动态海面上方船舶六自由度运动仿真
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摘要
在Fudide-Krylov假设条件下,依据船舶分离建模理论在固定和运动坐标系中计算海面船只六自由度运动数学模型。主要包括:对风、浪、流的单独建模并进行矢量叠加,并在风浪流联合作用下对船舶六自由度运动构建简化的数学建模,完成实时仿真。基于Simulink和V-Realm Builder虚拟现实技术创建船舶运动模型、海洋表面环境及船只的几何模型,对船舶六自由度运动进行视景仿真,给出了有风无浪、有浪无风和风浪兼有三种情况下船只旋回路径和船舶运动轨迹。在VR视景浏览器中创建动态海面上船舶六自由度运动模型,不仅易于实现且结果逼真。得到的结果为进一步研究动态船只目标声散射特性的精确预报提供基础。
Under the assumption of the Fudide-Krylov hypothesis, mathematical model of the six-degree-of-freedom motion of the ship on the surface of sea is established, which is constructed and calculated based on the separation modeling theory in the static and moving coordinate systems. The main contents of the paper include:modeling wind, wave, and flow separately, and then performing vector superposition, and further constructing a simplified mathematical model of six-degree-of-freedom ship motion under the combined action of wind and waves. The purpose of this work is to achieve real-time simulation. Based on the Simulink and V-Realm Builder,namely virtual reality technology in MATLAB, the researchers created the ship movement model, the sea surface environment and the ship's geometric model. The visual simulation of the ship's six degrees of freedom movement is given under three kinds of situations. The ship's rotation path and movement trajectory are described when there is wind and no waves, there is wares and no wind, and there is wind and wave, respectively. The research results can provide the basis for further research on the accurate prediction of the acoustic scattering characteristics of dynamic targets.
Under the assumption of the Fudide-Krylov hypothesis, mathematical model of the six-degree-of-freedom motion of the ship on the surface of sea is established, which is constructed and calculated based on the separation modeling theory in the static and moving coordinate systems. The main contents of the paper include:modeling wind, wave, and flow separately, and then performing vector superposition, and further constructing a simplified mathematical model of six-degree-of-freedom ship motion under the combined action of wind and waves. The purpose of this work is to achieve real-time simulation. Based on the Simulink and V-Realm Builder,namely virtual reality technology in MATLAB, the researchers created the ship movement model, the sea surface environment and the ship's geometric model. The visual simulation of the ship's six degrees of freedom movement is given under three kinds of situations. The ship's rotation path and movement trajectory are described when there is wind and no waves, there is wares and no wind, and there is wind and wave, respectively. The research results can provide the basis for further research on the accurate prediction of the acoustic scattering characteristics of dynamic targets.
引文
[1]徐静.船舶在波浪中的六自由度操纵运动模型研究[D].上海:上海交通大学,2014.Xu Jing. Research on six-degree-of-freedom maneuvering motion model of ship in wave[D]. Shanghai:Shanghai Jiaotong University,2014.
[2] Tahsin Tezdogan, Atilla Incecik, Osman Turan. Full-scale unsteady RANS simulations of vertical ship motions in shallow water[J].Ocean Engineering, 2016(123):131-145.
[3]吴汉才.S-175集装箱船在规则波浪中运动的六自由度运动预报[J].舰船科学技术,2016,38(18):61-63.Wu Hancai. Prediction of Six-DOF movement of S-175 container ship in regular waves[J].Ship Science and Technology,2016,38(18):61-63.
[4] Eirik B覬ckmann, Sverre Steen. Model test and simulation of a ship with wavefoils[J].Applied Ocean Research,2016(55):8-18.
[5]刘伟,赵锬鸿.船舶三自由度运动试验平台控制系统设计与仿真[J].机械与电子,2015(12):57-59.Liu Wei, Zhao Yuhong. Design and simulation of control system for three-degree-of-freedom motion test platform for vessels[J].Machinery and Electronics,2015(12):57-59.
[6]吴成成,袁利毫,昝英飞,等.船舶拖航系统六自由度操纵运动仿真[J].舰船科学技术,2016, 38(11):57-62.Wu Chengcheng, Yuan Limu, Qi Yingfei,etal. Six-DOF maneuvering simulation of ship towing system[J].Ship Science and Technology,2016, 38(11):57-62.
[7] J M Varela, J M Rodrigues, C Guedes Soares. 3D simulation of ship motions to support the planning of rescue operations on damaged ships[J].Procedia Computer Science, 2015(51):2397-2405.
[8]陈姚节,陈飞翔,汤文军.水上船舶航行稳定性控制仿真研究[J].计算机仿真,2016,33(11):203-207.Chen Yaojie, Chen Feixiang, Tang Wenjun. Simulation research on navigation stability control of watercraft[J]. Computer Simulation,2016, 33(11):203-207.
[9]吴伟萍.船舶迎浪航向下的垂荡运动建模与仿真分析[J].舰船科学技术,2018(22):4-6.Wu Weiping. Research on Modeling and Simuliation of heave motion of ships in waves[J].Ship Science and Technology, 2018(22):4-6.
[10]程艳辉.船舶操控运动稳定特性在风浪中的仿真研究[J].舰船科学技术,2016,38(20):10-12.Cheng Yanhui. The simulation research on the stability of ship handing and moving stability in wind and waves[J]. Ship Science and Technology, 2016,38(20):10-12.
