CN113836631B - Ship motion simulation method and ship motion simulation system - Google Patents

Ship motion simulation method and ship motion simulation system Download PDF

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CN113836631B
CN113836631B CN202010592192.5A CN202010592192A CN113836631B CN 113836631 B CN113836631 B CN 113836631B CN 202010592192 A CN202010592192 A CN 202010592192A CN 113836631 B CN113836631 B CN 113836631B
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CN113836631A (en
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罗昊
贾书丽
杨文强
沈璐璐
屈崇
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711th Research Institute of CSIC
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Abstract

The invention discloses a ship motion simulation method and a ship motion simulation system. The ship motion simulation method comprises the following steps: collecting the mass, moving speed, moving direction, rotating speed and rotating direction of a ship; determining resultant force borne by the ship and resultant force moment of the resultant force to the center of gravity of the ship according to the moving speed and the rotating speed; determining a driving force according to the water spraying angle, the position of a nozzle of the water spraying thrust device and the water spraying force, and determining a driving force moment of the driving force on the gravity center of the ship; determining the water power of the ship according to the driving force and the resultant force, and determining the water power moment of the water power to the gravity center of the ship according to the resultant force moment and the driving force moment; establishing a navigation terrain model and a three-dimensional entity model of a ship; establishing a navigation environment model; and simulating the moving direction, the moving speed, the rotating direction and the rotating speed of the ship in the navigation environment model. Thus, various parameters of the vessel's voyage can be determined in real time, as well as the vessel's motion monitored in real time.

Description

Ship motion simulation method and ship motion simulation system
Technical Field
The invention relates to the field of ships, in particular to a ship motion simulation method and a ship motion simulation system.
Background
Because the working environment of the unmanned ship is not easy to be accessed, the research, development and test of the hardware and software system of the unmanned ship become difficult. When the unmanned boat works, the boat body can overturn due to internal faults or the fact that an unforeseen environmental factor cannot be processed, and the unmanned boat is provided with a plurality of devices which are expensive to manufacture, so that the overturning of the boat body can cause great loss. Therefore, the motion of the unmanned ship and various navigation parameters of the unmanned ship in the working process need to be monitored in real time, and a basis is provided for improving the performance of the unmanned ship.
Therefore, the present invention provides a ship motion simulation method and a ship motion simulation system, which are used for at least partially solving the above problems.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description section. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to at least partially solve the above technical problems, the present invention provides a ship motion simulation method, in which a ship includes a water jet thrust unit for generating a water jet force to drive the ship to sail, the ship motion simulation method is used for simulating a motion of an actual ship, and the ship motion simulation method includes: collecting the mass, moving speed, moving direction, rotating speed and rotating direction of a ship; determining resultant force borne by the ship and resultant force moment of the resultant force to the gravity center of the ship according to the moving speed and the rotating speed; determining the water spraying force, and acquiring the water spraying angle of the water spraying thrust device and the position of a nozzle of the water spraying thrust device; determining a driving force and a driving force moment of the driving force to the gravity center of the ship according to the water spraying angle, the position of a nozzle of the water spraying thrust device and the water spraying force; determining the water power of the ship according to the driving force and the resultant force, and determining the water power moment of the water power to the gravity center of the ship according to the resultant force moment and the driving force moment; establishing a navigation terrain model and a three-dimensional entity model of a ship; establishing a navigation environment model; and simulating the moving direction, the moving speed, the rotating direction and the rotating speed of the ship in the sailing environment model.
According to the ship motion simulation method, various parameters of ship navigation can be determined in real time, the motion of the ship can be simulated (simulated) in real time, and the motion of the ship can be monitored in real time.
