航海模拟器视景中缆绳的绘制
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摘要
随着船舶的逐渐大型化、特种化,拖轮助操在船舶进出港和靠离泊中的作用日益突出,与拖轮相关的培训和安全评估等也越来越重要,迫切需要在航海模拟器中增加拖轮单元。
在拖轮单元的视景中,缆绳是重要的组成部分,也是最能体现模拟逼真程度的因素之一。本文在大连海事大学V.Dragon 3000系列模拟器的基础之上,分析了缆绳在靠离泊作业时的张力模型并计算了缆绳在满足虎克定律和不满足虎克定律两种情况下的张力大小；利用弹簧-质点模型方法建立了缆绳的受力模型并可实现对缆绳绞缆、出缆过程的交互控制；实现了缆绳与岸壁之间的碰撞检测,进而实现了缆绳的三维可视化。
本文提出的方法综合考虑了缆绳所受到的张力、重力、摩擦力、空气阻力等各种外力对缆绳运动的影响,可逼真地绘制缆绳,并可模拟缆绳由弯曲到拉直的运动过程,同时,实现了缆绳与岸壁间的碰撞检测,满足了航海模拟器对缆绳的显示要求。
With ships are developing in the direction of large-scale and special, tug assistance operation becomes more important when ships into and out of ports and berthing operations, safety evaluation and training associated tug is also becoming more important, so it's imperative to add tug unit into navigation simulator.
In the scene system of tug unit, cable is an important part and one of factors which can most reflect the realistic level of simulation. This paper is based on V. Dragon 3000 Series simulator by Dalian Maritime University, researching on cable's force model; Analysing cable tension model in berthing operations and calculating the cable force which meet the Hooke's Law and doesn't meet Hooke's Law;constructing the cable force model using spring-mass model and realizing cable's three-dimensional visual display.
Considering various external forces of the cable suffered, this paper can realistically render cable and simulate the movement process from bend to straighten. At the same time, realizing the collision detection between cable and shore, meeting the requirements of the cable in navigation simulator.
在拖轮单元的视景中,缆绳是重要的组成部分,也是最能体现模拟逼真程度的因素之一。本文在大连海事大学V.Dragon 3000系列模拟器的基础之上,分析了缆绳在靠离泊作业时的张力模型并计算了缆绳在满足虎克定律和不满足虎克定律两种情况下的张力大小；利用弹簧-质点模型方法建立了缆绳的受力模型并可实现对缆绳绞缆、出缆过程的交互控制；实现了缆绳与岸壁之间的碰撞检测,进而实现了缆绳的三维可视化。
本文提出的方法综合考虑了缆绳所受到的张力、重力、摩擦力、空气阻力等各种外力对缆绳运动的影响,可逼真地绘制缆绳,并可模拟缆绳由弯曲到拉直的运动过程,同时,实现了缆绳与岸壁间的碰撞检测,满足了航海模拟器对缆绳的显示要求。
With ships are developing in the direction of large-scale and special, tug assistance operation becomes more important when ships into and out of ports and berthing operations, safety evaluation and training associated tug is also becoming more important, so it's imperative to add tug unit into navigation simulator.
In the scene system of tug unit, cable is an important part and one of factors which can most reflect the realistic level of simulation. This paper is based on V. Dragon 3000 Series simulator by Dalian Maritime University, researching on cable's force model; Analysing cable tension model in berthing operations and calculating the cable force which meet the Hooke's Law and doesn't meet Hooke's Law;constructing the cable force model using spring-mass model and realizing cable's three-dimensional visual display.
Considering various external forces of the cable suffered, this paper can realistically render cable and simulate the movement process from bend to straighten. At the same time, realizing the collision detection between cable and shore, meeting the requirements of the cable in navigation simulator.
引文
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[3]任鸿翔.航海模拟器中基于GPU的海洋场景真实感绘制：(博士学位论文).大连：大连海事大学,2009.
[4]方全根.航海模拟器的现状及展望.中国航海,1996,38(1)：38-43.
[5]包雄关.航海模拟器的功能.大连海事大学学报,2003,15(1)：23-26.
[6]邓健,刘克中.港口工程通航评估中船舶操纵模拟器的应用.航海技术,2008,(6)：6-8.
