Distributed control device for motion of free self-propelled ship model

Abstract

The utility model relates to the field of ship energy efficiency control, and provides a free self-propelled ship model motion distributed control device, which comprises a trailer end comprising a power supply module, a ship model locking device and a sensing module for monitoring the state of a ship model; the power supply module is used for supplying power to the ship model locking device, the rudder driver and the paddle driver; the ship model locking device comprises a locking cantilever connected with the ship model body, a locking motor for controlling the locking cantilever, and a locking device driver for controlling the locking motor; the ship model end comprises a ship model body, a rudder driver and a paddle driver, wherein the rudder driver and the paddle driver control the ship model body. The ship model body comprises a plurality of rudders and propellers. The method is used for controlling the navigation state of the free self-propelled ship model in the seakeeping test of the free self-propelled ship model and simulating the motion of the ship model under the real sea condition.

Description

Technical Field

[0001] This utility model relates to the field of ship energy efficiency control, and in particular to a distributed control device for the motion of a free-propelled model ship. Background Technology

[0002] The continuous development of international shipping technology and the demand for shipping energy efficiency and safety have determined that the research focus of ship hydrodynamic performance will inevitably shift from calm water to waves. Traditional wave testing methods are mainly based on constrained models. During the test, the ship model is towed by a trailer and runs according to specific requirements and trajectories. The important degrees of freedom of the ship model, such as bow roll, are constrained, making it difficult for the ship model test results to truly reflect the actual state of the ship when sailing in waves. The accuracy of ship seakeeping motion prediction needs to be improved.

[0003] Free-roaming model seakeeping tests are a relatively new technology developed in recent years. These tests involve the free-roaming model being driven by its own propeller and controlled by its own rudder, resulting in a floating state that more closely resembles the realities of ships in waves. This requires a high level of motion control for the model; however, current methods primarily rely on manual control, which suffers from low precision. A very small number of tanks attempt to use automatic single-control heading, but this cannot guarantee the speed accuracy of the model.

[0004] Existing design solutions and their drawbacks:

[0005] (1) In most traditional ship model motion design schemes, the speed relies on manual control of the propeller speed, and the speed control accuracy needs to be improved.

[0006] (2) In the current scheme of automatic propeller speed control, the speed feedback relies on the trailer speed measuring wheel, which has the problem of insufficient accuracy.

[0007] (3) Most current automatic steering systems use gyroscopes to provide real-time heading feedback. However, during the test, electromagnetic interference from equipment such as trailer motors inevitably causes the gyroscope signal to deviate, making it difficult to guarantee the accuracy of the real-time heading feedback signal of the ship model.

[0008] (4) Most current automatic steering systems have low response speed, heading angle accuracy of more than ±3°, and poor track maintenance capability.

[0009] (5) Traditional single automatic steering systems use gyroscopes to provide feedback on heading. However, in the water tank test environment, electromagnetic interference can cause unstable gyroscope signals, making it difficult to ensure the accuracy of the model ship's real-time heading.

[0010] (6) In the traditional mode, electrical equipment such as the drive for motion control of the ship model is installed on the trailer. There are many cables between the trailer and the ship model, which significantly affects the motion state of the ship model and reduces the accuracy of the test.

[0011] (7) In the traditional mode, the ship model starts and brakes by manual support rods, which cannot cope with large ship model tests. Utility Model Content

[0012] To address the technical challenge of accurately measuring seakeeping test data for ship models under different scenarios in a test pool, this invention provides a distributed control device for the motion of a free-propelled ship model. This device simulates the navigation state of a real ship and is not subject to physical constraints, allowing it to move freely in a wave environment and accurately measure seakeeping test data for ship models under different scenarios.

[0013] A distributed control device for the motion of a free-propelled model boat includes:

[0014] The trailer end includes: a power module, a model boat locking device, and a sensor module for monitoring the status of the model boat; the power module is used to supply power to the model boat locking device, the rudder driver, and the propeller driver; the model boat locking device includes: a locking cantilever connected to the model boat body, a locking motor for controlling the locking cantilever, and a locking device driver for controlling the locking motor.

[0015] The model ship includes: a model ship body, a rudder drive for controlling the model ship body, and a propeller drive; the model ship body includes several rudders and propellers.

[0016] Preferably, the rudder driver is connected to at least one servo motor, and the servo motor is connected to a corresponding rudder.

[0017] Preferably, the propeller driver is connected to at least one propeller motor, and the propeller motor is mechanically connected to the corresponding propeller.

[0018] Preferably, the sensing module is a six-degree-of-freedom motion optical sensor connected to the host computer signal receiving end to generate a ship model status signal and transmit it to the host computer.

[0019] Preferably, the host computer transmits control signals to the propeller driver, which then transmits voltage and frequency signals to the propeller motor.

[0020] Preferably, the locking motor driver transmits voltage and frequency signals to the locking motor, and the locking motor adjusts the angle of the locking cantilever via a mechanical connection.

[0021] Preferably, the ship model locking device is installed on one side of the ship model, and at least two locking device connection points are provided on one side of the ship model to be connected to the ship model locking device.

[0022] Preferably, the ship model locking device transmits a status signal indicating whether the ship model is locked to the signal receiving end of the host computer.