Optionally, the step of determining the resultant force experienced by the vessel from the moving speed and the rotating speed, and the resultant force moment of the resultant force to the center of gravity of the vessel comprises:
determining the moving acceleration according to the moving speed, determining the rotating acceleration according to the rotating speed, and determining the inertia moment of the ship;
determining a first component force X of the resultant force in a first direction, a second component force Y of the resultant force in a second direction perpendicular to the first direction, a third component force Z of the resultant force in a third direction perpendicular to the first direction and the second direction, a first component moment K of the resultant force moment in the first direction, a second component moment M of the resultant force moment in the second direction, and a third component moment N of the resultant force moment in the third direction by the following equation sets,
Figure BDA0002556009730000021
wherein m is the mass of the ship;
u is a first partial moving speed of the moving speed in a first direction;
v is a second moving speed of the moving speed in the second direction;
w is a third moving speed of the moving speed in a third direction;
p is a first partial rotational speed of the rotational speed in the first direction;
q is a second partial rotational speed of the rotational speed in a second direction;
r is a third rotational speed of the rotational speed in a third direction;
Figure BDA0002556009730000022
a first component moving acceleration in a first direction which is the moving acceleration;
Figure BDA0002556009730000023
a second component moving acceleration in a second direction;
Figure BDA0002556009730000024
a third component of the moving acceleration in a third direction;
Figure BDA0002556009730000025
for rotational acceleration inA first component rotational acceleration in a first direction;
Figure BDA0002556009730000026
a second component rotational acceleration in a second direction of the rotational acceleration;
Figure BDA0002556009730000027
a third component rotational acceleration of the rotational acceleration in a third direction;
I X a first component moment of inertia in a first direction;
I Y is a second component moment of inertia in a second direction;
I Z is the third component of the moment of inertia in the third direction.
Optionally, the step of determining the water jet force comprises:
and determining the water spraying force of the ship according to the resultant force and the moving speed.
Optionally, the step of determining the driving force from the water spray angle, the position of the nozzle of the water spray thrust device, and the water spray force, and the driving force moment of the driving force to the center of gravity of the vessel comprises:
a first driving force component X of the driving force in the first direction is determined by the following equation set J A second driving component Y of the driving force in a second direction perpendicular to the first direction J And a third driving component Z of the driving force in a third direction perpendicular to the first direction and the second direction J First driving partial moment K of driving force moment in first direction J A second driving partial moment M of the driving force moment in a second direction J And a third driving partial moment N of the driving force moment in a third direction J ，
Figure BDA0002556009730000031
Wherein, T J Water spraying is adopted;
σ J is the water spray angle;
H J the distance between the axis of the water stream ejected by the water jet thrust device and the center of gravity of the ship;
X J is the distance between the position of the nozzle and the centre of gravity of the vessel in the direction of travel of the vessel.
Optionally, the step of determining the hydrodynamic force of the vessel from the driving force and the resultant force, the step of determining the hydrodynamic moment of the hydrodynamic force with respect to the centre of gravity of the vessel from the resultant force moment and the driving force moment comprises,
determining a first hydrodynamic component X of the hydrodynamic force in a first direction by the following equation H A second hydrodynamic component Y of the hydrodynamic force in a second direction perpendicular to the first direction H A third hydrodynamic component Z of hydrodynamic force in a third direction perpendicular to the first and second directions H A first hydrodynamic component moment K of the hydrodynamic torque in a first direction H A second hydrodynamic partial moment M of the hydrodynamic moment in a second direction H And a third hydrodynamic partial moment N of the hydrodynamic moment in a third direction H ，
Figure BDA0002556009730000032
Wherein X is a first component of the resultant force in a first direction;
y is a second component of the resultant force in a second direction;
z is a third component of the resultant force in a third direction;
k is a first partial moment of the resultant force moment in the first direction;
m is a second partial moment of the resultant force moment in a second direction;
n is a third partial moment of the resultant force moment in a third direction;
X J a first driving force component in a first direction for the driving force;
Y J a second driving force component in a second direction;
Z J a third driving force component being a driving force in a third direction;
K J a first driving partial moment in a first direction of the driving force moment;
M J a second driving partial moment in a second direction, which is the driving force moment;
N J is the third driving partial moment of the driving force moment in the third direction.
