船舶航向横摇控制系统视景仿真研究
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摘要
本论文是结合国家计划内项目“船舶航向/横摇控制技术研究”进行的,主要研究船舶航向/横摇视景仿真技术,在分析和研究国内外视景仿真技术的基础上,借助可视化技术的相关理论,综合运用计算机技术、图像技术、三维建模技术、粒子系统技术等方法,利用MultiGen Creator/Vega软件,设计出了船舶航向/横摇控制系统视景仿真软件,它可以逼真地再现船舶航向/横摇运动,显示舵、鳍的局部运动,另外可以实时显示各种运动曲线及运动数据,为研究船舶航向/横摇运动过程提供了逼真的视景仿真效果。
为了实现船舶航向/横摇控制系统的视景仿真软件各模块的功能,论文主要完成了如下工作:
首先针对课题实际,介绍了船舶航向/横摇控制系统的视景仿真平台需要解决的关键性问题。详细阐述了本软件使用的编程语言及语言开发工具、所用的建模基本方法及视景仿真系统中仿真绘制的关键技术。
其次介绍了船舶航向/横摇控制系统的数学模型和三维建模的实现过程。建立了船舶运动的数学模型,并用编程算法将理论模型转换成可以应用在VC中的软件实现代码。另外详述了MultiGen Creator建立场景的三维可视化模型的具体实现。
然后介绍了视景仿真系统的软件设计。对视景仿真软件进行了模块划分,确定了各个模块的功能及交互关系,对软件的总体流程进行了设计。并在VisualC++6.0环境下,搭建软件结构框架,确定了各个模块的实现方式以及各个模块之间的交互接口,进而确定了软件总体流程的实现方案。
最后介绍了船舶航向/横摇控制系统视景仿真系统的实现及仿真结果,在结合前面章节所论述的原理和方法的基础上,开发了基于图形工作站的三维视景仿真系统,详细阐述了设计和实现的各个模块的过程。结合实际项目,进行仿真视景平台调试运行,并显示效果。结果表明,本软件通过模拟各种海况,对舵、鳍样机和控制算法进行评价,检验了解样机和算法的性能,可以保证海上试验的安全,能减少海上试验次数,降低试验成本,缩短开发周期。
This research was concentrated on designing and implementing visual simulation of the project-"ship course/roll control system". By analyzing and researching the visualization technology in domestic and overseas, the paper synthetically uses computer technology, image technology, three-dimensional modeling technology, particle system and other approaches to design visual simulation of ship course/roll control system with MultiGen Creator and Vega. The software can vividly reconstruct ship motion, display main/flap rudder, main/flap fin motion and show real-time movement curve and movement data. It provides reliable evidence to research the process of ship course/roll motion.
To accomplish software functions mentioned above, the research finishes the following work:
Firstly, the key techniques to implement the visual simulation software are introduced. Then, the paper gives a detailed description of programming language, programming tool, basic modeling methods used in the paper and the critical technical problems needed to be solved in visualization system.
Secondly, the mathematical model of ship course/roll control system and three-dimensional modeling technology implement process of the system are given. The paper establishes mathematical model of ship motion, and uses software algorithm to transform the theoretical model into the codes to program in VC. Then, the detailed implement of three-dimensional modeling technology with Multigen Creator is presented.
Thirdly, the following context shows the software design about visual simulation of the ship course/roll control system. The whole software is divided into several function modules and each module works independently, also interacts with other modules. Then, the software architecture frame is developed in Visual C++6.0 programming environment. The integral software design also concludes the implement method and the interactive interface of each module to complete the general design of visualization system.
Finally, the design and implement of visual simulation of the ship course/roll control system is demonstrated. Related to the principles and methods mentioned above, the three-dimensional visualization system based on graphics workstation is developed. Running the software under different conditions and testing the current experiment effect, the result proves that the designing system has good capabilities, and can achieve the anticipating aim.
