CN110136486B - Method and system for judging navigation capacity of port area - Google Patents
Method and system for judging navigation capacity of port area Download PDFInfo
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Abstract
The invention discloses a method and a system for judging the navigation capacity of a port area, which comprises the steps of obtaining ship parameters and environment parameters corresponding to a current ship; determining the running state of the current ship according to the ship parameters and the environmental parameters of the current ship and the control model of the ship; the running state comprises the current ship track and the surplus water depth below the keel; and judging whether the current ship can safely pass through the harbor district according to the running state of the current ship. The method and the system for judging the navigation capacity of the port area can quickly and accurately judge whether the layout of the port area meets the navigation of a ship.
Description
Technical Field
The invention relates to the field of port and channel engineering, in particular to a method and a system for judging the navigation capacity of a port area.
Background
At present, the research on the navigation capacity of the scheme of newly-built ports and navigation channels is an important subject for supporting port design, construction, operation management and maintenance decision. The actual operation process of the port channel is a complex system engineering, is influenced by numerous factors such as berth, channel performance, hydrological weather and the like, and has strong randomness. In the prior art, besides conventional hydrodynamic simulation calculation such as tide, wave, flow field and silt scouring, the requirements on the conditions of port entry and exit of ships and the problems of wharf mooring are increasing, and particularly, in coastal power station projects, the influence evaluation and analysis problems of port door, breakwater and arrangement of water taking and discharging ports are often matched with the risks of port entry and exit of ships. The conventional method is difficult to put the factors into a whole for general consideration, but the existing ship-handling test is mainly carried out by a ship-handling simulator, the price is relatively high, the period is long, the requirement on the basic condition of hardware facilities is high, the wave and flow conditions in a specific format need to be introduced during operation, and the operation is very inconvenient particularly when being adjusted according to an engineering scheme.
Disclosure of Invention
The invention aims to provide a method and a system for judging the navigation capacity of a harbor district, which can quickly and accurately judge whether the harbor district layout meets the navigation of a ship.
In order to achieve the purpose, the invention provides the following scheme:
a method for judging the navigation capacity of a port area comprises the following steps:
acquiring ship parameters and environment parameters corresponding to a current ship; the ship parameters comprise a ship main scale and coefficient, a paddle scale, a rudder scale, a wind area, a host machine parameter and a ship type; the environmental parameters comprise a wind field, a wave field, a flow field, water depth data and port area channel data of the current position where the ship enters the port area;
determining the running state of the current ship according to the ship parameters and the environmental parameters of the current ship and the control model of the ship; the running state comprises the current ship track and the surplus water depth below the keel;
judging whether the current ship can safely pass through a port area according to the running state of the current ship to obtain a first judgment result;
when the first judgment result shows that the current ship can safely pass through the port area, returning to the step of acquiring ship parameters and environment parameters corresponding to the current ship, and judging whether the ship to be detected can safely pass through the port area;
when the first judgment result shows that the current ship cannot safely pass through a port area, judging whether the current ship type is the ship type set by the port area or not to obtain a second judgment result;
when the second judgment result shows that the current ship type is not the ship type set by the port area, returning to the step of acquiring the ship parameters and the environment parameters corresponding to the current ship, and judging whether the ship to be detected can safely pass through the port area;
and when the second judgment result shows that the current ship type is the ship type set by the port area, planning the port area again until the ship type set by the port area can safely pass through the port area.
Optionally, before the obtaining of the ship parameter and the environmental parameter corresponding to the current ship, the method further includes:
and acquiring the ship type set by the port area.
Optionally, the determining the operation state of the current ship according to the ship parameter and the environmental parameter of the current ship and the maneuvering model of the ship specifically includes:
calculating ship hydrodynamic force according to the ship parameters, the environmental parameters and commercial CFD software; the ship hydrodynamic force is the external force of the ship body, the propeller and the rudder of the current ship in all directions under the influence of the environmental parameters;
calculating the navigational speed and the course of the ship and the position of the ship in the water according to the ship hydrodynamic force, the ship parameters and the control model of the ship;
determining the track of the ship according to the navigational speed and the course of the ship;
and determining the surplus water depth below the keel of the ship according to the position of the ship in the water.