Optionally, the navigation terrain model represents the navigation terrain by an irregular triangle net list representation.
Optionally, the ship motion simulation method is used for simulating the motion of the unmanned ship.
The invention also provides a ship motion simulation system, which comprises a computer and a display device, wherein the computer is configured to simulate the motion of a ship according to the ship motion simulation method, and the display device is used for displaying the simulation picture of the computer.
According to the ship motion simulation system, the ship motion simulation system simulates the motion of a ship according to the ship motion simulation method, can determine various parameters of ship navigation in real time, and simulates (simulates) the motion of the ship in real time, so that the motion of the ship can be monitored in real time.
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In order that the advantages of the invention will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings.
Fig. 1 is a schematic flow chart of a ship motion simulation method according to a first preferred embodiment of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to obscure the embodiments of the invention.
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It is to be understood that the terms "upper", "lower", and the like are used herein for purposes of illustration only and are not to be construed as limiting.
Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, e.g., a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component".
In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the invention. It is apparent that the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
The embodiment of the invention provides a ship motion simulation method. The ship motion simulation method can be configured on a simulation system. The simulation system includes a computer and a display device (e.g., a display) electrically connected to the computer. The computer can simulate the moving direction, moving speed, rotating direction and rotating angle of an actual ship in the virtual navigation environment model through a ship motion simulation method, and then display the simulated painting through the display device. In the present embodiment, an example of a behavior of a ship navigating in the ocean will be described.
The actual vessel comprises a water jet thrust device, such as a water pump. The water spraying thrust device can spray water flow to the outside of the ship, and then the water spraying force is generated. The water spraying force can push the ship to move towards the direction opposite to the water spraying direction of the water spraying thrust device. In the present embodiment, the projection of the actual ship on the horizontal plane is substantially an ellipse, and the major axis direction of the ellipse is the ship's sailing direction. Preferably, the vessel may be an unmanned boat.
As shown in fig. 1, the ship motion simulation method includes:
s1, collecting the mass, the moving speed and the rotating speed of the ship.
The computer may pre-store the mass of the actual vessel to be simulated, as well as the three-dimensional dimensions of the actual vessel. The computer may determine the position of the center of gravity of the actual vessel based on the mass of the actual vessel and the three-dimensional size of the actual vessel. The computer can communicate with the actual ship to acquire the moving speed (linear speed), moving direction, rotating speed (angular speed) and rotating direction of the actual ship in real time. It should be noted that the method for determining the position of the center of gravity of the actual ship is substantially the same as the method for determining the position of the center of gravity in the prior art, and the description thereof is omitted. The method for acquiring the moving speed, moving direction, rotating speed and rotating direction of the ship is substantially the same as the method for acquiring the moving speed, moving direction, rotating speed and rotating direction of the ship in the prior art, and the detailed description is omitted here.
And S2, determining resultant force borne by the ship and resultant force moment of the resultant force to the gravity center of the ship according to the moving speed and the rotating speed.
The computer can determine the resultant force of the actual ship and the resultant force moment of the resultant force on the gravity center of the ship in real time, and then display the resultant force and the resultant force moment in real time through the display device. In the present embodiment, the magnitude and direction of the resultant force are indicated by a first component force X in the first direction, a second component force Y in the second direction, and a third component force Z in the third direction. The resultant force moment is represented by a first partial moment K of the resultant force moment in the first direction, a second partial moment M of the resultant force moment in the second direction, and a third partial moment N of the resultant force moment in the third direction. Wherein the first direction is perpendicular to the second direction. The second direction is perpendicular to the third direction. The third direction is perpendicular to the first direction. The first direction and the second direction are horizontal directions. The third direction extends in the height direction of the vessel.
Preferably, step S2 includes step S21 and step S22.
Step S21, determining moving acceleration according to the moving speed, determining rotating acceleration according to the rotating speed, and determining the inertia moment of the ship.
