic circuit system is controlled by the controller, and the actuator is fixedly connected to the swing bracket;

[0010] The hydraulic circuit system is used to drive the actuator to move in the horizontal direction under the control of the controller, and to drive the swing bracket to tilt or swing relative to the base through the actuator; wherein, when the hull model is fixed to the swing bracket in such a way that its length direction is consistent with the direction of movement of the actuator, the swing bracket causes the hull model to tilt or swing relative to the base to simulate the longitudinal rolling process of a ship; when the hull model is fixed to the swing bracket in such a way that its length direction is perpendicular to the direction of movement, the swing bracket causes the hull model to tilt or swing relative to the base to simulate the lateral rolling process of a ship.

[0011] A second aspect of this application provides a control method for a tilting and swaying test apparatus, the method being applied to a controller in the tilting and swaying test apparatus, the method comprising:

[0012] Upon detecting a start command, the hydraulic circuit system is controlled to drive the actuator to tilt or swing the rocker bracket relative to the base.

[0013] Upon receiving the swing angle of the swing bracket reported by the tilt encoder, a target control quantity for controlling the hydraulic circuit system is determined based on the swing angle and the target swing angle.

[0014] The hydraulic circuit system is controlled according to the target control value to adjust the swing angle of the swing bracket so that the swing angle of the swing bracket approaches the target angle.

[0015] This application provides a tilting and swaying test device, which comprises a controller, a base, a hydraulic actuation assembly, and a swaying bracket. The base is fixed to the ground or a pre-embedded base, and the base and the swaying bracket are rotatably connected. The hydraulic actuation assembly includes a hydraulic circuit system and an actuator driven by the hydraulic circuit system. The hydraulic circuit system is controlled by the controller, and the actuator is fixedly connected to the swaying bracket. The hydraulic circuit system, under the control of the controller, drives the actuator to move horizontally, thereby driving the swaying bracket. The hull model is tilted or swayed relative to the base. When the hull model is fixed to the swaying bracket with its length direction aligned with the direction of the actuator's movement, the swaying bracket causes the hull model to tilt or sway relative to the base to simulate the longitudinal rolling motion of a ship. When the hull model is fixed to the swaying bracket with its length direction perpendicular to the direction of the movement, the swaying bracket causes the hull model to tilt or sway relative to the base to simulate the lateral rolling motion of a ship. This allows for accurate simulation of the ship's roll and pitch, providing support for ship design.

[0016] The control method for the tilting and swaying device provided in this application determines the initial control quantity of the hydraulic actuation system based on the PID control algorithm, according to the sway angle and the target sway angle. It then predicts the sway angle change trend of the sway support over a future period based on a pre-established dynamic model of the tilting and swaying test device. Furthermore, it solves for the optimal control increment based on the change trend and a pre-set objective function, and calculates the target control quantity based on the initial control quantity and the optimal control increment. The objective function optimizes for minimizing error and achieving control smoothness. Compared to traditional PID control, which relies solely on current and historical error information and struggles to predict future dynamic changes in the system, this application, by establishing a dynamic model and predicting the sway angle change trend, can adapt to external disturbances, calculate future sway angle trends in advance, optimize control increments, and make the target control quantity more precise, thereby reducing steady-state error and improving control accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the tilting and swaying test apparatus provided in Embodiment 1 of this application;

[0018] Figure 2 A diagram illustrating the fit between the tilting and rolling test apparatus and the hull model, for an exemplary embodiment of this application;

[0019] Figure 3 A diagram illustrating the fit between the tilting and rolling test apparatus and the hull model, as shown in another exemplary embodiment of this application;

[0020] Figure 4 A schematic diagram illustrating the lateral tilting effect of a tilting and rocking test device as shown in an exemplary embodiment of this application;

[0021] Figure 5 This is a schematic diagram of the pitching of a tilting and rocking test apparatus as shown in an exemplary embodiment of this application;

[0022] Figure 6 This is a schematic diagram of a first rocking support shown in an exemplary embodiment of this application;

[0023] Figure 7 This is a schematic diagram of a first swing bracket shown in an exemplary embodiment of this application;

[0024] Figure 8 This is a schematic diagram of an actuator bracket shown in an exemplary embodiment of this application;

[0025] Figure 9 A schematic diagram illustrating the implementation principle of a tilting and swaying test apparatus as an exemplary embodiment of this application;

[0026] Figure 10A flowchart of an embodiment of the control method for the tilting and swaying test device provided in this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1: Base;

[0029] 11: First rocking support;

[0030] 111: Eye-shaped support;

[0031] 112: A straight beam;

[0032] 113: Lower pivot seat;

[0033] 114: First supporting beam;

[0034] 115: Second support beam;

[0035] 12: Second rocking support;

[0036] 2: Hydraulic actuation components;

[0037] 21: Actuator;

[0038] 211: Hydraulic cylinder end;

[0039] 212: Extended end;

[0040] 3: Swing support;

[0041] 31: First swing support;

[0042] 311: Support frame;

[0043] 312: Support top surface;

[0044] 313: Fixed column;

[0045] 314: Support column;

[0046] 315: Upper pivot seat;

[0047] 32: Second swing bracket;

[0048] 33: First connector;

[0049] 34: Second connector;

[0050] 4: Ground or pre-embedded base;

[0051] 5: Ship hull model;

[0052] 6: First sub-actuator bracket;

[0053] 61: Fixing part;

[0054] 62: Support beam;

[0055] 63: Vertical part;

[0056] 7: Second sub-actuator bracket;

[0057] 8: Tilt encoder. Detailed Implementation

[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0059] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0060] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0061] The following specific embodiments are given to illustrate the technical solution of this application in detail.