[7]http://www.km.kongsberg.com/ks/web/nokbg0240.nsf/AllWeb/AF9B33C1DE7DDDD2C1256D CD004840E6?OpenDocument
[8]http://www.km.kongsberg.com/ks/web/nokbg0240.nsf/AllWeb/0CD0BDD093F97427C12574B E0041 F6D6?OpenDocument
[9]http://www.transas.com/products/simulators/sim_products/navigational/
[10]http://www.mpri.com/maritime/index.php/content/products/full-mission_bridge_shiphandling_simulators/
[11]http://www.mpri.com/maritime/index.php/content/products/anchor_handling_tug_simulator/
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[28]杨盐生.船舶靠离泊操纵数学模型的研究.大连海事大学学报,1996,22(4)：11-15.
[29]石爱国,侯建军,万林等.拖轮协助大型舰船靠泊操纵建模及仿真.系统仿真学报,2006,18(增刊2)：104-107.
[30]孙霄峰,尹勇,张秀凤.基于物理模型的渔网网衣动态模拟与可视化研究.大连水产学院学报,2009,24(6)：12-18.
[31]田小康,冯小松,宵高宜.基于准悬链线理论的舰船缆绳张力计算.广州航海高等专科学校学报,2009,17(1)：18-22.
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[33]Delmer T N, Stephen T C, Tremills J A. Numerical Simulation of Cable-Towed Acoustic Arrays. Ocean Engineering,1988,15(5):511-548.
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[35]侯建军,东昉,石爱国等.锚泊状态下锚链作用力的计算方法.大连海事大学学报,2005,31(4)：10-13.
[36]刘有钟.海船缆绳船艺.北京：人民交通出版社,1992.
[37]L H Ronald, E K James. A Representation of Fluid Forces in Finite Segment Cable Models. AD Report, AD-A090181,1980.
[38]Baraff D,Witkin A.Large Steps in Cloth Simularion.IN:SIGGRAPH98,Orlando,1998:19-24.
[39]Ablow CM, Schechter S. Numerical Simulation of Undersea Cable Dynamics.Ocean Engineering.1983,10(6):443-457.
[40]Yang Sun, John W. Leonard. Dynamics of Ocean Cables with Local Low-Tension Regions. Ocean Engng,1998,25(6):443-463.
[41]Milinazzo F, Wilkie M, Latchman SA. An Efficient Algorithm for Simulating The Dynamics for Towed Cable Systems Ocean Engineering,1987,14(6):513-526.
[42]Katsuya Suzuki, Tsutomu Takagi, Takashi Shimizu Etal. Validity and Visualization of a Numerical Model Used to Determine Dynamic Configurations of Fishing Nets. Fisheries Science. 2003,69:695-705.
[43]Walton T S, Polachech H. Calculation of Transient Motion of Submerged Cables. Mathematics of Computation,1960,14:27-46.
[44]靳明君,张志国.悬链线柔索索长的计算.铁道标准设计,2004,(5)：9-11.
[45]罗文龙,王德才,孙玉萍等.柔性物体实时可视化仿真.重庆邮电学院学报,2006,18(2)：251-254.
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[47]夏开建,王士同.柔性物体动态变形的实时仿真.计算机工程与设计,2009,30(10)：2564-2569.
[48]吴涓,宋爱国,李建清.用于虚拟力觉再现的弹簧-质点力变形模型研究.系统仿真学报,2006,18(11)：3152-3156.
[49]陈功,周来水,安鲁陵等.基于弹簧-质点模型曲面展开的改进算法.计算机辅助设计与图形学学报,2007,19(8)：1009-1014.
[50]Krogh B H. Feedback Obstacle Avoidance Control.In:Proe21st Allerton Conf on Communication, Control and Computing,Urbana 11,1983.
[51]Khosla P,Volpe R. Superquadric Artificial Potentials for Obstacle Avoidance and Approach. In:Proc IEEE International Conference on Robotics and Automation. PhiladePhia, PA,1988.
[52]Masanori Ito, Feifei Zhang, Norimoto Yoshida. Collision Avoidance Control of Ship with Genetic Algorithm. Proceedings of the 1999 International IEEE Conference on Control Application, 1999:1791-1796.
[53]周俊玮,万宇,万旺根.一种基于八叉树的OBB包围盒碰撞检测方法.计算机应用与软件,2009,26(4)：75-77.
