Service operation vessel model and testing method

Abstract

The present invention relates to a service operation vessel model and a testing method. The service operation vessel model comprises a vessel model body of a down-scaled physical model; the vessel model body is provided with a down-scaled wave compensation boarding device and a wave compensation boarding device testing system; the wave compensation boarding device testing system is used for measuring motion information of the wave compensation boarding device and transmitting the measured information to a wave compensation boarding device control unit, and the testing system also measures compensation result information to evaluate the compensation function and effect of a compensation system. The present invention relates to a large service operation vessel model and a testing method, where a test can be carried out in a real three-dimensional ocean wave environment, thereby providing a true and reliable data source for performance evaluation and optimization design of a service operation vessel and a boarding device.

Description

An operation and maintenance ship model and testing method Technical Field

[0001] The present invention relates to the technical field of ship testing, and in particular to an operation and maintenance ship model and a testing method. Background Art

[0002] The development of deep-sea wind farm operation and maintenance vessels and core embarkation equipment requires evaluating their motion response under the combined effects of wind and waves, as well as the control and operational effectiveness of active wave compensation embarkation devices. This involves coupled analysis of aerodynamic and hydrodynamic performance, control theory, and control algorithms. Common research methods include theoretical calculations, numerical simulations, and model testing. Experimental methods are an indispensable technical means in the development of operation and maintenance vessels and core embarkation equipment. They not only verify the correctness of control theory, control algorithms, and numerical simulation methods, but can also be used to extrapolate and predict the dynamic performance and implementation effectiveness of full-scale operation and maintenance vessels and core embarkation equipment when they are in service in real marine environments.

[0003] Existing model tests of maintenance vessels and core embarkation equipment are generally conducted in laboratory tanks. Wave generators and wind generators can be used to simulate the waves and wind fields found in natural seas, respectively, to study the hydrodynamic performance of maintenance vessels and core embarkation equipment under wind and wave conditions, as well as the compensation effect of embarkation equipment with wave compensation. However, model tests conducted in laboratory tanks have significant limitations and present the following technical issues:

[0004] 1. Tank tests using small-scale models have significant scale effects;

[0005] 2. The laboratory pool has space limitations. The test model is limited by the test space and the model setting is relatively small. This will result in the hydrodynamic force acting on the model not being able to accurately satisfy the similarity relationship.

[0006] 3. The wind and wave environment simulated in the laboratory pool is significantly different from the actual three-dimensional ocean wave environment;

[0007] 4. The time for laboratory simulation tests is limited, making it difficult to accurately extrapolate and predict the extreme motion and control effects of actual operation and maintenance ships and core embarkation equipment during long-term service.

[0008] The above technical problems make it impossible for existing operation and maintenance ship model testing to provide a real and reliable data source for the performance evaluation and optimal design of operation and maintenance ships and boarding devices. Summary of the Invention

[0009] In response to the problems existing in the prior art, one of the objectives of the present invention is to provide a maintenance vessel model that can be tested in an actual three-dimensional wave environment and provide a real and reliable data source for the performance evaluation and optimized design of maintenance vessels and boarding equipment.

[0010] A second object of the present invention is to provide a testing method for an operation and maintenance vessel model, which can be used to conduct sea trials in the form of a pilot vessel before the actual construction of the wind power operation and maintenance vessel.

[0011] In order to achieve the above object, the present invention adopts the following technical solutions:

[0012] An operation and maintenance ship model, comprising a ship model body that is a scaled physical model;

[0013] The ship model is equipped with a wave compensation boarding device for real people to board, a data acquisition device, an onboard computer, an environmental parameter measurement system and a wave compensation boarding device test system.

[0014] The environmental parameter measurement system includes a shipboard wave height meter, a wind speed and direction meter, and a current speed and direction meter, which are respectively connected to a data acquisition instrument, and the data acquisition instrument is connected to the shipboard computer;

[0015] A high-speed gyro inertial platform is installed at the connection between the ship wave height meter and the ship model body to ensure that the wave height meter is not disturbed by the ship's swaying motion and always remains in an upright state;

[0016] The wind speed and direction meter is installed on the top of the ship model body to measure the wind information of the sea area where the ship model body is located;

[0017] The current velocity and direction meter is used to measure the seawater velocity and direction in the sea area where the ship model is located;

[0018] The Heave Compensating Boarding Vehicle Test System is used to control and measure the motion of a heave compensating boarding vehicle.

