CN111862721A - A kind of ship motion multi-degree-of-freedom simulation device and simulation method - Google Patents

Abstract

The invention provides a ship motion multi-degree-of-freedom simulation device and a simulation method, wherein the ship motion multi-degree-of-freedom simulation device comprises a first layer platform, a second layer platform, a third layer platform and a fourth layer platform which are sequentially arranged from top to bottom; the second-layer platform comprises a second-layer frame and a transverse oil cylinder; the first layer of platform is connected with the second layer of frame in a sliding mode along the transverse direction; the third-layer platform comprises a third-layer bottom plate, two pitching oil cylinders and two rolling oil cylinders; the pitching oil cylinder and the rolling oil cylinder are both rotationally connected with the second layer of frame; the fourth layer platform comprises a fourth layer frame and a yaw oil cylinder arranged on the fourth layer frame, and a piston rod of the yaw oil cylinder is connected with the third layer bottom plate. The ship motion multi-degree-of-freedom simulation device provided by the invention can simulate various motions of a ship under laboratory conditions by matching the four layers of platforms and the oil cylinders which are sequentially arranged from top to bottom, so that the stability and safety of ship navigation are improved.

Description

A kind of ship motion multi-degree-of-freedom simulation device and simulation method

technical field

The invention relates to the technical field of ship motion simulation, in particular, to a ship motion multi-degree-of-freedom simulation device and a simulation method.

Background technique

The movement of ships in the waves is complicated, the sea navigation environment is harsh, and the disturbance of the waves makes the rolling motion of the ship continue to intensify, thus threatening the safety of the ship's navigation.

In order to study the operation of the ship at sea and improve the stability and safety of the ship's navigation, according to the motion law of the ship, a multi-degree-of-freedom simulation device for ship motion is provided, which is used to simulate various motions of the ship under laboratory conditions. It is an urgent technical problem to be solved.

SUMMARY OF THE INVENTION

The problem solved by the present invention is how to simulate various motions of ships under laboratory conditions.

In order to solve the above problems, the present invention provides a multi-degree-of-freedom simulation device for ship motion, including a first-layer platform, a second-layer platform, a third-layer platform and a fourth-layer platform arranged in sequence from top to bottom; wherein,

The second-layer platform includes a second-layer frame and a lateral oil cylinder arranged at the bottom of the second-layer frame; the first-layer platform is slidably connected to the second-layer frame along the lateral direction; the piston of the lateral oil cylinder a rod is connected to the first layer platform;

The third-layer platform comprises a third-layer bottom plate, two pitching oil cylinders uniformly distributed along the longitudinal direction of the third-layer bottom plate, and two rolling oil cylinders uniformly distributed along the lateral direction of the third-layer bottom plate; The top end of the piston rod of the pitching oil cylinder and the top end of the piston rod of the rolling oil cylinder are all rotatably connected with the second layer frame;

The fourth-layer platform includes a fourth-layer frame, and a yaw oil cylinder arranged on the fourth-layer frame, the centerline of the yaw oil cylinder is deviated from the centerline of the third-layer bottom plate, and the yaw cylinder The piston rod of the oil cylinder is connected with the third floor.

Optionally, displacement sensors are provided on the piston rod of the lateral oil cylinder, the piston rod of the pitching oil cylinder, the piston rod of the rolling oil cylinder and the piston rod of the yaw oil cylinder;

The materials of the components on the ship motion multi-degree-of-freedom simulation device are all non-magnetic materials.

Optionally, it also includes a base, the base is disposed below the fourth-layer frame, and the fourth-layer frame is slidably connected to the base along the longitudinal direction.

Optionally, the bottom of the fourth-layer frame is provided with track wheels distributed in the longitudinal direction, and the base is provided with tracks adapted to the track wheels.

Optionally, it also includes a support shaft, the bottom end of the support shaft is fixedly connected to the center of the fourth-layer frame, the support shaft passes through the center of the third-layer bottom plate, and is connected to the second-layer frame. The center of the bottom end turns the connection.

Another object of the present invention is to provide a method for simulating ship motion with multiple degrees of freedom, which is realized by the above-mentioned ship motion multi-degree-of-freedom simulation device and a control module signally connected to the ship motion multi-degree-of-freedom simulation device;

The multi-DOF simulation method for ship motion includes the following steps:

The control module receives the simulated motion command;

If the simulated movement is a lateral movement, controlling the lateral oil cylinder to operate;

If the simulated motion is a pitching motion, controlling the two pitching oil cylinders to operate;

If the simulated motion is a rolling motion, controlling two of the rolling oil cylinders to operate;

If the simulated motion is a yaw motion, the yaw oil cylinder is controlled to operate.