[11]漆亮东.船舶在风浪中的运动稳定性研究[J].科技风,2015(13):92.Qi Liangdong. Research on the stability of ship motion in wind and waves[J].Science and Technology,2015(13):92.
[12]杨久亮.风浪影响下半潜船载运重大件稳性的研究[D].大连:大连海事大学,2017.Yang Jiuliang. The research on the stability of semi-submersible Vessels with Transporting and Loading Awkward Cargo under the influence of wind and waves[D]. Dalian:Dalian Maritime University, 2017.
[13]贾欣乐,杨盐生.船舶运动数学模型[M].大连;大连海事大学出版社,1999.Jia Xinle, Yang Yansheng. Mathematical model of ship motion[M]. Dalian; Dalian Maritime University Press, 1999.
[14] Full six degrees of freedom coupled dynamic simulation of ship collision and grounding accidents[J]. Marine Structures,2016:1-22.
[15]徐静.船舶在波浪中的六自由度操纵运动模型研究[D].上海:上海交通大学,2014.Xu Jing. Study on Six-DOF numerical model of ship maneuvering motions in waves[D]. Shanghai:Shanghai Jiaotong University, 2014.
[16]张秀凤,尹勇,金一丞.规则波中船舶运动六自由度数学模型[J].交通运输工程学报,2007(03):40-43.Zhang Xiufeng, Yin Yong, Jin Yizhen. Ship motion mathematical model with Six-DOF in Regular Waves[J].Journal of Traffic and Transportation Engineering,2007(03):40-43.
[2] Tahsin Tezdogan, Atilla Incecik, Osman Turan. Full-scale unsteady RANS simulations of vertical ship motions in shallow water[J].Ocean Engineering, 2016(123):131-145.
[3]吴汉才.S-175集装箱船在规则波浪中运动的六自由度运动预报[J].舰船科学技术,2016,38(18):61-63.Wu Hancai. Prediction of Six-DOF movement of S-175 container ship in regular waves[J].Ship Science and Technology,2016,38(18):61-63.
[4] Eirik B覬ckmann, Sverre Steen. Model test and simulation of a ship with wavefoils[J].Applied Ocean Research,2016(55):8-18.
[5]刘伟,赵锬鸿.船舶三自由度运动试验平台控制系统设计与仿真[J].机械与电子,2015(12):57-59.Liu Wei, Zhao Yuhong. Design and simulation of control system for three-degree-of-freedom motion test platform for vessels[J].Machinery and Electronics,2015(12):57-59.
[6]吴成成,袁利毫,昝英飞,等.船舶拖航系统六自由度操纵运动仿真[J].舰船科学技术,2016, 38(11):57-62.Wu Chengcheng, Yuan Limu, Qi Yingfei,etal. Six-DOF maneuvering simulation of ship towing system[J].Ship Science and Technology,2016, 38(11):57-62.
[7] J M Varela, J M Rodrigues, C Guedes Soares. 3D simulation of ship motions to support the planning of rescue operations on damaged ships[J].Procedia Computer Science, 2015(51):2397-2405.
[8]陈姚节,陈飞翔,汤文军.水上船舶航行稳定性控制仿真研究[J].计算机仿真,2016,33(11):203-207.Chen Yaojie, Chen Feixiang, Tang Wenjun. Simulation research on navigation stability control of watercraft[J]. Computer Simulation,2016, 33(11):203-207.
[9]吴伟萍.船舶迎浪航向下的垂荡运动建模与仿真分析[J].舰船科学技术,2018(22):4-6.Wu Weiping. Research on Modeling and Simuliation of heave motion of ships in waves[J].Ship Science and Technology, 2018(22):4-6.
[10]程艳辉.船舶操控运动稳定特性在风浪中的仿真研究[J].舰船科学技术,2016,38(20):10-12.Cheng Yanhui. The simulation research on the stability of ship handing and moving stability in wind and waves[J]. Ship Science and Technology, 2016,38(20):10-12.
[11]漆亮东.船舶在风浪中的运动稳定性研究[J].科技风,2015(13):92.Qi Liangdong. Research on the stability of ship motion in wind and waves[J].Science and Technology,2015(13):92.
[12]杨久亮.风浪影响下半潜船载运重大件稳性的研究[D].大连:大连海事大学,2017.Yang Jiuliang. The research on the stability of semi-submersible Vessels with Transporting and Loading Awkward Cargo under the influence of wind and waves[D]. Dalian:Dalian Maritime University, 2017.
[13]贾欣乐,杨盐生.船舶运动数学模型[M].大连;大连海事大学出版社,1999.Jia Xinle, Yang Yansheng. Mathematical model of ship motion[M]. Dalian; Dalian Maritime University Press, 1999.
[14] Full six degrees of freedom coupled dynamic simulation of ship collision and grounding accidents[J]. Marine Structures,2016:1-22.
[15]徐静.船舶在波浪中的六自由度操纵运动模型研究[D].上海:上海交通大学,2014.Xu Jing. Study on Six-DOF numerical model of ship maneuvering motions in waves[D]. Shanghai:Shanghai Jiaotong University, 2014.
[16]张秀凤,尹勇,金一丞.规则波中船舶运动六自由度数学模型[J].交通运输工程学报,2007(03):40-43.Zhang Xiufeng, Yin Yong, Jin Yizhen. Ship motion mathematical model with Six-DOF in Regular Waves[J].Journal of Traffic and Transportation Engineering,2007(03):40-43.