CN116310221A - Ship swaying and visual wave motion matching method, terminal equipment and medium - Google Patents

Ship swaying and visual wave motion matching method, terminal equipment and medium Download PDF

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CN116310221A
CN116310221A CN202310283170.4A CN202310283170A CN116310221A CN 116310221 A CN116310221 A CN 116310221A CN 202310283170 A CN202310283170 A CN 202310283170A CN 116310221 A CN116310221 A CN 116310221A
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杨神化
孙洪波
索永峰
陈国权
王浦
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Jimei University
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    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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    • G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
    • G09B9/066—Sailing; Surfing
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Abstract

The invention relates to a ship swaying and visual wave motion matching method, terminal equipment and medium, wherein the method comprises the following steps: calculating a rectangular boundary frame corresponding to the projection of the ship body to the sea surface; gridding the rectangular bounding box, wherein the gridlines are parallel to the sides of the rectangular bounding box; calculating height values corresponding to the grid points; calculating the average value of the height values of all grid points to obtain an average height value, and multiplying the average height value by the area of the grid to obtain the expansion degree of water; based on the expansion degree of water and input related parameters of ship motion, calculating ship motion in three degrees of freedom of rolling, pitching and heaving of the ship body under the influence of waves; based on MMG modeling principle, calculating ship motion of the ship body in three degrees of freedom of heave, sway and yaw; and superposing the motions of the ship body on six degrees of freedom to obtain the simulated motions of the ship body. The invention enables the motion view of the ship in the marine simulator in the marine wave environment to be more realistic, and achieves the effect of marine navigation practice.

Description

Ship swaying and visual wave motion matching method, terminal equipment and medium
Technical Field
The invention relates to the technical field of navigation teaching and training, in particular to a ship swaying and visual wave motion matching method, terminal equipment and a storage medium.
Background
The navigation simulator can simulate the motion law of the ship in various sea conditions on the sea on the ground in real time, so that a ship operator has an immersive feeling, the actual operation and exercise of navigation business in a virtual scene are realized, and the training effect of a real ship is achieved. Modern navigation education has been unsecured from the navigation simulator. The marine environment can interfere with the six degrees of freedom motions of the ship, such as heave, roll, pitch and yaw, and affect the normal operation of the ship, and even cause the ship to capsize when serious. However, in the traditional simulator, the matching method of the motion simulation and the visual wave motion of the ship is still to be researched, only the simple setting parameters of the wave model can be set, the real-time dynamic change can not be realized, the requirement of the actual simulation can not be met, and the ship type can not be selected to match the wave, so that the motion change effect of the ship in the wave environment can not be reflected in the simulation simulator.
Disclosure of Invention
In order to solve the problems, the invention provides a ship swaying and visual wave motion matching method, terminal equipment and a storage medium, so as to enhance the use effect of a navigation simulator and truly reflect the navigation condition of a ship in a wave environment.
The specific scheme is as follows:
a ship swaying and visual wave motion matching method comprises the following steps:
s1: vertically projecting the ship body into a coordinate plane where the sea surface is located, and calculating a rectangular boundary frame corresponding to the projection of the ship body;
s2: gridding the rectangular bounding box, wherein the gridlines are parallel to the sides of the rectangular bounding box;
s3: calculating height values corresponding to the grid points;
s4: calculating the average value of the height values of all grid points to obtain an average height value, and multiplying the average height value by the area of the grid to obtain the expansion degree of water;
s5: based on the expansion degree of water and input related parameters of ship motion, calculating ship motion in three degrees of freedom of rolling, pitching and heaving of the ship body under the influence of waves;
s6: based on MMG modeling principle, calculating ship motion of the ship body in three degrees of freedom of heave, sway and yaw;
s7: and superposing the motions of the ship body on six degrees of freedom to obtain the simulated motions of the ship body.
Further, the gaps between adjacent grid lines are set to 1 meter.
Further, the height value is obtained through wave model calculation, and the calculation formula is as follows:
Figure BDA0004140210620000021
wherein h (X, Z, t) represents the height value of a coordinate point with X-axis coordinate and Z-axis coordinate corresponding to the moment t, and X-axis and Z-axis represent two coordinate axes included in a coordinate system plane corresponding to the sea surface, ζ k Represents the amplitude of the kth wave, lambda k Represents the wavelength of the kth wave, ω k Represents the velocity of the kth wave, θ k The angle between the X-axis and the incidence direction of the kth wave in the world coordinate system is represented by X, Z, t, K, and K represent the number of waves, and the total number of waves.