Optionally, controlling the operation of the lateral oil cylinder includes:

calculating the first standard displacement of the piston rod of the lateral oil cylinder according to the lateral movement command;

obtaining the first real-time displacement of the piston rod of the transverse oil cylinder according to the displacement sensor on the transverse oil cylinder;

The first real-time displacement is compared with the first standard displacement, and if the first real-time displacement reaches the first standard displacement, the piston rod of the transverse oil cylinder stops running.

Optionally, controlling the operation of the two pitching oil cylinders includes:

obtaining the pitch angle according to the pitch motion instruction;

determining a first standard height difference between the piston rods of the two pitching oil cylinders according to the pitching angle;

obtaining a first real-time height difference between the piston rods of the two pitching oil cylinders according to the displacement sensors on the two pitching oil cylinders;

The first real-time height difference value is compared with the first standard height difference value, and if the first real-time height difference value reaches the first standard height difference value, the difference between the two pitching cylinders The piston rod stops running.

Optionally, controlling the operation of the two roll cylinders includes:

obtaining a roll angle according to the roll motion instruction;

determining, according to the roll angle, a second standard height difference between the piston rods of the two roll cylinders;

obtaining a second real-time height difference between the piston rods of the two rolling oil cylinders according to the displacement sensors on the two rolling oil cylinders;

The second real-time height difference value is compared with the second standard height difference value, if the second real-time height difference value reaches the second standard height difference value, the The piston rod stops running.

Optionally, controlling the operation of the yaw cylinder includes:

obtaining the yaw angle according to the yaw motion instruction;

obtaining the second standard displacement of the piston rod of the yaw oil cylinder according to the yaw angle;

obtaining the second real-time displacement of the piston rod of the yaw oil cylinder according to the displacement sensor on the yaw oil cylinder;

The second real-time displacement is compared with the second standard displacement, and if the second real-time displacement reaches the second standard displacement, the yaw cylinder stops running.

Compared with the prior art, the ship motion multi-degree-of-freedom simulation device provided by the present invention has the following advantages:

The multi-degree-of-freedom simulation device for ship motion provided by the present invention can simulate various motions of ships under laboratory conditions through the cooperation of four-layer platforms and oil cylinders arranged in sequence from top to bottom, thereby improving the stability and safety of ship navigation sex.

Description of drawings

Fig. 1 is the side view of the ship motion multi-degree-of-freedom simulation device of the present invention;

2 is a schematic diagram of the structure of the second-layer platform according to the present invention;

Fig. 3 is the side view of the second layer platform of the present invention;

4 is a schematic diagram of the structure of the third-layer platform according to the present invention;

Fig. 5 is the side view of the third layer platform of the present invention;

6 is a schematic diagram of the structure of the fourth-layer platform according to the present invention;

Fig. 7 is A-A in Fig. 6 sectional view;

Fig. 8 is a sectional view taken along the direction B-B in Fig. 6;

9 is a schematic diagram of the hydraulic system according to the present invention;

FIG. 10 is a block diagram of the electrical control system according to the present invention.

Description of reference numbers:

1-The first layer platform; 11-Guide rail; 2-The second layer platform; 21-The second layer frame; 211-Track slider; 212-Ball head hole seat; 31-The third floor; 32-Pitch cylinder; 33-Roll cylinder; 4-The fourth platform; 41-The fourth frame; 411-Track wheel; 42-Yaw cylinder; - Universal ball.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present invention, but should not be construed as a limitation of the present invention. Based on the embodiments of the present invention, those of ordinary skill in the art do not make creative work on the premise All other embodiments obtained below belong to the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "first" and "second" are only used to simplify the description, and should not be interpreted as indicating or implying relative importance, or implying the number of indicated technical features . Thus, features defined as "first", "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the first feature is "above" or "under" the first feature, which may include the first feature and the second feature in direct contact, or may include the first feature and the The second feature is not in direct contact but is in contact through another feature between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and diagonally above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes that the first feature is directly and diagonally below the second feature, or simply means that the first feature is level below the second feature.

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In order to simulate various motions of ships under laboratory conditions, the present invention provides a ship motion multi-degree-of-freedom simulation device, as shown in FIG. The first-layer platform 1, the second-layer platform 2, the third-layer platform 3 and the fourth-layer platform 4; wherein, the first-layer platform 1 located on the uppermost layer is the motion platform of the aluminum profile assembly; see Figures 2 and 3. As shown, the second-layer platform 2 includes a second-layer frame 21 and a lateral oil cylinder 22 arranged at the bottom of the second-layer frame 21; the first-layer platform 1 is slidably connected to the second-layer frame 21 in the lateral direction; the piston rod of the lateral oil cylinder 22 It is connected with the first layer platform 1, and the piston rods of the lateral oil cylinders 22 are distributed horizontally and laterally, so that the first layer platform 1 and the second layer frame 21 can be driven to slide relative to the second layer frame 21 in the lateral direction through the piston rods of the lateral oil cylinders 22.

