Single steel beam type four-degree-of-freedom airworthiness instrument based on double-rotor linear motor

Abstract

The utility model provides a single-steel-beam type four-degree-of-freedom airworthiness instrument based on a double-rotor linear motor, and mainly solves the problems that an existing airworthiness instrument is not suitable for experiments of large-surging-range and large-tonnage ship body models, the angular displacement measurement precision of pitching and rolling of the ship body models is low, the pitching and structure of the ship body models is complex, and the cost is high. According to the scheme, the device comprises a rack, a linear motor module, a heaving measuring rod, a clamping rod and a pitching and rolling measuring mechanism; a linear motor module is arranged on the rack; the heaving measuring rod and the clamping rod are respectively embedded into the rack; a pitching and rolling measuring mechanism is arranged on the bottom surface of the heaving measuring rod; a clamping rod clamp is arranged at the bottom of the clamping rod and is connected with the ship body model; by adopting the scheme, the requirements of large-surging-range measurement and large-tonnage ship body model experiments can be met, the measurement precision is improved, and the installation is more convenient.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ship testing, and particularly relates to a single-steel-beam four-degree-of-freedom seakeeping instrument. BACKGROUND

[0002] In the existing ship and ocean structure model test, the contact type measurement of multi-degree-of-freedom motion response is completed by means of a seakeeping instrument. With the development and innovation of model test measurement technology, higher requirements are put forward for the test accuracy and range of the seakeeping instrument, and the test requirements of larger tonnage ship models also need to be met.

[0003] The application with the application number CN201510287430.0 adopts a single-mover linear motor, and there are four groups of linear motors, which are relatively complex in structure, complicated in installation, and high in cost. The existing seakeeping instrument adopts a double-layer beam structure, lacks vertical support, cannot increase the range of surge, and is low in structural stiffness, and thus cannot meet the experimental requirements of large tonnage ships. The existing seakeeping instrument adopts an elastic coupling to connect the longitudinal and lateral roll sensor shafts with a cross shaft, which is complicated to install, and has a large transmission error when the rotation direction changes, resulting in a large error in the measured longitudinal and lateral roll angle displacement. SUMMARY

[0004] In order to overcome the deficiencies of the prior art, solve the problems that the existing seakeeping instrument is not suitable for the experiments of large surge range and large tonnage ship models, the angular displacement measurement accuracy of the longitudinal and lateral roll of the ship model is low, and the structure of the seakeeping instrument for the longitudinal and lateral roll of the ship model is complex and the cost is high, the present application provides a single-steel-beam four-degree-of-freedom seakeeping instrument based on a double-mover linear motor.

[0005] A single-steel-beam four-degree-of-freedom seakeeping instrument based on a double-mover linear motor, comprising a rack 1, a linear motor module 2, a heave measuring rod 3, a clamping rod 4, and a longitudinal and lateral roll measuring mechanism 5.

[0006] The rack 1 comprises a steel beam 101 and a hoisting device; the steel beam 101 is a cuboid; the long side of the steel beam 101 is parallel to the bow-to-stern direction; the steel beam 101 advances along the longitudinal direction, the windward side of the steel beam 101 is the front face, the leeward side of the steel beam 101 is the back face, the side of the steel beam 101 closest to the port side is the left side, and the side of the steel beam 101 closest to the starboard side is the right side; the front face and the back face of the steel beam 101 are respectively provided with grooves along the transverse direction.

[0007] The heave measuring rod 3 and the clamping rod 4 are both frame structures; the steel beam 101 is embedded in the heave measuring rod 3 and the clamping rod 4, respectively.

[0008] The linear motor module 2 comprises a first motor module and a second motor module; the first motor module is arranged on the top surface of the rack 1; and the second motor module is arranged on the bottom surface of the rack 1.

[0009] The first motor module is provided with an upper measuring rod connecting plate 305 and an upper clamping rod connecting plate 412; the second motor module is provided with a lower measuring rod connecting plate 308 and a lower clamping rod connecting plate 415; an upper longitudinal grating ruler 207 is longitudinally arranged on the right side of the steel beam 101 and close to the top surface of the steel beam 101; a lower longitudinal grating ruler 212 is longitudinally arranged on the right side of the steel beam 101 and close to the bottom surface of the steel beam 101; the upper longitudinal grating ruler 207 is in sliding connection with the upper measuring rod connecting plate 305; the lower longitudinal grating ruler 212 is in sliding connection with the lower clamping rod connecting plate 415; a heave grating ruler 301 is arranged on the outer side of the heave measuring rod 3 in the vertical direction; a clamping rod grating ruler 401 is arranged on the outer side of the clamping rod 4 in the vertical direction; the heave grating ruler 301 is in sliding connection with the upper measuring rod connecting plate 305; the clamping rod grating ruler 401 is in sliding connection with the upper clamping rod connecting plate 412;

[0010] The heave measuring rod 3 is in sliding connection with the upper measuring rod connecting plate 305 and the lower measuring rod connecting plate 308 respectively; the clamping rod 4 is in sliding connection with the lower clamping rod connecting plate 415 and the upper clamping rod connecting plate 412 respectively;

[0011] The bottom surface of the heave measuring rod 3 is provided with a pitch and roll measuring mechanism 5; the pitch and roll measuring mechanism 5 is fixedly connected with the ship model 0; the bottom of the clamping rod 4 is provided with a clamping rod clamp; the clamping rod clamp is movably connected with the ship model;

[0012] The pitch and roll measuring mechanism 5 comprises a double-shaft gyroscope angular displacement sensor;

[0013] The single-steel-beam four-degree-of-freedom seakeeping instrument based on a double-mover linear motor measures the pitch and roll of the ship model through the double-shaft gyroscope angular displacement sensor, measures the heave of the ship model through the heave grating ruler 301, and measures the surge of the ship model through the upper longitudinal grating ruler 207, so as to complete the measurement of the four degrees of freedom of the ship model.

[0014] Furthermore, the hoisting device comprises a lifting lug 102 and a U-shaped bracket; the U-shaped bracket comprises a first U-shaped bracket 103 and a second U-shaped bracket 103'; the first U-shaped bracket 103 and the second U-shaped bracket 103' are respectively arranged in the recess; the openings of the first U-shaped bracket 103 and the second U-shaped bracket 103' are vertically upward; the bottoms of the first U-shaped bracket 103 and the second U-shaped bracket 103' are respectively embedded in the recess; the top surfaces of the U-shaped support arms of the first U-shaped bracket 103 and the second U-shaped bracket 103' are provided with turnups perpendicular to the U-shaped support arms; the top surfaces of the turnups are provided with the lifting lug 102.

[0015] Further, the first motor module comprises the upper slide rail 201, the upper linear motor stator 202, the upper longitudinal grating ruler slide block 203, the slide block 204, the upper measuring rod linear motor mover 205 and the upper clamping rod linear motor mover 206; the second motor module comprises the lower slide rail 208, the lower linear motor stator 209, the lower measuring rod linear motor mover 210, the lower clamping rod linear motor mover 211 and the lower longitudinal grating ruler slide block 213;

[0016] The top surface of the steel beam 101 is provided with the upper linear motor stator 202 in the longitudinal direction; the upper linear motor stator 202 is provided with the upper slide rail 201 on both sides in the longitudinal direction; the upper slide rail 201 is provided with the first slide block group and the second slide block group; the first slide block group and the second slide block group each comprise a plurality of slide blocks 204;

[0017] The top surface of the first slide block group is provided with the upper measuring rod connecting plate 305; the upper measuring rod connecting plate 305 is a rectangular plate; the top surface of the upper measuring rod connecting plate 305 is provided with upper measuring rod connecting plate flanges along the edges of the two long sides, forming a “concave” shape; the bottom surface of the upper measuring rod connecting plate 305 is provided with two parallel upper measuring rod connecting plate protrusions; the bottom surface of the upper measuring rod connecting plate protrusion is connected to the top surface of the first slide block group; the outer side surface of the upper measuring rod connecting plate protrusion is provided with a first T-shaped connecting structure; the first T-shaped connecting structure comprises a bottom plate and a vertical plate; the vertical plate is perpendicular to the bottom plate; the bottom surface of the vertical plate is fixedly connected to the top surface of the bottom plate; the side surface of the vertical plate is fixedly connected to the side surface of the upper measuring rod connecting plate protrusion;

[0018] The upper measuring rod linear motor mover 205 is arranged between the two upper measuring rod connecting plate protrusions of the upper measuring rod connecting plate 305;

[0019] The right side surface of the steel beam 101 and the position close to the top surface of the steel beam 101 are provided with the upper longitudinal grating ruler 207 in the longitudinal direction; the upper longitudinal grating ruler 207 is provided with the upper longitudinal grating ruler slide block 203; the upper longitudinal grating ruler slide block 203 slides along the upper longitudinal grating ruler 207; the top surface of the upper longitudinal grating ruler slide block 203 is fixedly connected to the bottom surface of the first T-shaped connecting structure bottom plate of the upper measuring rod connecting plate 305;

[0020] The top surface of the second slide block group is provided with the upper clamping rod connecting plate 412;

[0021] The upper clamping rod connecting plate 412 is a rectangular plate; the top surface of the upper clamping rod connecting plate 412 is provided with upper clamping rod connecting plate flanges along the edges of two long sides, forming a "concave" shape; the bottom surface of the upper clamping rod connecting plate 412 is provided with two parallel upper clamping rod connecting plate protrusions; the bottom surface of the upper clamping rod connecting plate protrusion is connected with the top surface of the second slider group; the bottom surface of the upper clamping rod connecting plate 412 is provided with an upper clamping rod linear motor mover 206; the upper clamping rod linear motor mover 206 is located between the two upper clamping rod connecting plate protrusions;

[0022] The bottom surface of the steel beam 101 is provided with a lower linear motor stator 209 along the longitudinal direction; the lower linear motor stator 209 is provided with lower slide rails 208 along the longitudinal direction on both sides; the lower slide rails 208 are provided with a third slider group and a fourth slider group; the third slider group and the fourth slider group each include a plurality of sliders; the sliders are arranged on the lower slide rails 208; the bottom surface of the third slider group is provided with a lower measuring rod connecting plate 308;

[0023] The lower measuring rod connecting plate 308 is a rectangular plate; the bottom surface of the lower measuring rod connecting plate 308 is provided with two lower measuring rod connecting plate flanges along the edges of two long sides, forming an inverted "concave" shape; the top surface of the lower measuring rod connecting plate 308 is provided with two parallel lower measuring rod connecting plate protrusions; the top surface of the lower measuring rod connecting plate protrusion is fixedly connected with the bottom surface of the third slider group;

[0024] The top surface of the lower measuring rod connecting plate 308, and between the two lower measuring rod connecting plate protrusions, is provided with a lower measuring rod linear motor mover 210;

[0025] The bottom surface of the fourth slider group is provided with a lower clamping rod connecting plate 415;

[0026] The lower clamping rod connecting plate 415 is a rectangular plate; the bottom surface of the lower clamping rod connecting plate 415 is provided with two lower clamping rod connecting plate flanges along the edges of two long sides, forming an inverted "concave" shape; the top surface of the lower clamping rod connecting plate 415 is provided with two parallel lower clamping rod connecting plate protrusions; the top surface of the lower clamping rod connecting plate protrusion is fixedly connected with the bottom surface of the fourth slider group; the top surface of the lower clamping rod connecting plate 415 is provided with a lower clamping rod linear motor mover 211; the lower clamping rod linear motor mover 211 is located between the two parallel lower clamping rod connecting plate protrusions; the side surface of the lower clamping rod connecting plate protrusion is provided with a second T-shaped connecting structure; the second T-shaped connecting structure includes a top plate and a vertical plate; the top plate of the second T-shaped connecting structure is perpendicular to the vertical plate of the second T-shaped connecting structure; the bottom surface of the top plate of the second T-shaped connecting structure is fixedly connected with the top surface of the vertical plate of the second T-shaped connecting structure; the side surface of the vertical plate of the second T-shaped connecting structure is fixedly connected with the side surface of the lower clamping rod connecting plate protrusion; the bottom surface of the top plate of the second T-shaped connecting structure is fixedly connected with the top surface of the lower clamping rod connecting plate protrusion;

[0027] The lower longitudinal grating ruler 212 is arranged on the right side of the steel beam 101 and close to the bottom surface of the steel beam 101; the lower longitudinal grating ruler 212 is provided with a lower longitudinal grating ruler sliding block 213; the bottom surface of the lower longitudinal grating ruler sliding block 213 is fixedly connected with the top surface of the top plate of the lower clamping rod connecting plate second T-shaped connecting structure.