Optionally, the calculating the ship hydrodynamic force according to the ship parameters, the environmental parameters and the commercial CFD software specifically includes:
acquiring external forces in all directions borne by a propeller of the current ship and external forces in all directions borne by a rudder of the current ship according to the ship parameters and the environment parameters;
calculating external forces in all directions borne by the hull of the current ship according to the ship parameters, the environmental parameters and the commercial CFD software;
and calculating the ship hydrodynamic force according to the external force in each direction received by the propeller of the current ship, the external force in each direction received by the rudder of the current ship and the external force in each direction received by the hull of the current ship.
Optionally, before the calculating, according to the ship parameters, the environmental parameters and the commercial CFD software, external forces in all directions to which the hull of the current ship is subjected, the method further includes:
and inputting the parameters of each ship and the environmental parameters into commercial CFD software in advance to calculate to obtain the external force of each ship in each direction under the environment with different environmental parameters.
Optionally, the calculating the ship hydrodynamic force according to the external forces in all directions received by the propeller of the current ship, the external forces in all directions received by the rudder of the current ship, and the external forces in all directions received by the hull of the current ship specifically includes:
wherein Σ X, Σ Y, Σ N, Σ K is the ship hydrodynamic force, XH、YH、NH、KHIs the external force, X, in each direction on the hull of the current shipP、YP、NPIs the external force, X, in each direction applied to the current ship propellerR、YR、NR、KRThe external force in each direction received by the rudder of the current ship.
Optionally, the calculating the current operating state of the ship according to the ship hydrodynamic force, the ship parameter, and the ship manipulation model specifically includes:
wherein m is the total mass of the vessel, IZZFor the moment of inertia of the vessel about the z-axis, JZZThe moment of inertia of the ship to the X axis is represented by Σ X, Σ Y, Σ N, Σ K, which are the ship hydrodynamic forces,
is the roll angular acceleration, r is the yaw angular velocity,
is the yaw angular acceleration, u is the surge velocity,
is the surge velocity acceleration, v is the surge velocity,
is the yaw acceleration.
A system for judging the navigation capacity of a port area is applied to the judgment of the navigation capacity of the port area and comprises the following steps:
the system comprises a ship parameter and environment parameter acquisition module corresponding to a current ship, a ship parameter and environment parameter acquisition module corresponding to the current ship, and a control module, wherein the ship parameter and environment parameter acquisition module is used for acquiring the ship parameter and environment parameter corresponding to the current ship; the ship parameters comprise a ship main scale and coefficient, a paddle scale, a rudder scale, a wind area, a host machine parameter and a ship type; the environmental parameters comprise a wind field, a wave field, a flow field, water depth data and port area channel data of the current position where the ship enters the port area;
the current ship running state acquisition module is used for determining the running state of the current ship according to the ship parameters and the environmental parameters of the current ship and the control model of the ship; the running state comprises the current ship track and the surplus water depth below the keel;
the first judgment module is used for judging whether the current ship can safely pass through the port area according to the running state of the current ship;
and the second judging module is used for judging whether the current ship type is the ship type set by the port area or not when the first judging result shows that the current ship cannot safely pass the port area.
Optionally, the system for judging the navigation capability of the port area further includes:
and the port area set ship type acquisition module is used for acquiring the ship type set by the port area.