The horizontal direction in this application specifically refers to the direction of distribution along the width of the first-layer platform 1, and the longitudinal direction refers to the direction of distribution along the length of the first-layer platform 1; the specific size of the first-layer platform can be determined according to requirements, In the present application, the length of the first layer platform 1 is preferably 3500 mm, the width is 1500 mm, and the thickness is 30 mm.

In order to realize the sliding connection between the first-layer platform 1 and the second-layer frame 21, in the present application, the bottom of the first-layer platform 1 is provided with two laterally distributed guide rails 11, and the two guide rails 11 are along the longitudinal center of the first-layer platform 1. The lines are symmetrically distributed; the second-layer frame 21 is provided with sliding holes matching the two guide rails 11, and the two guide rails 11 are arranged in the corresponding sliding holes. The sliding connection of the layer platform 1 and the second layer frame 21 . In order to reduce the friction during the sliding process, a sliding sleeve is also arranged in the sliding hole.

Further, in the present application, rail sliders 211 are arranged on the second-layer frame 21 , and sliding holes are further arranged in the rail sliders 211 to realize low-friction movement of the first-layer platform 1 in the second-layer frame 21 .

In the present application, the number of rail sliders 211 is preferably eight, the eight rail sliders 211 are divided into two rows, and the four rail sliders 211 in each row are evenly distributed in the lateral direction, so as to reduce the distance between the guide rail 11 and the sliding hole. The contact area is reduced, thereby reducing the frictional force during the lateral movement of the first layer platform 1 .

Referring to FIG. 4 and FIG. 5 , the third-layer platform 3 includes a third-layer base plate 31 , two pitch cylinders 32 uniformly distributed along the longitudinal direction of the third-layer base plate 31 , and two laterally distributed along the third-layer base plate 31 . Evenly distributed roll cylinders 33; wherein the bottom end of the pitch cylinder 32 and the bottom end of the roll cylinder 33 are fixedly connected with the third floor bottom plate 31, and the top of the piston rod of the pitch cylinder 32 and the piston of the roll cylinder 33 are fixedly connected. The top ends of the rods are all rotatably connected with the second layer frame 21 ; four oil cylinders arranged on the third layer bottom plate 31 connect the third layer bottom plate 31 with the second layer frame 21 .

Referring to FIGS. 6 to 8 , the fourth-layer platform 4 includes a fourth-layer frame 41 and a yaw cylinder 42 disposed on the fourth-layer frame 41 . The centerline of the yaw cylinder 42 deviates from the centerline of the third-layer bottom plate 31 In the arrangement, the piston rods of the yaw oil cylinders 42 are distributed along the horizontal direction, and the piston rods of the yaw oil cylinders 42 are connected with the third floor bottom plate 31 .

When using the ship motion multi-degree-of-freedom simulation device, the corresponding oil cylinder operation is selected according to the multi-degree-of-freedom simulation requirements of ship motion; specifically, when lateral motion is required, the lateral oil cylinder 22 is operated, and the piston rod of the lateral oil cylinder 22 shrinks in the lateral direction. At the same time, it drives the first layer platform 1 connected to it to move in the lateral direction, so as to realize the lateral simulation movement.

When the pitching motion is required, the two pitching cylinders 32 form a differential oil circuit, and the second layer frame 21 connected to the two pitching cylinders 32 is manipulated in the longitudinal direction. Shake, and at the same time drive the first layer platform 1 connected above the second layer frame 21 to shake longitudinally, so as to realize the longitudinal shaking simulation movement.

Similarly, when the rolling motion is required, the two rolling cylinders 33 form a differential oil circuit, and the second-layer frame connected with the two rolling cylinders 33 is manipulated in the lateral direction. The lateral shaking simultaneously drives the first-layer platform 1 connected above the second-layer frame 21 to shake laterally, thereby realizing the lateral shaking simulation movement.

When the yaw movement is required, the piston rod of the yaw cylinder 42 performs a retracting movement, and at the same time drives the third floor 31 to move. The third floor bottom plate 31 is used to realize the yaw movement.

The multi-degree-of-freedom simulation device for ship motion provided by the present invention can simulate various motions of ships under laboratory conditions through the cooperation of four-layer platforms and oil cylinders arranged in sequence from top to bottom, thereby improving the stability and safety of ship navigation sex.

In order to improve the accuracy of the control of the multi-degree-of-freedom simulation device for ship motion, in the present application, on the piston rod of the transverse oil cylinder 22, on the piston rod of the pitch oil cylinder 32, on the piston rod of the roll oil cylinder 33, and on the piston rod of the yaw oil cylinder 42. Displacement sensors are installed on the rods; the displacement of the corresponding piston rod is detected by the displacement sensor, and the displacement of the platform connected with the piston rod is obtained, so as to realize the precise control of the multi-degree-of-freedom simulation device for ship motion.