[0028] Further, the heave measuring rod 3 comprises a heave grating ruler 301, a measuring rod frame 302, a measuring rod sliding rail 303, a measuring rod sliding block 304, a heave grating ruler sliding block 306 and a heave grating ruler sliding block support 307;

[0029] The heave grating ruler sliding block support 307 comprises a support support plate and a support connecting plate; the support connecting plate is vertically arranged on the top surface of the support support plate; one short edge of the top surface of the support support plate is provided with the support connecting plate;

[0030] The steel beam 101 is embedded in the measuring rod frame 302; the measuring rod frame 302 comprises a first long plate, a first short plate, a second long plate and a second short plate; the first long plate, the first short plate, the second long plate and the second short plate are sequentially connected to form a closed and hollow cuboid frame structure; the distance between the first long plate and the second long plate is the same as the width of the upper measuring rod connecting plate 305; the first long plate is arranged outside the right side of the steel beam 101;

[0031] After the steel beam 101 is embedded in the measuring rod frame 302, the long edge of the first long plate is parallel to the vertical direction, and the long edge of the first long plate is perpendicular to the top surface of the steel beam 101; the inner side surface of the first long plate and the inner side surface of the second long plate are respectively provided with measuring rod sliding rails; the fifth sliding block group is arranged on the measuring rod sliding rail of the inner side surface of the first long plate; the sixth sliding block group is arranged on the measuring rod sliding rail of the inner side surface of the second long plate; the fifth sliding block group and the sixth sliding block group each comprise a plurality of measuring rod sliding blocks 304; the bottom surface of the measuring rod sliding block of the fifth sliding block group and the sixth sliding block group is slidingly connected with the measuring rod sliding rail 303; the top surface of the measuring rod sliding block of the fifth sliding block group and the sixth sliding block group is fixedly connected with the upper measuring rod connecting plate flange of one side of the upper measuring rod connecting plate 305;

[0032] The seventh sliding block group is arranged on the measuring rod sliding rail of the inner side surface of the first long plate; the eighth sliding block group is arranged on the measuring rod sliding rail of the inner side surface of the second long plate; the seventh sliding block group and the eighth sliding block group each comprise a plurality of measuring rod sliding blocks 304;

[0033] The bottom surface of the measuring rod sliding block of the seventh sliding block group is slidingly connected with the measuring rod sliding rail of the first long plate;

[0034] The bottom surface of the measuring rod sliding block of the eighth sliding block group is slidingly connected with the measuring rod sliding rail of the second long plate;

[0035] The top surface of the measuring rod slider of the seventh slider group is fixedly connected with the outer side surface of the upper measuring rod connecting plate flange on one side of the lower measuring rod connecting plate 308;

[0036] The top surface of the measuring rod slider of the eighth slider group is fixedly connected with the outer side surface of the upper measuring rod connecting plate flange on the other side of the lower measuring rod connecting plate 308;

[0037] The outer side surface of the first long plate is provided with a heave grating ruler 301; the heave grating ruler 301 is provided with a heave grating ruler slider 306; the bottom surface of the heave grating ruler slider 306 is in sliding connection with the heave grating ruler 301; the top surface of the heave grating ruler slider 306 is fixedly connected with the bottom surface of the support plate of the heave grating ruler slider support 307; the outer side surface of the support connecting plate of the heave grating ruler slider support 307 is fixedly connected with the outer side surface of the upper measuring rod connecting plate flange.

[0038] Furthermore, the bottom surface of the measuring rod frame 302 is provided with a pitch and roll measuring mechanism; the pitch and roll measuring mechanism comprises a first sensor connecting plate, a second sensor connecting plate, a tension and pressure sensor 504, a pitch and roll measuring mechanism upper plate 507, a cross shaft 503, a cross shaft support 502, a double-axis gyro angular displacement sensor 501, a pitch and roll measuring mechanism lower plate 505 and a limiting column 506;

[0039] The first sensor connecting plate and the second sensor connecting plate are cuboids; the top surface of the first sensor connecting plate is fixedly connected with the bottom surface of the measuring rod frame 302; a tension and compression force sensor 504 is arranged between the side surface of the first sensor connecting plate and the side surface of the second sensor connecting plate; the bottom surface of the first sensor connecting plate is coplanar with the bottom surface of the tension and compression force sensor 504; the top surface of the second sensor connecting plate is coplanar with the top surface of the tension and compression force sensor 504; a gap is arranged between the top surface of the tension and compression force sensor 504 and the bottom surface of the measuring rod frame 302; the bottom surface of the second sensor connecting plate is provided with a pitch and roll measuring mechanism upper plate 507; the bottom surface of the pitch and roll measuring mechanism upper plate 507 is provided with a first cross shaft support group; the first cross shaft support group comprises two cross shaft supports 502; the cross shaft support 502 comprises a fixed plate and a support plate; the support plate is arranged on the top surface of the fixed plate; the fixed plate and the support plate are perpendicular; a through hole is arranged on the support plate; the bottom surface of the fixed plate is fixedly connected with the bottom surface of the pitch and roll measuring mechanism upper plate 507; after the first cross shaft support group is installed, the connecting line of the through holes of the support plates of the two cross shaft supports is parallel to the horizontal direction; the driving shaft of the cross shaft 503 is arranged in the through holes of the two support plates of the first cross shaft support group; the second cross shaft support group comprises two cross shaft supports 502; the bottom surfaces of the two cross shaft supports of the second cross shaft support group are arranged on the top surface of a pitch and roll measuring mechanism lower plate 505; the connecting line of the through holes of the support plates of the second cross shaft support group is perpendicular to the connecting line of the through holes of the support plates of the first cross shaft support group; the driven shaft of the cross shaft 503 is arranged in the through holes of the support plates of the second cross shaft support group; the side surface of the support plate of any one cross shaft support of the second cross shaft support group is provided with a dual-axis gyroscope angular displacement sensor 501; the bottom surface of the pitch and roll measuring mechanism lower plate 505 is fixedly connected with the top surface of the ship model to be measured;

[0040] The connecting line of the two through holes of the support plates of the first cross shaft support group is provided with a lower groove at the orthographic projection position of the pitch and roll measuring mechanism lower plate 505; a limiting column 506 is arranged in the lower groove; the limiting column 506 is a cylinder; the height of the limiting column 506 is greater than the sum of the thicknesses of the pitch and roll measuring mechanism lower plate 505 and the fixed plate of the cross shaft support;

[0041] The line connecting the two through holes of the twentieth cross shaft support group support plate is provided with an upper groove at the position of the orthographic projection of the roll and pitch measuring mechanism upper plate 507; a second limiting column 506' is arranged in the upper groove; the second limiting column 506' is a cylinder; the height of the second limiting column 506' is greater than the sum of the thicknesses of the roll and pitch measuring mechanism upper plate 507 and the cross shaft support fixed plate; the limiting column 506 and the second limiting column 506' are used for limiting protection of the ship body below, preventing the first cross shaft support group and the second cross shaft support group from being damaged by colliding with the roll and pitch measuring mechanism lower plate 505 and the roll and pitch measuring mechanism upper plate 507 respectively during the test.

[0042] Further, the clamping rod 4 comprises a clamping rod grating ruler 401, a clamping rod frame 402, a lead screw 403, a lead screw nut 404, a clamping rod sliding rail 405, a motor 406, a motor support 407, an input shaft coupling 408, an output shaft coupling 409, a speed reducer 410, a clamping rod sliding block 411, a clamping rod grating ruler sliding block 413 and a clamping rod grating ruler sliding block support 414.

[0043] The clamping rod frame 402 comprises a third long plate, a third short plate, a fourth long plate and a fourth short plate; the third long plate, the third short plate, the fourth long plate and the fourth short plate are sequentially connected to form a closed and hollow cuboid frame structure; the fourth short plate is located at the top surface of the cuboid frame structure; the third long plate is arranged on the outer side of the right side surface of the steel beam 101;

[0044] A through hole is arranged at the center position of the fourth short plate; the lead screw nut 404 is arranged in the through hole; the lead screw 403 is arranged in the lead screw nut 404;

[0045] The clamping rod frame 402 is embedded in the steel beam 101; the long edge of the third long plate is perpendicular to the top surface of the steel beam 101; the outer side surface of the third long plate is provided with the clamping rod grating ruler 401 in the vertical direction; the clamping rod grating ruler 401 is provided with the clamping rod grating ruler sliding block 413; the bottom surface of the clamping rod grating ruler sliding block 413 is in sliding connection with the clamping rod grating ruler 401;

[0046] The top surface of the clamping rod grating ruler sliding block 413 is fixedly connected with the bottom surface of the support support plate of the clamping rod grating ruler sliding block support 414; the outer side surface of the support connecting plate of the clamping rod grating ruler sliding block support 414 is fixedly connected with the outer side surface of the upper clamping rod connecting plate flange of one side of the upper clamping rod connecting plate 412;

[0047] The inner walls of the third long plate and the fourth long plate are respectively provided with clamping rod sliding rails; the clamping rod sliding rails of the third long plate are provided with a ninth sliding block group; the ninth sliding block group comprises a plurality of clamping rod sliding blocks 411; the bottom surfaces of the clamping rod sliding blocks of the ninth sliding block group are in sliding connection with the clamping rod sliding rails;

[0048] The clamping rod sliding rail of the fourth long plate is provided with a tenth sliding block group; the tenth sliding block group comprises a plurality of clamping rod sliding blocks 411; the bottom surface of the clamping rod sliding block of the tenth sliding block group is in sliding connection with the clamping rod sliding rail;

[0049] The top surface of the clamping rod sliding block of the ninth sliding block group and the upper clamping rod connecting plate flange outer surface on one side of the upper clamping rod connecting plate 412 are fixedly connected;