Optionally, the current ship operation state obtaining module includes:
the ship hydrodynamic force calculation module is used for calculating ship hydrodynamic force according to the ship parameters, the environment parameters and commercial CFD software; the ship hydrodynamic force is the external force of the ship body, the propeller and the rudder of the current ship in all directions under the influence of the environmental parameters;
the navigation speed and the course of the ship and the position of the ship in the water are calculated by the calculation module, and the navigation speed and the course of the ship and the position of the ship in the water are calculated according to the ship hydrodynamic force, the ship parameters and the operation model of the ship;
the track determining module of the ship is used for determining the track of the ship according to the navigational speed and the course of the ship;
and the module for determining the surplus water under the keel of the ship is used for determining the surplus water under the keel of the ship according to the position of the ship in water.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the method for judging the navigation capacity of the port area determines the current running state of the ship according to the ship parameters and the environment parameters corresponding to the current ship and the control model of the ship, and judges whether the current ship can safely pass the port area according to the current running state of the ship. The invention also provides a system for judging the navigation capacity of the harbor district, which can quickly and accurately judge whether the harbor district layout meets the navigation of the ship. Furthermore, the ship navigation capability research of ports and navigation channels and the navigation risk assessment can be realized so as to support the port site selection, design, engineering construction and operation management decision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for judging the navigation capability of a port area according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a system for determining a navigation capability of a port area according to an embodiment of the present invention;
fig. 3 is a view of a port area navigation capability judgment software start interface provided in an embodiment of the present invention;
fig. 4 is a diagram of a main operation interface of the port area navigation capability judgment software provided in the embodiment of the present invention;
fig. 5 is a new engineering interface diagram of the software for judging the navigation capability of a port area according to the embodiment of the present invention;
fig. 6 is an interface diagram of a port area navigation capability judgment software setting module provided in the embodiment of the present invention;
fig. 7 is a port area navigation capability judgment software parameter module interface diagram provided in the embodiment of the present invention;
FIG. 8 is an interface diagram of a marine parameter module of the software for determining the navigation ability of a harbor area according to the embodiment of the present invention;
fig. 9 is an interface diagram of an operation control module of the port area navigation capability judgment software according to the embodiment of the present invention;
fig. 10 is a schematic view of a ship entering a port track of port area navigation capability judgment software according to an embodiment of the present invention;
description of the drawings: the method comprises the steps of 1-obtaining a ship parameter and an environment parameter corresponding to a current ship, 2-obtaining a current ship running state, 3-a first judgment module and 4-a second judgment module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for judging the navigation capacity of a harbor district, which can quickly and accurately judge whether the harbor district layout meets the navigation of a ship.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
This embodiment provides a method for determining a harbor district navigation ability, fig. 1 is a schematic flow chart of a method for determining a harbor district navigation ability according to an embodiment of the present invention, and as shown in fig. 1, the method for determining a harbor district navigation ability includes the following steps:
s100: acquiring ship parameters and environment parameters corresponding to a current ship; the ship parameters comprise a ship main scale and coefficient, a paddle scale, a rudder scale, a wind area, a host machine parameter and a ship type; the environmental parameters comprise a wind field, a wave field, a flow field, water depth data and port area channel data of the current position where the ship enters the port area;
s101: determining the running state of the current ship according to the ship parameters and the environmental parameters of the current ship and the control model of the ship; the running state comprises the current ship track and the surplus water depth below the keel;
s102: judging whether the current ship can safely pass through a port area according to the running state of the current ship to obtain a first judgment result;
when the first judgment result shows that the current ship can safely pass through the port area, returning to the step of acquiring ship parameters and environment parameters corresponding to the current ship, and judging whether the ship to be detected can safely pass through the port area;
s103: when the first judgment result shows that the current ship cannot safely pass through a port area, judging whether the current ship type is the ship type set by the port area or not to obtain a second judgment result;
when the second judgment result indicates that the current ship type is not the ship type set in the harbor district, the step S105: acquiring ship parameters and environment parameters corresponding to a ship to be detected;
s104: when the second judgment result shows that the current ship type is the ship type set by the port area, planning the port area again;
s105: acquiring ship parameters and environment parameters corresponding to a ship to be detected;
until the port area is set for the type of vessel that can safely pass through the port area.
