阅读说明：本技术 一种风洞试验用舰船摇摆台 (Ship swaying table for wind tunnel test ) 是由 张钧 陈陆军 傅澔 武杰 马军 金华 张晖 梁勇 刘江涛 刘赟 孙福振 兰宇 于 2019-10-09 设计创作，主要内容包括：本发明公开一种风洞试验用舰船摇摆台,包括运动机构、随动机构、动平台、基座和运动控制器；所述运动机构、随动机构设置在动平台和基座之间,所述运动控制器与运动机构通过电缆连接,控制运动机构做可控伸缩运动；风洞主控计算机将舰船模型的位姿控制信号通过电缆传递给运动控制器,运动控制器控制RPR组件Ⅰ、RPR组件Ⅱ和RPR组件Ⅲ伸缩运动。本发明能够用于在风洞内模拟载机舰船的运动,以形成载机舰船飞行甲板上方及周围的空气流场,为风洞内的动态舰船气流场测量、载机舰船和舰载机的舰机适配性研究等提供条件。能够用于调整舰船模型在风洞流场中的不同姿态,为舰船模型在不同姿态下的气动力测量及其周围气流场测量提供条件。(The invention discloses a ship swing table for a wind tunnel test, which comprises a motion mechanism, a follow-up mechanism, a movable platform, a base and a motion controller, wherein the motion mechanism is arranged on the base; the motion mechanism and the follow-up mechanism are arranged between the movable platform and the base, and the motion controller is connected with the motion mechanism through a cable and controls the motion mechanism to do controllable telescopic motion; the wind tunnel main control computer transmits the position and pose control signal of the ship model to the motion controller through a cable, and the motion controller controls the RPR component I, the RPR component II and the RPR component III to move in a stretching and contracting mode. The invention can be used for simulating the motion of an aircraft-carrying ship in the wind tunnel to form an air flow field above and around a flight deck of the aircraft-carrying ship, and provides conditions for dynamic ship airflow field measurement in the wind tunnel, ship-carrying ship adaptation research of the aircraft-carrying ship and the aircraft-carrying aircraft, and the like. The method can be used for adjusting different postures of the ship model in the wind tunnel flow field, and provides conditions for aerodynamic force measurement of the ship model in different postures and measurement of the surrounding airflow field.)

1. A ship swing table for a wind tunnel test is characterized by comprising a motion mechanism, a follow-up mechanism, a movable platform (1), a base (2) and a motion controller (10); the motion mechanism and the follow-up mechanism are arranged between the movable platform (1) and the base (2), and the motion controller (10) is connected with the motion mechanism through a cable to drive the motion mechanism to do controllable telescopic motion;

the moving mechanism comprises an RPR component I (3), an RPR component II (4) and an RPR component III (5), wherein the RPR component I (3), the RPR component II (4) and the RPR component III (5) are mutually connected in parallel and are erected between an upper movable platform (1) and a lower base (2); the RPR component I (3), the RPR component II (4) and the RPR component III (5) form a motion structure relation of 2 triangles in a vertical plane;

the follow-up mechanism comprises a PRR assembly I (6), a PRR assembly II (7), a PRR assembly III (8) and a PRR assembly IV (9), wherein the PRR assembly I (6), the PRR assembly II (7), the PRR assembly III (8) and the PRR assembly IV (9) are mutually erected between an upper movable platform (1) and a lower base (2) in parallel;

the wind tunnel main control computer transmits the position and pose control signal of the ship model to the motion controller (10) through a cable, and the motion controller (10) controls the RPR component I (3), the RPR component II (4) and the RPR component III (5) to move in a stretching and retracting manner.

2. The ship swing platform for the wind tunnel test according to claim 1, wherein the RPR component i (3), the RPR component ii (4) and the RPR component iii (5) form a motion structure relationship of 2 triangles in a vertical plane: the top end and the bottom end of the RPR component II (4) are respectively hinged between the movable platform (1) and the corresponding left side of the base (2); the top end and the bottom end of the RPR component III (5) are respectively hinged between the corresponding right sides of the movable platform (1) and the base (2); the top end of the RPR component I (3) is hinged with the right side of the movable platform (1), and the bottom end of the RPR component I (3) is hinged with the left side of the base (2); therefore, the RPR component I (3), the RPR component II (4) and the movable platform (1) form 1 triangular movement structure relationship, and the RPR component I (3), the RPR component III (5) and the base (2) form the other 1 triangular movement structure relationship.

