船舶甲板重吊操纵舱训练视景仿真系统的研究
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摘要
随着海洋运输业的不断发展壮大,提高船舶自身装卸设备的装卸能力不容忽视,船舶甲板重吊有作业环境恶劣复杂、操作技术性要求较高、操纵难度较大等特点,常因操作不熟练产生事故,使得操作手作业的熟练程度以及操作过程中的安全性尤显重要。为解决这个问题,本课题从开发和建立船舶甲板重吊操纵舱训练视景仿真系统入手,模拟吊车吊装船舶货物的过程,检验货物吊装的可行性及安全性,从而解决船舶货物吊装问题。
本课题对船舶重吊组成的物理系统做出了较详细的分析,创建了吊车的动力学模型。在对仿真系统建模的过程中,采用了基于Multigen Creator的多种建模软件相结合的建模方法,成功地创建了码头地形、吊车的三维模型,实现了船舶复杂曲面的构建,并且得出工程建模软件与仿真建模软件模型格式相互转换的方法。本文分析了船舶重吊作业时的运动力学模型,建立了在操纵舱模拟吊装货物的视景仿真系统,阐述了以Vega为系统的开发环境,以VC++6.0为编辑平台,创建虚拟仿真系统的方法。
研究结果表明,基于虚拟现实的船舶重吊操纵舱训练视景仿真系统,可以很好的模拟操作手在操纵舱控制船舶货物的吊装过程,仿真系统较好的反映了货物吊装的实际情况,得出的结论能够为船舶重吊操作手培训提供重要依据。
With the continuous development and expansion of marine transportation, improving ship self-handling equipments’loading and unloading capacity can not be ignored, ship crane’s operating environment is complex and harsh, it needs a high technical requirements, and difficult to control, often because of unskillful handling produce accident, so operators’proficiency and job security during the operation is particularly important. In order to solve this problem, the subject starting from develop and establish a visual simulation system of ship crane manipulate cabin training,simulate the process of loading and unloading ship cargoes, test the feasibility and safety of loading and unloading, so as to solve problems of ship cargoes’loading and unloading.
The issue made a more detailed analysis for the physical system of ship crane, creating a dynamic model of the crane. In the process of simulation modeling, the research based on“Multigen Creator”adopted one modeling method which many kinds of software are combined, successfully created a wharf terrain, three-dimensional model of the crane and achieved the constructing of ship model complex curved faces, and came up with a model format conversion method between engineer modeling software and simulation modeling software. This paper analyzed the dynamic model when ship crane is working, and established visual simulation system for simulating cargoes hoisting in control module. At last, this paper taking“Vega”as developing environment, taking VC++6.0 as software editing platform, expounded the method of constituted virtual simulation system.
The results show that the ship crane manipulate cabin training visual simulation system based on virtual reality were able to simulate a operator control the hoisting process of the ship -cargoes in the manipulate cabin, the simulation system better reflects the actual situation of hoisting goods, the conclusions could provide an important basis for the training of ship crane operators.
本课题对船舶重吊组成的物理系统做出了较详细的分析,创建了吊车的动力学模型。在对仿真系统建模的过程中,采用了基于Multigen Creator的多种建模软件相结合的建模方法,成功地创建了码头地形、吊车的三维模型,实现了船舶复杂曲面的构建,并且得出工程建模软件与仿真建模软件模型格式相互转换的方法。本文分析了船舶重吊作业时的运动力学模型,建立了在操纵舱模拟吊装货物的视景仿真系统,阐述了以Vega为系统的开发环境,以VC++6.0为编辑平台,创建虚拟仿真系统的方法。
研究结果表明,基于虚拟现实的船舶重吊操纵舱训练视景仿真系统,可以很好的模拟操作手在操纵舱控制船舶货物的吊装过程,仿真系统较好的反映了货物吊装的实际情况,得出的结论能够为船舶重吊操作手培训提供重要依据。
With the continuous development and expansion of marine transportation, improving ship self-handling equipments’loading and unloading capacity can not be ignored, ship crane’s operating environment is complex and harsh, it needs a high technical requirements, and difficult to control, often because of unskillful handling produce accident, so operators’proficiency and job security during the operation is particularly important. In order to solve this problem, the subject starting from develop and establish a visual simulation system of ship crane manipulate cabin training,simulate the process of loading and unloading ship cargoes, test the feasibility and safety of loading and unloading, so as to solve problems of ship cargoes’loading and unloading.