And before the ship parameters and the environment parameters corresponding to the current ship are obtained, the ship type set by the port area is obtained. The planning process of the port area mainly relates to the types of ships set by the port area, namely each port area has a fixed ship type, and as long as the ship type set by the port area can safely pass through the port area, the navigation capacity of the port area meets the requirement.
In an embodiment, determining the current operating state of the ship according to the ship parameters and the environmental parameters of the current ship and the maneuvering model of the ship specifically includes:
calculating ship hydrodynamic force according to the ship parameters, the environmental parameters and commercial CFD software; the ship hydrodynamic force is the external force of the ship body, the propeller and the rudder of the current ship in all directions under the influence of the environmental parameters;
calculating the navigational speed and the course of the ship and the position of the ship in the water according to the ship hydrodynamic force, the ship parameters and the control model of the ship;
determining the track of the ship according to the navigational speed and the course of the ship;
and determining the surplus water depth below the keel of the ship according to the position of the ship in the water.
And if the result exceeds the permission of the layout of the harbor area and the water depth condition, the ship cannot pass.
In an embodiment, calculating the ship hydrodynamic force according to the ship parameters, the environmental parameters and the commercial CFD software specifically includes:
acquiring external forces in all directions borne by a propeller of the current ship and external forces in all directions borne by a rudder of the current ship according to the ship parameters and the environment parameters;
calculating external forces in all directions borne by the hull of the current ship according to the ship parameters, the environmental parameters and the commercial CFD software;
and calculating the ship hydrodynamic force according to the external force in each direction received by the propeller of the current ship, the external force in each direction received by the rudder of the current ship and the external force in each direction received by the hull of the current ship.
Before the calculating of the external forces in all directions received by the hull of the current ship according to the ship parameters, the environmental parameters and the commercial CFD software, the method further comprises the following steps:
and inputting the parameters of each ship and the environmental parameters into commercial CFD software in advance to calculate to obtain the external force of each ship in each direction under the environment with different environmental parameters.
In this embodiment, by obtaining external forces in various directions of each ship body in different environment parameter environments in advance, in an actual test process, judgment of the navigation capability of a harbor area can be obtained quickly.
The method comprises the following steps of calculating the ship hydrodynamic force according to the external forces in all directions received by the propeller of the current ship, the external forces in all directions received by the rudder of the current ship and the external forces in all directions received by the hull of the current ship, and specifically comprises the following steps:
wherein Σ X, Σ Y, Σ N, Σ K is the ship hydrodynamic force, XH、YH、NH、KHIs the external force, X, in each direction on the hull of the current shipP、YP、NPIs the external force, X, in each direction applied to the current ship propellerR、YR、NR、KRThe external force in each direction received by the rudder of the current ship.
The calculating the current running state of the ship according to the ship hydrodynamic force, the ship parameters and the ship control model specifically comprises:
wherein m is the total mass of the vessel, IZZFor the moment of inertia of the vessel about the z-axis, JZZFor the rotational inertia of the ship to the X axis, the ship is represented by Sigma X, Sigma Y, Sigma N and Sigma KThe water power is generated by the water power,
is the roll angular acceleration, r is the yaw angular velocity,
is the yaw angular acceleration, u is the surge velocity,
is the surge velocity acceleration, v is the surge velocity,
is the yaw acceleration.
Example 2
As shown in fig. 2, a schematic structural diagram of a system for judging the navigation ability of a port area provided in an embodiment of the present invention, the system for judging the navigation ability of a port area provided in the present invention includes a ship parameter and environment parameter obtaining module 1, a current ship operating state obtaining module 2, a first judging module 3, and a second judging module 4, which correspond to a current ship.