[54]李艳波,印桂生,张菁.基于Snake模型的碰撞检测算法研究.计算机应用研究,2009,26(3)：855-857.
[55]吴潮,赵羚云,王守玉.基于时空相关性碰撞检测算法.计算机应用与软件,2009,26(7)：265-268.
[56]田尊华,赵龙,贾焰.基于实体行为的动态碰撞检测算法研究.系统仿真学报,2009,(5)：1380-1383.
[57]康勇,熊岳山,费先宏等.基于空间分解和包围盒层次的混合碰撞检测算法.计算机仿真,2010,27(6)：191-193.
[58]宋伟.虚拟战场环境下基于层次包围盒的碰撞检测算法.南昌航空大学学报,2010,24(1)：40-45.
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[2]刘斯云.航海模拟器视景系统中自主拖轮运动规划算法及实现的研究：(硕士学位论文).大连：大连海事大学,2001.
[3]任鸿翔.航海模拟器中基于GPU的海洋场景真实感绘制：(博士学位论文).大连：大连海事大学,2009.
[4]方全根.航海模拟器的现状及展望.中国航海,1996,38(1)：38-43.
[5]包雄关.航海模拟器的功能.大连海事大学学报,2003,15(1)：23-26.
[6]邓健,刘克中.港口工程通航评估中船舶操纵模拟器的应用.航海技术,2008,(6)：6-8.
[7]http://www.km.kongsberg.com/ks/web/nokbg0240.nsf/AllWeb/AF9B33C1DE7DDDD2C1256D CD004840E6?OpenDocument
[8]http://www.km.kongsberg.com/ks/web/nokbg0240.nsf/AllWeb/0CD0BDD093F97427C12574B E0041 F6D6?OpenDocument
[9]http://www.transas.com/products/simulators/sim_products/navigational/
[10]http://www.mpri.com/maritime/index.php/content/products/full-mission_bridge_shiphandling_simulators/
[11]http://www.mpri.com/maritime/index.php/content/products/anchor_handling_tug_simulator/
[12]马越,刘丹,金一丞.分布航海仿真中HLA网关的设计与实现.哈尔滨工程大学学报,2004,25(3)：283-287.
[13]尹勇,金一丛,李志华.分布式航海仿真系统中的网络通讯,系统仿真学报,2000(11)：621-624.
[14]刘丹,金一丞,尹勇等.航海模拟器中多通道三维视景显示技术.系统仿真学报,2001,13(增刊)：210-211.
[15]STCW95,International Maritime Organization. London,1996.
[16]DNV, Standard for Certification of Maritime Simulator Systems.Norway,2000.
[17]DNV, Standard for Certification of Maritime Simulator Systems.Norway,2007.
[18]金一丞,尹勇STCW公约与航海模拟器的发展.中国航海,2010,33(1)：1-7.
[19]马会,吴兆麟.港口航道水域操船环境危险度的综合评价.大连海事大学学报,1998,24(3)：15-18.
[20]王逢辰,古文贤,郑经略.船舶操纵与避碰(上册).北京：人民交通出版社,1995.
[21]李万超.船舶操纵模拟器中拖轮子系统的研究：(硕士学位论文).大连：大连海事大学,2004.
[22]陈永洪.船艺.大连：大连海事大学出版社,2006.
[23]野本谦作,田口賢士,本田啓之輔.他船の操縦性に就いて(1).日本造船学会输文集,1956,(99)：75-82.
[24]野本謙作,田口賢士.船の操縦性に就いて(2).日本造船学会输文集,1957,(101)：57-66.
[25]野本謙作.船舶操纵性和控制及其在船舶设计中的应用.北京：中国船舶科学研究中心,1982.
[27]孙霄峰.单船中层拖网系统的建模与仿真：(博士学位论文).大连：大连海事大学.2008.
[28]杨盐生.船舶靠离泊操纵数学模型的研究.大连海事大学学报,1996,22(4)：11-15.
[29]石爱国,侯建军,万林等.拖轮协助大型舰船靠泊操纵建模及仿真.系统仿真学报,2006,18(增刊2)：104-107.
[30]孙霄峰,尹勇,张秀凤.基于物理模型的渔网网衣动态模拟与可视化研究.大连水产学院学报,2009,24(6)：12-18.
