CN116720363A - Virtual sea test simulation platform oriented to ship operability and implementation method - Google Patents

Virtual sea test simulation platform oriented to ship operability and implementation method Download PDF

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CN116720363A
CN116720363A CN202310685762.9A CN202310685762A CN116720363A CN 116720363 A CN116720363 A CN 116720363A CN 202310685762 A CN202310685762 A CN 202310685762A CN 116720363 A CN116720363 A CN 116720363A
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史琪琪
马宁
马程前
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Shanghai Jiaotong University
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Abstract

The invention relates to a virtual sea test simulation platform oriented to ship operability and an implementation method, wherein the simulation platform comprises the following components: the system comprises a parameter setting module, a simulation calculation module, a virtual reality visualization module and a result storage and analysis module; the parameter setting module is used for setting ship parameters; the simulation calculation module is used for carrying out real-time virtual simulation on the motion and the track in the ship maneuvering sea test process based on ship parameters, professional knowledge of the simulation calculation module and related knowledge established by the virtual sea test platform, and obtaining a ship motion result; the virtual reality visualization module is used for visually displaying and rendering the motion and the track of the ship in real time through the ship motion result; and the result storage and analysis module is used for storing and calling the ship movement result and performing maneuvering balance based on related specifications. The invention aims to improve the understanding and grasping level of a user on the ship operability sea test forecasting method and the result analysis related knowledge.