为了实现船舶航向/横摇控制系统的视景仿真软件各模块的功能,论文主要完成了如下工作:
首先针对课题实际,介绍了船舶航向/横摇控制系统的视景仿真平台需要解决的关键性问题。详细阐述了本软件使用的编程语言及语言开发工具、所用的建模基本方法及视景仿真系统中仿真绘制的关键技术。
其次介绍了船舶航向/横摇控制系统的数学模型和三维建模的实现过程。建立了船舶运动的数学模型,并用编程算法将理论模型转换成可以应用在VC中的软件实现代码。另外详述了MultiGen Creator建立场景的三维可视化模型的具体实现。
然后介绍了视景仿真系统的软件设计。对视景仿真软件进行了模块划分,确定了各个模块的功能及交互关系,对软件的总体流程进行了设计。并在VisualC++6.0环境下,搭建软件结构框架,确定了各个模块的实现方式以及各个模块之间的交互接口,进而确定了软件总体流程的实现方案。
最后介绍了船舶航向/横摇控制系统视景仿真系统的实现及仿真结果,在结合前面章节所论述的原理和方法的基础上,开发了基于图形工作站的三维视景仿真系统,详细阐述了设计和实现的各个模块的过程。结合实际项目,进行仿真视景平台调试运行,并显示效果。结果表明,本软件通过模拟各种海况,对舵、鳍样机和控制算法进行评价,检验了解样机和算法的性能,可以保证海上试验的安全,能减少海上试验次数,降低试验成本,缩短开发周期。
This research was concentrated on designing and implementing visual simulation of the project-"ship course/roll control system". By analyzing and researching the visualization technology in domestic and overseas, the paper synthetically uses computer technology, image technology, three-dimensional modeling technology, particle system and other approaches to design visual simulation of ship course/roll control system with MultiGen Creator and Vega. The software can vividly reconstruct ship motion, display main/flap rudder, main/flap fin motion and show real-time movement curve and movement data. It provides reliable evidence to research the process of ship course/roll motion.
To accomplish software functions mentioned above, the research finishes the following work:
Firstly, the key techniques to implement the visual simulation software are introduced. Then, the paper gives a detailed description of programming language, programming tool, basic modeling methods used in the paper and the critical technical problems needed to be solved in visualization system.
Secondly, the mathematical model of ship course/roll control system and three-dimensional modeling technology implement process of the system are given. The paper establishes mathematical model of ship motion, and uses software algorithm to transform the theoretical model into the codes to program in VC. Then, the detailed implement of three-dimensional modeling technology with Multigen Creator is presented.
Thirdly, the following context shows the software design about visual simulation of the ship course/roll control system. The whole software is divided into several function modules and each module works independently, also interacts with other modules. Then, the software architecture frame is developed in Visual C++6.0 programming environment. The integral software design also concludes the implement method and the interactive interface of each module to complete the general design of visualization system.
Finally, the design and implement of visual simulation of the ship course/roll control system is demonstrated. Related to the principles and methods mentioned above, the three-dimensional visualization system based on graphics workstation is developed. Running the software under different conditions and testing the current experiment effect, the result proves that the designing system has good capabilities, and can achieve the anticipating aim.
引文
[1]韦有双,杨湘龙,王飞.虚拟现实于系统仿真.北京:国防工业出版社,2004:30-34页
[2]李琳.虚拟环境建模方法及应用研究.硕士学位论文.2002:22-26页
[3]石教英.虚拟现实基础及实用算法.北京:科学出版社,2002:23-26页
[4]张茂军.虚拟现实系统.北京:科学出版社,2003:11-15页
[5]汪成为等.灵境技术的理论、实现与应用.清华大学出版社,1996年
[6]龚卓容.Vega程序设计.北京:国防工业出版社,2002.
[7]成奋华.现代软件工程.北京:希望电子出版社,2006:129-165页
[8]方可燕.Visual C++6.0实战与精通.北京:清华大学出版社,2000:210-216页
[9]孙长勇.虚拟现实中三维建模技术方法的分析与研究.硕士学位论文.2004:28-32页
[10]Lu Tiejian.Research on three-dimensions modeling and scene simulation.Journal of Central South University(Science and Technology).2005,36(3):501-505P
[11]Matthias Haringer,Holger T.Regenbre.A pragmatic approach to augmented reality authoring.Mixed and Augmented Reality,2002.ISMAR2002.Proceedings.International Symposium on 30Sept.-1 Oct.2002:237-245P
[12]SanJose.The MultiGen Creator Desktop Tutor version2.3 for WindowsNT and Windows98.MultiGen-Paradigm,Inc.2002,12P
[13]K Lialey.Virtual reality and telepresence applications in space robotics.virtual reality systems,1993,11(2):50-56P
[14]张云勇,白中键,敬万钧.虚拟现实系统的建立.计算机应用,2000:51页
[15]Reeves WT.Particle System-A technique for modeling a class of fuzzy Objects.Computer Graphics.1983:17(3):359-371P
[16]李殿璞.船舶运动与建模.哈尔滨:哈尔滨工程大学出版社,1999:123-128页
[17]贾欣乐,杨盐生.船舶运动数学模型-机理建模与辨识建模.大连:大连海事大学出版社,1999:16-18,144-173页
[18]方亮.舰船航向.舵/翼舵智能协调控制研究.哈尔滨工程大学硕士学位论文,2006,31-42页.