[0050] The top surface of the clamping rod sliding block of the tenth sliding block group and the upper clamping rod connecting plate flange outer surface on the other side of the upper clamping rod connecting plate 412 are fixedly connected;

[0051] The clamping rod sliding rail of the third long plate is provided with an eleventh sliding block group; the eleventh sliding block group comprises a plurality of clamping rod sliding blocks 411; the bottom surface of the clamping rod sliding block of the eleventh sliding block group is in sliding connection with the clamping rod sliding rail;

[0052] The clamping rod sliding rail of the fourth long plate is provided with a twelfth sliding block group; the twelfth sliding block group comprises a plurality of clamping rod sliding blocks 411; the bottom surface of the clamping rod sliding block of the twelfth sliding block group is in sliding connection with the clamping rod sliding rail;

[0053] The top surface of the clamping rod sliding block of the eleventh sliding block group and the lower clamping rod connecting plate flange outer surface on one side of the lower clamping rod connecting plate 415 are fixedly connected;

[0054] The top surface of the clamping rod sliding block of the twelfth sliding block group and the lower clamping rod connecting plate flange outer surface on the other side of the lower clamping rod connecting plate 415 are fixedly connected;

[0055] The top surface of the upper clamping rod connecting plate 412 is provided with a speed reducer 410; the top surface of the speed reducer 410 is provided with an output shaft coupling 409; the output shaft coupling 409 is connected with one end of a lead screw 403; the top surface of the speed reducer 410 is fixedly provided with a motor support 407; the motor support 407 is a hollow cuboid; an input shaft coupling 408 is arranged in the motor support 407; the top surface of the motor support 407 is provided with a motor 406;

[0056] The bottom surface of the clamping rod frame 402 is provided with a clamp support seat; the clamp support seat is a cuboid; the two side surfaces of the clamp support seat along the longitudinal direction are respectively provided with a first clamping structure and a second clamping structure; the first clamping structure and the second clamping structure are the same; the first clamping structure comprises a clamp rack 416, an air cylinder 418 and a clamp 421; the clamp fixed support is arranged at the short edge position of the two side surfaces of the clamp support seat along the longitudinal direction; a third pin shaft 419 is arranged on the clamp fixed support;

[0057] The fixture frame 416 includes two identical and parallel right-angled triangular plates; the right-angled sides of the two right-angled triangular plates are fixedly connected to the side of the fixture support; a gap is provided between the two right-angled triangular plates; the sides of the two right-angled triangular plates fixed to the fixture support are the base sides; a first pin through hole and a second pin through hole are respectively provided at an angle opposite to the base sides of the two right-angled triangular plates; a first pin 417 is provided in the first pin through hole and the second pin through hole; a cylinder 418 is provided on the first pin 417; a first cylinder through hole and a second cylinder through hole are provided at both ends of the cylinder 418; a first pin 417 is provided in the first cylinder through hole; a second pin 420 is provided in the second cylinder through hole.

[0058] The second pin 420 fixes the cylinder 418 and the clamp 421 in place;

[0059] The clamp 421 is a right-angled tripod; one end of the inclined side of the clamp 421 is provided with a clamp through hole; a third pin 419 is provided in the clamp through hole; the other end of the inclined side of the clamp 421 is machined with an inclined surface; the inclined surfaces of the first clamping structure and the inclined surfaces of the second clamping structure cooperate to clamp the ship model through the movement of the cylinder.

[0060] In use, hook the crane hook onto the lifting lug, lift the airworthiness instrument to the power system, and fix the airworthiness instrument to the power system. Fix the bottom of the pitch and roll measuring mechanism to the hull model, clamp the hull model with the clamping rod, the power system provides power, the airworthiness instrument drags the hull model, and the sensors measure the four degrees of freedom motion of the hull model.

[0061] The beneficial effects of this invention are:

[0062] 1. This invention, by employing a single-layer beam configuration with a dual-motor linear motor, can meet the requirements of large sway range measurements and large-tonnage ship model experiments. By increasing the vertical thickness of the beam (i.e., section modulus), the rigidity of the steel beam is effectively improved, thereby enhancing the overall structural strength of the airworthiness instrument. The use of a dual-motor linear motor simplifies the structure of the airworthiness instrument, facilitates installation, and reduces equipment weight and cost.

[0063] 2. This invention employs a more advanced dual-axis gyroscope angular displacement sensor, which is fixedly mounted on a cross-axis bracket to directly measure the pitch and roll of the ship model. It eliminates the need for couplings or other mechanical structures, avoiding transmission errors caused by such mechanisms, thus improving measurement accuracy. Furthermore, the structure is simpler and installation is more convenient. Attached Figure Description

[0064] Figure 1 For airworthiness;

[0065] Figure 2 For rack 1;

[0066] Figure 3 View 2 of the linear motor module;

[0067] Figure 4 This is a bottom view of the linear motor module from two sides.

[0068] Figure 5 Schematic diagram of a heave measuring rod;

[0069] Figure 6 This is a schematic diagram of the clamping rod clamp;

[0070] Figure 7 This is a schematic diagram of a clamping rod fixture;

[0071] Figure 8 This is a schematic diagram of the pitch and roll measurement mechanism;

[0072] Figure 9 This is a schematic diagram of the acceleration phase;

[0073] Figure 10 This is a schematic diagram of the testing phase;

[0074] Figure 11 This is a schematic diagram of the upper measuring rod connecting plate;

[0075] Figure 12 Here is a schematic diagram of the lower measuring rod connecting plate;

[0076] Figure 13 This is a schematic diagram of the upper clamping rod connecting plate;

[0077] Figure 14 This is a schematic diagram of the lower clamping rod connecting plate;

[0078] Figure 15 Schematic diagram of the slider support for the oscillating grating ruler;

[0079] Figure 16 This is a schematic diagram showing the connection between the upper measuring rod connecting plate and the sliding block bracket of the oscillating grating ruler.

[0080] Figure 17 This is a schematic diagram showing the connection between the upper clamping rod connecting plate and the clamping rod grating ruler slider bracket;

[0081] In the diagram, 0-hull model; 1-frame; 2-linear motor module; 3-heave measurement rod; 4-clamping rod; 5-pitch and roll measurement mechanism; D: heading;

[0082] 101-Steel beam; 102-Lifting lug; 103-First U-shaped frame; 103'-Second U-shaped frame;

[0083] 201-Upper slide rail; 202-Upper linear motor stator; 203-Upper longitudinal grating ruler slider; 204-Slider; 205-Upper measuring rod linear motor mover; 206-Upper clamping rod linear motor mover; 207-Upper longitudinal grating ruler; 208-Lower slide rail; 209-Lower linear motor stator; 210-Lower measuring rod linear motor mover; 211-Lower clamping rod linear motor mover; 212-Lower longitudinal grating ruler; 213-Lower longitudinal grating ruler slider;

[0084] 301-Hydraulic grating ruler; 302-Measuring rod frame; 303-Measuring rod slide rail; 304-Measuring rod slider; 305-Upper measuring rod connecting plate; 306-Hydraulic grating ruler slider; 307-Hydraulic grating ruler slider bracket; 308-Lower measuring rod connecting plate;

[0085] 401-Clamping rod grating ruler; 402-Clamping rod frame; 403-Lead screw; 404-Lead screw nut; 405-Clamping rod slide rail; 406-Motor; 407-Motor bracket; 408-Input shaft coupling; 409-Output shaft coupling; 410-Reducer; 411-Clamping rod slider; 412-Upper clamping rod connecting plate; 413-Clamping rod grating ruler slider; 414-Clamping rod grating ruler slider bracket; 415-Lower clamping rod connecting plate; 416-Clamping frame; 417-First pin; 418-Cylinder; 419-Third pin; 420-Second pin; 421-Clamping fixture;

[0086] 501-Dual-axis gyroscope angular displacement sensor; 502-Cross shaft bracket; 503-Cross shaft; 504-Tension and compression sensor; 505-Lower plate of pitch and roll measuring mechanism; 506-Limit post 506; 506'-Second limit post; 507-Upper plate of pitch and roll measuring mechanism. Detailed Implementation

[0087] For ease of description, a coordinate system is defined as follows:

[0088] The longitudinal direction of a ship is from bow to stern, and the longitudinal sway is called pitching.

[0089] The direction from the port side to the starboard side of a ship is called transverse, and the transverse swaying is called swaying.

[0090] The vertical direction from the upper deck to the bottom of the hull is called vertical movement; vertical movement is called heeling; lateral rolling is called rolling; and longitudinal rolling is called pitching.

[0091] A single-beam four-degree-of-freedom airworthiness instrument based on a dual-actuator linear motor includes a frame 1, a linear motor module 2, a heave measurement rod 3, a clamping rod 4, and a pitch and roll measurement mechanism 5. The linear motor module 2 is mounted on the frame 1. Both the heave measurement rod 3 and the clamping rod 4 are frame structures. The frame 1 is embedded with both the heave measurement rod 3 and the clamping rod 4. The frame 1 is slidably connected to both the heave measurement rod 3 and the clamping rod 4. The pitch and roll measurement mechanism 5 is mounted on the bottom surface of the heave measurement rod 3. The pitch and roll measurement mechanism 5 is fixedly connected to a hull model 0. A clamping rod fixture is mounted at the bottom of the clamping rod 4, and the clamping rod fixture is movably connected to the hull model.

[0092] The frame 1 includes a steel beam 101, lifting lugs 102, and a U-shaped frame; the steel beam 101 is a cuboid; the long side of the steel beam 101 is parallel to the direction from bow to stern; the steel beam 101 moves longitudinally, with the windward side of the steel beam 101 being the front; the leeward side of the steel beam 101 being the rear; the side of the steel beam 101 closest to the port side being the left side; the side of the steel beam 101 closest to the starboard side being the right side; the front and rear of the steel beam 101 are respectively provided with transverse grooves; the U-shaped frame includes a first U-shaped frame 103 and a second U-shaped frame 103';

[0093] A first U-shaped frame 103 and a second U-shaped frame 103' are respectively provided in the groove; the openings of the first U-shaped frame 103 and the second U-shaped frame 103' face vertically upward; the bottoms of the first U-shaped frame 103 and the second U-shaped frame 103' are respectively embedded in the groove; the top surface of the U-shaped support arm of the first U-shaped frame 103 and the second U-shaped frame 103' is provided with a flange perpendicular to the U-shaped support arm; the top surface of the flange is provided with a lifting lug 102;

[0094] The linear motor module 2 includes an upper slide rail 201, an upper linear motor stator 202, an upper longitudinal grating ruler slider 203, a slider 204, an upper measuring rod linear motor mover 205, an upper clamping rod linear motor mover 206, an upper longitudinal grating ruler 207, a lower slide rail 208, a lower linear motor stator 209, a lower measuring rod linear motor mover 210, a lower clamping rod linear motor mover 211, a lower longitudinal grating ruler 212, a lower longitudinal grating ruler slider 213, an upper measuring rod connecting plate 305, a lower measuring rod connecting plate 308, an upper clamping rod connecting plate 412, and a lower clamping rod connecting plate 415.