Further, the vessel motion related parameters include sea wave parameters and vessel parameters.
The terminal equipment for matching the ship sway with the visual wave motion comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the steps of the method of the embodiment of the invention are realized when the processor executes the computer program.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method described above for embodiments of the present invention.
By adopting the technical scheme, the motion view of the ship in the marine wave environment in the marine simulator is more realistic, and the effect of marine navigation practice is achieved. The invention changes the training mode of navigation students and solves the difficulty that most navigation institutions do not have practice ships for the offshore navigation practice of students.
Drawings
Fig. 1 is a flowchart of a first embodiment of the present invention.
Fig. 2 is a schematic diagram of the coordinate system in this embodiment.
Fig. 3 shows a schematic view of projection meshing of the hull in this embodiment.
Detailed Description
For further illustration of the various embodiments, the invention is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible embodiments and advantages of the present invention.
The invention will now be further described with reference to the drawings and detailed description.
Embodiment one:
the embodiment of the invention provides a ship swaying and visual wave motion matching method, which is based on the following three-point assumption in order to enable a view of a ship moving in waves to be more realistic:
(1) The ship is regarded as a steel body, irrespective of elastic deformation.
(2) Sea waves are deep-water micro-amplitude waves consisting of a limited number of sine waves of different amplitudes, periods and directions of propagation.
(3) The six degrees of freedom can be calculated and superimposed separately.
Based on the above assumption, as shown in fig. 1, the method of the present embodiment includes the following steps:
s1: and vertically projecting the ship body into a coordinate plane where the sea surface is located, and calculating a rectangular boundary frame corresponding to the projection of the ship body.
S2: the rectangular bounding box is gridded, wherein the gridlines are parallel to sides of the rectangular bounding box.
S3: and calculating the height value corresponding to each grid point.
S4: the average value of the height values of all the grid points is calculated to obtain an average height value, and the average height value is multiplied by the area of a single grid to obtain the water expansion degree.
S5: based on the degree of expansion of the water and the input vessel motion related parameters, vessel motions in three degrees of freedom of roll, pitch and heave of the hull under the influence of the waves are calculated.
S6: based on MMG modeling principle, ship motion in three degrees of freedom of heave, sway and yaw of the ship body is calculated.
S7: and superposing the motions of the ship body on six degrees of freedom to obtain the simulated motions of the ship body.
In this embodiment two coordinate systems are defined, as shown in fig. 2. The first is a world coordinate system, the origin O of the coordinate system is fixed at a certain position on the sea surface, the sea surface consists of an X axis and a Z axis, and the Y axis is perpendicular to the sea surface; the second is a local coordinate system of the ship, which is attached to the ship and moves with the ship, the origin G is positioned in the geometric center of the ship, X S The axis pointing in the direction of advance of the vessel, Z S The axis pointing to the starboard (right-hand side) of the ship, Y S The axis is vertically upward.
Six degrees of freedom of hull movement include roll, pitch, heave, roll and yaw, where roll, pitch and heave are about X S 、Y S And Z S The shaft rotates and is vibrated by sea waves. In order to achieve coordination between the ship motion and wave surface motion in the view, the ship body meshing method is adopted in the embodiment. Grid projections of the hull on the sea surface (X-Z plane) as in fig. 3 are generated by steps S1-S2. In this embodiment, the gaps between adjacent grid lines are set to be 1 meter, so as to improve the simulation speed, reduce the calculation amount, and not lose the simulation precision, the division of the grids should be determined according to the configured computer performance through the simulation test result, and the dynamic division is generally performed according to the ship length, instead of adopting the grid with a fixed length, so that the division method can be suitable for the ship simulation with different lengths.
In evaluating the height value at the grid point (the intersection of two grid lines), the height value is calculated by the wave model assuming that the ship is not displayed in the present embodiment. The wave model is calculated as follows:
Figure BDA0004140210620000051
wherein h (X, Z, t) represents the height value of a coordinate point with X-axis coordinate and Z-axis coordinate corresponding to the moment t, and X-axis and Z-axis represent two coordinate axes included in a coordinate system plane corresponding to the sea surface, ζ k Represents the amplitude of the kth wave, lambda k Represents the wavelength of the kth wave, ω k Represents the velocity of the kth wave, θ k The angle between the X-axis and the incidence direction of the kth wave in the world coordinate system is represented by X, Z, t, K, and K represent the number of waves, and the total number of waves.