[0062] Figure 1 This is a schematic diagram of the tilting and rocking test apparatus provided in Embodiment 1 of this application. Figure 2 This is a diagram illustrating the fit between the tilting and rolling test apparatus and the hull model 5, as shown in an exemplary embodiment of this application. Figure 3 A diagram illustrating the fit between the tilting and rolling test apparatus and the hull model 5, shown in another exemplary embodiment of this application, is also referenced. Figure 1 , Figure 2 and Figure 3 The tilting and rolling test device provided in this embodiment is used to provide a rolling platform for the ship model 5 fixed on the tilting and rolling test device to simulate the swaying of the ship under the action of sea waves; the tilting and rolling test device includes a controller, a base 1, a hydraulic actuation component 2, and a rolling support 3; wherein,

[0063] The base 1 is fixed to the ground or to a pre-embedded base 4;

[0064] The base 1 and the swing bracket 3 are rotatably connected;

[0065] The hydraulic actuation assembly 2 includes a hydraulic circuit system and an actuator 21 driven by the hydraulic circuit system; wherein, the hydraulic circuit system is controlled by the controller, and the actuator 21 is fixedly connected to the swing bracket 3;

[0066] The hydraulic circuit system is used to drive the actuator 21 to move horizontally under the control of the controller, and to drive the swing bracket 3 to tilt or swing relative to the base 1 through the actuator 21; wherein, when the hull model 5 is fixed to the swing bracket 3 with its length direction consistent with the direction of movement of the actuator 21, the swing bracket 3 drives the hull model 5 to tilt or swing relative to the base 1 to simulate the longitudinal rolling process of a ship; when the hull model 5 is fixed to the swing bracket 3 with its length direction perpendicular to the direction of movement, the swing bracket 3 drives the hull model 5 to tilt or swing relative to the base 1 to simulate the lateral rolling process of a ship.

[0067] For details, please refer to Figure 1 , Figure 1 The device shown is the tilting and swaying test device provided in this application. Figure 1 The process is not yet in a dynamic simulation stage. Furthermore, from... Figure 1 As can be seen from the diagram, the tilting and swaying test device includes a controller, a base 1, a hydraulic actuation component 2, and a swaying support 3.

[0068] Furthermore, when conducting tests using the tilting and rolling test device, simply attach the hull model 5 to the tilting and rolling test device, and then install the tilting and rolling test device on the ground or the pre-embedded base 4. In this way, the tilting and rolling test model can be used to dynamically simulate the ship facing the waves. Specifically, the base 1 of the tilting and rolling test device is placed on the ground or the pre-embedded base. Holes can be drilled in the base 1 and the ground or the pre-embedded base 4, and large-sized fixing bolts can be used to fix the base 1 to the ground or the pre-embedded base 4. This ensures a stable connection between the base 1 and the ground or the pre-embedded base 4, ensuring that the tilting and rolling device does not shake during the simulation, while also having sufficient load-bearing capacity to prevent the connection between the base 1 and the ground or the pre-embedded base 4 from loosening and causing unsafe factors.

[0069] It should be noted that the fixing method between the base and the ground or the pre-embedded base can be selected according to actual needs, and this application does not limit it. For example, in one embodiment, a pin or a buckle can also be used to fix the base to the ground or the pre-embedded base.

[0070] The following example illustrates the installation of the base onto the pre-embedded base.

[0071] For further details, please refer to [link / reference]. Figure 2 and Figure 3 Inside the tilting and swinging test device, the base 1 and the swinging support 3 are rotatably connected.

[0072] Specifically, the base 1 has an insert with a hole, and the swing bracket 3 has a clamping part that can accommodate the insert. The clamping part also has a hole that matches the hole on the insert. In this way, the insert on the base 1 can be inserted into the clamping part on the swing bracket. By using a pin as a pivot, the insert and clamping parts are connected. This stabilizes the connection between the base 1 and the swing bracket 3, improves the overall stability of the device, and allows the swing bracket 3 and the base 1 to swing to a certain extent when connected via the pivot.

[0073] Furthermore, the hydraulic actuation assembly 2 includes a hydraulic circuit system (not shown in the figure) and an actuator 21, which is driven by the hydraulic circuit system.

[0074] Specifically, a hydraulic circuit system may include an oil reservoir, a hydraulic pump, hydraulic valves, and pipelines. The oil reservoir stores hydraulic oil and maintains its temperature and cleanliness. The hydraulic pump converts external mechanical energy into hydraulic energy by drawing in and pressurizing low-pressure hydraulic oil from the reservoir and delivering it to the actuators through pipelines. The hydraulic valves control the flow direction, flow rate, and pressure of the low-pressure hydraulic oil. It should be noted that hydraulic valves may include more than one directional valve, flow valve, and pressure valve. The pipelines are used for transporting oil within the hydraulic circuit system.

[0075] It should be noted that the specific structure of the hydraulic circuit can be found in the description in the relevant technology, and will not be repeated here.

[0076] Driven by the controller, the hydraulic oil pump in the hydraulic circuit system draws in and pressurizes low-pressure hydraulic oil from the reservoir through mechanical power (the external mechanical force can be driven by an electric motor or an internal combustion engine), and sends it into the pipeline. The internal hydraulic valve controls the flow direction, flow rate, and pressure of the hydraulic oil. After being regulated by the hydraulic valve, the hydraulic oil flows into the actuator through the pipeline, pushing the piston in the actuator to move and generating thrust or pull. In this way, the hydraulic circuit can be used to drive the actuator to move.