3. The vessel rocking platform for wind tunnel test according to claim 2, wherein in the movement mechanism:

the RPR component I (3) comprises an upper revolute pair I (31), an electric cylinder I (32) and a lower revolute pair I (33), the moving end of the electric cylinder I (32) is hinged with the moving platform (1) through the upper revolute pair I (31), and the fixed end of the electric cylinder I (32) is hinged with the base (2) through the lower revolute pair I (33); the motion controller (10) is connected with the electric cylinder I (32) through a cable, and the motion controller (10) controls the electric cylinder I (32) to actively and controllably stretch;

the RPR component II (4) comprises an upper revolute pair II (41), an electric cylinder II (42) and a lower revolute pair II (43), the moving end of the electric cylinder II (42) is hinged with the moving platform (1) through the upper revolute pair II (41), and the fixed end of the electric cylinder II (42) is hinged with the base (2) through the lower revolute pair II (43); the motion controller (10) is connected with the electric cylinder II (42) through a cable, and the motion controller (10) controls the electric cylinder II (42) to actively and controllably stretch;

the RPR component III (5) comprises an upper revolute pair III (51), an electric cylinder III (52) and a lower revolute pair III (53), the moving end of the electric cylinder III (52) is hinged with the moving platform (1) through the upper revolute pair III (51), and the fixed end of the electric cylinder III (52) is hinged with the base (2) through the lower revolute pair III (53); the motion controller (10) is connected with the electric cylinder III (52) through a cable, and the motion controller (10) controls the electric cylinder III (52) to actively and controllably stretch.

4. The ship swing table for the wind tunnel test according to claim 3, wherein in the follow-up mechanism, the PRR component I (6), the PRR component II (7), the PRR component III (8) and the PRR component IV (9) have the same structure, and comprise a guide rod (61), a sliding sleeve (62), a connecting rod (63) and a rotating member (64), wherein the guide rod (61) is vertically and fixedly arranged on four corners of the base (2), the sliding sleeve (62) is sleeved on the guide rod (61) and slides on the guide rod (61), the sliding sleeve (62) is hinged to one end of the connecting rod (63), and the other end of the connecting rod (63) is hinged to the movable platform (1) through the rotating member (64).

5. The ship swing table for the wind tunnel test according to claim 4, wherein a control signal of a ship model motion parameter or a ship model attitude parameter is transmitted to the motion controller (10) through a cable by a wind tunnel main control computer, the motion controller (10) resolves and gives displacement amounts of the electric cylinder I (32), the electric cylinder II (42) and the electric cylinder III (52) through motion, and controls synchronous telescopic motion of 3 electric cylinders; the movable platform (1) is driven by the length change of 3 electric cylinders, and meanwhile, the movable platform (1) is assisted by 4 PRR components to support in a follow-up manner, so that the movable platform (1) drives a ship model to move in a wind tunnel test in a given mode or reach an appointed posture.

6. The ship swing table for the wind tunnel test according to claim 1, wherein a ship model connecting seat is fixedly arranged on the movable platform (1), and the ship is fixedly installed on the ship model connecting seat.

7. The ship swing table for the wind tunnel test according to claim 6, wherein the ship model connecting seat is an adapter plate or a balance; when a dynamic wind tunnel test is carried out, a ship model is fixedly arranged on a movable platform (1) of a swing platform through an adapter plate; when a static test is carried out, the ship model is fixedly connected with the movable platform (1) through a balance for measuring aerodynamic force; the ship model fixedly connected with the ship model is driven to be positioned at different pitch angle postures, and the positions of the ship model in the vertical direction and the axial direction are adjusted.