In this application, the pressure oil of each oil cylinder is controlled by a servo valve, and the pressure oil supply of the servo valve comes from a dedicated hydraulic source. Specifically, as shown in FIG. 9 , each set of servo valves, oil cylinders, displacement sensors and corresponding controllers form a platform servo closed-loop loop, so that the ship motion multi-degree-of-freedom simulation device can simulate the required motion.

In order to prevent the operation of the ship motion multi-degree-of-freedom simulation device from being affected by external magnetism, the materials of the components on the ship's motion multi-degree-of-freedom simulation device in this application are all non-magnetic materials.

Specifically, all steel materials in this application are made of 316 type non-magnetic stainless steel material, the first layer platform 1, that is, the motion platform is made of aluminum profiles; screws and nuts are made of 316 type non-magnetic stainless steel or brass; welding The welding wire is made of special non-magnetic stainless steel; the inner layer of the high-pressure hose required in the simulation device is made of thermoplastic polyester, the outer layer is made of oil-resistant synthetic rubber, and the hose joint is made of non-magnetic stainless steel; Both require a non-magnetic inspection.

Further, the multi-degree-of-freedom simulation device for ship motion in this application also includes a base (not shown in the figure), the base is arranged below the fourth-layer frame 41, and the fourth-layer frame 41 is slidably connected to the base along the longitudinal direction, so as to facilitate By moving the fourth layer frame 41 on the base in the longitudinal direction, the simulation of the longitudinal movement of the ship is realized, that is, the forward motion of the ship is simulated.

In order to realize that the fourth-layer frame 41 moves on the base in the longitudinal direction, it is preferred in the present application that the bottom of the fourth-layer frame 41 is provided with track wheels 411 distributed along the longitudinal direction, and the base is provided with a track adapted to the track wheel 411. Distributed along the longitudinal direction, so that the track wheel 411 at the bottom of the fourth layer frame 41 slides in the track on the base to drive the fourth layer frame 41 to move in the longitudinal direction, and then drive the first layer platform 1, that is, the moving platform to move in the longitudinal direction. Simulation of longitudinal movement of a ship.

The forward motion of the simulated ship can be realized by driving the orbital wheel 411 to move in the orbit on the base through the steel cable from the outside. Because the distance of longitudinal movement is generally long, the length of the connected hydraulic oil pipe is also long; in order to enable the oil pipe to move in an orderly manner, the application preferably puts the oil pipe into the drag chain device made of plastic, The oil pipe can follow the ship motion multi-degree-of-freedom simulation device to move regularly.

Further, when the ship motion multi-degree-of-freedom simulation device provided by the present invention is in the working state, due to the closed-loop control, once the power supply is cut off, the system cannot be controlled, and the ship's motion multi-degree-of-freedom simulation device will be in an uncertain state. There is no guarantee; in order to ensure that the posture of the multi-degree-of-freedom simulation device for ship motion can remain unchanged when the multi-degree-of-freedom simulation device for ship motion is in a power-off state, in this application, a group of A, B is superimposed under each servo valve. Two-way solenoid ball valve (normally closed type), when the servo circuit is in the working state, the solenoid ball valve must be energized; when the working state turns to the power-off state, the oil ports A and B of the oil cylinder are closed, and the multi-degree-of-freedom simulation device for ship motion is Keep it in the original state; if the electrical signals of all channels are reset to zero before the power is turned off, the ship motion multi-degree-of-freedom simulation device is in the initial neutral state, and then the power is turned off, the ship's motion multi-degree-of-freedom simulation device will not act at this time, keep The initial neutral state ensures the safety of the multi-DOF simulation device for ship motion. In order to realize this function, strict requirements are put forward for the internal tightness of each oil cylinder, that is, there is no internal leakage in the oil cylinder.

In order to further improve the safety of the multi-degree-of-freedom simulation device for ship motion, the pump station in this application is equipped with an oil level alarm, and an alarm occurs when the oil level is lower than 60%; When the oil temperature is higher than 50 degrees, the cooling system will start, when it is lower than 40 degrees, the cooling system will be shut down, and when the oil temperature is higher than 60 degrees, the system will alarm and the system will shut down.

Set the oil pollution alarm, the system adopts multi-stage cleaning and filtration, and each filter element is equipped with a clogging sensor. When the filter element is about to be replaced, the system will prompt.

There are multiple emergency stop buttons on site. When the system is out of control, the emergency button can be used to stop the system in an emergency, and the multi-degree-of-freedom simulation device of ship motion is in a fixed state.