[0019] Furthermore, the ship model body is provided with multiple transverse bulkheads dividing the compartments for installing power propulsion devices. The connections between adjacent transverse bulkheads dividing the compartments are designed to be watertight, and temporary gaps are sealed with silicone strips.

[0020] Furthermore, the power propulsion device includes a motor, a propeller and a battery pack, and the motor and the propeller are powered by the battery pack; the motor is installed in the ship model body and is used to drive the propeller to operate.

[0021] Furthermore, a plurality of ballast blocks are dispersed in the ship model body to adjust the center of gravity and moment of inertia of the operation and maintenance ship model and ensure that it is similar to the real ship.

[0022] Furthermore, the wave-compensating boarding device test system includes a measuring unit, a control unit and an execution unit. The measuring unit includes a motion attitude sensor installed on the wave-compensating boarding device, which is used to measure the six-degree-of-freedom motion information of the wave-compensating boarding device and transmit the obtained data to the control unit. The control unit is used to use adaptive data processing methods and high-precision motion control strategies to calculate the three-degree-of-freedom control instructions of rotation, pitch and extension, so as to control the execution unit to perform motion compensation operations, so that the boarding gangway can maintain a stable state under wind and wave interference conditions.

[0023] Furthermore, the wave compensation boarding device includes a six-degree-of-freedom compensation device and a boarding ladder. The six-degree-of-freedom compensation device is installed on the ship model body. The head end of the boarding ladder is fixedly connected to the six-degree-of-freedom compensation device, and the end end is used to connect to the external offshore wind power pile foundation model.

[0024] The boarding gangway adopts a telescopic gangway, which compensates for the residual motion of the ship's roll, pitch and heave after passing through the six-degree-of-freedom motion compensation device through telescoping, pitching and lifting, so as to achieve the optimal stability of the entire boarding system.

[0025] Furthermore, the ship model body is provided with a turntable device, and the six-degree-of-freedom compensation device is installed on the turntable device.

[0026] Furthermore, the turntable device includes a lower turntable, a turntable motor and an upper turntable. The turntable motor is fixed to the lower turntable and is driven and connected to the upper turntable. The six-degree-of-freedom compensation device is installed on the upper turntable. The lower turntable is provided with a posture sensor; the posture sensor is connected to the turntable motor to detect the motion information of the lower turntable and control the movement of the turntable motor accordingly. The turntable motor is used to drive the upper turntable and the six-degree-of-freedom compensation device to rotate to actively offset the bow motion of the operation and maintenance vessel.

[0027] A method for testing an operation and maintenance ship model comprises the following steps:

[0028] Assemble and debug the operation and maintenance ship model and test system, wait for the environmental parameters to meet the working conditions, and then go to the corresponding actual sea area for sea trials;

[0029] Install the offshore wind turbine pile foundation model at the test site, connect the end of the boarding gangway to the offshore wind turbine pile foundation model, and adjust the relative position of the operation and maintenance ship model and the offshore wind turbine pile foundation model;

[0030] The measurement unit of the heave compensation boarding device system collects the motion information of the six-degree-of-freedom compensation device through the posture sensor, amplifies the motion information and transmits it to the control unit. The control unit controls the execution unit to perform motion compensation according to the received motion information and records the compensation motion.

[0031] The compensation motion recorded by the control unit is compared with the input required compensation motion parameters to evaluate the compensation capability and effect of the heave compensation boarding device.

[0032] Furthermore, when the bow of the ship model moves with the wind and waves,

[0033] Use the turntable device to drive the six-degree-of-freedom compensation device to rotate on the turntable device to achieve passive compensation; or,

[0034] The posture sensor is used to detect the motion information of the lower turntable, and according to the motion information of the lower turntable, the turntable motor is controlled to drive the upper turntable and the six-degree-of-freedom compensation device to rotate accordingly to actively offset the bow motion of the operation and maintenance vessel, thereby realizing active compensation.