Once the height values of the grid points in the grid are calculated, the water expansion degree is determined by multiplying the average height value by the grid area (the area of the rectangular bounding box), and the force of the ship motion can be calculated by adopting the existing algorithm based on the water expansion degree, so that the ship motion of the ship body in three degrees of freedom of rolling, pitching and swaying is obtained.
When the wave force and moment of the ship are calculated specifically, the wave is assumed to be continuous, the damage of the ship to the wave continuity is not considered, after the average height value corresponding to the grid is calculated, the local force and moment of the ship are calculated by comparing with the waterline at the local grid of the ship under the condition of still water, and finally the calculated results of all the grids are overlapped to obtain the wave force and moment of the whole ship. These wave forces and moments are used to calculate the vessel motions in three degrees of freedom, roll, pitch and heave, using newton's second law. Since the wave parameters are obtained in real time and then used in the calculation of the subsequent ship motion, the ship motion can be completely matched with the wave.
The calculation of the motion (heave, sway and yaw) of the ship with the other three degrees of freedom is performed by adopting the MMG modeling principle which is relatively mature in the prior art.
Since in normal cases six degrees of freedom motions of the vessel can be considered as a superposition of motions of three degrees of freedom under the influence of waves and motions of three degrees of freedom under the action of the hull, rudder, propeller, etc., it is feasible to use this approach from the simulator point of view.
In practical application, the three-dimensional view software can superimpose motions of the ship under six degrees of freedom to obtain simulated motions of the ship.
The six-degree-of-freedom plane motion mathematical model of the ship is as follows:
Figure BDA0004140210620000061
Figure BDA0004140210620000062
Figure BDA0004140210620000063
Figure BDA0004140210620000064
Figure BDA0004140210620000065
Figure BDA0004140210620000066
wherein m, m x 、m y Representing the mass, the additional mass on the x-axis, the additional mass on the y-axis, respectively; the "." on the symbol indicates acceleration; u represents the forward speed; q represents a pitch angular velocity; w represents heave velocity; v represents the yaw rate; r represents the yaw rate; p represents the roll angular velocity; i x 、I y 、I z Respectively representing the rotational inertia of the ship body around the x axis, the Y axis and the Z axis; j (J) x 、J y 、J z Respectively representing additional moments of inertia of the hull about the x-axis, the Y-axis, and the Z-axis; subscripts H, P, R, W denote hull, propeller, rudder, and wave, respectively; f (F) H 、T H Representing fluid viscosity force and moment; f (F) P 、T P Representing the thrust and moment of the propeller; f (F) R 、T R Indicating rudder force and moment; f (F) W 、T W Representing wave force and moment; x is X H 、Y H 、Z H Representing force F H A component on the X, Y, Z axis; x is X P 、Y P 、Z P Representing force F P A component on the X, Y, Z axis; x is X R 、Y R 、Z R Representing force F R A component on the X, Y, Z axis; z is Z W Representing force F R A component on the X, Y, Z axis; k (K) H 、M H 、N H Representing the moment T H A component on the X, Y, Z axis; k (K) P 、M P 、N P Representing the moment T P A component on the X, Y, Z axis; k (K) R 、M R 、N R Representing the moment T R A component on the X, Y, Z axis; k (K) W 、M W 、Z W Representing the moment T W A component on the X, Y, Z axis.
The first three equations of the above equations are used to describe three degrees of freedom planar motion of the vessel, but do not take into account the increase in vessel resistance and planar drift and swivel motion caused by waves; the latter three equations are used to describe the vessel's roll, pitch and heave motions caused by waves.
The wave force and moment corresponding to the ship rolling, pitching and heaving are calculated as follows:
Figure BDA0004140210620000071
Figure BDA0004140210620000072
Figure BDA0004140210620000073
wherein i and j respectively represent the ith small square and the jth small square in two directions corresponding to the meshed hull (i, j is the index of each small square); d, d j Representing the draft of the j-th square corresponding to the hull; ρ represents the sea water density; Δs represents the area of the small square; x is x j Representing x-axis coordinates; y is j Representing the y-axis coordinates.
The ship motion related parameters are parameters which need to be used in ship motion calculation, and comprise wave parameters and ship parameters, wherein the wave parameters comprise wave frequency, amplitude, wave direction, ocean currents and wind, and the ship parameters comprise ship resistance, thrust and ship type parameters.