8. The ship swing table for the wind tunnel test according to claim 7, wherein the movable platform (1) and the ship model are installed at two relative positions, the left and right symmetric planes of the ship model at one position are parallel to the plane of the motion mechanism, the left and right symmetric planes of the ship model at the other position are perpendicular to the plane of the motion mechanism, and the two installation positions form a 90 ° angle with each other around the rotating shaft of the lower turntable.

9. The ship swing table for the wind tunnel test according to claim 8, wherein the base (2) is arranged on a lower rotary table in the wind tunnel test section, and the ship model is positioned at different yaw angles through the rotating fit of the lower rotary table in the test section, so that conditions are provided for aerodynamic force measurement and airflow field measurement of the ship model at different postures.

Technical Field

The invention belongs to the technical field of wind tunnel tests, and particularly relates to a ship swing platform for a wind tunnel test.

Background

The taking-off and landing safety of the carrier-based aircraft is one of the most dangerous actions on the carrier-based aircraft and is the problem that the aircraft carrier must solve firstly when forming the fighting force. The complex air flow field above and around the flight deck can greatly affect the operation stability of the carrier-based aircraft in the taking-off and landing process, even endanger the taking-off and landing flight safety of the carrier-based aircraft, and in order to avoid accidents and ensure the taking-off and landing safety, all navy strong countries pay attention to and actively solve the problem. According to the research, the main factors influencing the take-off and landing safety of the shipboard aircraft comprise motions of a seawater flow field, an aircraft ship and the like, and unstable air flow fields above and around a flight deck (including the flow field manufactured by the shipboard aircraft and the coupling influence of the shipboard aircraft and the surrounding environment).

The ship motion comprises pitch, roll, bow, heave, sway and surge, etc., and the motion simulation of the ship is usually realized by adopting a ship motion simulation device. The method mainly comprises two methods for researching the air flow field related to the aircraft-borne ship, wherein one method is to utilize computer modeling and numerical simulation, and the other method is to adopt a scaling model to carry out the offshore test through a real ship. At present, the method of computer modeling and numerical simulation, particularly the method of flow field coupling, adopted in China is not perfect, and the reliability of a calculation result is not very high, so that the second method is mainly adopted in the air flow field research related to the dynamic carrier ship. Secondly, the offshore test cost of the real ship is high, and the test range is limited. The existing universal ship motion simulation device is complex in structure, particularly large in overall dimension, and difficult to install in a wind tunnel test section, so that the test precision is influenced due to large blocking degree even if the universal ship motion simulation device is installed in a wind tunnel; therefore, the current universal ship motion simulation device cannot meet the requirements for dynamic ship airflow field measurement and ship-borne ship and aircraft adaptability research of carrier ships in wind tunnels.

Disclosure of Invention

In order to solve the problems, the invention provides a ship swing platform for a wind tunnel test, which can be used for simulating the motion of an aircraft-carrying ship in a wind tunnel to form an air flow field above and around a flight deck of the aircraft-carrying ship, and provides conditions for dynamic ship airflow field measurement in the wind tunnel, ship-carrying ship and ship-carrying aircraft suitability research and the like. The method can be used for adjusting different postures of the ship model in the wind tunnel flow field, and provides conditions for aerodynamic force measurement of the ship model in different postures and measurement of the surrounding airflow field.

In order to achieve the purpose, the invention adopts the technical scheme that: a ship swing table for a wind tunnel test comprises a motion mechanism, a follow-up mechanism, a movable platform, a base and a motion controller; the motion mechanism and the follow-up mechanism are arranged between the movable platform and the base, and the motion controller is connected with the motion mechanism through a cable and drives the motion mechanism to do controllable telescopic motion;

the motion mechanism comprises an RPR component I, an RPR component II and an RPR component III, wherein the RPR component I, the RPR component II and the RPR component III are mutually connected in parallel and are erected between an upper movable platform and a lower base; the RPR component I, the RPR component II and the RPR component III form a motion structure relationship of 2 triangles in a vertical plane;

the follow-up mechanism comprises a PRR assembly I, a PRR assembly II, a PRR assembly III and a PRR assembly IV, and the PRR assembly I, the PRR assembly II, the PRR assembly III and the PRR assembly IV are mutually erected between an upper movable platform and a lower base in parallel;

the wind tunnel main control computer transmits the position and pose control signal of the ship model to the motion controller through a cable, and the motion controller controls the RPR component I, the RPR component II and the RPR component III to move in a stretching and contracting mode.