The computer may determine a translational acceleration from the change in translational velocity, a rotational acceleration from the change in rotational velocity, and a moment of inertia of the vessel. The moment of inertia of the ship can be determined in advance through experiments according to the mass and the three-dimensional size of the ship and then stored in a computer in advance. The manner of determining the translational acceleration and determining the rotational acceleration is substantially the same as in the prior art and will not be described in detail here.
Step S22, determining a first component force X of the resultant force in the first direction, a second component force Y of the resultant force in the second direction perpendicular to the first direction, a third component force Z of the resultant force in the third direction perpendicular to the first direction and the second direction, a first component moment K of the resultant force moment in the first direction, a second component moment M of the resultant force moment in the second direction, and a third component moment N of the resultant force moment in the third direction through an equation set I.
Figure BDA0002556009730000061
Wherein m is the mass of the ship;
u is a divided moving speed of the moving speed in the first direction;
v is the partial moving speed of the moving speed in the second direction;
w is the partial moving speed of the moving speed in the third direction;
p is the partial rotation speed of the rotation speed in the first direction (the speed at which the vessel rotates in the first direction);
q is the partial rotation speed of the rotation speed in the second direction (the speed at which the ship rotates around the second direction);
r is the partial rotation speed of the rotation speed in the third direction (the speed at which the ship rotates around the third direction);
Figure BDA0002556009730000062
for accelerating movementA first component acceleration of movement in a first direction;
Figure BDA0002556009730000063
a second component movement acceleration in a second direction for the movement acceleration;
Figure BDA0002556009730000064
a third component of the moving acceleration in a third direction;
Figure BDA0002556009730000065
a first partial rotational acceleration (acceleration of the vessel rotating about the first direction) which is the rotational acceleration in the first direction;
Figure BDA0002556009730000071
a second component rotational acceleration (acceleration of the vessel rotating about the second direction) in the second direction;
Figure BDA0002556009730000072
a third component of the rotational acceleration in the third direction (acceleration of the vessel rotating in the third direction);
I X is the partial moment of inertia of the moment of inertia in the first direction;
I Y is the partial moment of inertia in the second direction;
I Z is the fractional moment of inertia in the third direction.
It will be appreciated that in embodiments not shown, the resultant force experienced by the vessel, and the resultant moment of the resultant force to the centre of gravity of the vessel, may also be determined in other ways. For example, the resultant force applied to a ship of the same tonnage when moving at the moving speed and the rotating speed can be determined in advance through experiments, and then the torque of the resultant force on the center of gravity of the ship can be determined by combining the three-dimensional size of the ship.
And S3, determining water spraying force, and collecting the water spraying angle of the water spraying thrust device and the position of a nozzle of the water spraying thrust device.
S4, determining a driving force and a driving moment of the driving force to the gravity center of the ship according to the water spraying angle, the position of the nozzle and the water spraying force;
when the ship moves, the ship is subjected to the water spraying force and the water power of the water spraying thrust device. The driving force generated by the water spraying force and the water power act on the ship together to move the ship. That is, the resultant force is the resultant force of the driving force and the hydrodynamic force. The resultant torque is the sum of the driving force torque (the torque of the driving force to the center of gravity of the vessel) and the hydrodynamic torque (the torque of the hydrodynamic force to the center of gravity of the vessel). In this way, the propulsion force and the propulsion torque, and thus the hydrodynamic and hydrodynamic torques, may be determined.
Preferably, the step of determining the water jet force comprises: and determining the water spraying force of the ship according to the resultant force and the moving speed.
In the step S3, the relationship between the sailing power and the water spraying force of ships with the same size and the same tonnage can be determined in advance through experiments. For example, when the ship is sailing at the first sailing power, the required water injection force is the first water injection force. Thus, the sailing power of the ship can be determined through the resultant force and the moving speed, and then the current water spraying capacity is determined according to the sailing power.