[31]田小康,冯小松,宵高宜.基于准悬链线理论的舰船缆绳张力计算.广州航海高等专科学校学报,2009,17(1)：18-22.
[32]Ma D, Leonard J. Slack-Elasto-Plastic Dynamics of Cable Systems. Journal of The Engineering Mechanics Division ASCE,1979,105(EM 2):207-222.
[33]Delmer T N, Stephen T C, Tremills J A. Numerical Simulation of Cable-Towed Acoustic Arrays. Ocean Engineering,1988,15(5):511-548.
[34]孙霄峰,尹勇,张秀凤.船舶操纵模拟器中的系缆张力模型.中国航海,2007,(3)：1-4.
[35]侯建军,东昉,石爱国等.锚泊状态下锚链作用力的计算方法.大连海事大学学报,2005,31(4)：10-13.
[36]刘有钟.海船缆绳船艺.北京：人民交通出版社,1992.
[37]L H Ronald, E K James. A Representation of Fluid Forces in Finite Segment Cable Models. AD Report, AD-A090181,1980.
[38]Baraff D,Witkin A.Large Steps in Cloth Simularion.IN:SIGGRAPH98,Orlando,1998:19-24.
[39]Ablow CM, Schechter S. Numerical Simulation of Undersea Cable Dynamics.Ocean Engineering.1983,10(6):443-457.
[40]Yang Sun, John W. Leonard. Dynamics of Ocean Cables with Local Low-Tension Regions. Ocean Engng,1998,25(6):443-463.
[41]Milinazzo F, Wilkie M, Latchman SA. An Efficient Algorithm for Simulating The Dynamics for Towed Cable Systems Ocean Engineering,1987,14(6):513-526.
[42]Katsuya Suzuki, Tsutomu Takagi, Takashi Shimizu Etal. Validity and Visualization of a Numerical Model Used to Determine Dynamic Configurations of Fishing Nets. Fisheries Science. 2003,69:695-705.
[43]Walton T S, Polachech H. Calculation of Transient Motion of Submerged Cables. Mathematics of Computation,1960,14:27-46.
[44]靳明君,张志国.悬链线柔索索长的计算.铁道标准设计,2004,(5)：9-11.
[45]罗文龙,王德才,孙玉萍等.柔性物体实时可视化仿真.重庆邮电学院学报,2006,18(2)：251-254.
[46]崔桐,宋爱国,吴涓.一种用于力觉再现的柔性体变形仿真弹簧-质点模型.东南大学学报,2007,37(5)：849-852.
[47]夏开建,王士同.柔性物体动态变形的实时仿真.计算机工程与设计,2009,30(10)：2564-2569.
[48]吴涓,宋爱国,李建清.用于虚拟力觉再现的弹簧-质点力变形模型研究.系统仿真学报,2006,18(11)：3152-3156.
[49]陈功,周来水,安鲁陵等.基于弹簧-质点模型曲面展开的改进算法.计算机辅助设计与图形学学报,2007,19(8)：1009-1014.
[50]Krogh B H. Feedback Obstacle Avoidance Control.In:Proe21st Allerton Conf on Communication, Control and Computing,Urbana 11,1983.
[51]Khosla P,Volpe R. Superquadric Artificial Potentials for Obstacle Avoidance and Approach. In:Proc IEEE International Conference on Robotics and Automation. PhiladePhia, PA,1988.
[52]Masanori Ito, Feifei Zhang, Norimoto Yoshida. Collision Avoidance Control of Ship with Genetic Algorithm. Proceedings of the 1999 International IEEE Conference on Control Application, 1999:1791-1796.
[53]周俊玮,万宇,万旺根.一种基于八叉树的OBB包围盒碰撞检测方法.计算机应用与软件,2009,26(4)：75-77.
[54]李艳波,印桂生,张菁.基于Snake模型的碰撞检测算法研究.计算机应用研究,2009,26(3)：855-857.
[55]吴潮,赵羚云,王守玉.基于时空相关性碰撞检测算法.计算机应用与软件,2009,26(7)：265-268.
[56]田尊华,赵龙,贾焰.基于实体行为的动态碰撞检测算法研究.系统仿真学报,2009,(5)：1380-1383.
[57]康勇,熊岳山,费先宏等.基于空间分解和包围盒层次的混合碰撞检测算法.计算机仿真,2010,27(6)：191-193.
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