Further, the RPR component I, the RPR component II and the RPR component III form a motion structure relationship of 2 triangles in a vertical plane: the top end and the bottom end of the RPR component II are respectively hinged between the movable platform and the corresponding left side of the base; the top end and the bottom end of the RPR component III are respectively hinged between the movable platform and the right side corresponding to the base; the top end of the RPR component I is hinged with the right side of the movable platform, and the bottom end of the RPR component I is hinged with the left side of the base; therefore, the RPR component I, the RPR component II and the movable platform form 1 triangular movement structure relationship, and the RPR component I, the RPR component III and the base form another 1 triangular movement structure relationship.

Further, in the moving mechanism:

the RPR component I comprises an upper revolute pair I, an electric cylinder I and a lower revolute pair I, wherein the moving end of the electric cylinder I is hinged with the moving platform through the upper revolute pair I, and the fixed end of the electric cylinder I is hinged with the base through the lower revolute pair I; the motion controller is connected with the electric cylinder I through a cable, and the motion controller controls the electric cylinder I to actively and controllably stretch;

the RPR component II comprises an upper revolute pair II, an electric cylinder II and a lower revolute pair II, the moving end of the electric cylinder II is hinged with the movable platform through the upper revolute pair II, and the fixed end of the electric cylinder II is hinged with the base through the lower revolute pair II; the motion controller is connected with the electric cylinder II through a cable, and the motion controller controls the electric cylinder II to actively and controllably stretch;

the RPR component III comprises an upper revolute pair III, an electric cylinder III and a lower revolute pair III, the moving end of the electric cylinder III is hinged with the moving platform through the upper revolute pair III, and the fixed end of the electric cylinder III is hinged with the base through the lower revolute pair III; the motion controller is connected with the electric cylinder III through a cable, and the motion controller controls the electric cylinder III to actively and controllably stretch.

Further, among the follow-up mechanism, PRR subassembly I, PRR subassembly II, PRR subassembly III and PRR subassembly IV structure are the same, including guide bar, sliding sleeve, connecting rod and rotation piece, the guide bar is vertical fixed to be arranged on the base four corners, the sliding sleeve cover is established on the guide bar and is slided on the guide bar slide each other with the one end of connecting rod on the sliding sleeve, the other end of connecting rod is articulated each other through rotating the piece and moving the platform. When the swing platform moves, the movable platform drives the sliding sleeve at the lower end of each PRR mechanism to slide up and down along four guide rods fixed on the base. The following mechanism adopts the structure, so that the motion stability and the support rigidity of the movable platform are improved.

Further, according to the test requirements, control signals of ship model motion parameters (such as frequency and amplitude of heaving, swaying, surging, pitching, rolling and the like) or ship model attitude parameters (such as sideslip angle and pitch angle) are transmitted to the motion controller through a cable by the wind tunnel main control computer, the motion controller resolves the displacement of the electric cylinder I, the electric cylinder II and the electric cylinder III through motion, and controls the synchronous telescopic motion of the 3 electric cylinders; the movable platform is driven by the length change of 3 electric cylinders, and is supported by 4 PRR components in an auxiliary follow-up manner, so that the movable platform drives the ship model to move in a given mode or reach a specified attitude in a wind tunnel test.

Further, a ship model connecting seat is arranged on the movable platform, and the ship is fixedly installed on the ship model connecting seat. Different ship model connecting seats are selected for different ship models according to the test requirements and the motion range of the ship model.