The computer can also acquire the position of the nozzle of the water spraying thrust device of the actual ship on the ship in real time, and further determine the distance between the nozzle and the center of gravity of the ship in the sailing direction of the ship. The computer may also gather the actual current water spray angle of the vessel (the angle between the water flow ejected by the water jet thrust unit and the vessel's direction of travel, wherein along the direction of travel of the vessel, the water spray angle is positive if the water jet thrust unit is spraying water to the left side of the vessel, and negative if the water jet thrust unit is spraying water to the right side of the vessel).
Preferably, step S4 determines the first driving force component X of the driving force in the first direction by the following equation set (two) J Driving force in a direction perpendicular toA second driving component Y in a second direction of the first direction J A third driving component Z of the driving force in a third direction perpendicular to the first direction and the second direction J A first driving partial moment K of the driving moment in a first direction J A second drive partial moment M of the drive torque in a second direction J And a third driving partial torque N of the driving torque in a third direction J 。
Figure BDA0002556009730000081
Wherein, T J Water spraying is adopted;
σ J is the water spray angle;
H J the distance between the axis of the water stream ejected by the water jet thrust device and the center of gravity of the ship;
X J is the distance along the length of the vessel between the location of the jet and the centre of gravity of the vessel.
Thereby, the driving force, and the driving moment of the driving force to the centre of gravity of the vessel, can be determined more accurately.
In other embodiments, not shown, the driving force, and the driving moment of the driving force to the centre of gravity of the vessel, may also be determined in other ways. For example, it can be determined in advance by experiment.
And S5, determining the hydrodynamic force of the ship according to the driving force and the resultant force, and determining the hydrodynamic force moment of the hydrodynamic force to the gravity center of the ship according to the resultant force moment and the driving torque moment.
Preferably, the first hydrodynamic component X of the hydrodynamic force in the first direction is determined by the following equation set (three) H A second hydrodynamic component Y of hydrodynamic force in a second direction perpendicular to the first direction H A third hydrodynamic component Z of hydrodynamic force in a third direction perpendicular to the first and second directions H A first hydrodynamic component moment K of the hydrodynamic torque in a first direction H A second hydrodynamic partial moment M of the hydrodynamic moment in a second direction H And a third hydrodynamic partial moment N of the hydrodynamic moment in a third direction H 。
Figure BDA0002556009730000082
And S6, establishing a navigation terrain model and a three-dimensional entity model of the ship.
The navigation terrain model may comprise a navigation island model. The three-dimensional solid model of the vessel comprises a three-dimensional solid model of the vessel to be simulated and a three-dimensional solid model for a reference vessel located on the sea surface. The flt file of the navigation terrain model and the flt file of the three-dimensional entity model of the ship can be established through World Creator software. The flt file of the three-dimensional entity model of the ship can be established according to the three-dimensional size of the actual ship.
When the navigation terrain model is established, terrain simulation can be carried out through an LOD (level of Detail) technology. Therefore, on the premise of not influencing the actual simulation picture, the complexity of the model database can be reduced by successively simplifying the details of the model, and the real-time rendering efficiency can be effectively improved.
Preferably, the navigation terrain model represents the navigation terrain by an Irregular triangulation Network (i.e., TIN mesh) representation. Therefore, data redundancy can be effectively reduced, and meanwhile, the calculation efficiency is improved.
And S7, establishing a navigation environment model. Step S7 includes step S71, step S72, and step S73.
And step S71, establishing a navigation scene of the ship through a LynX Prime graphical interface of Vega Prime simulation software. The navigation scene of the ship comprises a dynamic navigation scene, a static navigation scene, a sky scene and clouds in the sky scene. The dynamic and static navigation scenes are established, for example, by the Ocean Module (Ocean) of the LynX Prime graphical interface described above. Sky scenes and clouds are built by environment modules (Environments) of the LynX Prime graphical interface.
And step S72, importing the navigation terrain model and the three-dimensional solid model of the ship built in the step S6 into the navigation scene of the ship in the step S71.