In order to improve the stability of the structure of the multi-degree-of-freedom simulation device for ship motion, the multi-degree-of-freedom simulation device for ship motion in this application also includes a support shaft 5, and the bottom end of the support shaft 5 is fixedly connected to the center of the fourth-layer frame 41, and the support shaft 5 passes through the center of the third-layer bottom plate 31 and is rotatably connected to the center of the bottom end of the second-layer frame 21 .

The top end of the support shaft 5, the top ends of the piston rods of the two pitch cylinders 32 and the top ends of the piston rods of the two roll cylinders 33 are all rotatably connected to the bottom end of the second layer frame 21 to form five movable fulcrums, which can realize the second The pitch and roll of the layer frame 21 further drives the pitch and roll of the first layer platform 1 connected to the second layer frame 211 .

In the present application, it is preferred that the top end of the support shaft 5, the top ends of the piston rods of the two pitch cylinders 32 and the top ends of the piston rods of the two roll cylinders 33 are provided with universal balls 6, and the corresponding positions of the bottom ends of the second frame 21 are provided with The ball head hole seat 212 adapted to each universal ball 6 is arranged in the corresponding ball head hole seat 212 so that the top end of the support shaft 5 and the top end of the piston rod of the two pitching cylinders 32 , The top ends of the piston rods of the two roll cylinders 33 are hinged with the second frame 21 , so as to realize the rotational connection between the support shaft 5 , the two pitch cylinders 32 , and the two roll cylinders 33 and the second frame 21 .

The multi-degree-of-freedom simulation device for ship motion provided by the present invention drives the platform to move through the lateral oil cylinder 22, the pitch oil cylinder 32, the roll oil cylinder 33 and the yaw oil cylinder 42, wherein the four driving oil cylinders can move independently or can be Compound motion, so that the simulation device of the ship motion can simulate the lateral movement and longitudinal movement of the ship in the horizontal direction, and in the attitude, it can simulate the roll (roll) movement, pitch (pitch) movement and yaw of the ship At the same time, the structure of the multi-DOF simulation device for ship motion provided by the present application is reasonable and compact, especially the total height of the simulation device is relatively low, for example, the total height of the multi-DOF simulation device for ship motion is less than 450mm. For this reason, each structure in the present application is designed to be miniaturized, and the size of each component is controlled.

Another object of the present invention is to provide a multi-degree-of-freedom simulation method for ship motion, which is realized by the above-mentioned multi-degree-of-freedom simulation device for ship motion; in order to facilitate precise control of the simulation process of ship motion, the The ship motion multi-degree-of-freedom simulation device also includes a control module, which is connected with the ship's motion multi-degree-of-freedom simulation device through signals. Signal connection to the control module.

The multi-DOF simulation method for ship motion includes the following steps:

The control module receives the simulated motion command;

If the simulated movement is a lateral movement, the lateral oil cylinder 22 is controlled to operate;

If the simulated motion is a pitch motion, the two pitch cylinders 32 are controlled to operate;

If the simulated motion is a rolling motion, the two rolling oil cylinders 33 are controlled to operate;

If the simulated motion is a yaw motion, the yaw cylinder 42 is controlled to operate.

In order to improve the intelligence and accuracy of the simulation method, in this application, the horizontal oil cylinder 22, the pitching oil cylinder 32, the rolling oil cylinder 33 and the yaw oil cylinder 42 are all signal-connected to the control module; wherein the control module specifically includes a man-machine interface computer and PAC, the human-machine interface computer is used to receive the user's data instructions, and display the real-time data feedback of the ship motion multi-degree-of-freedom simulation device on the display screen of the human-machine interface computer; PAC is used to collect the real-time data of the ship simulation device; specific During use, the user sends out corresponding commands through the computer in the control module, and transmits the command to the corresponding equipment connected with the signal of the control module via Ethernet communication, such as the horizontal cylinder 22, the pitch cylinder 32, For the roll cylinder 33 and the yaw cylinder 42, the corresponding equipments act according to the received commands to simulate the corresponding movements.

When the simulated motion is specifically performed, the motion modes of the lateral cylinder 22 , the pitch cylinder 32 , the roll cylinder 33 , and the yaw cylinder 42 are referred to above, and will not be repeated herein.

The ship motion simulation method provided by the present invention, through the setting of the control module, realizes receiving the operator's instruction through the man-machine interface, realizes the real-time communication between the man-machine interface computer and the lower computer, and realizes the simulation of the ship motion multi-degree-of-freedom simulation device. Real-time data acquisition, realize local control and remote control of hydraulic servo system, and realize servo motion control of motion platform.