Further, the ship model connecting seat is an adapter plate or a balance; when a dynamic wind tunnel test is carried out, a ship model is fixedly arranged on a movable platform of the swing platform through the adapter plate; when a static test is carried out, the ship model is fixedly connected with the movable platform through a balance for measuring aerodynamic force; the ship model fixedly connected with the ship model is driven to be positioned at different pitch angle postures, and the positions of the ship model in the vertical direction and the axial direction are adjusted. The adapter plate/balance on the movable platform can drive the ship model fixedly connected to the movable platform to be positioned at different pitch angles and postures, and position adjustment in the vertical direction and the axial direction, and in addition, through the rotating fit of the turntable under the test section, the ship model can be positioned at different yaw angles and postures, so that conditions are provided for aerodynamic force measurement and airflow field measurement under different postures of the ship model.

Furthermore, the relative installation positions of the movable platform and the ship model are two, the left and right symmetric surfaces of the ship model at one position are parallel to the surface where the motion mechanism is located, the left and right symmetric surfaces of the ship model at the other position are perpendicular to the surface where the motion mechanism is located, and the two installation positions form a 90-degree angle with each other around the lower turntable rotating shaft.

Further, the base is arranged on a lower rotary table of the wind tunnel of the test section, the ship model is located at different yaw angles through the rotating fit of the lower rotary table of the test section, and conditions are provided for aerodynamic force measurement and airflow field measurement of the ship model under different postures. During wind tunnel test, 5 dynamic motions such as heave, surge, pitch, roll and sway and the like and combined motion simulation thereof required by the swing table can be realized by adopting 3 RPR mechanisms in cooperation with rotation of the lower rotary table of the wind tunnel test section, and the device can also be used for adjusting the position and posture (pitch angle, yaw angle, axial direction, lateral direction and vertical direction) of the swing table, so that conditions are provided for dynamic ship airflow field measurement in the wind tunnel, ship-borne ship suitability research of the ship-borne ship and the ship-borne aircraft, and the like.

The beneficial effects of the technical scheme are as follows:

the ship model is arranged on the swing platform in the wind tunnel, so that the ship model can be used for simulating the motion of an aircraft-carrying ship in the wind tunnel to form an air flow field above and around a flight deck of the aircraft-carrying ship, and conditions are provided for dynamic ship airflow field measurement in the wind tunnel, ship-carrying ship and ship-carrying aircraft suitability research and the like. The method can be used for adjusting different postures of the ship model in the wind tunnel flow field, and provides conditions for aerodynamic force measurement of the ship model in different postures and measurement of the surrounding airflow field. The method can simulate the navigation condition of a ship on the sea, can reproduce the taking-off and landing environment of a fixed-wing aircraft or a helicopter on the ship, and has the advantages of obvious controllability, operability, economy, no destructiveness and the like.

The whole swing platform provided by the invention has the advantages of compact structure, small overall dimension and small blockage degree, and can meet the requirements of motion simulation of ships and warships and pose of ship models in wind tunnel tests.

The movement mechanism of the invention forms 2 triangles in one plane through 3 RPR mechanisms, a base and a movable platform, can realize unique corresponding pose change of the movable platform by changing 3 side lengths of the 2 triangles (realized through a sliding pair P) and utilizing the structure stability principle of the triangles, and has compact and simple mechanism, stable structure and accurate moving pose of the movable platform. The 3 RPR mechanisms are positioned on the same plane, and the bilateral symmetry plane of the ship model is parallel to or coincided with the plane, so that the structure is compact and concise, the blockage degree is minimum, the requirements of ship motion simulation or pose in a wind tunnel test can be met, the influence of the device on the flow field of the ship model can be avoided, and the test precision is improved. Each RPR mechanism independently connects the movable platform and the base, so that the connection rigidity and the load resistance of the movable platform are improved, and the motion stability of the movable platform is guaranteed. And 3 electric cylinders I, II and III are used for stretching according to given displacement, so that the motion or pose required by the moving platform can be realized. The upper ends of the 3 RPR mechanisms are respectively hinged with the movable platform, the lower ends of the 3 RPR mechanisms are respectively hinged with the base, and the structural size of the 3 RPR mechanisms changes along with the automatic extension and retraction of the three electric cylinders, so that the movable platform of the swing table is driven to realize the controllable motion of three degrees of freedom (front and back direction, vertical direction and pitching direction).