[0035] In general, the present invention has the following advantages:

[0036] 1. Currently, most testing methods for six-degree-of-freedom wave-compensated embarkation systems are conducted in laboratories. In the laboratory, the motion input of the six-degree-of-freedom platform can only be determined by simulating ship motion data. Ship motion simulators can only process ocean waves as regular waves or a superposition of regular waves. However, the waves encountered by the maintenance ship model at sea are real ocean waves, which are short-peaked irregular waves generated by the combined action of wind and gravity. Therefore, the sea trial scheme proposed in this invention is more realistic than traditional laboratory tests.

[0037] 2. The operation and maintenance ship model is in a completely free motion state at sea, and its six-degree-of-freedom coupled motion is more realistic than laboratory model tests.

[0038] 3. Compared with the actual ship sea trial, the sea trial method proposed in this invention has the advantages of low cost, short cycle and convenient model transportation, and can be applied to the experimental research in the ship design optimization and finalization stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] FIG1 is a side view of the overall layout of the operation and maintenance ship model according to an embodiment of the present invention;

[0040] FIG2 is a top view of the overall layout of the operation and maintenance ship model according to an embodiment of the present invention;

[0041] FIG3 is a schematic diagram of a test scenario for a performance test of a boarding device according to an embodiment of the present invention;

[0042] FIG4 is a schematic diagram of a wave compensation boarding device according to the present invention;

[0043] FIG5 is a schematic diagram of a turntable device of the present invention.

[0044] In the picture:

[0045] 1-Operation and maintenance ship model, 2-Deck, 3-Superstructure, 4-Ballast block, 5-Propeller, 6-Propeller shaft, 7-Motor, 8-Right-angle gearbox, 9-Battery pack, 10-Keel beam, 11-Autopilot, 12-Servo, 13-Rudder angle potentiometer, 14-Water surface, 15-Six-degree-of-freedom compensation device, 16-Boarding ladder, 17-High-speed gyro-inertial pan-tilt system, 18-Anemometer, 19-Current velocity and direction meter, 20-Onboard wave height meter, 21-Onboard computer, 22-Console, 23-Transmission antenna, 24-Camera, 25-Lifeboat, 26-Offshore wind turbine pile foundation model, 27-Hydraulic cylinder, 28-Turntable device, 29-Upper turntable, 30-Lower turntable, 31-Turntable motor, 32-Transmission gear, 33-Position sensor. DETAILED DESCRIPTION

[0046] The present invention will be described in further detail below.

[0047] A maintenance ship model 1 comprises a ship model body and a wave-compensating boarding device, both of which are scaled physical models; the wave-compensating boarding device is arranged on the ship model body and can simulate the boarding load of real people and equipment in scale.

[0048] The geometric scale ratio of the maintenance ship model 1 to the actual ship is 1:4.5-5.5. In this embodiment, the actual maintenance ship has an overall length of 65 meters and a displacement of approximately 3,800 tons. The geometric scale ratio of the maintenance ship model 1 is 1:5, corresponding to an overall length of 13 meters and a displacement of approximately 30 tons. The general layout of the maintenance ship model 1 is shown in Figures 1 and 2.

[0049] In this embodiment, the maintenance vessel model 1 undergoes sea trials, requiring three test personnel on board. These personnel are responsible for driving the vessel model 1, operating the control console 22, and handling emergencies. Because the maintenance vessel model 1 is manned, it is equipped with lifeboats 25 and other lifesaving equipment, as well as a radio station for communicating with the outside world.

[0050] The maintenance ship model 1 includes a hull, deck 2, boarding facilities, ballast blocks 4, transverse bulkheads, keel beams 10, propulsion systems, and a rudder. The model's main body lines are scaled from the geometric lines of an actual ship and formed from aluminum alloy to ensure similarity in geometry, hull strength, and external flow field. The model's main body deck 2 is similar to that of an actual ship and serves to prevent seawater from entering the cabin.

[0051] The verification tests of the operation and maintenance vessels and core boarding equipment of the existing technology have the following defects: the deep sea conditions are strong and the waves are fierce, and the existing six-degree-of-freedom wave-compensating boarding devices are mostly developed for near-shore sea conditions, and the wave compensation capabilities are insufficient to cope with severe sea conditions; the test model is difficult to match with the dynamic positioning device, and can only be tested by mooring positioning. Mooring positioning is difficult to limit the bow rolling motion of the operation and maintenance vessel model 1, and the six-degree-of-freedom wave-compensating boarding device has a weak ability to compensate for the bow rolling motion, making the test difficult to conduct.