[0077] Furthermore, the actuator is fixedly connected to the sway support. Specifically, the operator issues commands through the controller according to specific requirements. The controller then controls the hydraulic circuit system, thereby driving the actuator to provide thrust or pull to the sway support to simulate the ship's swaying direction. It should be noted that the commands issued by the controller to the hydraulic circuit system are set according to the ship state that the operator needs to simulate. For example, in one embodiment, the controller needs to control the hydraulic circuit system to control the actuator to apply thrust or pull to the sway support at a certain fixed frequency to simulate the ship's swaying in relatively regular waves; in another embodiment, the controller needs to control the hydraulic circuit system to control the actuator to apply thrust or pull to the sway support at an irregular frequency to simulate the ship's swaying in turbulent waves.

[0078] Please refer to the preceding description. Figure 2 The hydraulic circuit system, driven by the controller, can drive the actuator to push and stretch in the horizontal direction. Due to the connection between the actuator 21 and the swing bracket 3, the swing bracket 3 is driven to tilt or swing relative to the base 1.

[0079] Specifically, to realistically simulate the swaying response of a ship encountering waves, this embodiment provides two tilting and rolling methods. Please also refer to... Figure 2 and Figure 3 , among which, Figure 2 In the process, when the ship model 5 is fixed to the rocking bracket with its length direction perpendicular to the direction of the actuator's movement, as the actuator 21 moves in a direction perpendicular to the length direction of the ship, it drives the rocking bracket 3, which in turn causes the ship model 5 to tilt or rock relative to the base 1 in a direction perpendicular to the length direction of the ship. This simulates the lateral rolling process of a ship, that is, it simulates when a ship encounters waves coming from the side of the ship at sea, and as the waves rise and fall, the side of the ship tilts or rocks left and right with the length direction of the ship as a reference line. Furthermore, in Figure 3 In the process, when the length direction of the hull model 5 is consistent with the direction of the actuator's movement, since the actuator 21 is connected to the rocking bracket 3, the movement of the actuator 21 along the length direction will cause the rocking bracket 3 to move along the length direction of the hull, thereby causing the entire hull model 5 to tilt or rock along the length direction. In this way, the longitudinal rocking process of the ship along its length direction can be simulated, that is, when the ship encounters waves coming from the bow direction at sea, the bow and stern of the ship will rise or tilt downward with the rise and fall of the waves.

[0080] Furthermore, Figure 4 This is a diagram illustrating the lateral tilting effect of a tilting and rocking test apparatus according to an exemplary embodiment of this application. Figure 5This is a schematic diagram illustrating the pitching of a tilting and rocking test apparatus as an exemplary embodiment of this application.

[0081] Figure 4 In the tilting and rolling test device, the actuator 21 moves in a direction perpendicular to the length of the ship model 5. When the actuator 21 is activated, the rolling support 3 rotates relative to the base 1 by a certain angle via a pivot, causing the ship model 5 above the rolling support 3 to also rotate by a certain angle. This causes the ship model 5 to tilt laterally to one side. In summary, by continuously extending and retracting the actuator 21 to the side farther from and closer to the actuator support according to a preset frequency by the controller, the lateral rolling process of a ship encountering waves at sea can be simulated.

[0082] Furthermore, in Figure 5 In the tilting and rolling test device, the actuator 21 moves in the same direction as the length of the ship model 5. After the actuator 21 is activated, the rolling support 3 rotates relative to the base by a certain angle via a pivot, causing the ship model 5 above the rolling support 3 to also rotate by a certain angle. Thus, the ship model 5 tilts to one longitudinal direction. In summary, by continuously extending and retracting the actuator 21 to the side farther from and closer to the actuator support according to the frequency preset by the controller, the longitudinal rolling process of a ship facing waves at sea can be simulated.

[0083] The tilting and swaying test device provided in this embodiment comprises a controller, a base, a hydraulic actuation assembly, and a swaying bracket. The base is fixed to the ground or a pre-embedded base, and the base and the swaying bracket are rotatably connected. The hydraulic actuation assembly includes a hydraulic circuit system and an actuator driven by the hydraulic circuit system. The hydraulic circuit system is controlled by the controller, and the actuator is fixedly connected to the swaying bracket. The hydraulic circuit system, under the control of the controller, drives the actuator to move horizontally, thereby driving the swaying bracket relative to the ground. The base is tilted or swayed, so that when the hull model 5 is fixed to the swaying bracket with its length direction aligned with the direction of the actuator's movement, the swaying bracket causes the hull model 5 to tilt or sway relative to the base to simulate the longitudinal rolling process of a ship. When the hull model 5 is fixed to the swaying bracket with its length direction perpendicular to the direction of the movement, the swaying bracket causes the hull model 5 to tilt or sway relative to the base to simulate the lateral rolling process of a ship. In this way, the roll and pitch of a ship can be accurately simulated, providing support for ship design.

[0084] For details, please continue to refer to... Figure 2In one possible implementation, the base 1 includes a first rocking support 11 and a second rocking support 12; the first rocking support 11 and the second rocking support 12 are disposed opposite to each other; a first lower pivot seat is disposed on the first rocking support 11; and a second lower pivot seat is disposed on the second rocking support 12.

[0085] The swing bracket 3 includes a first swing bracket 31 and a second swing bracket 32. The first swing bracket 31 is provided with a first upper rotating shaft seat; the second swing bracket 32 ​​is provided with a second upper rotating shaft seat.

[0086] The first upper rotating shaft seat of the first rocking bracket 31 and the first lower rotating shaft seat of the first rocking support 11 are rotatably connected by a first rotating shaft; the second upper rotating shaft seat of the second rocking bracket 32 ​​and the second lower rotating shaft seat of the second rocking support 12 are rotatably connected by a second rotating shaft.