In the invention, related 4 PRR components with specific structures are uniformly distributed at four corners of the movable platform, and each PRR component independently follows the motion of the movable platform when the movable platform moves. The swing platform adopts the servo mechanism of 4 PRR mechanisms, improves the wind load bearing capacity of the ship model and the stability of the ship model in the motion process, increases the motion rigidity of the ship model, and ensures the safety of the wind tunnel test of the ship model. In addition, by adopting the mechanism, the motion rigidity and the wind load bearing capacity of the ship model are improved, and the loaded deformation of the swing platform is reduced, so that the accuracy of controlling the motion pose of the ship model can be improved, and the accurate wind tunnel test data can be ensured.

In the wind tunnel test process, 5 dynamic motions of the ship, such as heaving, surging, pitching, rolling and swaying, and the like, and motion simulation of combination thereof can be realized through the controllable motion of the swinging table and the rotation matching of the lower turntable, and conditions are provided for dynamic ship airflow field measurement in the wind tunnel, ship-borne aircraft adaptability research of the ship-borne aircraft and the carrier-borne aircraft, and the like. The method can also be used for attitude control of a pitch angle and a yaw angle in a ship model static wind tunnel test and position adjustment in the vertical direction, the axial direction and the lateral direction, and provides conditions for aerodynamic force measurement and airflow field measurement under different attitudes of the ship model.

Drawings

FIG. 1 is a schematic structural diagram of a ship swing table for a wind tunnel test according to the present invention;

FIG. 2 is a schematic diagram of the structure of the motion relationship of the swing table according to the embodiment of the present invention;

wherein, 1 is a movable platform, 2 is a base, 3 is an RPR component I, 4 is an RPR component II, 5 is an RPR component III, 6 is a PRR component I, 7 is a PRR component II, 8 is a PRR component III, 9 is a PRR component IV, and 10 is a motion controller; 31 is an upper rotary pair i, 32 is an electric cylinder i, 33 is a lower rotary pair i, 41 is an upper rotary pair ii, 42 is an electric cylinder ii, 43 is a lower rotary pair ii, 51 is an upper rotary pair iii, 52 is an electric cylinder iii, 53 is a lower rotary pair iii, 61 is a guide rod, 62 is a slide sleeve, 63 is a connecting rod, and 64 is a rotary member.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described with reference to the accompanying drawings.

In this embodiment, referring to fig. 1 and fig. 2, the invention provides a ship swing platform for wind tunnel test, which includes a motion mechanism, a follow-up mechanism, a moving platform 1, a base 2 and a motion controller 10; the motion mechanism and the follow-up mechanism are arranged between the movable platform 1 and the base 2, and the motion controller 10 is connected with the motion mechanism through a cable to drive the motion mechanism to do controllable telescopic motion;

the motion mechanism comprises an RPR component I3, an RPR component II 4 and an RPR component III 5, wherein the RPR component I3, the RPR component II 4 and the RPR component III 5 are mutually connected in parallel and are erected between the upper movable platform 1 and the lower base 2; the RPR component I3, the RPR component II 4 and the RPR component III 5 form a motion structure relationship of 2 triangles in a vertical plane;

the follow-up mechanism comprises a PRR assembly I6, a PRR assembly II 7, a PRR assembly III 8 and a PRR assembly IV 9, wherein the PRR assembly I6, the PRR assembly II 7, the PRR assembly III 8 and the PRR assembly IV 9 are mutually erected between an upper movable platform 1 and a lower base 2 in parallel;

the wind tunnel main control computer transmits the position and pose control signal of the ship model to the motion controller 10 through a cable, and the motion controller 10 controls the RPR component I3, the RPR component II 4 and the RPR component III 5 to move in a stretching and contracting mode.