The ship parameter and environment parameter acquiring module 1 corresponding to the current ship is used for acquiring ship parameters and environment parameters corresponding to the current ship; the ship parameters comprise a ship main scale and coefficient, a paddle scale, a rudder scale, a wind area, a host machine parameter and a ship type; the environmental parameters comprise a wind field, a wave field, a flow field, water depth data and port area channel data of the current position where the ship enters the port area;
the current ship running state obtaining module 2 is used for determining the running state of the current ship according to the ship parameters and the environmental parameters of the current ship and the control model of the ship; the running state comprises the current ship track and the surplus water depth below the keel;
the first judging module 3 is used for judging whether the current ship can safely pass through a port area according to the running state of the current ship;
the second judging module 4 is configured to judge whether the current ship type is a ship type set by a port area when the first judging result indicates that the current ship cannot safely pass the port area.
Further, the system for judging the navigation capability of the port area further comprises a ship type acquisition module set by the port area, wherein the ship type acquisition module set by the port area is used for acquiring the ship type set by the port area.
Specifically, the current ship running state obtaining module 2 includes a ship hydrodynamic force calculating module, a ship speed and course calculating module, a ship position calculating module, a ship track determining module and a ship keel surplus water depth determining module.
The ship hydrodynamic force calculation module is used for calculating ship hydrodynamic force according to the ship parameters, the environment parameters and commercial CFD software; the ship hydrodynamic force is the external force of the ship body, the propeller and the rudder of the current ship in all directions under the influence of the environmental parameters;
the ship speed and course and ship underwater position calculation module is used for calculating the ship speed and course and ship underwater position according to ship hydrodynamic force, the ship parameters and the ship control model;
the track determining module of the ship is used for determining the track of the ship according to the navigational speed and the course of the ship;
the water depth determination module under the keel of the ship is used for determining the water depth under the keel of the ship according to the position of the ship in water.
Example 3
The embodiment provides a method for judging the navigation capacity of a port area, and the process is realized by adopting port area navigation capacity judgment software.
Fig. 3 to 10 are operation interfaces of the harbor district navigation ability determination software, and as shown in fig. 3 to 10, the left side of the operation interface of the harbor district navigation ability determination software is a chart which displays a ship navigation track, a marine geographic environment and the like, and the right side is a parameter modification and ship control interface which can modify parameters such as a ship main scale, a marine environment, control and the like, so that navigation simulation of different ships is realized, and a final evaluation report is obtained.
The operation user can set ship parameters, marine environment parameters (including wind, flow and the like), an electronic chart and the like, and the program can automatically calculate the running speed, the track and the risk area of the ship in the set natural environment and estimate the running state of the ship when the ship sails. An operation user can modify control parameters such as the rotating speed of an engine, a rudder angle and the like through an operation control interface, so that ship operation simulation control is realized, and information such as longitude and latitude, navigational speed, course, water depth, surplus water depth, alarm and the like of a ship can be known. The operation user can see the track in the ship maneuvering process through the chart. When the ship is about to enter a port, the rotating speed and rudder angle of an engine of the ship are adjusted in real time according to the position information and course angular speed of the ship on a chart, so that the ship is ensured to smoothly enter the port and berth. During the harbor entering process, the operation user needs to pay special attention to the real-time adjustment of the rudder angle and the engine speed of the ship in combination with the ship motion information and the position and posture display thereof so as to ensure the posture and the position of the ship after the harbor entering.
Further, in order to implement the operation of the software, the invention also comprises the following steps:
the interface design comprises a main body window display program title and a three-dimensional map, the size and the direction of the storm flow numerical value are displayed on the upper side, the ship dial information is displayed on the lower side, and a data parameter setting interface is displayed on the right side.
The interface interaction comprises right-side parameter setting interaction, bottom-side instrument panel interaction, three-dimensional map mouse interaction functions and toolbar interaction.
Wherein, the right side window parameter setting interaction comprises: the system comprises four modules of system setting, ship parameters, ocean parameters and control. And realizing communication interaction between the parameters and the solver, loading a data file with a specified format for analysis, and responding to the solver in real time to transmit parameter data.
The bottom side panel board contains 7 dials respectively: rotating speed, rudder angle, course, navigation speed, operation rudder, engine rotating speed rudder and water depth information. And displaying data information in real time and realizing the functions of controlling the rudder by a keyboard and controlling the rotating speed of the engine by the rudder.