During the working process, the man-machine interface computer, PAC, lateral cylinder 22, pitch cylinder 32, roll cylinder 33, yaw cylinder 42, displacement sensor set on each cylinder, servo valve corresponding to each cylinder, hydraulic pump station and hydraulic The loops together constitute the electronic control system of the ship motion multi-degree-of-freedom simulation device, in which the PAC collects the displacement information of each displacement sensor in real time, and generates the corresponding control signal of the servo valve according to the information collected in real time and the received command. The control signal is converted into the corresponding flow and pressure output, and then the control of the corresponding oil cylinder is realized.

Specifically, in the present application, controlling the operation of the lateral oil cylinder 22 includes:

According to the lateral motion command, calculate the first standard displacement of the piston rod of the lateral oil cylinder 22;

According to the displacement sensor on the lateral oil cylinder 22, the first real-time displacement of the piston rod of the lateral oil cylinder 22 is obtained;

The first real-time displacement is compared with the first standard displacement, and if the first real-time displacement reaches the first standard displacement, the piston rod of the lateral oil cylinder 22 stops running.

The displacement sensor on the lateral oil cylinder 22 is signal-connected to the control module; the first standard displacement value is determined by the specific lateral movement command, and the first standard displacement can be directly the displacement value specified in the lateral movement command, or it can be the displacement value specified in the lateral movement command. The displacement value obtained by rounding, rounding, etc. on the basis of the displacement value specified in the motion command; during operation, the control module collects the real-time displacement data of the displacement sensor on the horizontal oil cylinder 22, which is recorded as the first real-time displacement, and the first real-time displacement is recorded as the first real-time displacement. The real-time displacement is compared with the first standard displacement. If the first real-time displacement does not reach the first standard displacement, it is determined that under the driving of the lateral oil cylinder 22, the lateral movement value of the platform 1 on the first floor does not meet the requirements of lateral simulated motion. , then the piston rod of the lateral oil cylinder 22 continues to move along the original motion direction; on the contrary, when the first real-time displacement reaches the first standard displacement, it is determined that under the driving of the lateral oil cylinder 22, the lateral movement value of the first-layer platform 1 satisfies If the demand for lateral simulated movement is satisfied, the piston rod of the lateral cylinder 22 is controlled to stop running; if it is still necessary to simulate the reverse lateral movement, the control module receives the lateral movement command opposite to the above-mentioned direction, and then through the above-mentioned control process, the lateral cylinder 22 Continue to drive the first-layer platform 1 to move laterally in the opposite direction, and the control process of the lateral movement in the opposite direction will not be repeated here.

Controlling the operation of the two pitch cylinders 32 includes:

Obtain the pitch angle according to the pitch motion command;

According to the pitch angle, determine the first standard height difference between the piston rods of the two pitch cylinders 32;

obtaining the first real-time height difference between the piston rods of the two pitching oil cylinders 32 according to the displacement sensors on the two pitching oil cylinders 32;

The first real-time height difference is compared with the first standard height difference, and if the first real-time height difference reaches the first standard height difference, the piston rods of the two pitching cylinders 32 stop running.

In this application, in the pitch motion command, the specified pitch angle is ±5° as an example, to illustrate the simulation process of the pitch motion; this application preferably the distance between the two pitch cylinders 32 and the support shaft 5 is 400mm; control According to the pitch angle, the module determines that when the vertical movement distance of the piston rods of the two pitch cylinders 32 is ±35mm, the pitch angle of the first motion platform 1 is ±5°, that is, the first standard height difference is 70mm; The pitch cylinder 32 works differentially, monitors the displacement values of the displacement sensors on the two pitch cylinders 32 in real time, and adds the two displacement values to obtain the first real-time height difference; the control module calculates the first real-time height difference. The difference is compared with the first standard height difference. If the first real-time height difference does not reach the first standard height difference, that is, does not reach 70mm, then it is determined that the pitch angle of the first floor platform 1 does not reach the specified value. ±5°, then control the piston rods of the two pitching cylinders 32 to continue to move in the original direction; on the contrary, if the first real-time height difference reaches the first standard height difference, that is, reaches 70mm, then it is determined that the first floor platform 1 The pitch angle has reached ±5° in the command and meets the simulation requirements, then the piston rods of the two pitch cylinders 32 are controlled to stop moving; if the simulated ship continues to pitch in the opposite direction, the control module continues to receive According to the above control process, the two pitching cylinders 32 continue to drive the first-layer platform 1 to continue the pitching movement in the opposite direction, so as to reciprocate until the control module receives the pitching movement stop command, then the two pitching The cylinder 32 stops running.

Controlling the operation of the two roll cylinders 33 includes:

Obtain the roll angle according to the roll motion command;

According to the roll angle, determine the second standard height difference between the piston rods of the two roll cylinders 33;

Obtain the second real-time height difference between the piston rods of the two roll cylinders 33 according to the displacement sensors on the two roll cylinders 33;

The second real-time height difference is compared with the second standard height difference, and if the second real-time height difference reaches the second standard height difference, the piston rods of the two roll cylinders 33 stop running.