The issue made a more detailed analysis for the physical system of ship crane, creating a dynamic model of the crane. In the process of simulation modeling, the research based on“Multigen Creator”adopted one modeling method which many kinds of software are combined, successfully created a wharf terrain, three-dimensional model of the crane and achieved the constructing of ship model complex curved faces, and came up with a model format conversion method between engineer modeling software and simulation modeling software. This paper analyzed the dynamic model when ship crane is working, and established visual simulation system for simulating cargoes hoisting in control module. At last, this paper taking“Vega”as developing environment, taking VC++6.0 as software editing platform, expounded the method of constituted virtual simulation system.
The results show that the ship crane manipulate cabin training visual simulation system based on virtual reality were able to simulate a operator control the hoisting process of the ship -cargoes in the manipulate cabin, the simulation system better reflects the actual situation of hoisting goods, the conclusions could provide an important basis for the training of ship crane operators.
引文
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[4]肖琼.基于Multigen和Vega的视景仿真技术在突发事件中的应用[D].华中科技大学硕士论文, 2006,11.
[5]汪成为等.灵境技术的理论、实现与应用[M].清华大学出版社, 1996年.
[6] The Ship Analytics International Maritime Simulation and Training, Newsletter, Volume 4 Fall1996.
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[8]余洋.基于HLA的视景仿真技术研究[D].中国科技大学硕士论文, 2009.
[9]刘雯.船舶航向/横摇控制系统视景仿真研究[D].哈尔滨工程大学硕士论文, 2009.
[10]郭凯.驾机合一多通道视景仿真系统研究[D].武汉理工大学硕士论文, 2006.
[11]辛玲.粒子系统在视景仿真中的研究和应用[D].中南民族大学硕士论文, 2008.
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[13]魏华兴等.三维造型设计[M].北京:人民邮电出版社, 2004, 9.
[14]谭浩强. 3ds max三维动画设计[M].北京:中国铁道出版社, 2006.7.
[15] (美)David S.Kelley著.凯丽,孙江宏译. Pro/ENGINEER Wildfire机械设计教程[M].北京:清华大学出版社, 2005(10) .
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[19]戴唐云.基于3DSMAX/OGRE的火箭视景仿真系统的研究与实现[D].电子科技大学硕士论文, 2007.
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[22]张帅.基于VEGA视景管理系统的研究与开发[D].华中师范大学硕士论文, 2009.
[23]龚卓容.Vega程序设计[M].北京:国防工业出版社, 2002.
[24]李治等.复杂大系统分布交互仿真技术[M].长沙:国防科技大学出版社, 2007.
[25]张小雪.基于MATLAB的舰船用柴油机性能仿真[D].华中科技大学硕士论文, 2006.
[26] Michael. Ridpath. Trading Reality [M].Reed International Ltd, 1996.
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[30] Haruo.Takemura, Kiyoshi Kiyokawa. Virtual Reality[C].Los Alamitos, California: IEEE Computer Society Press, c2001.
[31] Jim Chen. Virtual Reality[C].Los Alamitos, Calif: IEEE Computer Society, c2003.
[32] Yasushi Ikei, Martin Grbel, Jim Chen.Human computer interaction[C]. Piscataway, N.J.: Institute of Electrical and Electronics Engineers, c2004.
[33] W. David Kelton, Randall P. Sadowski, Deborah A. Sadowski. Simulation with Arena[C] Boston: McGraw-Hill, c2002.
[34] Charles Harrell. Simulation using promodel[M].北京:清华大学出版社, 005.
[35]吴启迪.系统仿真与虚拟现实[M],北京:化学工业出版社, 2002(10).
[36] (美)William R.Sherman,Alan B.Craig著.舍曼,克雷格,魏迎梅,杨冰译.虚拟现实系统[M].北京:电子工业出版社, 2004(11).
[37] (美)Gradecki著.何定等译.虚拟现实系统制作指南[M].北京:电子工业出版社, 1996(11).
[38]洪炳镕,蔡则苏,唐好选等.虚拟现实及其应用[M].北京:国防工业出版社, 2005.
[39]胡小强.虚拟现实技术[M].北京:北京邮电大学出版社, 2005(7).
[40]石教英主编.虚拟现实基础及应用算法[M].北京:科学出版社, 2002, 4.
[41]韦有双等.虚拟现实与系统仿真[M].北京:国防工业出版社, 2004, 1.
[42]董光波,马立元,张锡恩,刘鹏远.某型导弹飞行-攻击阶段仿真的研究与实现[J].系统仿真学报.2003, 15(3):408-411.
[43]顾浩.舰载火控系统的建模与仿真[J].火力与指挥控制, 2000, 25(3): 49-53.