[0052] As shown in Figures 3 to 5, in order to solve the above technical problems, this embodiment provides a wave compensation boarding device suitable for deep sea conditions, including a turntable device 28, a six-degree-of-freedom compensation device 15 and a retractable boarding ladder 16.

[0053] The turntable assembly 28 enables the wave-compensating boarding device to rotate freely, compensating for the bowing motion of the maintenance vessel in waves. It includes a lower turntable 30, an upper turntable 29, a turntable motor 31, and a rotating gear 32. The lower turntable 30 is connected to the maintenance vessel model 1 and is used to secure the wave-compensating boarding device. The turntable motor 31 and the transmission gear 32 are mounted on the lower turntable 30. The turntable motor 31 controls the rotation of the transmission gear 32, thereby controlling the rotation of the upper turntable 29. The lower turntable 30 is equipped with a posture sensor; the turntable motor 31 is driven based on signals from the posture sensor mounted on the lower turntable 30. The posture sensor is connected to the turntable motor 31 to detect the motion of the lower turntable 30 and control the movement of the turntable motor 31 accordingly. The turntable motor 31 is used to drive the upper turntable 29 and the six-degree-of-freedom compensation device 15 to rotate, actively offsetting the bowing motion of the maintenance vessel.

[0054] The turntable motor 31 and the transmission gear 32 are detachable.

[0055] When the motor 31 and the transmission gear 32 are not installed, the turntable device 28 can rotate freely along with the motion of the bow of the model. At this time, the compensation mode of the turntable device 28 is passive compensation.

[0056] When the turntable motor 31 and transmission gear 32 are installed, the position sensor detects the motion of the lower turntable 30 and controls the turntable motor 31 accordingly. The turntable motor 31 drives the upper turntable 29 and the six-degree-of-freedom compensation device 15 to rotate, actively offsetting the vessel's pitching motion. In this case, the compensation mode of the turntable device 28 is active.

[0057] The ship model body is equipped with multiple transverse bulkheads to divide the compartments for installing power propulsion devices. The connections between adjacent transverse bulkheads are designed to be watertight, and temporary gaps are sealed with silicone strips.

[0058] The propulsion device provides thrust for the self-propulsion of the maintenance ship model 1, and includes a propeller 5, a propeller shaft 6, a motor 7, and a battery pack 9. The motor 7 is installed in the hull shell and is preferably a DC permanent magnet motor. Through the right-angle gearbox 8, the two motors 7 can drive the rotation of the four propeller shafts 6 and the propeller 5. The use of four propellers 5 provides a power source for the high-speed navigation of the maintenance ship model 1. The battery pack 9 is composed of 20 lithium iron phosphate batteries connected in series, thereby providing power input for the DC permanent magnet motor. The battery pack 9 is heavy, so it can also be used in part as a ballast block 4.

[0059] The rudder device is used to change or maintain the heading of the maintenance ship model 1, and includes a steering gear 12, a rudder angle potentiometer 13, and an autopilot 11. The autopilot 11 can be a conventional product, generally including a heading gyro unit, a power control unit, a user interface, and a driving hydraulic rod.

[0060] The ship model body is also equipped with a data acquisition device, a ship computer 21 and a wave compensation boarding device test system;

[0061] The environmental parameter measurement system includes a shipboard wave height meter 20, a wind speed and direction meter 18, and a current velocity and direction meter 19. The data acquisition instrument is connected to the shipboard wave height meter 20, the wind speed and direction meter 18, the current velocity and direction meter 19, and the shipboard computer 21 respectively;

[0062] A high-speed gyro inertial platform 17 is provided at the connection position between the ship wave height meter 20 and the ship model body to ensure that the wave height meter 20 is not disturbed by the swaying motion of the ship and always maintains a vertical state.

[0063] The test data is collected using a dynamic signal acquisition instrument. The data acquisition instrument contains 32 channels and can sample different types of signals at different frequencies at the same time. The sampled measurement data is then transmitted, displayed, and stored on the onboard computer 21 on the operation and maintenance ship model 1.