[19]陆祥润.船舶航向自控系统实时仿真器程序.大连海运学院学报..1985,11(4):33-39页
[20]成奋华.现代软件工程.北京:希望电子出版社,2006:129-165页
[21]陶尧森.船舶耐波性.上海交通大学出版.1985:23-46页
[22]王乘,李利军,周均清.Creator可视化仿真建模技术.武汉:华中科技大学出版社,2005:36页
[23]王立峰,延伟东,章华等.软件工程理论与实践.清华大学出版社,2003:24-25页
[24]Michael E Goss.Motion Simulation:A Real Time Particle system for Display of Ship Wakes.Computer Graphics and Applications,1990(5):30-35.
[25]尹勇,任鸿翔,张秀凤,金一丞.航海仿真虚拟环境的海浪视景生成技术.系统仿真学报,2002,14(3):313-315.
[26]CJ Howls,Olde Dalhuis.On The Resurgence Properties of The Uniform Asymptotic Expansion of Bessel Functions of Large Order.Mathematical,Physical and Engineering Sciences.1991,405(1991):3917-3930R
[27]Collins,Dick Tuck,WH Wells.On Ship Wave Patterns and Their Spectral.Journal of Ship Research.1971,15(1):11-21P.
[28]Gregory Zilrnan,Anotoli apolski,Moshe Marom.The Speed and Beam of a Ship From Its Wake's SAR Images.Geoscience and Remote Sensing.2004,42(10):2335-2343P
[29]王彦杰,汪增福.复杂环境下的舰船航迹仿真.系统仿真学报.2006,18(11):3247-3249页
[30]关克平.航海模拟器视景建模技术研究及应用.上海海运学院硕士学位论文.2002:1页
[31]DNV Standard for Certificationof Maritime Simulator Systems (New).1999
[32]胡涛,李阔.视景仿真技术应用研究.光电技术应用.2004.6
[33][美]Donald Hearn,M.Pauline Baler著.计算机图形学(第三版).电子工业出版社.2005
[34]孙家广.计算机图形学.北京:清华大学出版社.1998
[35]王乘,李利军,周均清,陈大炜.Vega实时三维视景仿真技术.华中科技大学出版社.2005
[36]Kwan-LiuMa.Visualization Viewpoints.University of Califomia at Davis
[37]康凤举,杨惠珍,高立娥等.现代仿真技术与应用(第二版).国防工业出版社.2006
[38]San Jose.The MultiGen Creator DesktopTutor version 2.3 for Windows NT and Windows 98.MultiGen-Paradigm,Inc.2002,12
[39]Landmark Boulevard.Vega Lynx User's Guide Version 3.3 for WindowsNT.MultiGen-Paradigm,Inc.2002,12
[40]Paul S.Heckbert and Michael Garland.Surveyof Polygonal Surface Simplification Algorithms.SIGGRAPH,97
[41]李瑞,刘鹏远,张锡恩.Vega程序设计在MFC中的应用.计算机工程与设计.2002(8):36-39页
[42]邵欣欣,王燕,张文杰,赵传华.一个基于Vega的虚拟场景漫游系统.计算机仿真.2006(3):21-25页
[43]龚卓蓉.Vega程序设计.北京:国防工业出版社.2002
[44]龚卓蓉.可选模块的使用与开发.北京:国防工业出版社.2002
[45]侯澄宇,危拥军.基于MultiGen和Vega的地理环境仿真系统设计.测绘科学与工程.2005(9):27-29页
[46]郑烨.基于Vega平台二次开发技术的研究.长安大学地质工程与测绘工程学院硕士论文.2004:4-6页
[47]王延红,杨平利,仇小鹏,陈晖.仿真建模软件Creator的应用技术.计算机仿真.2005(7)
[48]Michael J.Zyda,David R.Pratt.NPSNET:Construeting A 3D Virtual World.Naval Postgraduate School
[2]李琳.虚拟环境建模方法及应用研究.硕士学位论文.2002:22-26页
[3]石教英.虚拟现实基础及实用算法.北京:科学出版社,2002:23-26页
[4]张茂军.虚拟现实系统.北京:科学出版社,2003:11-15页
[5]汪成为等.灵境技术的理论、实现与应用.清华大学出版社,1996年
[6]龚卓容.Vega程序设计.北京:国防工业出版社,2002.
