Adsorption mooring system simulation device for physical model experiment pd control

Abstract

The present application relates to PD control mooring system simulation technical field, disclose a kind of PD control adsorption type mooring system simulation equipment for physical model experiment, including fixed track, the top of the fixed track is provided with two groups of force measuring mechanism, the force measuring mechanism is used to measure PD control coefficient, connecting mechanism is provided between two force measuring mechanisms, the connecting mechanism is used to connect simulation ship body with force measuring mechanism, the force measuring mechanism includes support frame, one of the support frame is fixedly connected in the top of the fixed track.The present application is realized by the force measuring slide rod extrusion spring while driving copper plate to cut the magnetic field between N-pole magnetic pole and S-pole magnetic pole to realize PD control, without complex electrical control system, high reliability, no electromagnetic interference, spring stiffness and magnetic damping coefficient can be flexibly adjusted by replacing parts or adjusting magnet spacing, adapt to different mooring conditions.

Description

Technical Field

[0001] This invention relates to the field of PD-controlled mooring system simulation technology, specifically to a PD-controlled adsorption mooring system simulation device for physical model experiments. Background Technology

[0002] Marine engineering mooring systems are a core component of physical model tests for floating platforms, ship models, and offshore floating structures. The accurate simulation of mooring constraints, the precision of damping characteristics, and the calibration accuracy of the scaling factor directly determine the reliability of marine physical model tests and the accuracy of experimental data. Currently, in ship and marine structure physical model tests, fixed rigid cables, ordinary spring mooring, or constant-force counterweight mooring structures are commonly used for simulation constraints. Traditional mooring simulation devices are simple in structure, have low degrees of adjustment freedom, and can only achieve tension constraints in a single direction. They cannot simulate the flexible buffering, damping hysteresis, and multi-directional adaptive characteristics of mooring systems in actual marine environments.

[0003] In existing technologies, conventional mooring simulation equipment lacks a mechanical force measurement structure adapted to the real-time calibration and dynamic adjustment of PD control parameters, making it difficult to accurately collect the proportional coefficient and differential coefficient during the mooring process, and unable to achieve linkage matching between the PD control algorithm and the physical mooring model. At the same time, traditional mooring connection parts mostly adopt rigid hinge structures, which have poor wear resistance and lubrication performance and insufficient angle adaptive adjustment capability. The model hull is prone to generating additional constraint torques under swaying and offset conditions, resulting in large experimental errors.

[0004] Furthermore, existing physical model experimental mooring simulation equipment of the same type is mostly arranged with straight rails, which cannot adapt to the real motion conditions of multiple points of the hull shifting under curved trajectory. The force measuring components are mostly fixed installations, lacking the functions of position sliding adaptation, spring buffering and vibration reduction, and electromagnetic damping coordinated adjustment. The force measuring accuracy is easily affected by mechanical clearance, structural vibration and frictional resistance. Moreover, the sealing and dustproof, automatic oil replenishment and buffer limit structure at the connecting joints are lacking. Long-term reciprocating motion is prone to wear and jamming, and increased clearance, which further reduces the measurement accuracy of PD control coefficient and the service life of the equipment, making it difficult to meet the use requirements of high-precision marine physical model PD control adsorption mooring simulation experiments. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a PD-controlled adsorption mooring system simulation device for physical model experiments, which solves the problems of low reliability and electromagnetic interference in traditional complex electrical control systems, as well as the inability to adjust the angle under single fixed mooring conditions.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: a PD-controlled adsorption mooring system simulation device for physical model experiments, comprising a fixed track, two sets of force measuring mechanisms are provided on the top of the fixed track, the force measuring mechanisms are used to measure the PD control coefficient, and a connecting mechanism is provided between the two force measuring mechanisms, the connecting mechanism is used to connect the simulated hull and the force measuring mechanisms; The force measuring mechanism includes a support frame, one of which is fixedly connected to the top of the fixed track, and the other is slidably connected to the top of the fixed track. A first base is slidably connected to the outer side of the support frame, and the first base is fixedly connected to the outer side of the force measuring slide rod. The force measuring slide rod is slidably connected to the inner side of the second base. Two first springs are sleeved on the outer periphery of the force measuring slide rod. A first baffle is fixedly connected to the opposite end of each of the two first springs. The ends of the two first springs away from the first baffles are respectively fixedly connected to the opposite sides of the first base and the second base. A force measuring instrument is slidably connected to the outer side of the force measuring slide rod. A copper plate is fixedly connected to the end of the force measuring slide rod away from the connecting mechanism. An N-pole magnetic pole and a S-pole magnetic pole are fixedly connected to the outer side of the support frame.