[0095] The top surface of the steel beam 101 is provided with an upper linear motor stator 202 along the longitudinal direction; upper slide rails 201 are provided on both sides of the upper linear motor stator 202 along the longitudinal direction; a first slider group and a second slider group are provided on the upper slide rails 201; the first slider group and the second slider group each include a plurality of sliders 204.

[0096] The top surface of the first slider group is provided with an upper measuring rod connecting plate 305; the upper measuring rod connecting plate 305 is a rectangular plate; the top surface of the upper measuring rod connecting plate 305 has upper measuring rod connecting plate flanges along the two long edges, forming a "U" shape; the bottom surface of the upper measuring rod connecting plate 305 has two parallel upper measuring rod connecting plate protrusions; the bottom surface of the upper measuring rod connecting plate protrusions is connected to the top surface of the first slider group; the outer side surface of the upper measuring rod connecting plate protrusions is provided with a first T-shaped connecting structure; the first T-shaped connecting structure includes a base plate and a vertical plate; the vertical plate is perpendicular to the base plate; the bottom surface of the vertical plate is fixedly connected to the top surface of the base plate; the side surface of the vertical plate is fixedly connected to the side surface of the upper measuring rod connecting plate protrusions.

[0097] The upper measuring rod linear motor mover 205 is provided between the two upper measuring rod connecting plate protrusions of the upper measuring rod connecting plate 305;

[0098] An upper longitudinal grating ruler 207 is arranged longitudinally on the right side of the steel beam 101 and near the top surface of the steel beam 101; an upper longitudinal grating ruler slider 203 is arranged on the upper longitudinal grating ruler 207; the upper longitudinal grating ruler slider 203 slides along the upper longitudinal grating ruler 207; the top surface of the upper longitudinal grating ruler slider 203 is fixedly connected to the bottom surface of the first T-shaped connecting structure base plate of the upper measuring rod connecting plate 305;

[0099] The upper clamping rod connecting plate 412 is provided on the top surface of the second slider group;

[0100] The upper clamping rod connecting plate 412 is a rectangular plate; the top surface of the upper clamping rod connecting plate 412 is provided with upper clamping rod connecting plate flanges along the two long sides, forming a "U" shape; the bottom surface of the upper clamping rod connecting plate 412 is provided with two parallel upper clamping rod connecting plate protrusions; the bottom surface of the upper clamping rod connecting plate protrusions is connected to the top surface of the second slider group; the bottom surface of the upper clamping rod connecting plate 412 is provided with an upper clamping rod linear motor mover 206; the upper clamping rod linear motor mover 206 is located between the two upper clamping rod connecting plate protrusions;

[0101] A lower linear motor stator 209 is longitudinally arranged on the bottom surface of the steel beam 101; a lower sliding rail 208 is arranged on both sides of the lower linear motor stator 209 along the longitudinal direction; a third slider group and a fourth slider group are arranged on the lower sliding rail 208; each of the third slider group and the fourth slider group includes several sliders; the sliders are arranged on the lower sliding rail 208; a lower measuring rod connecting plate 308 is arranged on the bottom surface of the third slider group;

[0102] The lower measuring rod connecting plate 308 is a rectangular plate; the bottom surface of the lower measuring rod connecting plate 308 has two lower measuring rod connecting plate flanges along the two long sides, forming an inverted "U" shape; the top surface of the lower measuring rod connecting plate 308 has two parallel lower measuring rod connecting plate protrusions; the top surface of the lower measuring rod connecting plate protrusions is fixedly connected to the bottom surface of the third slider group;

[0103] The top surface of the lower measuring rod connecting plate 308, and the lower measuring rod linear motor mover 210 is provided between the two lower measuring rod connecting plate protrusions;

[0104] The bottom surface of the fourth slider group is provided with a lower clamping rod connecting plate 415;

[0105] The lower clamping rod connecting plate 415 is a rectangular plate; two lower measuring rod connecting plate flanges are respectively provided along the two long edges of the bottom surface of the lower clamping rod connecting plate 415, forming an inverted "U" shape; two parallel lower clamping rod connecting plate protrusions are provided on the top surface of the lower clamping rod connecting plate 415; the top surface of the lower clamping rod connecting plate protrusions is fixedly connected to the bottom surface of the fourth slider group; a lower clamping rod linear motor mover 211 is provided on the top surface of the lower clamping rod connecting plate 415; the lower clamping rod linear motor mover 211 is located on the two parallel lower clamping rods Between the protrusions of the connecting plates; a second T-shaped connecting structure is provided on the side of the protrusion of the lower clamping rod connecting plate; the second T-shaped connecting structure includes a top plate and a vertical plate; the top plate of the second T-shaped connecting structure is perpendicular to the vertical plate of the second T-shaped connecting structure; the bottom surface of the top plate of the second T-shaped connecting structure is fixedly connected to the top surface of the vertical plate of the second T-shaped connecting structure; the side of the vertical plate of the second T-shaped connecting structure is fixedly connected to the side of the protrusion of the lower clamping rod connecting plate; the bottom surface of the top plate of the second T-shaped connecting structure is fixedly connected to the top surface of the protrusion of the lower clamping rod connecting plate.

[0106] A lower longitudinal grating ruler 212 is provided on the right side of the steel beam 101 and near the bottom surface of the steel beam 101; a lower longitudinal grating ruler slider 213 is provided on the lower longitudinal grating ruler 212; the bottom surface of the lower longitudinal grating ruler slider 213 is fixedly connected to the top surface of the top plate of the second T-shaped connecting structure of the lower clamping rod connecting plate.

[0107] The heave measuring rod 3 includes a heave grating ruler 301, a measuring rod frame 302, a measuring rod slide rail 303, a measuring rod slider 304, a heave grating ruler slider 306, and a heave grating ruler slider bracket 307.

[0108] The heave grating ruler slider bracket 307 includes a bracket support plate and a bracket connecting plate; the bracket connecting plate is vertically disposed on the top surface of the bracket support plate; the bracket connecting plate is disposed on one short edge of the top surface of the bracket support plate.

[0109] The steel beam 101 is embedded in the measuring rod frame 302; the measuring rod frame 302 includes a first long plate, a first short plate, a second long plate, and a second short plate; the first long plate, the first short plate, the second long plate, and the second short plate are connected in sequence to form a closed and hollow cuboid frame structure; the distance between the first long plate and the second long plate is the same as the width of the upper measuring rod connecting plate 305; the first long plate is located on the outer side of the right side of the steel beam 101;

[0110] After the steel beam 101 is embedded in the measuring rod frame 302, the long side of the first long plate is parallel to the vertical direction and perpendicular to the top surface of the steel beam 101; measuring rod slide rails are respectively provided on the inner side of the first long plate and the inner side of the second long plate; a fifth slider group is provided on the measuring rod slide rail on the inner side of the first long plate; a sixth slider group is provided on the measuring rod slide rail on the inner side of the second long plate; both the fifth and sixth slider groups include several measuring rod sliders 304; the bottom surface of the measuring rod sliders of the fifth and sixth slider groups is slidably connected to the measuring rod slide rail; the top surface of the measuring rod sliders of the fifth and sixth slider groups is fixedly connected to the flange of the upper measuring rod connecting plate on one side of the upper measuring rod connecting plate 305.

[0111] A seventh slider group is provided on the measuring rod slide rail on the inner side of the first long plate; an eighth slider group is provided on the measuring rod slide rail on the inner side of the second long plate; both the seventh slider group and the eighth slider group include a plurality of measuring rod sliders 304.

[0112] The bottom surface of the measuring rod slider of the seventh slider group is slidably connected to the measuring rod slide rail of the first long plate;

[0113] The bottom surface of the measuring rod slider of the eighth slider group is slidably connected to the measuring rod slide rail of the second long plate;

[0114] The top surface of the measuring rod slider of the seventh slider group is fixedly connected to the outer side of the flange of the upper measuring rod connecting plate on one side of the lower measuring rod connecting plate 308.

[0115] The top surface of the measuring rod slider of the eighth slider group is fixedly connected to the outer side of the flange of the upper measuring rod connecting plate on the other side of the lower measuring rod connecting plate 308.

[0116] A helical grating ruler 301 is provided on the outer side of the first long plate; a helical grating ruler slider 306 is provided on the helical grating ruler 301; the bottom surface of the helical grating ruler slider 306 is slidably connected to the helical grating ruler 301; the top surface of the helical grating ruler slider 306 is fixedly connected to the bottom surface of the support plate of the helical grating ruler slider bracket 307; the outer side of the support connecting plate of the helical grating ruler slider bracket 307 is fixedly connected to the outer side of the flange of the upper measuring rod connecting plate.

[0117] The bottom surface of the measuring rod frame 302 is provided with a pitch and roll measuring mechanism; the pitch and roll measuring mechanism includes a first sensor connecting plate, a second sensor connecting plate, a tension and compression sensor 504, a pitch and roll measuring mechanism upper plate 507, a cross shaft 503, a cross shaft bracket 502, a dual-axis gyroscope angular displacement sensor 501, a pitch and roll measuring mechanism lower plate 505, and a limiting post 506;

[0118] The first sensor connecting plate and the second sensor connecting plate are cuboids; the top surface of the first sensor connecting plate is fixedly connected to the bottom surface of the measuring rod frame 302; a tension / compression sensor 504 is provided between the side surface of the first sensor connecting plate and the side surface of the second sensor connecting plate; the tension / compression sensor 504 measures the force on the hull model in the longitudinal direction.

[0119] The bottom surface of the first sensor connecting plate is coplanar with the bottom surface of the tension / compression sensor 504; the top surface of the second sensor connecting plate is coplanar with the top surface of the tension / compression sensor 504; a gap is provided between the top surface of the tension / compression sensor 504 and the bottom surface of the measuring rod frame 302; a pitch and roll measuring mechanism upper plate 507 is provided on the bottom surface of the second sensor connecting plate; a first cross-axis support group is provided on the bottom surface of the pitch and roll measuring mechanism upper plate 507; the first cross-axis support group includes two cross-axis supports 502; each cross-axis support 502 includes a fixing plate and a support plate; a support plate is provided on the top surface of the fixing plate; the fixing plate and the support plate are perpendicular; a through hole is provided on the support plate; the bottom surface of the fixing plate is fixedly connected to the bottom surface of the pitch and roll measuring mechanism upper plate 507; the first cross-axis support... After assembly, the line connecting the through holes of the two cross-axis bracket support plates is parallel to the transverse direction; the active shaft of the cross-axis 503 is installed in the through holes of the two support plates of the first cross-axis bracket group; the second cross-axis bracket group includes two cross-axis brackets 502; the bottom surfaces of the two cross-axis brackets of the second cross-axis bracket group are set on the top surface of the lower plate 505 of the pitch and roll measuring mechanism; the line connecting the through holes of the support plates of the second cross-axis bracket group is perpendicular to the line connecting the through holes of the support plates of the first cross-axis bracket group; the driven shaft of the cross-axis 503 is installed in the through holes of the support plates of the second cross-axis bracket group; a dual-axis gyroscope angular displacement sensor 501 is installed on the side of the support plate of any cross-axis bracket of the second cross-axis bracket group; the bottom surface of the lower plate 505 of the pitch and roll measuring mechanism is fixedly connected to the top surface of the hull model to be measured;

[0120] A groove is provided at the orthogonal projection position of the lower plate 505 of the first cross shaft bracket support plate, where the line connecting the two through holes of the first cross shaft bracket support plate is located; a limiting post 506 is provided in the lower groove; the limiting post 506 is a cylinder; the height of the limiting post 506 is greater than the sum of the thicknesses of the lower plate 505 of the roll and pitch measuring mechanism and the cross shaft bracket fixing plate.