In this application, the specified roll angle is ±7° in the roll motion command as an example to illustrate the simulation process of the roll motion; this application preferably the distance between the two roll cylinders 33 and the support shaft 5 is 280mm; control According to the roll angle, the module determines that when the vertical movement distance of the piston rods of the two roll cylinders 33 is ±35mm, the pitch angle of the first motion platform 1 is ±7°, that is, the second standard height difference is 70mm; The roll cylinder 33 works differentially, monitors the displacement values of the displacement sensors on the two roll cylinders 33 in real time, and adds the two displacement values to obtain the second real-time height difference; the control module calculates the second real-time height difference The difference is compared with the second standard height difference. If the second real-time height difference does not reach the second standard height difference, that is, does not reach 70mm, it is determined that the roll angle of the platform 1 on the first floor does not reach the specified value. ±7°, then the piston rods of the two roll cylinders 33 are controlled to continue to move in the original direction; on the contrary, if the second real-time height difference reaches the second standard height difference, that is, reaches 70mm, then it is determined that the first floor platform 1 The rolling angle of the ship has reached ±7° in the command, which meets the simulation requirements, and the piston rods of the two rolling cylinders 33 are controlled to stop moving in the opposite direction; if the simulated ship continues to roll in the opposite direction, the control module continues to receive For the roll command, according to the above control process, the two roll cylinders 33 continue to drive the first layer platform 1 to perform roll movement in the opposite direction, so as to reciprocate until the control module receives the stop command of the roll movement, then the two roll The oil cylinder 33 stops running.

Controlling the operation of the yaw cylinder 42 includes:

Obtain the yaw angle according to the yaw motion command;

obtaining the second standard displacement of the piston rod of the yaw cylinder 42 according to the yaw angle;

Acquire the second real-time displacement of the piston rod of the yaw oil cylinder 42 according to the displacement sensor on the yaw oil cylinder 42;

The second real-time displacement is compared with the second standard displacement, and if the second real-time displacement reaches the second standard displacement, the yaw cylinder 42 stops running.

In this application, the yaw movement instruction is specified to be ±10° as an example to illustrate the simulation process of the yaw movement; in this application, the yaw cylinder 42 is preferably placed horizontally, and the axis of the yaw cylinder 42 reaches the support shaft. The distance of 5 is 280mm; according to the yaw angle, the control module determines that when the horizontal movement distance of the piston rod of the yaw cylinder 42 is ±50mm, the yaw angle of the first motion platform 1 is ±10°, that is, the second standard displacement is ± 50mm; real-time monitoring of the displacement value of the displacement sensor on the yaw cylinder 42 to obtain the second real-time displacement; the control module compares the second real-time displacement with the second standard displacement, if the second real-time displacement does not reach the second standard displacement , that is, it does not reach ±50mm, then it is determined that the yaw angle of the first layer platform 1 does not reach ±10° in the command, and the piston rod of the yaw cylinder 42 is controlled to continue to move in the original direction; on the contrary, if the second real-time displacement When the second standard displacement is reached, that is, ±50mm, it is determined that the yaw angle of the first-layer platform 1 has reached ±10° in the command, which meets the simulation requirements. Air movement simulation.

Referring to Fig. 10, in the multi-degree-of-freedom simulation method of ship motion provided by the present invention, each set of oil cylinders and corresponding servo valves, displacement sensors, and corresponding controllers form a platform servo loop, which is controlled by a computer to realize the corresponding motion. Simulation; wherein "1#", "2#", "3#", "4#" in Figure 10 can be used to refer to the horizontal cylinder 22, the two pitch cylinders 32, the two horizontal cylinders in this application. Any one of the rocking cylinder 33 and the yaw cylinder 42.

Although the present disclosure is disclosed above, the scope of protection of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims (10)