[0007] Preferably, the connecting mechanism includes a universal ball joint, which is fixedly connected to one end of one of the force-measuring slide rods away from the copper plate. The other force-measuring slide rod is slidably connected to the outside of the universal ball joint. A connecting seat is fixedly connected to the outside of the universal ball joint. A second sealing dust cover and a first sealing dust cover are slidably connected to the outside of the connecting seat. Bolts are threaded inside the first sealing dust cover and the second sealing dust cover. An oil reservoir is fixedly connected to the top of the first sealing dust cover. A piston is slidably connected to the inside of the first sealing dust cover. A second spring is provided on the top of the piston. A steel ball is fixedly connected to the top of the second spring. An output groove is opened inside the piston. Two connecting rods are movably connected inside the output groove. A third spring is sleeved on the outside of the connecting rod. A second baffle is fixedly connected to the outside of the connecting rod. A third baffle is fixedly connected to the bottom of the connecting rod.

[0008] Preferably, the curvature of the fixed track is set with the connection center point of the connecting mechanism as the center.

[0009] Preferably, the second base is fixedly connected to the outside of the support frame, and the force measuring instrument is located between the two first baffles.

[0010] Preferably, the copper plate is located on the side of the N-pole and S-pole close to the second base, with the N-pole located above the S-pole.

[0011] Preferably, the front end of one of the force measuring mechanisms is movably connected to the outside of the universal ball joint, and the front end of the other force measuring mechanism is fixedly connected to the inside of the universal ball joint. The first sealing dust cover and the second sealing dust cover are arranged vertically parallel to each other. The upper and lower threads of the bolts are symmetrically arranged, and the bolts are rotatably connected to the inside of the connecting seat.

[0012] Preferably, one end of the second spring is fixedly connected to the top of the piston, and the other end of the second spring is fixedly connected to the outside of the steel ball, with the steel ball and the oil reservoir abutting against each other.

[0013] Preferably, one end of the third spring is fixedly connected to the top of the piston, and the other end of the third spring is fixedly connected to the bottom of the second baffle. The third baffle and the connecting rod are arranged in the middle of the output groove.

[0014] Preferably, the diameter of the third baffle is smaller than the inner diameter of the output slot, and the diameter of the connecting rod is smaller than the diameter of the opening of the output slot.

[0015] Preferably, the piston is vertically positioned above the universal ball joint, and the output port of the output slot is located above the universal ball joint.

[0016] This invention provides a PD-controlled adsorption mooring system simulation device for physical model experiments. It has the following beneficial effects: 1. This invention achieves PD control by using a force-measuring slide bar to compress a spring and simultaneously drive a copper plate to cut the magnetic field between the N and S magnetic poles. It does not require a complex electrical control system, has high reliability, and is free from electromagnetic interference. The spring stiffness and magnetic damping coefficient can be flexibly adjusted by replacing parts or adjusting the magnet spacing to adapt to different mooring conditions.

[0017] 2. This invention uses bolts to move and open or close the sealing dust cover to seal and protect the universal ball joint from dust, preventing moisture or dust from entering and causing wear due to prolonged exposure. After the sealing dust cover is closed, the piston squeezes out lubricating fluid to self-lubricate and reduce the impact of friction.

[0018] 3. The present invention moves the force measuring mechanism of tangential force by means of a fixed track, so that the angle can be adjusted at any time when acquiring data, so that the tangential force and the normal force are kept in balance. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the tangential force measuring component of the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 for Figure 2 Enlarged view of point B in the middle; Figure 5 This is a schematic diagram of the connection component of the present invention; Figure 6 This is a schematic diagram of the structure of the first sealing dust cover of the present invention; Figure 7 This is a schematic diagram of the piston structure of the present invention; Figure 8 for Figure 7 Enlarged diagram of point C in the middle.