[0121] A groove is provided at the orthographic projection position of the upper plate 507 of the pitch and roll measuring mechanism on the line connecting the two through holes of the second cross shaft bracket support plate; a second limiting post 506' is provided in the upper groove; the second limiting post 506' is a cylinder; the height of the second limiting post 506' is greater than the sum of the thicknesses of the upper plate 507 of the pitch and roll measuring mechanism and the cross shaft bracket fixing plate; the limiting post 506 and the second limiting post 506' are used to limit and protect the hull below, preventing damage caused by the first cross shaft bracket group and the second cross shaft bracket group colliding with the lower plate 505 of the pitch and roll measuring mechanism and the upper plate 507 of the pitch and roll measuring mechanism respectively during the test;

[0122] The clamping rod 4 includes a clamping rod grating ruler 401, a clamping rod frame 402, a lead screw 403, a lead screw nut 404, a clamping rod slide rail 405, a motor 406, a motor bracket 407, an input shaft coupling 408, an output shaft coupling 409, a reducer 410, a clamping rod slider 411, a clamping rod grating ruler slider 413, and a clamping rod grating ruler slider bracket 414;

[0123] The clamping rod frame 402 includes a third long plate, a third short plate, a fourth long plate, and a fourth short plate; the third long plate, the third short plate, the fourth long plate, and the fourth short plate are connected in sequence to form a closed and hollow cuboid frame structure; the fourth short plate is located on the top surface of the cuboid frame structure; the third long plate is located on the outer side of the right side of the steel beam 101;

[0124] A through hole is provided at the center of the fourth short plate; a lead screw nut 404 is provided in the through hole; a lead screw 403 is provided in the lead screw nut 404;

[0125] The clamping rod frame 402 is embedded with a steel beam 101; the long side of the third long plate is perpendicular to the top surface of the steel beam 101; a clamping rod grating ruler 401 is provided on the outer side of the third long plate in a vertical direction; a clamping rod grating ruler slider 413 is provided on the clamping rod grating ruler 401; the bottom surface of the clamping rod grating ruler slider 413 is slidably connected to the clamping rod grating ruler 401.

[0126] The top surface of the clamping rod grating ruler slider 413 is fixedly connected to the bottom surface of the bracket support plate of the clamping rod grating ruler slider bracket 414; the outer side of the bracket connecting plate of the clamping rod grating ruler slider bracket 414 is fixedly connected to the outer side of the flange of the upper clamping rod connecting plate on one side of the upper clamping rod connecting plate 412.

[0127] The inner walls of the third and fourth long plates are respectively provided with clamping rod slide rails; a ninth slider group is provided on the clamping rod slide rail of the third long plate; the ninth slider group includes a plurality of clamping rod sliders 411; the bottom surface of the clamping rod sliders of the ninth slider group is slidably connected to the clamping rod slide rail.

[0128] The clamping rod slide rail of the fourth long plate is provided with a tenth slider group; the tenth slider group includes a plurality of clamping rod sliders 411; the bottom surface of the clamping rod slider of the tenth slider group is slidably connected to the clamping rod slide rail.

[0129] The top surface of the clamping rod slider of the ninth slider group is fixedly connected to the outer surface of the flange of the upper clamping rod connecting plate 412 on one side;

[0130] The top surface of the clamping rod slider of the tenth slider group is fixedly connected to the outer surface of the flange of the upper clamping rod connecting plate 412 on the other side;

[0131] The clamping rod slide rail of the third long plate is provided with an eleventh slider group; the eleventh slider group includes a plurality of clamping rod sliders 411; the bottom surface of the clamping rod slider of the eleventh slider group is slidably connected to the clamping rod slide rail.

[0132] The fourth long plate has a twelfth slider group on its clamping rod slide rail; the twelfth slider group includes several clamping rod sliders 411; the bottom surface of the clamping rod sliders of the twelfth slider group is slidably connected to the clamping rod slide rail.

[0133] The top surface of the clamping rod slider of the eleventh slider group is fixedly connected to the outer surface of the flange of the lower clamping rod connecting plate 415 on one side.

[0134] The top surface of the clamping rod slider of the twelfth slider group is fixedly connected to the outer surface of the flange of the lower clamping rod connecting plate 415 on the other side.

[0135] A reducer 410 is provided on the top surface of the upper clamping rod connecting plate 412; an output shaft coupling 409 is provided on the top surface of the reducer 410; the output shaft coupling 409 is connected to one end of the lead screw 403; a motor bracket 407 is fixedly provided on the top surface of the reducer 410; the motor bracket 407 is a hollow cuboid; an input shaft coupling 408 is provided inside the motor bracket 407; and a motor 406 is provided on the top surface of the motor bracket 407.

[0136] The bottom surface of the clamping rod frame 402 is provided with a clamping support base; the clamping support base is a cuboid; the clamping support base is provided with a first clamping structure and a second clamping structure on two longitudinal sides respectively; the first clamping structure and the second clamping structure are the same; the first clamping structure includes a clamping frame 416, a cylinder 418 and a clamp 421; a clamping fixing bracket is provided at the short side position of the two longitudinal sides of the clamping support base; a third pin 419 is provided on the clamping fixing bracket;

[0137] The fixture frame 416 includes two identical and parallel right-angled triangular plates; the right-angled sides of the two right-angled triangular plates are fixedly connected to the side of the fixture support; a gap is provided between the two right-angled triangular plates; the sides of the two right-angled triangular plates fixed to the fixture support are the base sides; a first pin through hole and a second pin through hole are respectively provided at an angle opposite to the base sides of the two right-angled triangular plates; a first pin 417 is provided in the first pin through hole and the second pin through hole; a cylinder 418 is provided on the first pin 417; a first cylinder through hole and a second cylinder through hole are provided at both ends of the cylinder 418; a first pin 417 is provided in the first cylinder through hole; a second pin 420 is provided in the second cylinder through hole.

[0138] The second pin 420 fixes the cylinder 418 and the clamp 421 in place;

[0139] The clamp 421 is a right-angled tripod; one end of the inclined side of the clamp 421 is provided with a clamp through hole; a third pin 419 is provided in the clamp through hole; the other end of the inclined side of the clamp 421 is machined with an inclined surface; the inclined surfaces of the first clamping structure and the inclined surfaces of the second clamping structure cooperate to clamp the ship model through the movement of the cylinder.

[0140] In use, hook the crane hook onto the lifting lug, lift the airworthiness instrument to the power system, and fix the airworthiness instrument to the power system. Fix the bottom of the pitch and roll measuring mechanism to the hull model, clamp the hull model with the clamping rod, the power system provides power, the airworthiness instrument drags the hull model, and the sensors measure the four degrees of freedom motion of the hull model.

[0141] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0142] like Figure 1 As shown, the present invention consists of 5 parts: frame 1, linear motor module 2, heave measuring rod 3, clamping rod 4, and pitch and roll measuring mechanism 5.

[0143] When using this invention, its frame 1 is installed on a trailer in a towing pool, the lower end of the pitch and roll measuring mechanism 5 is installed on the hull model, and the clamp 421 of the clamping rod 4 holds the hull model 0.

[0144] like Figure 2 As shown, the frame 1 consists of a steel beam 101, a lifting lug 102, and a U-shaped frame 103.

[0145] Among them, steel beam 101, lifting lug 102 and U-shaped frame 103 are all independently designed parts.

[0146] The U-shaped frame 103 is fixed to both ends of the steel beam 101, and the lifting lug 102 is fixed to the upper surface of the U-shaped frame 103.

[0147] The lifting lug 102 can be used to lift the entire airworthiness instrument. During testing, the U-shaped frame 103 is fixed on both sides to the trailer in the towing pool.

[0148] like Figure 3 and Figure 4 As shown, the linear motor module 2 consists of an upper slide rail 201, an upper linear motor stator 202, an upper longitudinal grating ruler slider 203, a slider 204, an upper measuring rod linear motor mover 205, an upper clamping rod linear motor mover 206, an upper longitudinal grating ruler 207, a lower slide rail 208, a lower linear motor stator 209, a lower measuring rod linear motor mover 210, a lower clamping rod linear motor mover 211, a lower longitudinal grating ruler 212, and a lower longitudinal grating ruler slider 213.

[0149] The upper slide rail 201, upper linear motor stator 202, upper longitudinal grating ruler slider 203, slider 204, upper measuring rod linear motor mover 205, upper clamping rod linear motor mover 206, upper longitudinal grating ruler 207, lower slide rail 208, lower linear motor stator 209, lower measuring rod linear motor mover 210, lower clamping rod linear motor mover 211, lower longitudinal grating ruler 212, and lower longitudinal grating ruler slider 213 are all existing standard parts and can be directly selected.

[0150] The upper linear motor stator 202 and the lower linear motor stator 209 are respectively fixed to the upper and lower surfaces of the steel beam 101. The upper slide rail 201 and the lower slide rail 208 are located on both sides of the upper linear motor stator 202 and the lower linear motor stator 209, respectively, and are fixed to the upper and lower surfaces of the steel beam 101.

[0151] The upper longitudinal grating ruler 207 and the lower longitudinal grating ruler 212 are respectively fixed to the upper and lower sides of the steel beam 101. One side of the upper longitudinal grating ruler slider 203 is mounted on the upper longitudinal grating ruler 207 and can slide along it; the other side of the upper longitudinal grating ruler slider 203 is fixedly connected to the middle position of the upper measuring rod connecting plate 305. One side of the lower longitudinal grating ruler slider 213 is mounted on the lower longitudinal grating ruler 212 and can slide along it; the other side of the lower longitudinal grating ruler slider 213 is fixedly connected to the middle position of the lower clamping rod connecting plate 415.

[0152] The upper measuring rod linear motor mover 205 and the lower measuring rod linear motor mover 210 are fixedly connected to the upper measuring rod connecting plate 305 and the lower measuring rod connecting plate 308, respectively. The upper clamping rod linear motor mover 206 and the lower clamping rod linear motor mover 211 are fixedly connected to the upper clamping rod connecting plate 412 and the lower clamping rod connecting plate 415, respectively. A slider 204 is fixedly attached to each corner of the upper measuring rod connecting plate 305, the lower measuring rod connecting plate 308, the upper clamping rod connecting plate 412, and the lower clamping rod connecting plate 415. The sliders 204 are respectively mounted on the upper slide rail 201 and the lower slide rail 208, and can slide along them.