The three-dimensional map mouse interaction comprises: map moving/following, data file opening, waypoint displaying, airline line saving, flight path clearing/displaying, designated layer clearing, all layer clearing, airline line deleting, distance measuring and layer management functions.
The toolbar interaction includes: the method comprises the steps of building a project, opening the project, saving the project, initializing the ship position, moving the ship position, setting the original point of a map, starting/suspending ship simulation, capturing a picture, recording a video, displaying program information and displaying an instruction manual.
The three-dimensional map realizes the display of a Google online map, the loading of a BMP self-defined map and the display of the current position of a ship, the track of the ship, a track line and a track point.
And the program and the solver are communicated through a Socket and interact in a UDP (user datagram protocol) and custom protocol mode. And the program transmits the user setting information to the solver for solving, responds to the solver in real time to return ship data information, and reflects the ship data information to a map interface so as to show the ship motion condition.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A method for judging the navigation capacity of a port area is characterized by comprising the following steps:
acquiring ship parameters and environment parameters corresponding to a current ship; the ship parameters comprise a ship main scale and coefficient, a paddle scale, a rudder scale, a wind area, a host machine parameter and a ship type; the environmental parameters comprise a wind field, a wave field, a flow field, water depth data and port area channel data of the current position where the ship enters the port area;
determining the running state of the current ship by using a ship control model according to the ship parameters and the environmental parameters of the current ship; the running state comprises the current ship track and the surplus water depth below the keel;
using formulas
And formula
Determining the current running state of the ship; wherein, the sigma X, the sigma Y, the sigma N and the sigma K are ship water power, XH、YH、NH、KHIs the external force, X, in each direction on the hull of the current shipP、YP、NPIs the external force, X, in each direction applied to the current ship propellerR、YR、NR、KRExternal forces in all directions received by the rudder of the current ship; m is the total mass of the vessel, IZZFor the moment of inertia of the vessel about the z-axis, JZZThe moment of inertia of the ship to the X axis is represented by Σ X, Σ Y, Σ N, Σ K, which are the ship hydrodynamic forces,
is the roll angular acceleration, r is the yaw angular velocity,
is the yaw angular acceleration, u is the surge velocity,
is the surge velocity acceleration, v is the surge velocity,
is the yaw acceleration;
judging whether the current ship can safely pass through a port area according to the running state of the current ship to obtain a first judgment result;
when the first judgment result shows that the current ship can safely pass through the port area, returning to the step of acquiring ship parameters and environment parameters corresponding to the current ship, and judging whether the ship to be detected can safely pass through the port area;
when the first judgment result shows that the current ship cannot safely pass through a port area, judging whether the current ship type is the ship type set by the port area or not to obtain a second judgment result;
when the second judgment result shows that the current ship type is not the ship type set by the port area, returning to the step of acquiring the ship parameters and the environment parameters corresponding to the current ship, and judging whether the ship to be detected can safely pass through the port area;
and when the second judgment result shows that the current ship type is the ship type set by the port area, planning the port area again until the ship type set by the port area can safely pass through the port area.
2. The method for judging the navigable capacity in a port area according to claim 1, wherein before the acquiring the ship parameters and the environmental parameters corresponding to the current ship, the method further comprises:
and acquiring the ship type set by the port area.
3. The method for judging the navigation capability of a port area according to claim 1, wherein the determining the current operating state of the ship by using the maneuvering model of the ship according to the ship parameters and the environmental parameters of the current ship specifically comprises:
calculating ship hydrodynamic force according to the ship parameters, the environmental parameters and commercial CFD software; the ship hydrodynamic force is the external force of the ship body, the propeller and the rudder of the current ship in all directions under the influence of the environmental parameters;
calculating the navigational speed and the course of the ship and the position of the ship in the water according to the ship hydrodynamic force, the ship parameters and the control model of the ship;
determining the track of the ship according to the navigational speed and the course of the ship;
and determining the surplus water depth below the keel of the ship according to the position of the ship in the water.