[0020] The components include: 1. Fixed track; 2. Force measuring mechanism; 3. Connecting mechanism; 201. Support frame; 202. Force measuring slide bar; 203. First base; 204. Second base; 205. First spring; 206. First baffle; 207. Force measuring instrument; 208. Copper plate; 209. N pole; 210. S pole; 301. Connecting seat; 302. Universal ball joint; 303. Second sealed dust cover; 304. First sealed dust cover; 305. Bolt; 306. Oil reservoir; 307. Piston; 308. Steel ball; 309. Second spring; 310. Connecting rod; 311. Second baffle; 312. Third spring; 313. Third baffle; 314. Output slot. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see the appendix Figure 1 -Appendix Figure 4 This invention provides a PD-controlled adsorption mooring system simulation device for physical model experiments, including a fixed track 1. Two sets of force measuring mechanisms 2 are set on the top of the fixed track 1, which are used to measure the values ​​of positive force and lateral force respectively. The force measuring mechanisms 2 are used to measure the PD control coefficient. A connecting mechanism 3 is set between the two force measuring mechanisms 2, which is used to make corresponding adjustments when the force direction is different. The connecting mechanism 3 is used to connect the simulated hull and the force measuring mechanism 2, so that the force measuring mechanism 2 can be connected to the simulated hull and can be disassembled at the same time. The force measuring mechanism 2 includes a support frame 201. One support frame 201 is fixedly connected to the top of the fixed track 1 to ensure that the force in the positive direction remains unchanged. The other support frame 201 is slidably connected to the top of the fixed track 1 and can be adjusted when the simulated ship's movement direction changes. A first base 203 is slidably connected to the outside of the support frame 201. The first base 203 is fixedly connected to the outside of the force measuring slide rod 202, so that the movement of the force measuring slide rod 202 will drive the first base 203 to move outside the support frame 201. The force measuring slide rod 202 is slidably connected to the inside of the second base 204 to limit the slide rod 202 and ensure its movement direction. Two first springs 205 are sleeved on the outer periphery of the force measuring slide rod 202. One end of each spring 205 is fixedly connected to a first baffle 206. The ends of the two first springs 205 away from the first baffle 206 are respectively fixedly connected to the opposite side of the first base 203 and the second base 204, so that the pressure transmitted by the two first springs 205 through the first baffle 206 is more even and comprehensive when compressed. A force measuring instrument 207 is slidably connected to the outside of the force measuring slide rod 202 to measure the elastic force of the two first springs 205. A copper plate 208 is fixedly connected to the end of the force measuring slide rod 202 away from the connecting mechanism 3. The outside of the support frame 201 is fixedly connected to the N pole magnetic pole 209 and the S pole magnetic pole 210, so that the movement of the force measuring slide rod 202 will drive the copper plate 208 to cut the magnetic field between the N pole magnetic pole 209 and the S pole magnetic pole.

[0023] Please see the appendix Figure 1 -Appendix Figure 8In a preferred embodiment of the present invention, the connecting mechanism 3 includes a universal ball joint 302, which is fixedly connected to the end of one of the force-measuring slide rods 202 away from the copper plate 208. The other force-measuring slide rod 202 is slidably connected to the outside of the universal ball joint 302. A connecting seat 301 is fixedly connected to the outside of the universal ball joint 302, so that the force-measuring mechanism 2 for positive force can be fixed and the force-measuring mechanism 2 for lateral force can be deflected and adjusted. A second sealing dust cover 303 and a first sealing dust cover 304 are slidably connected to the outside of the connecting seat 301. Bolts 305 are threadedly connected inside the first sealing dust cover 304 and the second sealing dust cover 303. By rotating the bolts 305, the first sealing dust cover 304 and the second sealing dust cover 303 seal the universal ball joint 302. An oil reservoir 306 is fixedly connected to the top of the first sealing dust cover 304 for adding and replenishing lubricating oil. The inside of the first sealing dust cover 304 slides... A piston 307 is connected, and a second spring 309 is provided on the top of the piston 307. A steel ball 308 is fixedly connected to the top of the second spring 309, so that when the piston 307 moves upward, it can drive the steel ball 308 to move upward. At the same time, the second spring 309 ensures that the piston 307 continues to move upward after the steel ball 308 abuts against the output port of the oil reservoir 306. An output groove 314 is opened inside the piston 307. Two connecting rods 310 are movably connected inside the output groove 314. A third spring 312 is sleeved on the outside of the connecting rods 310. A second baffle 311 is fixedly connected to the outside of the connecting rods 310. A third baffle 313 is fixedly connected to the bottom of the connecting rods 310, so that when the piston 307 moves upward, the connecting rods 310 drive the third baffle 313 to disengage from the inner wall of the output groove 314. At the same time, when the first sealing dust cover 304 moves upward, the third spring 312 will drive the piston 307 to move downward to reset.