[0153] Functionality implementation:

[0154] Under the constraint of slider 204 and upper slide rail 201, upper linear motor stator 202 drives upper measuring rod linear motor mover 205 and upper clamping rod linear motor mover 206 to move along the direction of upper slide rail 201 via electromagnetic force, thereby driving upper measuring rod connecting plate 305 and upper clamping rod connecting plate 412 to move along the direction of upper slide rail 201. The position of upper longitudinal grating ruler slider 203, that is, the position of upper measuring rod connecting plate 305 and upper measuring rod linear motor mover 205, can be measured by upper longitudinal grating ruler 207.

[0155] Under the constraint of slider 204 and lower slide rail 208, the lower linear motor stator 209 drives the lower measuring rod linear motor mover 210 and the lower clamping rod linear motor mover 211 to move along the lower slide rail 208 via electromagnetic force, thereby driving the lower measuring rod connecting plate 308 and the lower clamping rod connecting plate 415 to move along the lower slide rail 208. The position of the lower longitudinal grating ruler slider 213, i.e., the position of the lower clamping rod connecting plate 415 and the lower clamping rod linear motor mover 211, can be measured by the lower longitudinal grating ruler 212.

[0156] like Figure 5 As shown, the heave measuring rod 3 consists of a heave grating ruler 301, a measuring rod frame 302, a measuring rod slide rail 303, a measuring rod slider 304, an upper measuring rod connecting plate 305, a heave grating ruler slider 306, a heave grating ruler slider bracket 307, and a lower measuring rod connecting plate 308.

[0157] Among them, the heave grating ruler 301, the measuring rod slide rail 303, the measuring rod slider 304, and the heave grating ruler slider 306 are all existing standard parts and can be directly selected.

[0158] The measuring rod frame 302, the upper measuring rod connecting plate 305, the lower measuring rod connecting plate 308, and the swaying grating ruler slider bracket 307 are independently designed parts.

[0159] The oscillating grating ruler 301 is fixed on the outer side of one side of the measuring rod frame 302. The oscillating grating ruler slider 306 is mounted on the oscillating grating ruler 301 and can slide along the oscillating grating ruler 301. The other side of the oscillating grating ruler slider 306 is fixed on the oscillating grating ruler slider bracket 307. The oscillating grating ruler slider bracket 307 is fixed on the upper measuring rod connecting plate 305.

[0160] Four measuring rod slide rails 303 are fixed to the inner sides of both sides of the measuring rod frame 302, and eight measuring rod sliders 304 are respectively installed on the four measuring rod slide rails 303, which can slide along the measuring rod slide rails 303. The other side of the measuring rod sliders 304 is fixed to both sides of the upper measuring rod connecting plate 305 and the lower measuring rod connecting plate 308.

[0161] Functionality implementation:

[0162] Under the constraints of the measuring rod slide rail 303 and the measuring rod slider 304, the heave measuring rod 3 can move in the heave direction, and the displacement of the heave measuring rod 3 in the heave direction can be measured by the heave grating ruler 301.

[0163] like Figure 6 and Figure 7 As shown, the clamping rod 4 consists of a clamping rod grating ruler 401, a clamping rod frame 402, a lead screw 403, a lead screw nut 404, a clamping rod slide rail 405, a motor 406, a motor bracket 407, an input shaft coupling 408, an output shaft coupling 409, a reducer 410, a clamping rod slider 411, an upper clamping rod connecting plate 412, a clamping rod grating ruler slider 413, a clamping rod grating ruler slider bracket 414, a lower clamping rod connecting plate 415, a fixture frame 416, a pin 417, a cylinder 418, a pin 419, a pin 420, and a fixture 421.

[0164] The clamping rod grating ruler 401, lead screw 403, lead screw nut 404, clamping rod slide rail 405, motor 406, input shaft coupling 408, output shaft coupling 409, reducer 410, clamping rod slider 411, clamping rod grating ruler slider 413, and cylinder 418 are all existing standard parts and can be directly selected.

[0165] The clamping rod frame 402, motor bracket 407, upper clamping rod connecting plate 412, clamping rod grating ruler slider bracket 414, lower clamping rod connecting plate 415, fixture frame 416, pin 417, pin 419, pin 420 and fixture 421 are self-designed parts.

[0166] The clamping rod grating ruler 401 is fixed on the outer side of one side of the clamping rod frame 402. The clamping rod grating ruler slider 413 is installed on the clamping rod grating ruler 401 and can slide along the clamping rod grating ruler 401. The other side of the clamping rod grating ruler slider 413 is fixed on the clamping rod grating ruler slider bracket 414. The clamping rod grating ruler slider bracket 414 is fixed on the upper clamping rod connecting plate 412.

[0167] Four clamping rod slide rails 405 are fixed to the inner sides of both sides of the clamping rod frame 402, and eight clamping rod sliders 411 are respectively installed on the four clamping rod slide rails 405, which can slide along the clamping rod slide rails 405. The other side of the clamping rod sliders 411 is fixed to both sides of the upper clamping rod connecting plate 412 and the lower clamping rod connecting plate 415.

[0168] The reducer 410 is fixed on the upper clamping rod connecting plate 412, and the motor bracket 407 is fixed on the reducer 410. The output shaft of the motor 406 and the input shaft of the reducer 410 are fixedly connected through the input shaft coupling 408. The output shaft of the reducer 410 and the lower end of the lead screw 403 are fixedly connected through the output shaft coupling 409. The lead screw nut 404 is fixed on the upper end face of the clamping rod frame 402, and the upper end of the lead screw 403 mates with the lead screw nut 404.

[0169] The fixture frame 416 is fixed to the lower end face of the clamping rod frame 402. The hole above the cylinder 418 is engaged with the hole above the fixture frame 416 through the pin 417. The hole below the cylinder 418 is engaged with the hole in the middle of the fixture 421 through the pin 420. The hole at the upper end of the fixture 421 is engaged with the hole below the fixture frame 416 through the pin 419.

[0170] Functionality implementation:

[0171] The clamp 421 can be opened and closed by the extension and retraction of the cylinder 418, thereby clamping or releasing the hull model 0.

[0172] The motor 406, after being reduced in speed by the reducer 410, drives the lead screw 403 to rotate. The rotation of the lead screw 403 forces the lead screw nut 404 to move up and down, which in turn drives the clamping rod frame 402 to move up and down. When the clamping rod frame 402 moves up and down, the displacement of the clamping rod frame 402 can be measured by the clamping rod grating ruler 401, thereby enabling precise control of its lifting and lowering.

[0173] like Figure 8 As shown, the pitch and roll measuring mechanism 5 consists of a dual-axis gyroscope angular displacement sensor 501, a cross-axis bracket 502, a cross-axis 503, a tension and compression sensor 504, a lower plate 505 for the pitch and roll measuring mechanism, a limit post 506, and an upper plate 507 for the pitch and roll measuring mechanism.

[0174] The dual-axis gyroscope angular displacement sensor 501 and the tension / compression sensor 504 are existing standard parts and can be selected directly.

[0175] The cross shaft bracket 502, cross shaft 503, lower plate 505 of the pitch and roll measuring mechanism, limit post 506, and upper plate 507 of the pitch and roll measuring mechanism are self-designed parts.

[0176] One end of the tension / compression sensor 504 is fixed to the measuring rod frame 302, and the other end is fixed to the upper plate 507 of the pitch and roll measuring mechanism. The lower plate 505 of the pitch and roll measuring mechanism is fixed to the hull model 0. The cross shaft 503 is inserted into the holes of four cross shaft brackets 502, and the four cross shaft brackets 502 are respectively fixed to the lower plate 505 and the upper plate 507 of the pitch and roll measuring mechanism. Four limiting posts 506 are respectively fixed in the middle of the lower plate 505 and the upper plate 507 of the pitch and roll measuring mechanism. The dual-axis gyroscope angular displacement sensor 501 is fixed to the outer wall of the cross shaft bracket 502 on one side of the lower plate 505 of the pitch and roll measuring mechanism.

[0177] Functionality implementation:

[0178] The cross shaft 503 and four cross shaft supports 502 constitute a universal joint mechanism, which can accommodate the pitching and rolling movements of the ship model 0. The dual-axis gyroscope angular displacement sensor 501 can measure the pitching and rolling angular displacements of the ship model 0. The tension and compression sensor 504 can measure the forces acting on the ship model 0 in the pitching direction.

[0179] In use, the entire airworthiness instrument is first lifted using the lifting lugs 102, then the U-shaped frame 103 is fixed to the trailer in the towing tank on both sides, and then the lifting lugs 102 are released. Next, the lower plate 505 of the pitch and roll measurement mechanism is fixed to the hull model 0, completing the installation phase;

[0180] During the acceleration phase, the hull model 0 requires a large amount of power, F=ma, which is provided by the clamping rod 4, and the heave measuring rod 3 is relaxed. The linear motor module 2 drives the clamping rod 4 to move above the docking position of the hull model 0. The motor 406 is reduced in speed by the reducer 410, which drives the lead screw 403 to rotate, causing the clamping rod 4 to descend and clamp the hull model 0 through the clamp 421.

[0181] The upper measuring rod linear motor mover 205 and the lower measuring rod linear motor mover 210 are released, and the upper clamping rod linear motor mover 206 and the lower clamping rod linear motor mover 211 are controlled to output power.

[0182] Since the upper measuring rod linear motor mover 205 and the lower measuring rod linear motor mover 210 are relaxed, the heave measuring rod 3 is not subjected to bending moment and only moves with the hull model 0, thus protecting the heave measuring rod 3. The upper clamping rod linear motor mover 206 and the lower clamping rod linear motor mover 211 output power, which in turn pulls the hull model 0 to perform accelerated motion, such as... Figure 9 As shown.

[0183] During the testing phase, after the hull model 0 completes acceleration, it enters a constant speed phase, requiring relatively little power (F = f water resistance), which is provided by the heave measuring rod 3. The clamping rod 4 releases the hull model 0, which rises under the action of the motor 406 and the lead screw 403, and moves to one side under the action of the linear motor module 2 to avoid interfering with the movement of the heave measuring rod 3.

[0184] The upper measuring rod linear motor mover 205 and the lower measuring rod linear motor mover 210 are controlled to output power to maintain the movement of the hull model 0. The upper clamping rod linear motor mover 206 and the lower clamping rod linear motor mover 211 are controlled to move to one end of the linear motor module 2 and then come to a stop. Figure 10 As shown.

[0185] During the deceleration phase, after the test is completed, the deceleration phase begins. Similar to the acceleration phase, the hull model 0 requires a large resistance F=ma, which is provided by the clamping rod 4, and the heave measuring rod 3 is released. The linear motor module 2 drives the clamping rod 4 to move above the docking position of the hull model 0. The motor 406, after being reduced by the reducer 410, drives the lead screw 403 to rotate, causing the clamping rod 4 to descend and clamp the hull model 0 through the clamp 420.

[0186] The upper measuring rod linear motor mover 205 and the lower measuring rod linear motor mover 210 are released, and the upper clamping rod linear motor mover 206 and the lower clamping rod linear motor mover 211 are controlled to output resistance.

[0187] Since the upper measuring rod linear motor mover 205 and the lower measuring rod linear motor mover 210 are relaxed, the heave measuring rod 3 is not subjected to bending moment and only moves with the hull model 0, thus protecting the heave measuring rod 3. The upper clamping rod linear motor mover 206 and the lower clamping rod linear motor mover 211 output resistance, thereby causing the hull model 0 to decelerate.