1. a multi-degree-of-freedom simulation device for ship motion, characterized in that it comprises a first floor platform (1), a second floor platform (2), a third floor platform (3) and a fourth floor platform (1), the second floor platform (2), the third floor platform (3) and the fourth floor platform (1), which are set in sequence from top to bottom. layer platform (4); wherein, The second-layer platform (2) comprises a second-layer frame (21), and a transverse oil cylinder (22) disposed at the bottom of the second-layer frame (21); the first-layer platform (1) is laterally connected to the The second-layer frame (21) is slidably connected; the piston rod of the transverse oil cylinder (22) is connected with the first-layer platform (1); The third-layer platform (3) comprises a third-layer bottom plate (31), two pitching oil cylinders (32) uniformly distributed along the longitudinal direction of the third-layer bottom plate (31), and two The horizontally evenly distributed roll cylinders (33) of the layer bottom plate (31); the top of the piston rod of the pitch cylinder (32) and the top of the piston rod of the roll cylinder (33) are all connected with the second The layer frame (21) is rotatably connected; The fourth-layer platform (4) comprises a fourth-layer frame (41), and a yaw cylinder (42) arranged on the fourth-layer frame (41), the centerline of the yaw cylinder (42) deviates The center line of the third-layer bottom plate (31) is arranged, and the piston rod of the yaw oil cylinder (42) is connected with the third-layer bottom plate (31). 2. The multi-degree-of-freedom simulation device for ship motion according to claim 1, characterized in that, on the piston rod of the lateral oil cylinder (22), on the piston rod of the pitching oil cylinder (32), the roll Displacement sensors are provided on the piston rod of the oil cylinder (33) and the piston rod of the yaw oil cylinder (42); The materials of the components on the ship motion multi-degree-of-freedom simulation device are all non-magnetic materials. 3. The multi-DOF simulation device for ship motion according to claim 1 or 2, characterized in that it further comprises a base, and the base is arranged below the fourth-layer frame (41), and the fourth-layer frame (41) slidably connected to the base in the longitudinal direction. 4. The multi-degree-of-freedom simulation device for ship motion according to claim 3, wherein the bottom of the fourth-layer frame (41) is provided with track wheels (411) distributed along the longitudinal direction, and the base is provided with A track adapted to the track wheel (411). 5. The multi-degree-of-freedom simulation device for ship motion according to claim 3, further comprising a support shaft (5), and the bottom end of the support shaft (5) is fixedly connected to the fourth-layer frame (41). ), the support shaft (5) passes through the center of the third-layer bottom plate (31), and is rotatably connected to the center of the bottom end of the second-layer frame (21). 6. A method for simulating ship motion with multiple degrees of freedom, characterized in that, through the ship motion multi-degree-of-freedom simulation device according to any one of claims 1 to 5, and a signal connection with the ship motion multi-degree-of-freedom simulation device The control module implementation; The multi-DOF simulation method for ship motion includes the following steps: The control module receives the simulated motion command; If the simulated movement is a lateral movement, controlling the lateral oil cylinder (22) to operate; If the simulated motion is a pitching motion, controlling the two pitching oil cylinders (32) to operate; If the simulated motion is a rolling motion, controlling the two rolling oil cylinders (33) to operate; If the simulated motion is a yaw motion, the yaw oil cylinder (42) is controlled to operate. 7. The method for simulating ship motion with multiple degrees of freedom according to claim 6, characterized in that, controlling the operation of the lateral oil cylinder (22) comprises: calculating the first standard displacement of the piston rod of the lateral oil cylinder (22) according to the lateral movement command; According to the displacement sensor on the lateral oil cylinder (22), the first real-time displacement of the piston rod of the lateral oil cylinder (22) is acquired; The first real-time displacement is compared with the first standard displacement, and if the first real-time displacement reaches the first standard displacement, the piston rod of the lateral oil cylinder (22) stops running. 8. The multi-degree-of-freedom simulation method for ship motion according to claim 6, characterized in that, controlling the operation of two of the pitching oil cylinders (32) comprises: obtaining the pitch angle according to the pitch motion instruction; According to the pitch angle, determine a first standard height difference between the piston rods of the two pitch cylinders (32); Acquiring a first real-time height difference between the piston rods of the two pitching oil cylinders (32) according to the displacement sensors on the two pitching oil cylinders (32); The first real-time height difference value is compared with the first standard height difference value, and if the first real-time height difference value reaches the first standard height difference value, the two pitching cylinders ( 32) the piston rod stops running. 9. The multi-degree-of-freedom simulation method for ship motion according to claim 6, characterized in that, controlling the operation of the two rolling oil cylinders (33) comprises: obtaining a roll angle according to the roll motion instruction; According to the roll angle, determine a second standard height difference between the piston rods of the two roll cylinders (33); Acquiring a second real-time height difference between the piston rods of the two rolling oil cylinders (33) according to the displacement sensors on the two rolling oil cylinders (33); Comparing the second real-time height difference value with the second standard height difference value, if the second real-time height difference value reaches the second standard height difference value, the two roll cylinders ( 33) The piston rod stops running. 10. The method for simulating ship motion with multiple degrees of freedom according to claim 6, wherein controlling the operation of the yaw cylinder (42) comprises: obtaining the yaw angle according to the yaw motion instruction; obtaining a second standard displacement of the piston rod of the yaw cylinder (42) according to the yaw angle; Acquire a second real-time displacement of the piston rod of the yaw oil cylinder (42) according to the displacement sensor on the yaw oil cylinder (42); The second real-time displacement is compared with the second standard displacement, and if the second real-time displacement reaches the second standard displacement, the yaw cylinder (42) stops running.

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