[0087] The actuator 21 includes a first sub-actuator and a second sub-actuator; the tilting and swinging test device also includes a first sub-actuator support 6 and a second sub-actuator support 7; the first sub-actuator support 6 is fixed on the ground, the pre-embedded base 4 or the first swinging support 11; the second sub-actuator support 7 is fixed on the ground, the pre-embedded base 4 or the second swinging support 12.

[0088] The hinge of the hydraulic cylinder end 211 of the first sub-actuator is fixed to the first sub-actuator bracket 6, and the hinge of the protruding end 212 is fixed to the first rocker bracket 31. The hinge of the hydraulic cylinder end 211 of the second sub-actuator is fixed to the first sub-actuator bracket 6, and the hinge of the protruding end 212 is fixed to the second rocker bracket 32.

[0089] Specifically, the first rocking support 11 and the first rocking bracket 31 are connected, and the second rocking support 12 and the second rocking bracket 32 ​​are connected. For the first upper rotating shaft seat and the first lower rotating shaft seat on the first rocking support 11, the first rotating shaft passes through a hole in the middle of the first upper and first lower rotating shaft seats to achieve a rotatable connection between the first rocking support 11 and the first rocking bracket 31. Similarly, for the second upper rotating shaft seat on the second rocking support 12 and the second lower rotating shaft seat on the second rocking bracket 32, the second rotating shaft passes through a hole in the middle of the second upper and second lower rotating shaft seats to achieve a rotatable connection between the second rocking support 12 and the second rocking bracket 32. It should be noted that the holes for inserting the first and second rotating shafts can serve as the rotation axis of the rocking bracket 3, thus ensuring that the rocking bracket 3 rotates precisely around the rotation axis in conjunction with the PID control algorithm.

[0090] Furthermore, the specific structure of each component in the tilting and swaying test apparatus will be described below:

[0091] Optionally, in one possible implementation, either the first rocker support or the second rocker support is a U-shaped support; a trapezoidal support frame is provided on either of the two straight beams on the U-shaped support; the lower pivot of either the first rocker support or the second rocker support is fixed to the trapezoidal support frame of the two straight beams in a manner perpendicular to both of the two straight beams.

[0092] Each of the first and second rocking supports further includes a first support beam and a second support beam; wherein, along a direction perpendicular to the straight beam, the first support beam is supported between the trapezoidal support frame of one of the two straight beams and the shaped support, and the second support beam is supported between the trapezoidal support frame of the other straight beam and the shaped support.

[0093] Specifically, Figure 6 This is a schematic diagram of a first rocking support shown in an exemplary embodiment of this application. Please also refer to... Figure 2 and Figure 6 The first rocking support 11 and the second rocking support 12 have the same structure. In this embodiment, the first rocking support 11 is used as an example for illustrative description. Specifically, refer to... Figure 6 The first rocking support 11 is a U-shaped support 111, which has two straight beams 112. Above the two straight beams 112, trapezoidal support frames are respectively provided. The trapezoidal support frames consist of two vertically placed beams that are perpendicular to the two straight beams 112, and inclined beams that are set above the straight beams and lean against the two sides of the vertical beams. Furthermore, a lower pivot seat 113 is also provided above the two trapezoidal support frames. The lower pivot seat 113 is fixed to the trapezoidal support frames of the two straight beams 112 in a manner perpendicular to the two straight beams 112. In this way, the stability and accuracy of the rocking support can be effectively ensured by the combination of the U-shaped support structure and multiple support components.

[0094] It should be noted that the first rocking support 11 and the second rocking support 12 have the same structure. In this embodiment, the structure of the first rocking support is used as an example. Specifically, Figure 7 This is a schematic diagram of a first swing bracket shown in an exemplary embodiment of this application. Please refer to... Figure 7 Each of the first swing bracket 31 and the second swing bracket 32 ​​includes a supporting base 311, a supporting top surface 312 and a fixing column 313;

[0095] The supporting base 311 is a hollow frame, and the supporting top surface 312 is a plate-like object; the overall outlines of the supporting base 311 and the supporting top surface 312 are consistent; the supporting base 311 and the supporting top surface 312 are arranged in parallel relative to each other, and the supporting base 311 and the supporting top surface 312 are fixedly connected by multiple supporting columns 314 to form a supporting structure;

[0096] The fixed column 313 is fixed to one side of the support structure and is used to fix the hinge seat of the protruding end 212 of the actuator 21.

[0097] The upper pivot seat 315 of either the first swing bracket 31 or the second swing bracket 32 ​​is fixed to the bottom surface of the support top surface 312 facing the support base 311.

[0098] Specifically, the support base 311 is the bottom frame of the entire swing bracket 3, providing stable foundation support. The hollow structure of the support base 311 helps reduce the weight of the swing bracket, reduce energy loss of the actuator, and ensure the overall stability of the device. It should be noted that the material used to make the support base needs to have high rigidity so that it has strong vibration and deformation resistance, effectively supporting the entire swing bracket. For example, in one embodiment, steel can be selected to make the support base.

[0099] Furthermore, the top support surface 312 is a plate-like structure, consisting of a layer of plate-like steel welded into the holes of a rectangular frame. It is set parallel to the base support 311 and has a basically consistent outline with the base support. The base support 311 and the top support surface 312 are fixedly connected by multiple support columns 314. While ensuring a stable distance between the top support surface 312 and the base support 311, it also ensures their alignment in the vertical direction, preventing excessive displacement of components such as the top support surface 312 and the base support 311 during movement. This forms a stable support structure. At the same time, the planar design of the top support surface 312 and the structure of the hollow base support 311 combine to form a robust support structure that can withstand external loads.