[0024] Please see the appendix Figure 1 In a preferred embodiment of the present invention, the curvature of the fixed track 1 is set with the connection center point of the connecting mechanism 3 as the center, so that the force measuring mechanism 2 of the tangential force can be moved and adjusted simultaneously after simulating the movement of the ship hull.

[0025] Please see the appendix Figure 2 and attached Figure 3 In a preferred embodiment of the present invention, the second base 204 is fixedly connected to the outside of the support frame 201, and the force measuring instrument 207 is located between the two first baffles 206 for measuring the elastic force when the two first baffles 206 are compressed.

[0026] Please see the appendix Figure 4In a preferred embodiment of the present invention, the copper plate 208 is located on the side of the N pole 209 and the S pole 210 near the second base 204, with the N pole 209 located above the S pole 210, so that the copper plate 208 cuts the magnetic field of the N pole 209 and the S pole 210 by the movement of the force measuring slide bar 202.

[0027] Please see the appendix Figure 1 Appendix Figure 5 and attached Figure 6 In a preferred embodiment of the present invention, the front end of one force measuring mechanism 2 is movably connected to the outside of the universal ball joint 302, and the front end of the other force measuring mechanism 2 is fixedly connected to the inside of the universal ball joint 302, so that the force measuring mechanism 2 of tangential force can adjust its direction to adapt to the forces in different directions of the simulated hull. The first sealing dust cover 304 and the second sealing dust cover 303 are arranged in parallel vertically, and the upper and lower threads of the bolts 305 are symmetrically arranged. The bolts 305 are rotatably connected to the inside of the connecting seat 301, so that the first sealing dust cover 304 and the second sealing dust cover 303 can abut against each other by moving in opposite directions through the bolts 305.

[0028] Please see the appendix Figure 6 -Appendix Figure 8 In a preferred embodiment of the present invention, one end of the second spring 309 is fixedly connected to the top of the piston 307, and the other end of the second spring 309 is fixedly connected to the outside of the steel ball 308. The steel ball 308 and the oil storage box 306 abut against each other, so that the piston 307 can drive the steel ball 308 to close the output port of the oil storage box 306 without affecting the movement of the piston 307.

[0029] Please see the appendix Figure 6 -Appendix Figure 8 In a preferred embodiment of the present invention, one end of the third spring 312 is fixedly connected to the top of the piston 307, and the other end of the third spring 312 is fixedly connected to the bottom of the second baffle 311. The third baffle 313 and the connecting rod 310 are disposed in the middle of the output groove 314. When the first sealing dust cover 304 moves upward, the third spring 312 can push the piston 307 to reset.

[0030] Please see the appendix Figure 8 In a preferred embodiment of the present invention, the diameter of the third baffle 313 is smaller than the inner diameter of the output groove 314, and the diameter of the connecting rod 310 is smaller than the diameter of the opening of the output groove 314, so that the lubricant inside the first sealing dust cover 304 can enter the internal space after the first sealing dust cover 304 and the second sealing dust cover 303 are closed.

[0031] Please see the appendix Figure 5 -Appendix Figure 8In a preferred embodiment of the present invention, the piston 307 is vertically disposed above the universal ball joint 302, and the output port of the output groove 314 is located above the universal ball joint 302, so that the lubricating fluid flowing out from the inside of the output groove 314 can just fall on the surface of the universal ball joint 302.