And S73, initializing and setting the navigation environment model through the LynX Prime graphic interface. For example, the position of the navigation island model in the navigation scene of the ship can be set according to the real longitude and latitude of the navigation island model in the electronic chart to establish a navigation environment model. In the navigation environment model, the position, the movement mode, the viewpoint position, the viewpoint mode, the special effect, and the like of each model (the initial position of the navigation island model, the reference ship, the cloud, and the actual ship to be simulated) may be set.
And S8, simulating the motion of the ship in the sailing environment model.
The motion of the ship includes a moving direction, a moving speed, a rotating direction, and a rotating angle of the ship. The computer displays the picture simulating the movement of the actual ship in the navigation environment model in real time through the display device, and can display various parameters in the steps S1 to S7.
In other embodiments, the method of building various models and the method of simulating the motion in the navigation environment model in the above steps S6 to S8 may be substantially the same as those in the related art.
In the embodiment, various parameters of ship navigation can be determined in real time, and the motion of the ship can be simulated (simulated) in real time, so that the motion of the ship can be monitored in real time.
The invention also provides a ship motion simulation system. The ship motion simulation system comprises the computer and the display device, the computer is configured to simulate the motion of an actual ship according to the ship motion simulation method, and the display device is used for displaying a simulation picture of the computer.
In this embodiment, the computer is configured to simulate the motion of the actual ship according to the ship motion simulation method, so as to determine various parameters of the ship navigation in real time, simulate (simulate) the motion of the ship in real time, and further monitor the motion of the ship in real time.
The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "component" and the like, when used herein, can refer to either a single part or a combination of parts. Terms such as "mounted," "disposed," and the like, as used herein, may refer to one component being directly attached to another component or one component being attached to another component through intervening components. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.
The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. It will be appreciated by those skilled in the art that many variations and modifications may be made to the teachings of the invention, which fall within the scope of the invention as claimed.

Claims (8)

1. A ship motion simulation method, wherein the ship includes a water jet thrust device for generating a water jet force to drive the ship to sail, the ship motion simulation method is used for simulating a motion of an actual ship, and the ship motion simulation method includes:
collecting the mass, the moving speed, the moving direction, the rotating speed and the rotating direction of the ship;
determining the resultant force borne by the ship and the resultant force moment of the resultant force to the gravity center of the ship according to the moving speed and the rotating speed;
determining the water spraying force, and acquiring the water spraying angle of the water spraying thrust device and the position of a nozzle of the water spraying thrust device;
determining a driving force and a driving force moment of the driving force to the center of gravity of the ship according to the water spraying angle, the position of a nozzle of the water spraying thrust device and the water spraying force;
determining the water power of the ship according to the driving force and the resultant force, and determining the water power moment of the water power to the gravity center of the ship according to the resultant force moment and the driving force moment;
establishing a navigation terrain model and a three-dimensional entity model of the ship;
establishing a navigation environment model;
and simulating the moving direction, the moving speed, the rotating direction and the rotating speed of the ship in the navigation environment model.
2. The method according to claim 1, wherein the step of determining a resultant force applied to the vessel from the moving speed and the rotating speed, and a resultant force moment of the resultant force with respect to a center of gravity of the vessel comprises:
determining a moving acceleration according to the moving speed, determining a rotating acceleration according to the rotating speed, and determining the inertia moment of the ship;
determining a first component X of the resultant force in a first direction, a second component Y of the resultant force in a second direction perpendicular to the first direction, a third component Z of the resultant force in a third direction perpendicular to the first direction and the second direction, a first component moment K of the resultant force moment in the first direction, a second component moment M of the resultant force moment in the second direction, and a third component moment N of the resultant force moment in the third direction by the following equation sets,
Figure FDA0002556009720000021
wherein m is the mass of the vessel;
u is a first fractional movement speed of the movement speed in the first direction;
v is a second moving speed of the moving speed in the second direction;
w is a third component moving speed of the moving speed in the third direction;
p is a first partial rotational speed of the rotational speed in the first direction;
q is a second partial rotational speed of the rotational speed in the second direction;
r is a third rotational speed of the rotational speed in the third direction;
Figure FDA0002556009720000022
a first component movement acceleration of the movement acceleration in the first direction;
Figure FDA0002556009720000023
a second component movement acceleration of the movement acceleration in the second direction;
Figure FDA0002556009720000024
a third component of the movement acceleration in the third direction;
Figure FDA0002556009720000025
a first component rotational acceleration of the rotational acceleration in the first direction;
Figure FDA0002556009720000026
a second component rotational acceleration of the rotational acceleration in the second direction;
Figure FDA0002556009720000027
a third component rotational acceleration of the rotational acceleration in the third direction;
I X a first component moment of inertia in the first direction for the moment of inertia;
I Y a second component moment of inertia in the second direction for the moment of inertia;
I Z is a third component moment of inertia of the moment of inertia in the third direction.