Claims

1. A single-steel-beam four-degree-of-freedom airworthiness instrument based on a double-mover linear motor, characterized in that: The device comprises a rack (1), a linear motor module (2), a heave measuring rod (3), a clamping rod (4) and a pitch and roll measuring mechanism (5). The rack (1) comprises a steel beam (101) and a hoisting device; the steel beam (101) is a cuboid; the long side of the steel beam (101) is parallel to the bow-to-stern direction; the steel beam (101) advances along the longitudinal direction, the windward side of the steel beam (101) is the front side, the leeward side of the steel beam (101) is the back side, the side of the steel beam (101) closest to the port side is the left side, and the side of the steel beam (101) closest to the starboard side is the right side; grooves are arranged on the front and back sides of the steel beam (101) along the transverse direction respectively; The heave measuring rod (3) and the clamping rod (4) are both frame structures; the steel beam (101) is embedded in the heave measuring rod (3) and the clamping rod (4) respectively; The linear motor module (2) comprises a first motor module and a second motor module; the first motor module is arranged on the top surface of the rack (1); and the second motor module is arranged on the bottom surface of the rack (1); The first motor module is provided with an upper measuring rod connecting plate (305) and an upper clamping rod connecting plate (412); the second motor module is provided with a lower measuring rod connecting plate (308) and a lower clamping rod connecting plate (415); an upper longitudinal grating ruler (207) is arranged on the right side of the steel beam (101) and close to the top surface of the steel beam (101) along the longitudinal direction; a lower longitudinal grating ruler (212) is arranged on the right side of the steel beam (101) and close to the bottom surface of the steel beam (101) along the longitudinal direction; the upper longitudinal grating ruler (207) is in sliding connection with the upper measuring rod connecting plate (305); the lower longitudinal grating ruler (212) is in sliding connection with the lower clamping rod connecting plate (415); a heave grating ruler (301) is arranged on the outer side of the heave measuring rod (3) along the vertical direction; a clamping rod grating ruler (401) is arranged on the outer side of the clamping rod (4) along the vertical direction; the heave grating ruler (301) is in sliding connection with the upper measuring rod connecting plate (305); and the clamping rod grating ruler (401) is in sliding connection with the upper clamping rod connecting plate (412); The heave measuring rod (3) is in sliding connection with the upper measuring rod connecting plate (305) and the lower measuring rod connecting plate (308) respectively; and the clamping rod (4) is in sliding connection with the lower clamping rod connecting plate (415) and the upper clamping rod connecting plate (412) respectively; The bottom surface of the heave measuring rod (3) is provided with the pitch and roll measuring mechanism (5); the pitch and roll measuring mechanism (5) is fixedly connected with the ship model (0); the bottom of the clamping rod (4) is provided with a clamping rod clamp; and the clamping rod clamp is movably connected with the ship model; The pitch and roll measuring mechanism (5) comprises a double-shaft gyroscope angular displacement sensor.

2. A single-steel beam four-degree-of-freedom airship based on a double-mover linear motor according to claim 1, characterized in that: The lifting device comprises a lifting lug (102) and a U-shaped frame; the U-shaped frame comprises a first U-shaped frame (103) and a second U-shaped frame (103'); the first U-shaped frame (103) and the second U-shaped frame (103') are arranged in the groove respectively; the opening of the first U-shaped frame (103) and the second U-shaped frame (103') is vertically upward; the bottom of the first U-shaped frame (103) and the second U-shaped frame (103') is embedded in the groove respectively; the top surface of the U-shaped support arm of the first U-shaped frame (103) and the second U-shaped frame (103') is provided with a flange perpendicular to the U-shaped support arm; the top surface of the flange is provided with the lifting lug (102).

3. A single-steel-beam four-degree-of-freedom airship based on a double-mover linear motor according to claim 1, characterized in that: The first motor module comprises an upper sliding rail (201), an upper linear motor stator (202), an upper longitudinal grating ruler sliding block (203), a sliding block (204), an upper measuring rod linear motor mover (205) and an upper clamping rod linear motor mover (206); the second motor module comprises a lower sliding rail (208), a lower linear motor stator (209), a lower measuring rod linear motor mover (210), a lower clamping rod linear motor mover (211) and a lower longitudinal grating ruler sliding block (213); The top surface of the steel beam (101) is provided with the upper linear motor stator (202) in the longitudinal direction; the upper linear motor stator (202) is provided with the upper sliding rail (201) on both sides in the longitudinal direction; the upper sliding rail (201) is provided with a first sliding block group and a second sliding block group; the first sliding block group and the second sliding block group each comprise a plurality of sliding blocks (204); The top surface of the first sliding block group is provided with an upper measuring rod connecting plate (305); the upper measuring rod connecting plate (305) is a rectangular plate; the top surface of the upper measuring rod connecting plate (305) is provided with an upper measuring rod connecting plate flange along the edges of two long sides respectively, forming a "concave" shape; the bottom surface of the upper measuring rod connecting plate (305) is provided with two parallel upper measuring rod connecting plate protrusions; the bottom surface of the upper measuring rod connecting plate protrusion is connected with the top surface of the first sliding block group; the outer side surface of the upper measuring rod connecting plate protrusion is provided with a first T-shaped connecting structure; the first T-shaped connecting structure comprises a bottom plate and a vertical plate; the vertical plate is perpendicular to the bottom plate; the bottom surface of the vertical plate is fixedly connected with the top surface of the bottom plate; the side surface of the vertical plate is fixedly connected with the side surface of the upper measuring rod connecting plate protrusion; The upper measuring rod linear motor mover (205) is arranged between the two upper measuring rod connecting plate protrusions of the upper measuring rod connecting plate (305); The upper longitudinal grating ruler (207) is provided with an upper longitudinal grating ruler sliding block (203); the upper longitudinal grating ruler sliding block (203) slides along the upper longitudinal grating ruler (207); the top surface of the upper longitudinal grating ruler sliding block (203) is fixedly connected with the bottom surface of the first T-shaped connecting structure bottom plate of the upper measuring rod connecting plate (305); The top surface of the second sliding block group is provided with an upper clamping rod connecting plate (412); The upper clamping rod connecting plate (412) is a rectangular plate; the top surface of the upper clamping rod connecting plate (412) is provided with upper clamping rod connecting plate flanges along the edges of the two long sides, forming a "concave" shape; the bottom surface of the upper clamping rod connecting plate (412) is provided with two parallel upper clamping rod connecting plate protrusions; the bottom surface of the upper clamping rod connecting plate protrusion is connected to the top surface of the second slider group; the bottom surface of the upper clamping rod connecting plate (412) is provided with an upper clamping rod linear motor mover (206); the upper clamping rod linear motor mover (206) is located between the two upper clamping rod connecting plate protrusions; The bottom surface of the steel beam (101) is provided with a lower linear motor stator (209) in the longitudinal direction; the lower linear motor stator (209) is provided with lower slide rails (208) on both sides in the longitudinal direction; the lower slide rails (208) are provided with a third slider group and a fourth slider group; the third slider group and the fourth slider group each include a plurality of sliders; the sliders are arranged on the lower slide rails (208); the bottom surface of the third slider group is provided with a lower measuring rod connecting plate (308); The lower measuring rod connecting plate (308) is a rectangular plate; the bottom surface of the lower measuring rod connecting plate (308) is provided with two lower measuring rod connecting plate flanges along the edges of the two long sides, forming an inverted "concave" shape; the top surface of the lower measuring rod connecting plate (308) is provided with two parallel lower measuring rod connecting plate protrusions; the top surface of the lower measuring rod connecting plate protrusion is fixedly connected to the bottom surface of the third slider group; The top surface of the lower measuring rod connecting plate (308) and between the two lower measuring rod connecting plate protrusions is provided with a lower measuring rod linear motor mover (210); The bottom surface of the fourth slider group is provided with a lower clamping rod connecting plate (415); The lower clamping rod connecting plate (415) is a rectangular plate; the bottom surface of the lower clamping rod connecting plate (415) is provided with two lower clamping rod connecting plate flanges along the edges of the two long sides, forming an inverted "concave" shape; the top surface of the lower clamping rod connecting plate (415) is provided with two parallel lower clamping rod connecting plate protrusions; the top surface of the lower clamping rod connecting plate protrusion is fixedly connected to the bottom surface of the fourth slider group; the top surface of the lower clamping rod connecting plate (415) is provided with a lower clamping rod linear motor mover (211); the lower clamping rod linear motor mover (211) is located between the two parallel lower clamping rod connecting plate protrusions; the side surface of the lower clamping rod connecting plate protrusion is provided with a second T-shaped connection structure; the second T-shaped connection structure includes a top plate and a vertical plate; the top plate of the second T-shaped connection structure is perpendicular to the vertical plate of the second T-shaped connection structure; the bottom surface of the top plate of the second T-shaped connection structure is fixedly connected to the top surface of the vertical plate of the second T-shaped connection structure; the side surface of the vertical plate of the second T-shaped connection structure is fixedly connected to the side surface of the lower clamping rod connecting plate protrusion; the bottom surface of the top plate of the second T-shaped connection structure is fixedly connected to the top surface of the lower clamping rod connecting plate protrusion; The lower longitudinal grating ruler (212) is arranged on the right side of the steel beam (101) and close to the bottom surface of the steel beam (101); the lower longitudinal grating ruler (212) is provided with a lower longitudinal grating ruler slider (213); the bottom surface of the lower longitudinal grating ruler slider (213) is fixedly connected with the top surface of the top plate of the lower clamping rod connecting plate second T-shaped connecting structure.