[0023] Beneficial effects:

[0024] This invention proposes a distributed control device for the motion of a free-propelled model boat, comprising: a trailer end, including a power module, a model boat locking device, and a sensing module for monitoring the model boat's status; the power module supplies power to the model boat locking device, rudder driver, and propeller driver; the model boat locking device includes: a locking cantilever connected to the model boat body, a locking motor controlling the locking cantilever, and a locking device driver controlling the locking motor; the model boat end includes: the model boat body, the rudder driver controlling the model boat body, and the propeller driver; the model boat body includes several rudders and propellers. Specifically, this invention measures the model boat's speed in real time through the sensing module and transmits the model boat status signal to a host computer. The host computer calculates the speed deviation, calculates the propeller speed increment through a PID controller, and outputs control signals to the rudder driver and propeller driver. The driver calculates the real-time voltage and frequency of the corresponding motor based on the control circuit, generates a voltage signal, and transmits it to the motor, thereby realizing the control of the model boat's rudder and propeller. Simultaneously, when locking the model boat is required (locking the model boat during the trailer's acceleration and deceleration phases (to protect the model boat's safety) and releasing the model boat during the trailer's stabilization phase (to ensure the model boat is in a free state)), the host computer transmits control signals to the locking device driver. The driver generates real-time voltage and frequency control signals for the motor, enabling real-time adjustment of the locking device motor's speed. The locking device motor and the locking device cantilever are mechanically connected, with the driver, motor, and locking device corresponding one-to-one. Based on the above device, this utility model is used to control the navigation state of a free-roaming model boat (referring to a scaled-down model boat with autonomous navigation capabilities, capable of simulating the navigation state of a real ship, and unconstrained by physical limitations, able to move freely in a wave environment) during seaworthiness tests, simulating the model boat's motion under real sea conditions, and providing a fundamental guarantee for accurately measuring the model boat's seaworthiness test data (motion, force, wave impact, etc.). Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

[0026] Figure 1 This is a schematic diagram of the distributed motion control device for a free-propulsion model boat provided in this specification.

[0027] Figure 2 This is a schematic diagram illustrating the automatic locking and unlocking states of the ship model provided in this manual;

[0028] Figure 3 This is a schematic diagram of the locking device provided in this manual used to lock the ship model. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0030] like Figure 1 As shown in the figure, this specification provides a distributed control device for the motion of a free-propelled model boat, comprising:

[0031] The trailer end includes: a power module, a model boat locking device, and a sensor module for monitoring the status of the model boat; the power module is used to supply power to the model boat locking device, the rudder driver, and the propeller driver; the model boat locking device includes: a locking cantilever connected to the model boat body, a locking motor for controlling the locking cantilever, and a locking device driver for controlling the locking motor.

[0032] The model ship includes: a model ship body, a rudder drive for controlling the model ship body, and a propeller drive; the model ship body includes several rudders and propellers.

[0033] Preferably, the rudder driver is connected to at least one servo motor, and the servo motor is connected to a corresponding rudder.

[0034] Preferably, the propeller driver is connected to at least one propeller motor, and the propeller motor is mechanically connected to the corresponding propeller.

[0035] Preferably, the sensing module is a six-degree-of-freedom motion optical sensor connected to the host computer signal receiving end to generate a ship model status signal and transmit it to the host computer.

[0036] Preferably, the host computer transmits control signals to the propeller driver, which then transmits voltage and frequency signals to the propeller motor.

[0037] Preferably, the locking motor driver transmits voltage and frequency signals to the locking motor, and the locking motor adjusts the angle of the locking cantilever via a mechanical connection.

[0038] like Figure 2 and 3 As shown, preferably, the ship model locking device is installed on one side of the ship model, and at least two locking device connection points are provided on one side of the ship model for connection to the ship model locking device. Figure 2 middle, Figure 2 A is a schematic diagram of the locked state. Figure 2 B is a schematic diagram of the released state.

[0039] Preferably, the ship model locking device transmits a status signal indicating whether the ship model is locked to the signal receiving end of the host computer.

[0040] The device components are shown in Table 1:

[0041] Table 1

[0042]

[0043]

[0044] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A distributed control device for the motion of a free-propelled model boat, characterized in that, include: The trailer end includes: a power module, a model boat locking device, and a sensor module for monitoring the status of the model boat; the power module is used to supply power to the model boat locking device, the rudder driver, and the propeller driver; the model boat locking device includes: a locking cantilever connected to the model boat body, a locking motor for controlling the locking cantilever, and a locking device driver for controlling the locking motor. The model ship includes: a model ship body, a rudder drive for controlling the model ship body, and a propeller drive; the model ship body includes several rudders and propellers.

2. The distributed control device for the motion of a free-propelled model boat according to claim 1, characterized in that, The rudder driver is connected to at least one servo motor, and the servo motor is connected to a corresponding rudder.

3. The distributed control device for the motion of a free-propelled model boat according to claim 1, characterized in that, The propeller driver is connected to at least one propeller motor, and the propeller motor is mechanically connected to the corresponding propeller.

4. The distributed control device for the motion of a free-propelled model boat according to claim 1, characterized in that, The sensing module is a six-degree-of-freedom motion optical sensor connected to the host computer signal receiver to generate ship model status signals and transmit them to the host computer.

5. The distributed control device for the motion of a free-propelled model boat according to claim 1, characterized in that, The host computer transmits control signals to the propeller driver, which in turn transmits voltage and frequency signals to the propeller motor.

6. The distributed control device for the motion of a free-propelled model boat according to claim 1, characterized in that, The locking motor driver transmits voltage and frequency signals to the locking motor, and the locking motor adjusts the angle of the locking cantilever via a mechanical connection.

7. The distributed control device for the motion of a free-propelled model boat according to claim 1, characterized in that, The ship model locking device is installed on one side of the ship model, and at least two locking device connection points are provided on one side of the ship model to be connected to the ship model locking device.

8. The distributed control device for the motion of a free-propelled model boat according to claim 1, characterized in that, The ship model locking device transmits the status signal of whether the ship model is locked to the signal receiving end of the host computer.

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