基于a&ω六自由度运动模型的船舶运动参数发生器

doi:10.12305/j.issn.1001-506X.2022.08.28

摘要/Abstract

摘要：

针对航海模拟器中船舶运动数学模型建立过程过于复杂、仿真的有效性难以验证的问题, 结合船舶自身机动特点设计了一种新的船舶运动参数发生器, 可生成航海模拟器所需的各船舶运动参数。首先, 在响应模型的基础上, 建立了基于线加速度和角速度(linear acceleration and angular velocity, a & ω)的船舶运动模型。然后, 通过船舶运动微分方程求解了船舶位置、速度、姿态、航向等运动参数信息。最后, 提出相似度评估指标并将其应用于基于实测数据的仿真的验证。仿真验证结果表明, 船舶运动参数发生器能有效地模拟船舶在多种机动状况下的运动, 各船舶运动参数的相似度均在80%以上, 是一种有效的航海模拟器的船舶运动模拟仿真研究方法。

关键词: 航海模拟器, 船舶运动数学模型, 船舶运动参数发生器, 响应模型

Abstract:

Aiming at the problem that the mathematical model of ship motion in the maritime simulator is too complicated and the effectiveness of simulation is difficult to verify, a new ship motion parameters generator is designed based on the characteristics of the ship's maneuvering, which can generate ship motion parameters required by the maritime simulator. Firstly, on the basis of the response model, a model of ship motion is established based on linear acceleration and angular velocity (a & ω). Secondly, the motion parameters such as ship's position, speed, attitude and heading are solved by ship motion differential equation. Finally, the similarity evaluation index is proposed and applied to the verification of the simulation with the experimental data. The simulation and verification results show that the ship motion parameter generator can simply and effectively simulate the motion of the ship in various maneuver conditions, and the similarity of each ship motion parameter is above 80%, which is an effective research method of ship motion simulation of maritime simulators.

Key words: maritime simulator, mathematical model of ship motion, ship motion parameters generator, response model

中图分类号:

U691

卞鸿巍, 祝中磊, 王荣颖, 马恒, 文者. 基于a&ω六自由度运动模型的船舶运动参数发生器[J]. 系统工程与电子技术, 2022, 44(8): 2628-2634.

Hongwei BIAN, Zhonglei ZHU, Rongying WANG, Heng MA, Zhe WEN. Ship motion parameter generator based on linear acceleration and angular velocity six degree of freedom motion model[J]. Systems Engineering and Electronics, 2022, 44(8): 2628-2634.

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时域表达式	传递函数	未知参数
$\omega_{z}(t)=K \delta(t)\left(1+\frac{\mathrm{e}^{-t / T_{1}}}{T_{2} / T_{1}-1}+\frac{\mathrm{e}^{-t / T_{2}}}{T_{1} / T_{2}-1}\right)$	$\frac{\omega_{z}(s)}{\delta(s)}=\frac{K w_{3}^{2}}{s^{2}+2 \xi_{2} w_{3} s+w_{3}^{2}}$	K、ξ₂、w₃
$v_{y}(t)=v_{0}+\Delta V\left(1-\frac{1}{\sqrt{1-\xi_{3}^{2}}} \mathrm{e}^{-\xi_{3} w_{4} t} \sin \left(w_{4} \sqrt{1-\xi_{3}^{2}} t+\beta_{3}\right)\right)$	$\frac{v_{y}(s)}{\Delta V(s)}=\frac{w_{4}^{2}}{s^{2}+2 \xi_{3} w_{4} s+w_{4}^{2}}$	ξ₃、w₄

参数	值	参数	值
船长/m	148	最大航速/Kn	31
船宽/m	16	吃水深度/m	5.1
满载排水量/t	4 800	-	-

机动状况	持续时间/s
机动状况	113	47	113	388	90	77	8	23	52	30
运动状态	回转减速	回转加速	直线加速	直线匀速	回转减速	直线加速	回转加速	回转加速	直线加速	回转加速
Δ V/(m/s)	-2.78	2.11	2.11	0	-1.85	0.87	0.87	0.93	0.93	0.93
模拟舵角值^*/(°)	-20.7	-28.3	0	0	22	0	20	22	0	22

运动参数	位置/m	航速/(m/s)	纵摇/(°)	横摇/(°)	航向/(°)
阈值	75	0.2	0.5	1	2
相似度/%	92.56	93.41	98.62	84.27	92.45
RMSE	60.62	0.23	0.22	0.85	4.29