[0100] Furthermore, the fixing post 313 is fixed to one side of the support structure for connection with the hinge of the protruding end 212 of the actuator 21, providing a stable fixing point for the actuator 21 and ensuring that no large positional displacement occurs during the process of the actuator 21 applying force to the rocker bracket 3.

[0101] Furthermore, the upper pivot seat 315 of the swing bracket 3 corresponds to the lower pivot seat 113 above the swing support 1, and is connected via a pivot to ensure the stability of the swing bracket 3 and the base 1. To correspond with the lower pivot seat 113, the upper pivot seat 315 is positioned on the bottom surface of the support top surface 312 facing the support base 311, ensuring a precise connection between the upper pivot seat 315 and the lower pivot seat 113. Additionally, placing the upper pivot seat on the bottom surface of the support top surface, rather than on the support base, reduces the overall height of the device and improves stability.

[0102] Furthermore, in one possible implementation, please continue to refer to... Figure 2 A first connecting member 33 and a second connecting member 34 are provided between the first swing bracket 31 and the second swing bracket 32 ​​to connect them. The first connecting member 33 is arranged between the first end of the first swing bracket 31 and the first end of the second swing bracket 32 ​​in a direction perpendicular to the direction of the ship's movement. The second connecting member 34 is arranged between the second end of the first swing bracket 31 and the second end of the second swing bracket 32 ​​in a direction perpendicular to the direction of the ship's movement. In this way, the movements of the first swing bracket 31 and the second swing bracket 32 ​​can be synchronized, effectively preventing the relative displacement of the first swing bracket 31 and the second swing bracket 32 ​​during the movement of the ship, so as to avoid damage to the tilting and swinging test device during the test and improve the reliability of the device.

[0103] The tilting and swaying test device provided in this embodiment features a hollow support base and a parallel support top surface, precisely connected by support columns. This design ensures structural stability while enhancing the structural symmetry of the support base. It also prevents wear and tear due to excessive weight during movement, while maintaining vibration and deformation resistance, thus improving the overall reliability of the support base. Furthermore, fixing the upper mounting shaft seat to the bottom surface of the support top surface facing the support base facilitates easy installation and stable connection between the swaying bracket and the swaying base. Additionally, a first and second connecting piece are installed between the first and second swaying brackets. This provides the support base with strong load-bearing capacity and stability, effectively improving the reliability of the tilting and swaying test device during swaying tests and thus enhancing the accuracy of the test results. Moreover, the first and second connecting pieces ensure synchronous swaying of the first and second swaying brackets.

[0104] For further details, please refer to [link / reference]. Figure 2The actuator 21 includes a first sub-actuator and a second sub-actuator. The first sub-actuator and its bracket 6 are fixed to the ground or a pre-embedded base 4 and a first swing bracket 31. The second sub-actuator and its bracket 7 are fixed to the ground or a pre-embedded base 4 and a second swing bracket 32. It should be noted that the fixing method can be selected according to actual needs, and this application does not limit it.

[0105] Furthermore, the structure of the actuator is described below. The actuator includes a hydraulic cylinder end and an extension end. Furthermore, both the hydraulic cylinder end and the extension end are provided with hinges. The hinge of the hydraulic cylinder end of the first sub-actuator is fixed to the first sub-actuator bracket, and the hinge of the extension end is fixed to the first rocker bracket. The hinge of the hydraulic cylinder end of the second sub-actuator is fixed to the second sub-actuator bracket, and the hinge of the extension end is fixed to the second rocker bracket.

[0106] Specifically, the hydraulic cylinder end is connected to the actuator bracket and is responsible for receiving power from the hydraulic circuit system, and then transmitting the received power to the extension end to control the extension or retraction of the extension end, thereby controlling the swing angle of the swing bracket connected to the extension end; during the test, the controller controls the extension and retraction process of the actuator according to the feedback of the tilt encoder, thereby driving and controlling the swing angle of the swing bracket to achieve precise control of the swing angle.

[0107] For further details, please refer to Figure 2 In the tilting and swinging test device, a first sub-actuator support 6 and a second sub-actuator support 7 are respectively provided. The first sub-actuator support 6 and the second sub-actuator support 7 have the same structure, that is, either the first sub-actuator support 6 or the second sub-actuator support 7 is an L-shaped support. The horizontal end of the L-shaped support is fixed to the ground or to the pre-embedded base 4 or the base 1. The vertical part 63 of the L-shaped support is provided with a fixing part 61 for fixing the hinge seat. A support beam is also provided between the horizontal end and the vertical part 63.

[0108] The first sub-actuator bracket 6 will be used as an example for introduction. Specifically, Figure 8 This is a schematic diagram of an actuator bracket shown in an exemplary embodiment of this application. Please refer to... Figure 8The first actuator bracket 6 is an L-shaped bracket, which is fixed to the ground or to the pre-embedded base 4 or base 1. It is used to initially stabilize the actuator 21 in the vertical direction. Furthermore, a fixing part 61 for fixing the hinge seat is also provided on the vertical part 63 of the L-shaped bracket, fixing the actuator 21 to the vertical part 63 of the L-shaped bracket. In this way, the actuator can also be stabilized in the horizontal direction. During the test of the tilting swing test device, when the actuator 21 exerts force on the swing bracket 3, it provides strong support for the actuator 21 and avoids the actuator 21 from deviating in the direction of movement due to insufficient support force. In addition, a support beam 62 is provided between the horizontal part and the vertical part 63 of the L-shaped bracket, which further enhances the stability and rigidity of the L-shaped bracket, ensures the precise movement of the actuator 21 during the test, and can also effectively avoid damage to the L-shaped bracket due to excessive force generated by the actuator 21, thereby improving the safety of the overall device.