As an optimization scheme of the above embodiment, the RPR assembly i 3, RPR assembly ii 4 and RPR assembly iii 5 form a motion structure relationship of 2 triangles in a vertical plane: the top end and the bottom end of the RPR component II 4 are respectively hinged between the movable platform 1 and the corresponding left side of the base 2; the top end and the bottom end of the RPR component III 5 are respectively hinged between the corresponding right sides of the movable platform 1 and the base 2; the top end of the RPR component I3 is hinged with the right side of the movable platform 1, and the bottom end of the RPR component I3 is hinged with the left side of the base 2; therefore, the RPR component I3, the RPR component II 4 and the movable platform 1 form 1 triangular movement structure relationship, and the RPR component I3, the RPR component III 5 and the base 2 form the other 1 triangular movement structure relationship.

In the motion mechanism:

the RPR component I3 comprises an upper revolute pair I31, an electric cylinder I32 and a lower revolute pair I33, the moving end of the electric cylinder I32 is hinged with the moving platform 1 through the upper revolute pair I31, and the fixed end of the electric cylinder I32 is hinged with the base 2 through the lower revolute pair I33; the motion controller 10 is connected with the electric cylinder I32 through a cable, and the motion controller 10 controls the electric cylinder I32 to actively and controllably extend and retract;

the RPR component II 4 comprises an upper revolute pair II 41, an electric cylinder II 42 and a lower revolute pair II 43, the moving end of the electric cylinder II 42 is hinged with the moving platform 1 through the upper revolute pair II 41, and the fixed end of the electric cylinder II 42 is hinged with the base 2 through the lower revolute pair II 43; the motion controller 10 is connected with the electric cylinder II 42 through a cable, and the motion controller 10 controls the electric cylinder II 42 to actively and controllably stretch;

the RPR component III 5 comprises an upper revolute pair III 51, an electric cylinder III 52 and a lower revolute pair III 53, the moving end of the electric cylinder III 52 is hinged with the moving platform 1 through the upper revolute pair III 51, and the fixed end of the electric cylinder III 52 is hinged with the base 2 through the lower revolute pair III 53; the motion controller 10 is connected with the electric cylinder III 52 through a cable, and the motion controller 10 controls the electric cylinder III 52 to actively control the stretching.

In the follow-up mechanism, the PRR component I6, the PRR component II 7, the PRR component III 8 and the PRR component IV 9 have the same structure and comprise a guide rod 61, a sliding sleeve 62, a connecting rod 63 and a rotating piece 64, the guide rod 61 is vertically and fixedly arranged on four corners of the base 2, the sliding sleeve 62 is sleeved on the guide rod 61 and slides on the guide rod 61, one end of the connecting rod 63 is hinged to the sliding sleeve 62, and the other end of the connecting rod 63 is hinged to the movable platform 1 through the rotating piece 64. When the swing platform moves, the movable platform 1 drives the sliding sleeve 62 at the lower end of each PRR mechanism to slide up and down along four guide rods 61 fixed on the base 2. The following mechanism adopts the structure, so that the motion stability and the supporting rigidity of the movable platform 1 are improved.

According to the test requirement, control signals of ship model motion parameters such as frequency and amplitude of heaving, swaying, surging, pitching, rolling and the like or ship model attitude parameters such as sideslip angle and pitch angle are transmitted to the motion controller 10 through a cable by a wind tunnel main control computer, the motion controller 10 resolves the displacement of the electric cylinder I32, the electric cylinder II 42 and the electric cylinder III 52 through motion, and controls the synchronous telescopic motion of 3 electric cylinders; the movable platform 1 is driven by the length change of 3 electric cylinders, and meanwhile, the movable platform 1 is supported by 4 PRR components in an auxiliary follow-up manner, so that the movable platform 1 drives the ship model to move in a wind tunnel test according to a given mode or reach a specified posture.

As an optimization scheme of the embodiment, the movable platform 1 is provided with a ship model connecting seat, and the ship is fixedly installed on the ship model connecting seat. Different ship model connecting seats are selected for different ship models according to the test requirements and the motion range of the ship model.