4. The method for determining the navigation ability of a port area according to claim 3, wherein the calculating the hydrodynamic force of the ship according to the ship parameters, the environmental parameters and commercial CFD software specifically comprises:
acquiring external forces in all directions borne by a propeller of the current ship and external forces in all directions borne by a rudder of the current ship according to the ship parameters and the environment parameters;
calculating external forces in all directions borne by the hull of the current ship according to the ship parameters, the environmental parameters and the commercial CFD software;
and calculating the ship hydrodynamic force according to the external force in each direction received by the propeller of the current ship, the external force in each direction received by the rudder of the current ship and the external force in each direction received by the hull of the current ship.
5. The method for judging harbor navigation ability according to claim 4, wherein before said calculating the external forces in all directions to which the hull of the current ship is subjected based on said ship parameters, said environmental parameters and said commercial CFD software, further comprising:
and inputting the parameters of each ship and the environmental parameters into commercial CFD software in advance to calculate to obtain the external force of each ship in each direction under the environment with different environmental parameters.
6. The utility model provides a system is judged to harbor district navigation ability which characterized in that includes:
the system comprises a ship parameter and environment parameter acquisition module corresponding to a current ship, a ship parameter and environment parameter acquisition module corresponding to the current ship, and a control module, wherein the ship parameter and environment parameter acquisition module is used for acquiring the ship parameter and environment parameter corresponding to the current ship; the ship parameters comprise a ship main scale and coefficient, a paddle scale, a rudder scale, a wind area, a host machine parameter and a ship type; the environmental parameters comprise a wind field, a wave field, a flow field, water depth data and port area channel data of the current position where the ship enters the port area;
the current ship running state acquisition module is used for determining the running state of the current ship by using a ship control model according to the ship parameters and the environmental parameters of the current ship; the running state comprises the current ship track and the surplus water depth below the keel;
using formulas
And formula
Determining the current running state of the ship; wherein, the sigma X, the sigma Y, the sigma N and the sigma K are ship water power, XH、YH、NH、KHIs the external force, X, in each direction on the hull of the current shipP、YP、NPIs the external force, X, in each direction applied to the current ship propellerR、YR、NR、KRExternal forces in all directions received by the rudder of the current ship; m is the total mass of the vessel, IZZFor the moment of inertia of the vessel about the z-axis, JZZThe moment of inertia of the ship to the X axis is represented by Σ X, Σ Y, Σ N, Σ K, which are the ship hydrodynamic forces,
is the roll angular acceleration, r is the yaw angular velocity,
is the yaw angular acceleration, u is the surge velocity,
is the surge velocity acceleration, v is the surge velocity,
is the yaw acceleration;
the first judgment module is used for judging whether the current ship can safely pass through the port area according to the running state of the current ship;
and the second judging module is used for judging whether the current ship type is the ship type set by the port area or not when the first judging result shows that the current ship cannot safely pass the port area.
7. The system for judging the navigable capacity in a harbor district according to claim 6, characterized by further comprising:
and the port area set ship type acquisition module is used for acquiring the ship type set by the port area.
8. The system for judging the navigation capability of a port area according to claim 6, wherein the current ship operation state obtaining module comprises:
the ship hydrodynamic force calculation module is used for calculating ship hydrodynamic force according to the ship parameters, the environment parameters and commercial CFD software; the ship hydrodynamic force is the external force of the ship body, the propeller and the rudder of the current ship in all directions under the influence of the environmental parameters;
the navigation speed and the course of the ship and the position of the ship in the water are calculated by the calculation module, and the navigation speed and the course of the ship and the position of the ship in the water are calculated according to the ship hydrodynamic force, the ship parameters and the operation model of the ship;
the track determining module of the ship is used for determining the track of the ship according to the navigational speed and the course of the ship;
and the module for determining the surplus water under the keel of the ship is used for determining the surplus water under the keel of the ship according to the position of the ship in water.
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