[0109] The tilting and swaying test device provided in this embodiment has an actuator connected to the actuator bracket and the sway bracket via hinges at the hydraulic cylinder end and the extended end, respectively. The hydraulic cylinder end receives power from the hydraulic circuit system and controls the extension and retraction of the extended end, thereby adjusting the direction and angle of the swaying bracket and controlling the swaying motion during the test. Furthermore, the L-shaped bracket provided for the actuator not only provides effective support for the actuator but also has a support beam on it to further enhance the rigidity of the L-shaped bracket, preventing the actuator from shifting or being damaged due to unstable support. In summary, this not only ensures the smooth operation of the actuator during the swaying test but also improves the stability and safety of the tilting and swaying test device.

[0110] Furthermore, Figure 9 A schematic diagram illustrating the implementation principle of the tilting and rocking test apparatus shown in an exemplary embodiment of this application is provided below. Figure 9 In one possible implementation, the tilting and swaying test device further includes a tilt encoder 8, which is connected to the swaying bracket 3 and is used to measure the sway angle of the swaying bracket 3 and report the sway angle to the controller.

[0111] The controller is further configured to determine a target control quantity for controlling the hydraulic circuit system based on the swing angle and the target swing angle using a PID control algorithm, and control the hydraulic circuit system according to the target control quantity to adjust the swing angle of the swing bracket 3 so that the swing angle of the swing bracket 3 approaches the target angle.

[0112] Specifically, a tilt encoder is a sensor that measures the tilt angle of an object. It outputs a corresponding electrical signal by sensing the degree of tilt of the object (the angle between the object and the vertical or horizontal direction). It should be noted that tilt encoders come in various types and can output electrical signals representing tilt angles based on different principles. For example, in one embodiment, the tilt encoder can be a resistive tilt encoder, which contains a fixed resistor and a variable resistor. As the object tilts, the resistance value of the variable resistor changes, and the electronic circuit converts the changing resistance value into a voltage signal representing the tilt angle. In another embodiment, the tilt encoder can be a capacitive tilt encoder, which is based on the principle of capacitance. As the object tilts, the change in its internal capacitance can be linearly correlated with the change in the object's tilt angle to obtain the tilt angle information.

[0113] Furthermore, the tilt encoder 8 is installed on the rocker bracket 3. This allows the tilt encoder 8 to immediately measure the rocker bracket 3's tilt angle when the rocker bracket 3 causes the hull model 5 to tilt, and promptly report the measured angle to the controller. This ensures the controller can issue commands in a timely manner based on the tilt angle information. The controller, based on a PID control algorithm, determines the angle deviation based on the collected tilt angle information and the target tilt angle required by the rocker bracket 3. It then determines the target control quantity for controlling the hydraulic circuit system based on the angle deviation and controls the hydraulic circuit system according to the target control quantity, driving the actuator 21 to adjust the tilt angle of the rocker bracket 3. Through continuous collection and feedback of tilt angle information, the angle of the rocker bracket 3 continuously approaches the target angle.

[0114] The tilting and swaying test device provided in this embodiment uses a tilt encoder to measure the sway angle of the swaying bracket. The controller, based on a PID control algorithm, determines the target control quantity for controlling the hydraulic circuit system according to the sway angle and the target sway angle. The controller then controls the hydraulic circuit system according to the target control quantity to adjust the sway angle of the swaying bracket, bringing it closer to the target angle. This achieves precise control of the sway angle. Furthermore, the combination of the tilt encoder and the PID control algorithm continuously corrects the sway angle, ensuring that the swaying bracket ultimately swings at the accurate target angle, effectively improving the stability and testing efficiency of the test device.

[0115] Optionally, in one possible implementation, determining the target control quantity for controlling the hydraulic circuit system based on the PID control algorithm, according to the swing angle and the target swing angle, specifically includes:

[0116] Step 1: Based on the PID control algorithm, determine the initial control quantity of the hydraulic actuation system according to the swing angle and the target swing angle.

[0117] In this step, the error between the current swing angle and the target swing angle is calculated using a PID control algorithm. Based on this error, the initial control quantity of the hydraulic actuation system is determined using the PID control algorithm.

[0118] It should be noted that the specific implementation principle of the PID control algorithm can be found in the description in the relevant technology, and will not be elaborated on here.

[0119] Step 2: Predict the trend of the swing angle of the swing support over a future period of time based on the pre-established dynamic model of the tilting swing test device.

[0120] In this step, the physical structure of the swing support, base, and hydraulic actuation components in the tilting swing test device is analyzed to understand the interaction between the swing support, base, and hydraulic actuation components, determine the dynamic model of the tilting swing test device, use the dynamic model to describe the dynamic behavior of the swing support, and then use the dynamic model to obtain the predicted trend of the swing angle.

[0121] Step 3: Solve for the optimal control increment based on the changing trend and the pre-set objective function; wherein the objective function aims to minimize error and improve control smoothness.

[0122] For example, in one embodiment, the pre-defined objective function in this step can be expressed as follows:

[0123] ;

[0124] in, This represents the error between the current swing angle and the target swing angle. For the control input at the current moment; This is the control input from the previous moment; This can demonstrate control smoothness; For error The weighting factor, The range is between 0 and 1; As a weighting factor to control smoothness, The range is between 0 and 1.

[0125] It should be noted that, The larger the value, the more the objective function emphasizes minimizing the error. The smaller the value, the less emphasis the objective function places on minimizing the error; The larger the value, the more the objective function emphasizes controlling smoothness. The smaller the value, the less emphasis the objective function places on control smoothness. In this embodiment, the objective function optimizes both error minimization and control smoothness; therefore... and The larger the weighted value, the greater the weighting value.