[44]刘丽,彭晓源,王行仁.基于网络的大型民用飞机飞行仿真系统[J].北京航空航天大学学报, 2000, 26(3):321-324.
[45]许轶超,陈辉,陈伟.基于虚拟现实技术的机舱漫游系统[J].交通与计算机, 2003 (1):9-12.
[46]李治等.复杂大系统分布交互仿真技术[M].长沙:国防科技大学出版社, 2007.
[47]姚本君,赵欢,李传良等.飞行视景仿真中三维大地形的生成[J].系统仿真学报,2009,3,21(6):1633-1636.
[48] Reeves W T. Particle System- A Technique for Modeling a Class of Fuzzy objects[J].ACM Computer Graphics.1983,17(3):359-376.
[49]官巍,蔡晓琳,陈海.细节层次技术在场景建模中的应用[J].系统仿真学报,2006,18(S2): 427-429.
[50]高丙团,陈宏钧,张晓华.龙门吊车系统的动力学建模[J].计算机仿真,2006,23(2):50-52.
[51]洪光,李洪儒,牟建国.基于Creator的三维模型的简化研究[J].计算机仿真.2004, 21(1):57-58,115.
[52]孙博玲,刘子强,周松.校园漫游系统的实现[J].应用科技,2004,5,31(5):51-53.
[53]徐胜华,杨志军.基于Multigen Creator和Vega的“数字校园”演示系统开发.铁路航测,2003,4:23-25.
[54]王延红,袁媛,杨平利等.建模软件Creator中的纹理映射技术[J].中国体视学与图像分析, 2008,13(1):63-66.
[55]汪娟娟,康玲.虚拟现实在数字校园中的应用[J].计算机仿真,2003, 20(6):79-81.
[56]吴家铸,党岗,刘华峰等.视景仿真技术及应用[M].西安:西安电子科技大学出版社,2001, 1:259-276.
[57]赵斌.汽车操纵稳定性视景仿真建模及驱动技术研究[D].长安大学硕士论文, 2005.
[58]郭玺,薛青,张申等.视景仿真中运动实体的动态碰撞检测[J].装甲兵工程学院学报,2010, 24(2):57-61.
[59]张玉双,陶应学,岳玉芳.多通道技术在视景仿真系统中的应用[J].计算机工程与设计,2006, 27(11):2102-2104.
[60]林琦.潜航器操纵模拟器仿真系统研究[D].江苏科技大学硕士论文, 2008.
[2]赵永强.直升机飞行模拟器视景仿真系统的设计与实现[D].北京邮电大学硕士论文,2010.
[3] Frederick Wieland, Alexszabo, Naval Researeh Labortory, Jone Object-Oriented Design of a Scene Generation Simulation. Proceedings of the 1994 Computer Simulation Conference.1995, 174-185.
[4]肖琼.基于Multigen和Vega的视景仿真技术在突发事件中的应用[D].华中科技大学硕士论文, 2006,11.
[5]汪成为等.灵境技术的理论、实现与应用[M].清华大学出版社, 1996年.
[6] The Ship Analytics International Maritime Simulation and Training, Newsletter, Volume 4 Fall1996.
[7]刘宏.汽车模拟驾驶三维视景仿真系统[D].西安理工大学硕士论文, 2008.
[8]余洋.基于HLA的视景仿真技术研究[D].中国科技大学硕士论文, 2009.
[9]刘雯.船舶航向/横摇控制系统视景仿真研究[D].哈尔滨工程大学硕士论文, 2009.
[10]郭凯.驾机合一多通道视景仿真系统研究[D].武汉理工大学硕士论文, 2006.
[11]辛玲.粒子系统在视景仿真中的研究和应用[D].中南民族大学硕士论文, 2008.
[12]马秋成等. UG实用教程-CAD篇[M].北京:机械工业出版社,2001.10.
[13]魏华兴等.三维造型设计[M].北京:人民邮电出版社, 2004, 9.
[14]谭浩强. 3ds max三维动画设计[M].北京:中国铁道出版社, 2006.7.
[15] (美)David S.Kelley著.凯丽,孙江宏译. Pro/ENGINEER Wildfire机械设计教程[M].北京:清华大学出版社, 2005(10) .
[16] Multigen-Paradigm Inc. Creator Help [Z]. USA: Multigen-Paradigm Inc.
[17] The MultiGen Creator Modeling Guide [Z]. Version 2.5.1.U.S.A:MultiGen-Paradigm. Inc, 2002.
[18]苏虎.面向对象的实时三维视景仿真系统的实现[J].计算机工程与应用,2002,6:118-119,139.