[0064] The posture sensor 22 is used to measure the motion posture and can be displayed on the screen of the console 22. There are three posture sensors 22, which are respectively installed on the turntable 30 under the turntable device 28, the six-degree-of-freedom compensation device 15, and the end of the boarding gangway 16. They are used to measure the six-degree-of-freedom motion of the base and end of the wave compensation boarding device. The measurement accuracy of the three angular directions is ±0.01°, and the acceleration measurement accuracy of the three displacement directions is ±0.005m / s 2 A radio station is provided for communication between the maintenance ship and the outside world, and a transmission antenna 23 is provided to increase the speed and distance of information transmission. A ship-borne camera 24 is installed on the superstructure 3 of the maintenance ship model 1 to record the navigation status and test conditions of the maintenance ship model 1.

[0065] The control unit of the heave compensation boarding device test system receives signals and issues commands, requiring rapid response and computational speeds. Therefore, it must be equipped with a high-performance control computer, a high-frequency switch, and a control cabinet. The control unit includes a control cabinet, hydraulic motion controller, starter cabinet, operating console, control software, and other hardware and software.

[0066] The execution unit of the wave compensation boarding device test system is used to control the execution of instructions, including a hydraulic station, a pitch cylinder, a telescopic motor, a slewing motor and other equipment. It can perform pitch, telescopic and slewing movements, and can adjust the movement of the boarding ladder 16 based on the instructions of the control unit.

[0067] By comparing the motion information of the boarding device collected by the measurement unit with the compensation record, the motion compensation efficiency of the wave compensation boarding device under specific working conditions can be obtained, thereby completing the performance test of the wave compensation boarding device.

[0068] The operation and maintenance vessel model 1 can not only be used for performance testing of wave compensation boarding devices, but can also be used to carry out most hydrodynamic performance tests in natural waters.

[0069] A testing method for an operation and maintenance ship model 1 comprises the following steps:

[0070] As shown in Figure 3, assemble and debug the operation and maintenance ship model 1 and the test system, wait for the environmental parameters to meet the working conditions, and then go to the corresponding actual sea area for sea trials;

[0071] Install the offshore wind turbine pile foundation model 26 at the test site, with the operation and maintenance ship model 1 located on the water surface 14. Connect the end of the boarding gangway 16 to the offshore wind turbine pile foundation model 26, and adjust the relative positions of the operation and maintenance ship model 1 and the offshore wind turbine pile foundation model 26.

[0072] The position sensor 22 on the lower turntable 30 of the turntable device 28 collects the motion information of the lower turntable 30 and transmits the motion information to the control unit. The control unit controls the turntable motor 31 according to the received motion information, and the turntable device 28 rotates to actively offset the bow motion of the maintenance vessel.

[0073] At the same time, the posture sensor 22 on the six-degree-of-freedom compensation device 15 transmits the collected motion information to the control unit. The control unit controls the execution unit according to the motion information, and the six-degree-of-freedom compensation telescopic hydraulic cylinder 27 starts working to compensate for the six-degree-of-freedom motion of the operation and maintenance ship;

[0074] The posture sensor 22 at the end of the boarding ladder 16 transmits the motion information of the end of the boarding ladder 16 to the storage unit, and performs dimensionless comparison with the motion information recorded by the posture sensor 22 on the lower turntable 30 to evaluate the compensation capability and effect of the wave compensation boarding system.

[0075] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A maintenance ship model, characterized by: The ship model body including a scaled physical model; The ship model is equipped with a wave compensation boarding device that can be used for real people to board, a data acquisition instrument, a shipboard computer, an environmental parameter measurement system and a wave compensation boarding device test system; The environmental parameter measurement system includes a shipboard wave height meter, a wind speed and direction meter, and a current speed and direction meter respectively connected to a data acquisition instrument, and the data acquisition instrument is connected to a shipboard computer; A high-speed gyro inertial gimbal is installed at the connection position between the ship wave height meter and the ship model body to ensure that the wave height meter is not disturbed by the ship's swaying motion and always maintains a vertical state; The wind speed and direction meter is installed on the top of the ship model body to measure the wind information of the sea area where the ship model body is located; The current velocity and direction meter is used to measure the seawater velocity and direction in the sea area where the ship model is located; The Heave Compensating Boarding Vehicle Test System is used to control and measure the motion of a heave compensating boarding vehicle.