[7]成奋华.现代软件工程.北京:希望电子出版社,2006:129-165页
[8]方可燕.Visual C++6.0实战与精通.北京:清华大学出版社,2000:210-216页
[9]孙长勇.虚拟现实中三维建模技术方法的分析与研究.硕士学位论文.2004:28-32页
[10]Lu Tiejian.Research on three-dimensions modeling and scene simulation.Journal of Central South University(Science and Technology).2005,36(3):501-505P
[11]Matthias Haringer,Holger T.Regenbre.A pragmatic approach to augmented reality authoring.Mixed and Augmented Reality,2002.ISMAR2002.Proceedings.International Symposium on 30Sept.-1 Oct.2002:237-245P
[12]SanJose.The MultiGen Creator Desktop Tutor version2.3 for WindowsNT and Windows98.MultiGen-Paradigm,Inc.2002,12P
[13]K Lialey.Virtual reality and telepresence applications in space robotics.virtual reality systems,1993,11(2):50-56P
[14]张云勇,白中键,敬万钧.虚拟现实系统的建立.计算机应用,2000:51页
[15]Reeves WT.Particle System-A technique for modeling a class of fuzzy Objects.Computer Graphics.1983:17(3):359-371P
[16]李殿璞.船舶运动与建模.哈尔滨:哈尔滨工程大学出版社,1999:123-128页
[17]贾欣乐,杨盐生.船舶运动数学模型-机理建模与辨识建模.大连:大连海事大学出版社,1999:16-18,144-173页
[18]方亮.舰船航向.舵/翼舵智能协调控制研究.哈尔滨工程大学硕士学位论文,2006,31-42页.
[19]陆祥润.船舶航向自控系统实时仿真器程序.大连海运学院学报..1985,11(4):33-39页
[20]成奋华.现代软件工程.北京:希望电子出版社,2006:129-165页
[21]陶尧森.船舶耐波性.上海交通大学出版.1985:23-46页
[22]王乘,李利军,周均清.Creator可视化仿真建模技术.武汉:华中科技大学出版社,2005:36页
[23]王立峰,延伟东,章华等.软件工程理论与实践.清华大学出版社,2003:24-25页
[24]Michael E Goss.Motion Simulation:A Real Time Particle system for Display of Ship Wakes.Computer Graphics and Applications,1990(5):30-35.
[25]尹勇,任鸿翔,张秀凤,金一丞.航海仿真虚拟环境的海浪视景生成技术.系统仿真学报,2002,14(3):313-315.
[26]CJ Howls,Olde Dalhuis.On The Resurgence Properties of The Uniform Asymptotic Expansion of Bessel Functions of Large Order.Mathematical,Physical and Engineering Sciences.1991,405(1991):3917-3930R
[27]Collins,Dick Tuck,WH Wells.On Ship Wave Patterns and Their Spectral.Journal of Ship Research.1971,15(1):11-21P.
[28]Gregory Zilrnan,Anotoli apolski,Moshe Marom.The Speed and Beam of a Ship From Its Wake's SAR Images.Geoscience and Remote Sensing.2004,42(10):2335-2343P
[29]王彦杰,汪增福.复杂环境下的舰船航迹仿真.系统仿真学报.2006,18(11):3247-3249页
[30]关克平.航海模拟器视景建模技术研究及应用.上海海运学院硕士学位论文.2002:1页
[31]DNV Standard for Certificationof Maritime Simulator Systems (New).1999
[32]胡涛,李阔.视景仿真技术应用研究.光电技术应用.2004.6
[33][美]Donald Hearn,M.Pauline Baler著.计算机图形学(第三版).电子工业出版社.2005
[34]孙家广.计算机图形学.北京:清华大学出版社.1998
[35]王乘,李利军,周均清,陈大炜.Vega实时三维视景仿真技术.华中科技大学出版社.2005
[36]Kwan-LiuMa.Visualization Viewpoints.University of Califomia at Davis
[37]康凤举,杨惠珍,高立娥等.现代仿真技术与应用(第二版).国防工业出版社.2006
[38]San Jose.The MultiGen Creator DesktopTutor version 2.3 for Windows NT and Windows 98.MultiGen-Paradigm,Inc.2002,12
[39]Landmark Boulevard.Vega Lynx User's Guide Version 3.3 for WindowsNT.MultiGen-Paradigm,Inc.2002,12
[40]Paul S.Heckbert and Michael Garland.Surveyof Polygonal Surface Simplification Algorithms.SIGGRAPH,97
[41]李瑞,刘鹏远,张锡恩.Vega程序设计在MFC中的应用.计算机工程与设计.2002(8):36-39页
[42]邵欣欣,王燕,张文杰,赵传华.一个基于Vega的虚拟场景漫游系统.计算机仿真.2006(3):21-25页
[43]龚卓蓉.Vega程序设计.北京:国防工业出版社.2002
[44]龚卓蓉.可选模块的使用与开发.北京:国防工业出版社.2002
[45]侯澄宇,危拥军.基于MultiGen和Vega的地理环境仿真系统设计.测绘科学与工程.2005(9):27-29页
[46]郑烨.基于Vega平台二次开发技术的研究.长安大学地质工程与测绘工程学院硕士论文.2004:4-6页
[47]王延红,杨平利,仇小鹏,陈晖.仿真建模软件Creator的应用技术.计算机仿真.2005(7)
[48]Michael J.Zyda,David R.Pratt.NPSNET:Construeting A 3D Virtual World.Naval Postgraduate School