[0032] Working Principle: After the staff completes the installation, fixation, and height adjustment of the device, the two force measuring mechanisms 2 are connected via the connecting mechanism 3 to simulate tangential and normal forces. The connecting seat 301 fixes the simulated hull, driving the movement of the universal ball joint 302, thus simulating the movement of the hull when docking. The universal ball joint 302 drives the movement of two force measuring slide rods 202. The two force measuring slide rods 202 are respectively vertically fixed to the inside of the universal ball joint 302 and laterally movable to the outside of the universal ball joint 302. When the universal ball joint 302 drives the force measuring slide rods 202 to move away from the universal ball joint 302, it will drive the first base 203 fixedly connected on the outside to move as well. This causes the first base 203 to drive the first spring 205 to move, which in turn drives the first baffle 206 fixedly connected to the force measuring instrument 207 to move. After the first baffle 206 moves, it will move closer to the force measuring instrument 207 and then push the force measuring instrument 207 to move. The force measuring instrument 207 then moves closer to the force measuring slide rod 202 on the side away from the universal ball joint 302, thereby compressing the first spring 205 fixed on the outside of the second base 204 on the same side. As the force measuring slide rod 202 moves continuously, it compresses the two first springs 205, causing the two first baffles 206 to press against the force measuring instrument 207 located between the two first baffles 206. This causes the force measuring instrument 207 to provide a proportional coefficient P, providing elastic stiffness to the hull and simulating the elastic rebound of the mooring cable. The movement of the force-measuring slide bar 202 will simultaneously drive the copper plate 208, which is fixedly connected to the end away from the universal ball joint 302, to move. As a result, the copper plate 208 will continuously approach the S pole 210 and N pole 209 fixedly connected to the support frame 201. The copper plate 208 will cut the magnetic field lines between the N pole 209 and the S pole 210 as it moves, generating an eddy current effect, which will give a differential coefficient D, forming a damping force proportional to the speed of motion, consuming the kinetic energy of the hull and suppressing oscillation. When the simulated hull moves and its position changes, the force measuring mechanism 2 connected laterally is controlled to balance the different forces on the simulated hull. The drive motor fixedly connected inside the support frame 201 drives the gear fixedly connected at the output end to rotate on the rack laid inside the fixed track 1, so that the force measuring mechanism 2 of the lateral force will make arc-shaped motion around the connecting mechanism 3. Thus, the position of the force measuring mechanism in the direction of the force applied by the hull is adjusted according to the direction of the force applied by the hull, so that the forces in different directions can be balanced. By replacing and installing different first springs 205 in the force measuring mechanism 2, the elastic stiffness and elastic restoring force of the mooring cable are controlled, so as to obtain the restoring force generated when the hull deviates from the equilibrium position. At the same time, by replacing and installing different N pole and S pole magnetic poles, the eddy current damping generated by the copper plate 208 cutting the magnetic field lines is controlled, so as to provide a damping force proportional to the movement speed and suppress the hull oscillation. When the device stops, the bolt 305 inside the rotating connecting seat 301 rotates, causing the threaded connection on the outside of the bolt 305 to move the first sealing dust cover 304 and the second sealing dust cover 303 in opposite directions. When the first sealing dust cover 304 and the second sealing dust cover 303 abut against each other, they seal and protect the universal ball joint 302 from moisture and dust, preventing wear and affecting experimental accuracy. During the movement of the first sealing dust cover 304, it drives the piston 307, which is slidably connected inside, to move downward. During the movement, the piston 307 is blocked by the universal ball joint 302 and moves upward inside the first sealing dust cover 304. This causes the second spring 309 on the piston 307 to drive the steel ball 308 upward, so that the steel ball 308 abuts against the outlet of the oil reservoir 306, preventing the lubricant inside the oil reservoir 306 from entering the interior of the first sealing dust cover 304. During the upward movement of the piston 307, it compresses the third spring fixedly connected to the top of the piston 307. Spring 312 causes the output groove 314 inside the piston 307 to move upward and disengage from the third baffle 313, allowing the lubricant inside the first sealing dust cover 304 to enter the interior of the first sealing dust cover 304 and the second sealing dust cover 303 through the output groove 314, thereby lubricating the universal ball joint 302 and reducing the impact of friction. When the first sealing dust cover 304 and the second sealing dust cover 303 separate again, the third spring 312 pushes the piston 307 downward through the second baffle 311 fixedly connected to the outside of the connecting rod 310, so that the third baffle 313 fixedly connected to the bottom of the connecting rod 310 abuts against the inner wall of the output groove 314 again, thus sealing the piston 307. When the piston 307 moves downward, it drives the second spring 309 to move, which in turn drives the steel ball 308 to move, so that the output port of the oil reservoir 306 is opened and the internal lubricant enters the interior of the piston 307, realizing automatic addition and replenishment of lubricant, thereby reducing manpower and facilitating repeated experiments.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A PD-controlled adsorption mooring system simulation device for physical model experiments, comprising a fixed track (1), characterized in that, Two sets of force measuring mechanisms (2) are provided on the top of the fixed track (1). The force measuring mechanisms (2) are used to measure the PD control coefficient. A connecting mechanism (3) is provided between the two force measuring mechanisms (2). The connecting mechanism (3) is used to connect the simulated hull and the force measuring mechanism (2). The force measuring mechanism (2) includes a support frame (201), one of which is fixedly connected to the top of the fixed track (1), and the other is slidably connected to the top of the fixed track (1). A first base (203) is slidably connected to the outside of the support frame (201), and the first base (203) is fixedly connected to the outside of the force measuring slide rod (202). The force measuring slide rod (202) is slidably connected to the inside of the second base (204). Two first springs (205) are sleeved on the outer periphery of the force measuring slide rod (202). The first spring (205) is fixedly connected to a first baffle (206) at one end. The ends of the two first springs (205) away from the first baffle (206) are fixedly connected to the opposite sides of the first base (203) and the second base (204), respectively. A force measuring instrument (207) is slidably connected to the outside of the force measuring slide rod (202). A copper plate (208) is fixedly connected to the end of the force measuring slide rod (202) away from the connecting mechanism (3). An N pole magnetic pole (209) and an S pole magnetic pole (210) are fixedly connected to the outside of the support frame (201).

2. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 1, characterized in that, The connecting mechanism (3) includes a universal ball joint (302), which is fixedly connected to one end of one of the force-measuring slide rods (202) away from the copper plate (208). The other force-measuring slide rod (202) is slidably connected to the outside of the universal ball joint (302). A connecting seat (301) is fixedly connected to the outside of the universal ball joint (302). A second sealing dust cover (303) and a first sealing dust cover (304) are slidably connected to the outside of the connecting seat (301). Bolts (305) are threadedly connected to the inside of the first sealing dust cover (304) and the second sealing dust cover (303). An oil storage box (306) is fixedly connected to the top of the first sealed dust cover (304). A piston (307) is slidably connected to the inside of the first sealed dust cover (304). A second spring (309) is provided on the top of the piston (307). A steel ball (308) is fixedly connected to the top of the second spring (309). An output groove (314) is opened inside the piston (307). Two connecting rods (310) are movably connected inside the output groove (314). A third spring (312) is sleeved on the outside of the connecting rod (310). A second baffle (311) is fixedly connected to the outside of the connecting rod (310). A third baffle (313) is fixedly connected to the bottom of the connecting rod (310).

3. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 1, characterized in that, The arc of the fixed track (1) is set with the connection center point of the connecting mechanism (3) as the center.

4. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 1, characterized in that, The second base (204) is fixedly connected to the outside of the support frame (201), and the force measuring instrument (207) is located between the two first baffles (206).

5. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 1, characterized in that, The copper plate (208) is located on the side of the N pole (209) and the S pole (210) close to the second base (204), with the N pole (209) located above the S pole (210).

6. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 2, characterized in that, The front end of one of the force measuring mechanisms (2) is movably connected to the outside of the universal ball joint (302), and the front end of the other force measuring mechanism (2) is fixedly connected to the inside of the universal ball joint (302). The first sealing dust cover (304) and the second sealing dust cover (303) are arranged in parallel vertically. The upper and lower threads of the bolt (305) are arranged symmetrically. The bolt (305) is rotatably connected to the inside of the connecting seat (301).

7. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 2, characterized in that, One end of the second spring (309) is fixedly connected to the top of the piston (307), and the other end of the second spring (309) is fixedly connected to the outside of the steel ball (308). The steel ball (308) and the oil reservoir (306) abut against each other.

8. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 2, characterized in that, One end of the third spring (312) is fixedly connected to the top of the piston (307), and the other end of the third spring (312) is fixedly connected to the bottom of the second baffle (311). The third baffle (313) and the connecting rod (310) are arranged in the middle of the output groove (314).

9. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 2, characterized in that, The diameter of the third baffle (313) is smaller than the inner diameter of the output slot (314), and the diameter of the connecting rod (310) is smaller than the diameter of the opening of the output slot (314).

10. The PD-controlled adsorption mooring system simulation device for physical model experiments according to claim 2, characterized in that, The piston (307) is vertically positioned above the universal ball joint (302), and the output port of the output groove (314) is located above the universal ball joint (302).

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