The ship model connecting seat is an adapter plate or a balance; when a dynamic wind tunnel test is carried out, a ship model is fixedly arranged on a movable platform 1 of a swing platform through an adapter plate; when a static test is carried out, the ship model is fixedly connected with the movable platform 1 through a balance for measuring aerodynamic force; the ship model fixedly connected with the ship model is driven to be positioned at different pitch angle postures, and the positions of the ship model in the vertical direction and the axial direction are adjusted. The adapter plate/balance on the movable platform 1 can drive the ship model fixedly connected to the movable platform to be located at different pitch angle postures, and position adjustment in the vertical direction and the axial direction, and in addition, through the rotating fit of the rotating disk under the test section, the ship model can be located at different yaw angle postures, so that conditions are provided for aerodynamic force measurement and airflow field measurement under different postures of the ship model.

The relative installation positions of the movable platform 1 and the ship model are two, the bilateral symmetry plane of the ship model at one position is parallel to the plane of the motion mechanism, the bilateral symmetry plane of the ship model at the other position is perpendicular to the plane of the motion mechanism, and the two installation positions form a 90-degree angle with each other around the lower turntable rotating shaft.

When a dynamic wind tunnel test is carried out, a ship model is fixedly arranged on a movable platform 1 of a swing platform through an adapter plate; when a static test is carried out, the ship model is fixedly connected with the movable platform 1 through a balance for measuring aerodynamic force, wherein the ship model is fixedly connected with the floating end of the balance, and the fixed end of the balance is arranged on the movable platform 1. No matter in a dynamic test or a static test, two relative installation positions of the moving platform 1 of the swing platform and the ship model are provided, wherein the left and right symmetric surfaces of the ship model at one position are parallel to the surface where the moving mechanism is arranged, the other one is vertical to the moving mechanism, and the two installation positions form a 90-degree angle around the rotating shaft of the lower turntable.

The base 2 is arranged on a lower rotary table of a wind tunnel of the test section, and the ship model is positioned at different yaw angles through the rotating fit of the lower rotary table of the test section, so that conditions are provided for aerodynamic force measurement and airflow field measurement of the ship model at different postures. During wind tunnel test, 5 dynamic motions such as heave, surge, pitch, roll and sway and the like and combined motion simulation thereof required by the rocking platform can be realized by adopting 3 RPR mechanisms in cooperation with rotation of a lower turntable of a wind tunnel test section, and the device can also be used for adjusting the pose pitch angle, the yaw angle, the axial direction, the lateral direction and the vertical direction of the rocking platform, so that conditions are provided for dynamic ship airflow field measurement in the wind tunnel, ship-borne ship suitability research of a carrier ship and a carrier-borne ship and the like.

In the specific implementation process of the wind tunnel test, the swing platform can be fixed on the lower rotary table of the wind tunnel test section through the base 2, and the ship model is fixedly connected with the movable platform 1 through the adapter plate/balance. The relative installation positions of the movable platform 1 and the ship model are two, the two installation positions form 90 degrees around the lower rotary disc rotating shaft, and the position for connecting the ship model and the movable platform 1 is determined according to the ship model motion form required by the wind tunnel test. During wind tunnel test, according to test requirements, the wind tunnel main control computer transmits motion parameters of the ship model such as frequency and amplitude of heaving, swaying, surging, pitching, rolling and the like or control signals of attitude parameters of the ship model such as sideslip angle and pitch angle to the motion controller 10 through a cable, the motion controller 10 resolves and provides displacement amounts of 3 electric cylinders I, II and III through motion, and controls synchronous telescopic motion of the 3 electric cylinders. The length change of the 3 electric cylinders drives the movable platform 1, the adapter plate/balance fixedly connected with the movable platform and the ship model to move in a given mode or reach a specified attitude.

During wind tunnel test, the test model is generally arranged at the center of the test section with the best quality of the wind tunnel flow field, while the wind tunnel test related to the ship model is different to be carried out, the ship model is arranged in the floor simulating the sea surface, and the ship model and the floor are both required to be arranged on the lower wall plate of the wind tunnel test section. The ship model is connected with the lower wall plate of the test section by the swing platform in an abdomen supporting mode. The swing platform not only needs to fix the ship model on the lower wall plate of the test section, but also needs to realize motion simulation or pose adjustment of the ship model.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.