The embodiment of the invention can cope with different ship types and sea conditions without losing efficiency, and can help a user to know the motion of the ship when encountering waves, water currents and wind. The user can adjust wave parameters and ship parameters through a software interface, ship motion simulation under different environments and different ship types is automatically generated, a large number of ships are combined with the environments, and learning becomes more interesting. In order to achieve coordination and consistency between the motion of the ship and the wave surface motion in the view, the ship body meshing method is adopted. The motion amplitude of the ship is calculated in real time based on Newton's law and other basic physical motion models, so that the simulation result has higher fidelity.
Embodiment two:
the invention also provides a ship swaying and visual wave motion matching terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps in the method embodiment of the first embodiment of the invention are realized when the processor executes the computer program.
Further, as an executable scheme, the terminal device for matching the ship sway and the visual wave motion may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The ship sway and view wave motion matching terminal device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the above-described structure of the ship sway and view wave motion matching terminal device is merely an example of the ship sway and view wave motion matching terminal device, and does not constitute limitation of the ship sway and view wave motion matching terminal device, and may include more or fewer components than those described above, or may combine some components, or different components, for example, the ship sway and view wave motion matching terminal device may further include an input/output device, a network access device, a bus, and the like, which is not limited in the embodiment of the present invention.
Further, as an executable scheme, the processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), etc. The general processor can be a microprocessor or any conventional processor, and the like, and the processor is a control center of the ship swaying and visual wave motion matching terminal equipment, and various interfaces and lines are used for connecting various parts of the whole ship swaying and visual wave motion matching terminal equipment.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the marine vessel sway and view wave motion matching terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the cellular phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
The present invention also provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the above-described method of an embodiment of the present invention.
The module/unit of the ship's sway and view wave motion matching terminal device integrated, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a software distribution medium, and so forth.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. The ship swaying and visual wave motion matching method is characterized by comprising the following steps of:
s1: vertically projecting the ship body into a coordinate plane where the sea surface is located, and calculating a rectangular boundary frame corresponding to the projection of the ship body;
s2: gridding the rectangular bounding box, wherein the gridlines are parallel to the sides of the rectangular bounding box;
s3: calculating height values corresponding to the grid points;
s4: calculating the average value of the height values of all grid points to obtain an average height value, and multiplying the average height value by the area of the grid to obtain the expansion degree of water;
s5: based on the expansion degree of water and input related parameters of ship motion, calculating ship motion in three degrees of freedom of rolling, pitching and heaving of the ship body under the influence of waves;
s6: based on MMG modeling principle, calculating ship motion of the ship body in three degrees of freedom of heave, sway and yaw;
s7: and superposing the motions of the ship body on six degrees of freedom to obtain the simulated motions of the ship body.
2. The method for matching ship sway with view wave motion according to claim 1, characterized in that: the gap between adjacent grid lines is set to 1 meter.
3. The method for matching ship sway with view wave motion according to claim 1, characterized in that:
the height value is obtained through wave model calculation, and the calculation formula is as follows:
Figure FDA0004140210610000011
wherein h (X, Z, t) represents the height value of a coordinate point with X-axis coordinate and Z-axis coordinate corresponding to the moment t, and X-axis and Z-axis represent two coordinate axes included in a coordinate system plane corresponding to the sea surface, ζ k Represents the amplitude of the kth wave, lambda k Represents the wavelength of the kth wave, ω k Represents the velocity of the kth wave, θ k Representing the included angle between the X-axis and the incident direction of the kth wave in the world coordinate system, X represents the coordinate of the X-axis, Z represents the coordinate of the Z-axis, and t representsThe time K represents the number of waves and K represents the total number of waves.
4. The method for matching ship sway with view wave motion according to claim 1, characterized in that: the vessel motion related parameters include sea wave parameters and vessel parameters.
5. A ship sways and shakes and looks wave motion matching terminal equipment which characterized in that: comprising a processor, a memory and a computer program stored in the memory and running on the processor, which processor, when executing the computer program, carries out the steps of the method according to any one of claims 1 to 4.
6. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 4.
CN202310283170.4A 2023-03-22 2023-03-22 Ship swaying and visual wave motion matching method, terminal equipment and medium Pending CN116310221A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117574099A (en) * 2024-01-16 2024-02-20 广东海洋大学 Time-space correction deck upward wave time prediction method and system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117574099A (en) * 2024-01-16 2024-02-20 广东海洋大学 Time-space correction deck upward wave time prediction method and system
CN117574099B (en) * 2024-01-16 2024-04-05 广东海洋大学 Time-space correction deck upward wave time prediction method and system

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