3. The ship motion simulation method of claim 1, wherein the step of determining the water jet force comprises:
and determining the water spraying force of the ship according to the resultant force and the moving speed.
4. The ship motion simulation method according to claim 1, wherein the step of determining the driving force according to the water spray angle, the position of the nozzle of the water spray thrust device, and the water spray force, and the driving force moment of the driving force to the center of gravity of the ship comprises:
determining a first driving force component X of the driving force in a first direction by the following equation set J A second driving component Y of the driving force in a second direction perpendicular to the first direction J A third driving component Z of the driving force in a third direction perpendicular to the first direction and the second direction J A first driving partial moment K of the driving force moment in the first direction J A second driving partial moment M of the driving force moment in the second direction J And the driveA third driving partial moment N of the power moment in the third direction J ，
Figure FDA0002556009720000031
Wherein, T J The water spraying force is applied;
σ J the water spray angle;
H J the distance between the axis of the water jet ejected for the water jet thrust device and the center of gravity of the vessel;
X J is the distance between the position of the nozzle and the centre of gravity of the vessel in the direction of travel of the vessel.
5. The vessel motion simulation method according to claim 1, wherein the step of determining the hydrodynamic force of the vessel from the driving force and the resultant force, and the step of determining the hydrodynamic moment of the hydrodynamic force with respect to the center of gravity of the vessel from the resultant force moment and the driving force moment comprises,
determining a first hydrodynamic force component X of the hydrodynamic force in a first direction by the following equation H A second hydrodynamic force component Y of the hydrodynamic force in a second direction perpendicular to the first direction H A third hydrodynamic force component Z of the hydrodynamic force in a third direction perpendicular to the first and second directions H A first hydrodynamic partial moment K of the hydrodynamic moment in the first direction H A second hydrodynamic partial moment M of the hydrodynamic moment in the second direction H And a third hydrodynamic partial moment N of the hydrodynamic moment in the third direction H ，
Figure FDA0002556009720000032
Wherein X is a first component of the resultant force in the first direction;
y is a second component of the resultant force in the second direction;
z is a third component of the resultant force in the third direction;
k is a first partial moment of the resultant force moment in the first direction;
m is a second partial moment of the resultant force moment in the second direction;
n is a third partial moment of the resultant force moment in the third direction;
X J a first driving force component of the driving force in the first direction;
Y J a second driving force component of the driving force in the second direction;
Z J a third driving force component of the driving force in the third direction;
K J a first driving partial moment of the driving force moment in the first direction;
M J a second driving partial moment of the driving force moment in the second direction;
N J a third driving partial moment of the driving force moment in the third direction.
6. The ship motion simulation method according to claim 1, wherein the navigation terrain model represents the navigation terrain by an irregular triangle net representation.
7. The ship motion simulation method according to claim 1, wherein the ship motion simulation method is used for simulating the motion of an unmanned ship.
8. A ship motion simulation system, comprising a computer configured to simulate the motion of a ship according to the ship motion simulation method of any one of claims 1 to 7, and a display device for displaying a simulated picture of the computer.
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