2. The maintenance ship model according to claim 1, characterized in that: The ship model body is provided with multiple transverse bulkheads dividing the cabins for installing power propulsion devices. The connections between adjacent transverse bulkheads dividing the cabins are designed to be watertight, and temporary gaps are sealed with silicone strips.

3. The maintenance ship model according to claim 2, characterized in that: The power propulsion device includes a motor, a propeller and a battery pack, and the motor and the propeller are powered by the battery pack; the motor is installed in the ship model body and is used to drive the propeller to operate.

4. The maintenance ship model according to claim 1, characterized in that: A number of ballast blocks are dispersed in the body of the ship model to adjust the center of gravity and moment of inertia of the operation and maintenance ship model and ensure that it is similar to the real ship.

5. The operation and maintenance ship model according to claim 1, characterized in that: The wave compensation boarding device test system includes a measuring unit, a control unit and an execution unit. The measuring unit includes a motion attitude sensor installed on the wave compensation boarding device, which is used to measure the six-degree-of-freedom motion information of the wave compensation boarding device and transmit the obtained data to the control unit. The control unit is used to calculate the three-degree-of-freedom control instructions of rotation, pitch and extension using an adaptive data processing method and a high-precision motion control strategy, so as to control the execution unit to perform motion compensation operations so that the boarding gangway can maintain a stable state under wind and wave interference conditions.

6. The maintenance ship model according to claim 5, characterized in that: The wave compensation boarding device includes a six-degree-of-freedom compensation device and a boarding gangway. The six-degree-of-freedom compensation device is installed on the ship model body. The front end of the boarding gangway is fixedly connected to the six-degree-of-freedom compensation device, and the rear end is used to overlap the external offshore wind power pile foundation model.

7. The maintenance ship model according to claim 6, characterized in that: The ship model body is provided with a turntable device, and the six-degree-of-freedom compensation device is installed on the turntable device.

8. The operation and maintenance ship model according to claim 7, characterized in that: The turntable device includes a lower turntable, a turntable motor and an upper turntable. The turntable motor is fixed to the lower turntable and is driven and connected to the upper turntable. The six-degree-of-freedom compensation device is installed on the upper turntable. The lower turntable is provided with a posture sensor; the posture sensor is connected to the turntable motor, and is used to detect the motion information of the lower turntable and control the movement of the turntable motor accordingly. The turntable motor is used to drive the upper turntable and the six-degree-of-freedom compensation device to rotate so as to actively offset the bow rolling motion of the operation and maintenance vessel.

9. A method for testing a maintenance ship model according to any one of claims 1 to 8, characterized in that: The following steps are included: Assemble and debug the operation and maintenance ship model and test system, wait for the environmental parameters to meet the working conditions, and go to the corresponding actual sea area for sea trials; Install the offshore wind turbine pile foundation model at the test site, connect the end of the boarding gangway to the offshore wind turbine pile foundation model, and adjust the relative position of the operation and maintenance ship model and the offshore wind turbine pile foundation model; The measurement unit of the wave compensation boarding device system collects the motion information of the six-degree-of-freedom compensation device through the posture sensor, amplifies the motion information and transmits it to the control unit. The control unit controls the execution unit to perform motion compensation operations according to the received motion information and records the compensation motion. The compensation motion recorded by the control unit is compared with the input required compensation motion parameters to evaluate the compensation capability and effect of the heave compensation boarding device.

10. A method for testing a maintenance ship model according to claim 9, characterized in that: When the bow of the ship model moves with the wind and waves, Using a turntable device to drive the six-degree-of-freedom compensation device to rotate on the turntable device to achieve passive compensation; or, The posture sensor is used to detect the motion information of the lower turntable, and according to the motion information of the lower turntable, the turntable motor is controlled to drive the upper turntable and the six-degree-of-freedom compensation device to rotate accordingly to actively offset the bow roll motion of the operation and maintenance vessel, thereby realizing active compensation.

Images