4. A single-steel-beam four-degree-of-freedom airship based on a double-mover linear motor according to claim 1, characterized in that: The heave measuring rod (3) comprises a heave grating ruler (301), a measuring rod frame (302), a measuring rod slide rail (303), a measuring rod slider (304), a heave grating ruler slider (306) and a heave grating ruler slider support (307); The heave grating ruler slider support (307) comprises a support support plate and a support connecting plate; the support connecting plate is vertically arranged on the top surface of the support support plate; one short edge of the top surface of the support support plate is provided with the support connecting plate; The steel beam (101) is embedded in the measuring rod frame (302); the measuring rod frame (302) comprises a first long plate, a first short plate, a second long plate and a second short plate; the first long plate, the first short plate, the second long plate and the second short plate are sequentially connected to form a closed and hollow cuboid frame structure; the distance between the first long plate and the second long plate is the same as the width of the upper measuring rod connecting plate (305); the first long plate is arranged outside the right side of the steel beam (101); After the steel beam (101) is embedded in the measuring rod frame (302), the long edge of the first long plate is parallel to the vertical direction, and the long edge of the first long plate is perpendicular to the top surface of the steel beam (101); the inner side surface of the first long plate and the inner side surface of the second long plate are respectively provided with a measuring rod slide rail; the measuring rod slide rail of the inner side surface of the first long plate is provided with a fifth slider group; the measuring rod slide rail of the inner side surface of the second long plate is provided with a sixth slider group; the fifth slider group and the sixth slider group each comprise a plurality of measuring rod sliders (304); the bottom surface of the measuring rod slider of the fifth slider group and the sixth slider group is slidably connected with the measuring rod slide rail (303); the top surface of the measuring rod slider of the fifth slider group and the sixth slider group is fixedly connected with the upper measuring rod connecting plate flange on one side of the upper measuring rod connecting plate (305); The measuring rod slide rail of the inner side surface of the first long plate is provided with a seventh slider group; the measuring rod slide rail of the inner side surface of the second long plate is provided with an eighth slider group; the seventh slider group and the eighth slider group each comprise a plurality of measuring rod sliders (304); The bottom surface of the measuring rod slider of the seventh slider group is slidably connected with the measuring rod slide rail of the first long plate; The bottom surface of the measuring rod slider of the eighth slider group is slidably connected with the measuring rod slide rail of the second long plate; The top surface of the measuring rod slider of the seventh slider group is fixedly connected with the outer side surface of the upper measuring rod connecting plate flange on one side of the lower measuring rod connecting plate (308); The top surface of the measuring rod slider of the eighth slider group is fixedly connected with the outer side surface of the upper measuring rod connecting plate flange on the other side of the lower measuring rod connecting plate (308); The outer side of the first long plate is provided with a heave grating ruler (301); the heave grating ruler (301) is provided with a heave grating ruler slider (306); the bottom surface of the heave grating ruler slider (306) is in sliding connection with the heave grating ruler (301); the top surface of the heave grating ruler slider (306) is fixedly connected with the bottom surface of the support support plate of the heave grating ruler slider support (307); and the outer side of the support connecting plate of the heave grating ruler slider support (307) is fixedly connected with the outer side of the upper measuring rod connecting plate turn-up edge.

5. A single-steel-beam four-degree-of-freedom airship based on a double-mover linear motor according to claim 1, characterized in that: The clamping rod (4) comprises a clamping rod grating ruler (401), a clamping rod frame (402), a lead screw (403), a lead screw nut (404), a clamping rod sliding rail (405), a motor (406), a motor support (407), an input shaft coupling (408), an output shaft coupling (409), a speed reducer (410), a clamping rod slider (411), a clamping rod grating ruler slider (413) and a clamping rod grating ruler slider support (414); The clamping rod frame (402) comprises a third long plate, a third short plate, a fourth long plate and a fourth short plate; the third long plate, the third short plate, the fourth long plate and the fourth short plate are sequentially connected to form a closed and hollow cuboid frame structure; the fourth short plate is located at the top surface of the cuboid frame structure; and the third long plate is arranged on the outer side of the right side surface of the steel beam (101). A through hole is arranged at the center position of the fourth short plate; the lead screw nut (404) is arranged in the through hole; and the lead screw (403) is arranged in the lead screw nut (404); The clamping rod frame (402) is embedded in the steel beam (101); the long edge of the third long plate is perpendicular to the top surface of the steel beam (101); the clamping rod grating ruler (401) is arranged on the outer side of the third long plate in the vertical direction; the clamping rod grating ruler (401) is provided with the clamping rod grating ruler slider (413); the bottom surface of the clamping rod grating ruler slider (413) is in sliding connection with the clamping rod grating ruler (401); The top surface of the clamping rod grating ruler slider (413) is fixedly connected with the bottom surface of the support support plate of the clamping rod grating ruler slider support (414); and the outer side of the support connecting plate of the clamping rod grating ruler slider support (414) is fixedly connected with the outer side of the upper clamping rod connecting plate turn-up edge of one side of the upper clamping rod connecting plate (412); The inner walls of the third long plate and the fourth long plate are respectively provided with clamping rod sliding rails; the clamping rod sliding rails of the third long plate are provided with a ninth slider group; the ninth slider group comprises a plurality of clamping rod sliders (411); the bottom surfaces of the clamping rod sliders of the ninth slider group are in sliding connection with the clamping rod sliding rails; The clamping rod sliding rails of the fourth long plate are provided with a tenth slider group; the tenth slider group comprises a plurality of clamping rod sliders (411); the bottom surfaces of the clamping rod sliders of the tenth slider group are in sliding connection with the clamping rod sliding rails; The top surfaces of the clamping rod sliders of the ninth slider group are fixedly connected with the outer surfaces of the upper clamping rod connecting plate turn-up edges of one side of the upper clamping rod connecting plate (412); The top surfaces of the clamping rod sliders of the tenth slider group are fixedly connected with the outer surfaces of the upper clamping rod connecting plate turn-up edges of the other side of the upper clamping rod connecting plate (412). The clamping rod sliding rail of the third long plate is provided with an eleventh sliding block group; the eleventh sliding block group comprises a plurality of clamping rod sliding blocks (411); the bottom surface of the clamping rod sliding block of the eleventh sliding block group is in sliding connection with the clamping rod sliding rail; The clamping rod sliding rail of the fourth long plate is provided with a twelfth sliding block group; the twelfth sliding block group comprises a plurality of clamping rod sliding blocks (411); the bottom surface of the clamping rod sliding block of the twelfth sliding block group is in sliding connection with the clamping rod sliding rail; The top surface of the clamping rod sliding block of the eleventh sliding block group is fixedly connected with the outer surface of the lower clamping rod connecting plate flange of one side of the lower clamping rod connecting plate (415); The top surface of the clamping rod sliding block of the twelfth sliding block group is fixedly connected with the outer surface of the lower clamping rod connecting plate flange of the other side of the lower clamping rod connecting plate (415); The top surface of the upper clamping rod connecting plate (412) is provided with a speed reducer (410); the top surface of the speed reducer (410) is provided with an output shaft coupling (409); the output shaft coupling (409) is connected with one end of a lead screw (403); the top surface of the speed reducer (410) is fixedly provided with a motor support (407); the motor support (407) is a hollow cuboid; the motor support (407) is provided with an input shaft coupling (408); the top surface of the motor support (407) is provided with a motor (406); The bottom surface of the clamping rod frame (402) is provided with a clamp support seat; the clamp support seat is a cuboid; the two side surfaces of the clamp support seat along the longitudinal direction are respectively provided with a first clamping structure and a second clamping structure; the first clamping structure and the second clamping structure are the same; the first clamping structure comprises a clamp rack (416), an air cylinder (418) and a clamp (421); the clamp support seat is provided with a clamp fixed support at the short edge position of the two side surfaces along the longitudinal direction; the clamp fixed support is provided with a third pin shaft (419); The clamp rack (416) comprises two identical and parallel right-angled triangular plates; the right-angled edges of the two right-angled triangular plates are fixedly connected with the side surface of the clamp support seat; a gap is arranged between the two right-angled triangular plates; the fixed edges of the two right-angled triangular plates and the clamp support seat are the bottom edges; a first pin shaft through hole and a second pin shaft through hole are arranged at the opposite angles of the bottom edges of the two right-angled triangular plates; a first pin shaft (417) is arranged in the first pin shaft through hole and the second pin shaft through hole; the air cylinder (418) is arranged on the first pin shaft (417); a first air cylinder through hole and a second air cylinder through hole are arranged at the two ends of the air cylinder (418); the first pin shaft (417) is arranged in the first air cylinder through hole; the second pin shaft (420) is arranged in the second air cylinder through hole; The second pin shaft (420) fixedly connects the air cylinder (418) and the clamp (421); The clamp (421) is a right-angled triangular frame; one end of the inclined edge of the clamp (421) is provided with a clamp through hole; the third pin shaft (419) is arranged in the clamp through hole; the other end of the inclined edge of the clamp (421) is processed into an inclined surface; the inclined surfaces of the first clamping structure and the second clamping structure are matched to clamp the ship model through the movement of the air cylinder.

6. A single-steel beam four-degree-of-freedom airship based on a double-mover linear motor according to claim 1, characterized in that: The pitch and roll measuring mechanism comprises a first sensor connecting plate, a second sensor connecting plate, a tension and compression force sensor (504), a pitch and roll measuring mechanism upper plate (507), a cross shaft (503), a cross shaft support (502), a two-axis gyroscope angular displacement sensor (501), a pitch and roll measuring mechanism lower plate (505) and a limiting column (506); The first sensor connecting plate and the second sensor connecting plate are cuboids; the top surface of the first sensor connecting plate is fixedly connected with the bottom surface of the measuring rod frame (302); the side surface of the first sensor connecting plate and the side surface of the second sensor connecting plate are provided with the tension and compression force sensor (504); the bottom surface of the first sensor connecting plate is coplanar with the bottom surface of the tension and compression force sensor (504); the top surface of the second sensor connecting plate is coplanar with the top surface of the tension and compression force sensor (504); a gap is arranged between the top surface of the tension and compression force sensor (504) and the bottom surface of the measuring rod frame (302); the bottom surface of the second sensor connecting plate is provided with the pitch and roll measuring mechanism upper plate (507); the bottom surface of the pitch and roll measuring mechanism upper plate (507) is provided with a first cross shaft support group; the first cross shaft support group comprises two cross shaft supports (502); the cross shaft support (502) comprises a fixed plate and a support plate; the support plate is arranged on the top surface of the fixed plate; the fixed plate and the support plate are perpendicular; the support plate is provided with a through hole; the bottom surface of the fixed plate is fixedly connected with the bottom surface of the pitch and roll measuring mechanism upper plate (507); after the first cross shaft support group is installed, the connecting line of the through holes of the support plates of the two cross shaft supports is parallel to the horizontal direction; the driving shaft of the cross shaft (503) is arranged in the through holes of the two support plates of the first cross shaft support group; the top surface of the pitch and roll measuring mechanism lower plate (505) is provided with a second cross shaft support group; the second cross shaft support group comprises two cross shaft supports; the bottom surfaces of the two cross shaft supports of the second cross shaft support group are arranged on the top surface of the pitch and roll measuring mechanism lower plate (505); the connecting line of the through holes of the support plates of the second cross shaft support group is perpendicular to the connecting line of the through holes of the support plates of the first cross shaft support group; the driven shaft of the cross shaft (503) is arranged in the through holes of the support plates of the second cross shaft support group; the side surface of the support plate of any one cross shaft support of the second cross shaft support group is provided with the two-axis gyroscope angular displacement sensor (501); the bottom surface of the pitch and roll measuring mechanism lower plate (505) is fixedly connected with the top surface of the ship model to be measured; The connecting line of the two through holes of the support plates of the first cross shaft support group is provided with a lower groove at the orthographic projection position of the pitch and roll measuring mechanism lower plate (505); the lower groove is provided with the limiting column (506); the limiting column (506) is a cylinder; the height of the limiting column (506) is greater than the sum of the thicknesses of the pitch and roll measuring mechanism lower plate (505) and the fixed plate of the cross shaft support The line connecting the two through holes of the second cross shaft support group support plate is provided with an upper groove at the position of the longitudinal and lateral roll measuring mechanism upper plate (507); the second limiting column (506') is arranged in the upper groove; the second limiting column (506') is a cylinder; the height of the second limiting column (506') is greater than the sum of the thicknesses of the longitudinal and lateral roll measuring mechanism upper plate (507) and the cross shaft support fixed plate.

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