[0126] Furthermore, by introducing the trend of error change and a penalty term to control input smoothness... objective function This allows us to simultaneously consider the changing trends of error and control increment, and by using optimization algorithms (such as gradient descent), we can solve for the optimal control increment.

[0127] It should be noted that the optimization algorithm described, such as gradient descent, is existing technology and will not be elaborated upon here. In this step, the gradient descent method is applied to solve for the optimal control increment, specifically by calculating the objective function. For control input The gradient (gradient refers to the gradient of the objective function) For control input The gradient of the objective function represents the rate and direction of change of the objective function at a point in the control input space (the direction in which the gradient points is also the direction of the fastest ascent of the objective function). This gradient is used to update the control input, gradually adjusting it. Make the objective function Minimize. Furthermore, the criterion for updating the control input is to compute the objective function. Regarding control input After obtaining the gradient, the control input is updated in the opposite direction of the gradient (i.e., the direction in which the objective function descents, as the gradient points). In this way, the solution that minimizes the objective function can be found. The optimal control increment.

[0128] Step 4: Calculate the target control quantity based on the initial control quantity and the optimal control increment.

[0129] In this step, the target control quantity is obtained by adding the optimal control increment to the initial control quantity.

[0130] The tilting and swaying test device provided in this embodiment determines the initial control quantity of the hydraulic actuation system based on the PID control algorithm, according to the sway angle and the target sway angle. It then predicts the sway angle change trend of the sway support over a future period based on a pre-established dynamic model of the tilting and swaying test device. Furthermore, it solves for the optimal control increment based on the change trend and a pre-set objective function, and calculates the target control quantity based on the initial control quantity and the optimal control increment. The objective function optimizes for minimizing error and achieving control smoothness. Compared to traditional PID control, which relies solely on current and historical error information and struggles to predict future system dynamics, this application, by establishing a dynamic model and predicting the sway angle change trend, can adapt to external disturbances, calculate future sway angle trends in advance, optimize control increments, and make the target control quantity more precise, thereby reducing steady-state error and improving control accuracy.

[0131] Corresponding to the aforementioned embodiment of the tilting and swaying test apparatus, this application also provides a control method for the tilting and swaying test apparatus. The control method for the tilting and swaying test apparatus provided in this application is described below:

[0132] Figure 10 For a flowchart of the control method embodiment 1 of the tilting and rocking test device provided in this application, please refer to... Figure 10 The control method for the tilting and swaying test apparatus provided in this application is applied to the controller in the tilting and swaying test apparatus, and the method includes:

[0133] S1001. Upon detecting a start command, control the hydraulic circuit system to drive the actuator to tilt or swing the rocker bracket relative to the base.

[0134] S1002. Upon receiving the swing angle of the swing bracket reported by the tilt encoder, determine the target control quantity for controlling the hydraulic circuit system based on the swing angle and the target swing angle.

[0135] Optionally, in one possible implementation, the specific implementation process of this step includes:

[0136] Step 1: Based on the PID control algorithm, determine the initial control quantity of the hydraulic actuation system according to the swing angle and the target swing angle.

[0137] Step 2: Predict the trend of the swing angle of the swing support over a future period of time based on the pre-established dynamic model of the tilting swing test device.

[0138] Step 3: Solve for the optimal control increment based on the changing trend and the pre-set objective function; wherein the objective function aims to minimize error and improve control smoothness.

[0139] Step 4: Calculate the control quantity based on the initial control quantity and the optimal control increment; wherein the control quantity is used to adjust the angle of the swing bracket to make it approach the target swing angle.

[0140] S1003. Control the hydraulic circuit system according to the target control quantity to adjust the swing angle of the swing bracket so that the swing angle of the swing bracket approaches the target angle.

[0141] The control method of the tilting and swaying test device provided in this embodiment combines a PID control algorithm with a pre-established dynamic model to precisely adjust the swing angle of the swaying bracket. During the test, when the controller receives the start command from the operator, the controller drives the actuator, thereby tilting or swaying the swaying bracket. Then, the controller receives the swing angle information fed back by the tilt encoder in real time and compares it with the set target swing angle. Based on the predicted trend and the optimal control increment, the target control increment is calculated, and the hydraulic circuit system is adjusted to ensure that the swing angle of the swaying bracket accurately approaches the target angle. In this way, not only is the accuracy and response speed of the swing angle adjustment improved, but the motion stability of the swaying bracket is also ensured during the tilting and swaying test.

[0142] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A tilting and swinging test device, characterized in that, The tilting and rolling test device provides a rolling platform for a ship model fixed to it, simulating the swaying of a ship under the action of waves. The device includes a controller, a base, hydraulic actuation components, and a rolling support. The base is fixed to the ground or a pre-embedded base; The base and the swing bracket are rotatably connected; The hydraulic actuation assembly includes a hydraulic circuit system and an actuator driven by the hydraulic circuit system; wherein the hydraulic circuit system is controlled by the controller, and the actuator is fixedly connected to the swing bracket; The hydraulic circuit system is used to drive the actuator to move in the horizontal direction under the control of the controller, and to drive the swing bracket to tilt or swing relative to the base through the actuator; wherein, when the hull model is fixed to the swing bracket in such a way that its length direction is consistent with the direction of movement of the actuator, the swing bracket causes the hull model to tilt or swing relative to the base to simulate the longitudinal rolling process of a ship; when the hull model is fixed to the swing bracket in such a way that its length direction is perpendicular to the direction of movement, the swing bracket causes the hull model to tilt or swing relative to the base to simulate the lateral rolling process of a ship.