[19]戴唐云.基于3DSMAX/OGRE的火箭视景仿真系统的研究与实现[D].电子科技大学硕士论文, 2007.
[20]王乘,周均清.Creator可视化仿真建模技术[M].武汉:华中科技大学出版社, 2005.3:5-15.
[21]王乘,李利军,周均清等.Vega实时三维视景仿真技术[M].武汉:华中科技大学出版社, 2005.12.
[22]张帅.基于VEGA视景管理系统的研究与开发[D].华中师范大学硕士论文, 2009.
[23]龚卓容.Vega程序设计[M].北京:国防工业出版社, 2002.
[24]李治等.复杂大系统分布交互仿真技术[M].长沙:国防科技大学出版社, 2007.
[25]张小雪.基于MATLAB的舰船用柴油机性能仿真[D].华中科技大学硕士论文, 2006.
[26] Michael. Ridpath. Trading Reality [M].Reed International Ltd, 1996.
[27]张茂军.虚拟现实系统[M].北京:科学出版社, 2001.
[28]王坚,孙宇浩.虚拟现实科学与技术[M].杭州:浙江科学技术出版社, 1999.12.
[29] John Vince.Virtual reality systems [M].Wokingham.England Addison-wesley Pub, Co. 1995.
[30] Haruo.Takemura, Kiyoshi Kiyokawa. Virtual Reality[C].Los Alamitos, California: IEEE Computer Society Press, c2001.
[31] Jim Chen. Virtual Reality[C].Los Alamitos, Calif: IEEE Computer Society, c2003.
[32] Yasushi Ikei, Martin Grbel, Jim Chen.Human computer interaction[C]. Piscataway, N.J.: Institute of Electrical and Electronics Engineers, c2004.
[33] W. David Kelton, Randall P. Sadowski, Deborah A. Sadowski. Simulation with Arena[C] Boston: McGraw-Hill, c2002.
[34] Charles Harrell. Simulation using promodel[M].北京:清华大学出版社, 005.
[35]吴启迪.系统仿真与虚拟现实[M],北京:化学工业出版社, 2002(10).
[36] (美)William R.Sherman,Alan B.Craig著.舍曼,克雷格,魏迎梅,杨冰译.虚拟现实系统[M].北京:电子工业出版社, 2004(11).
[37] (美)Gradecki著.何定等译.虚拟现实系统制作指南[M].北京:电子工业出版社, 1996(11).
[38]洪炳镕,蔡则苏,唐好选等.虚拟现实及其应用[M].北京:国防工业出版社, 2005.
[39]胡小强.虚拟现实技术[M].北京:北京邮电大学出版社, 2005(7).
[40]石教英主编.虚拟现实基础及应用算法[M].北京:科学出版社, 2002, 4.
[41]韦有双等.虚拟现实与系统仿真[M].北京:国防工业出版社, 2004, 1.
[42]董光波,马立元,张锡恩,刘鹏远.某型导弹飞行-攻击阶段仿真的研究与实现[J].系统仿真学报.2003, 15(3):408-411.
[43]顾浩.舰载火控系统的建模与仿真[J].火力与指挥控制, 2000, 25(3): 49-53.
[44]刘丽,彭晓源,王行仁.基于网络的大型民用飞机飞行仿真系统[J].北京航空航天大学学报, 2000, 26(3):321-324.
[45]许轶超,陈辉,陈伟.基于虚拟现实技术的机舱漫游系统[J].交通与计算机, 2003 (1):9-12.
[46]李治等.复杂大系统分布交互仿真技术[M].长沙:国防科技大学出版社, 2007.
[47]姚本君,赵欢,李传良等.飞行视景仿真中三维大地形的生成[J].系统仿真学报,2009,3,21(6):1633-1636.
[48] Reeves W T. Particle System- A Technique for Modeling a Class of Fuzzy objects[J].ACM Computer Graphics.1983,17(3):359-376.
[49]官巍,蔡晓琳,陈海.细节层次技术在场景建模中的应用[J].系统仿真学报,2006,18(S2): 427-429.
[50]高丙团,陈宏钧,张晓华.龙门吊车系统的动力学建模[J].计算机仿真,2006,23(2):50-52.
[51]洪光,李洪儒,牟建国.基于Creator的三维模型的简化研究[J].计算机仿真.2004, 21(1):57-58,115.
[52]孙博玲,刘子强,周松.校园漫游系统的实现[J].应用科技,2004,5,31(5):51-53.
[53]徐胜华,杨志军.基于Multigen Creator和Vega的“数字校园”演示系统开发.铁路航测,2003,4:23-25.
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