2. The tilting and swinging test apparatus according to claim 1, characterized in that, The tilting and swaying test device also includes a tilt encoder, which is connected to the swaying bracket and used to measure the swaying angle of the swaying bracket and report the swaying angle to the controller; The controller is further configured to determine a target control quantity for controlling the hydraulic circuit system based on the swing angle and the target swing angle using a PID control algorithm, and control the hydraulic circuit system according to the target control quantity to adjust the swing angle of the swing bracket so that the swing angle of the swing bracket approaches the target angle.

3. The tilting and swaying test apparatus according to claim 1, characterized in that, The base includes a first rocking support and a second rocking support; the first rocking support and the second rocking support are arranged opposite to each other; a first lower pivot seat is provided on the first rocking support; and a second lower pivot seat is provided on the second rocking support. The swing bracket includes a first swing bracket and a second swing bracket, wherein the first swing bracket is provided with a first upper rotating shaft seat; and the second swing bracket is provided with a second upper rotating shaft seat. The first upper rotating shaft seat of the first rocking bracket and the first lower rotating shaft seat of the first rocking support are rotatably connected by a first rotating shaft; the second upper rotating shaft seat of the second rocking bracket and the second lower rotating shaft seat of the second rocking support are rotatably connected by a second rotating shaft. The actuator includes a first sub-actuator and a second sub-actuator; the tilting and swaying test device also includes a first sub-actuator support and a second sub-actuator support; the first sub-actuator support is fixed on the ground, a pre-embedded base, or the first swaying support; the second sub-actuator support is fixed on the ground, a pre-embedded base, or the second swaying support. The hinge at the hydraulic cylinder end of the first sub-actuator is fixed to the first sub-actuator bracket, and the hinge at the protruding end is fixed to the first rocker bracket. The hinge at the hydraulic cylinder end of the second sub-actuator is fixed to the second sub-actuator bracket, and the hinge at the protruding end is fixed to the second rocker bracket.

4. The tilting and swaying test apparatus according to claim 3, characterized in that, Either the first rocking support or the second rocking support is a U-shaped support; either of the two straight beams on the U-shaped support is provided with a trapezoidal support frame; the lower pivot of either the first rocking support or the second rocking support is fixed to the trapezoidal support frame of the two straight beams in a manner perpendicular to both of the two straight beams. Each of the first and second rocking supports further includes a first support beam and a second support beam; wherein, along a direction perpendicular to the straight beam, the first support beam is supported between the trapezoidal support frame of one of the two straight beams and the shaped support, and the second support beam is supported between the trapezoidal support frame of the other straight beam and the shaped support.

5. The tilting and swaying test apparatus according to claim 3, characterized in that, Each of the first and second swing brackets includes a supporting base, a supporting top surface, and a fixed column; The supporting base is a hollow frame, and the supporting top surface is a plate-like object; the overall outline of the supporting base and the supporting top surface is consistent; the supporting base and the supporting top surface are arranged in parallel relative to each other, and the supporting base and the supporting top surface are fixedly connected by multiple supporting columns to form a supporting structure; The fixing column is fixed to one side of the support structure and is used to fix the hinge seat of the extended end of the actuator; The upper pivot seat of either the first swing bracket or the second swing bracket is fixed to the bottom surface of the support top surface facing the support base.

6. The tilting and swaying test apparatus according to claim 3, characterized in that, The tilting and swaying test device also includes a first connector and a second connector; The first connector is connected between the first end of the first swing bracket and the first end of the second swing bracket in a direction perpendicular to the direction of movement, and the second connector is connected between the second end of the first swing bracket and the second swing bracket in a direction perpendicular to the direction of movement, so that the first swing bracket and the second swing bracket move synchronously.

7. The tilting and swaying test apparatus according to claim 3, characterized in that, Either the first sub-actuator bracket or the second sub-actuator bracket is an L-shaped bracket. The horizontal end of the L-shaped bracket is fixed to the ground, a pre-embedded base, or a swing support. The vertical end of the L-shaped bracket is provided with a fixing part for fixing the hinge seat. A support beam is also provided between the horizontal end and the vertical end.

8. The tilting and swinging test apparatus according to claim 2, characterized in that, The controller is specifically used for: Based on the PID control algorithm, the initial control quantity of the hydraulic actuation system is determined according to the swing angle and the target swing angle; The trend of the swing angle of the swing support in the future is predicted based on the pre-established dynamic model of the tilting swing test device. The optimal control increment is determined based on the changing trend and a pre-defined objective function; wherein the objective function aims to minimize error and improve control smoothness. The target control quantity is calculated based on the initial control quantity and the optimal control increment.

9. A control method for a tilting and swinging test device, characterized in that, The method is applied to the controller in the tilting and swinging test apparatus, and the method includes: Upon detecting a start command, the hydraulic circuit system is controlled to drive the actuator to tilt or swing the rocker bracket relative to the base. Upon receiving the swing angle of the swing bracket reported by the tilt encoder, a target control quantity for controlling the hydraulic circuit system is determined based on the swing angle and the target swing angle. The hydraulic circuit system is controlled according to the target control value to adjust the swing angle of the swing bracket so that the swing angle of the swing bracket approaches the target angle.

10. The method according to claim 9, characterized in that, Determining the target control quantity for controlling the hydraulic circuit system based on the swing angle and the target swing angle includes: Based on the PID control algorithm, the initial control quantity of the hydraulic actuation system is determined according to the swing angle and the target swing angle; The trend of the swing angle of the swing support in the future is predicted based on the pre-established dynamic model of the tilting swing test device. The optimal control increment is determined based on the changing trend and a pre-defined objective function; wherein the objective function aims to minimize error and improve control smoothness. The control quantity is calculated based on the initial control quantity and the optimal control increment; wherein the control quantity is used to adjust the angle of the swing bracket to make it approach the target swing angle.

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