Description

Virtual sea test simulation platform oriented to ship operability and implementation method
Technical Field
The invention relates to the technical field of virtual simulation tests, in particular to a virtual sea test simulation platform oriented to ship operability and an implementation method.
Background
Along with the requirements and promotion of the national education department on the improvement of the education informatization level, a Virtual Reality (VR) technology is applied to a teaching classroom, students can have immersion and visual experience and cognition on physical phenomena, interest improvement, knowledge understanding and mastering of learning are effectively improved, and the Virtual education classroom with low cost, repeatability and good sharing performance is gradually applied and popularized. Practice proves that the virtual reality technology can effectively promote innovation and innovation of school course teaching. However, how to combine the virtual reality technology with the professional discipline knowledge and integrate the virtual reality technology into a classroom, how to integrate the virtual scene construction, the occurrence of ship hydrodynamic phenomenon, theoretical method learning, numerical simulation, professional knowledge mastering, professional knowledge application and engineering practice learning chains into a virtual test, and construct a vivid virtual simulation teaching experiment platform and an efficient course learning framework so as to achieve the aim of good teaching practice is still a difficult problem to be solved urgently at present.
Learning of ship maneuvering knowledge is currently generally carried out on theoretical knowledge calculation and deduction, and learning of predicting ship maneuvering motion tracks based on mathematical models is still carried out on books or on computer screen 2D display track information and speed calendar curves. The lack of a visual space for applying effective theoretical knowledge in an actual scene often causes the dislocation of theory and practice, is unfavorable for the imagination of users such as students to actual conditions, and is difficult to meet the learning, training and practice demands of engineering design and analysis users.
Disclosure of Invention
The invention aims to provide a virtual sea test simulation platform for ship operability and an implementation method thereof, aiming at improving understanding and grasping level of a user on sea test forecasting method for ship operability and result analysis related knowledge.
In order to achieve the above object, the present invention provides the following solutions:
a virtual sea try simulation platform for ship maneuverability, comprising:
the system comprises a parameter setting module, a simulation calculation module, a virtual reality visualization module and a result storage and analysis module;
the parameter setting module is used for setting ship parameters;
the simulation calculation module is used for carrying out real-time virtual simulation on the motion and the track in the ship maneuvering sea test process based on the ship parameters, the professional knowledge of the simulation calculation module and the related knowledge established by the virtual sea test platform, so as to obtain a ship motion result;
the virtual reality visualization module is used for visually displaying and rendering the motion and the track of the ship in real time according to the ship motion result;
the result storage and analysis module is used for storing and calling the ship movement result and performing maneuvering balance based on related specifications;
the parameter setting module is connected with the simulation calculation module, and the simulation calculation module is respectively connected with the virtual reality visualization module and the result storage and analysis module.
Optionally, the parameter setting module includes:
the device comprises a scale parameter setting unit, a test type and parameter selection unit;
the scale parameter setting unit is used for self-defining setting main scale parameters of the ship or selecting a container ship and an oversized tanker of a default model;
the test type and parameter selection unit is used for selecting a virtual sea test type and formulating sea test parameters;
the scale parameter setting unit and the test type and parameter selection unit are connected with the simulation calculation module;
wherein the virtual sea test type includes: a slewing test, a Z-shaped manipulation test and a scram test; the sea test parameters include: simulation time step, test duration, steering speed, maximum steering angle, executing steering angle and steering head angle.
Optionally, the simulating calculation module expertise and the virtual sea test platform building related knowledge comprise:
a ship operability separation type mathematical prediction model, a ship operability hydrodynamic force empirical formula prediction method, a propeller rudder interference coefficient empirical formula, a propeller thrust calculation method and a rudder force calculation model.
4. A virtual sea try simulation platform for ship operability according to claim 3, wherein the ship operability separation mathematical prediction model is:
wherein m and I zz Respectively the mass and the bow moment of inertia, m of the ship x 、m y And J zz The ship longitudinal additional mass, the transverse additional mass and the bow additional moment of inertia are respectively given, subscript H, P, R represents the ship physical strength, the propeller force and the rudder force, r is the ship turning angular speed, u is the longitudinal speed under a ship-following coordinate system, and v is the transverse speed;
the additional mass estimation is based on a meta-well map regression formula:
wherein m is the mass of the ship, m x For adding longitudinal mass to ship, m y For transverse additional mass, J zz Adding moment of inertia for bow b The square coefficient of the ship is d is the draft of the ship, B is the ship type width, and L is the ship length.
Optionally, the hull maneuvering hydrodynamic empirical formula forecasting method comprises the following steps:
wherein X 'is' H 、Y H '、N' H Is the dimensionless ship physical strength coefficient, X H Is the longitudinal force of the ship body, Y H Is the transverse force of the ship body, N H The ship head turning moment is the ship body turning moment, ρ is the water density, L is the ship length, d is the ship draft, and U is the ship closing speed;
X' H 、Y′ H 、N' H the expression can be as follows:
wherein u ' is the longitudinal speed of the ship under the ship along with the ship, v ' is the transverse speed of the ship along with the ship, and X ' vr Is the hydrodynamic coefficient of the operability of the dimensionless ship body, r' 2 For dimensionless change of angular velocity, X' H 、Y′ H 、N' H 、X′ vv 、X′ uu 、X′ vvvv 、Y′、Y′ v|v| 、Y′ vvr 、Y′ vrr 、Y′ rr 、N′ v 、N′ r 、N′ v|v| 、N′ vrr 、N′ r|r| Are the hydrodynamic coefficients of the steerability of the dimensionless ship body.
Optionally, the propeller thrust calculating method includes:
wherein X is p Is the thrust of the propeller, t p For thrust deration, n, D P Respectively the rotating speed and the diameter of the propeller, T is the thrust of the propeller, ρ is the water density,for propeller diameter, K T (J p ) Is a thrust coefficient;
wherein K is T (J p ) For thrust coefficient, J p For the coefficient of speed, J 0 、J 1 、J 2 、J p 、The fitting coefficients of the open water curves of the propellers are respectively;
J p ＝(1-w p )u/(n·D p )
wherein w is p U is the longitudinal speed in the ship-following coordinate system, n is the rotating speed of the propeller and D is the accompanying flow fraction p Is the diameter of the propeller.
Optionally, the rudder force calculation model is:
wherein X is R ，Y R ，N R Longitudinal force, transverse force and turning moment coefficient of rudder, t R For drag derating coefficient, alpha R Correction factor, x, for steering induced hull transverse force H F for steering-induced distance from the center of action of the transverse forces of the hull to the center of gravity of the vessel N The sin delta is a sine rudder angle, and cos delta is a cosine rudder angle;
x H ＝-L(0.4+0.1C b )
wherein L is the captain, C b Is a square coefficient of the ship.
Optionally, positive pressure F perpendicular to the rudder blade plane N Can be written as：
Wherein f α Is the slope of rudder lift coefficient when attack angle alpha=0, ρ is water density, a R For the rudder area,for rudder flow velocity sin alpha R Is the effective angle of attack of the sinusoidal inflow rudder.
In order to achieve the above object, the present invention also provides a method for implementing a virtual sea try simulation platform for ship operability according to any one of claims 1 to 8, comprising:
setting ship parameters, and based on the ship parameters, the expertise of a simulation calculation module and the related knowledge of the virtual sea test platform construction, performing real-time virtual simulation on the motion and the track in the process of the ship maneuvering sea test to obtain a ship motion result;
and visually displaying and rendering the motion and track of the ship through the ship motion result, storing and calling the ship motion result, and performing maneuvering balance by combining related specifications.
Optionally, setting the ship parameter includes:
the main scale parameters of the ship are set in a self-defined mode, or a container ship and an ultra-large tanker of a default model are selected, a virtual sea test type is selected, and sea test parameters are formulated;
wherein the virtual sea test type includes: a slewing test, a Z-shaped manipulation test and a scram test; the sea test parameters include: simulation time step, test duration, steering speed, maximum steering angle, executing steering angle and steering head angle.
The beneficial effects of the invention are as follows:
1) According to the virtual sea test simulation platform and the implementation method for ship operability, which are provided by the invention, a simulation test comprising different types of operability sea tests is constructed by utilizing a three-dimensional modeling real-time rendering technology, a ship operability sea test forecasting method and a virtual reality technology, and a hydrodynamic simulation platform capable of acquiring real-time speed and position in a ship operability sea test process is established.
2) The virtual sea test simulation platform and the implementation method for ship operability provided by the invention can be used for rapidly realizing three-dimensional display of ship operability sea test simulation forecast and results, so that a user can know the ship operability more intuitively and immersively, grasp and learn hydrodynamic knowledge more clearly and impressively, and the initiative, exploratory and interesting of learning are improved.
3) According to the virtual sea test simulation platform and the implementation method for ship operability, provided by the invention, the learning of theoretical knowledge of ship operability and the virtual reality technology are combined with the multi-platform software development technology, so that the virtual education classroom teaching with low cost, repeatability and good sharing performance is realized.
4) The virtual sea test simulation platform and the implementation method for ship operability provided by the invention construct a virtual interaction scene between ship operation motion and steering control, provide real-time speed and position information in the ship operation process of different objects under different steering conditions, and render three-dimensional presentation in real time through a virtual reality technology as a result, thereby improving understanding and grasping of theoretical knowledge of learned courses such as ship principle, ship operation and control and the like by a user.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of modeling and main scale setting of a hull in a virtual test running platform according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a manipulation type selection and test parameter setting in a virtual test running platform according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a simulation result display and an interactive interface in a virtual test operation platform according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating storing and calling simulation results in a virtual test operation platform according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating analysis and post-processing of simulation results in a virtual test operation platform according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a virtual sea test simulation platform oriented to ship operability, which comprises the following components: the system comprises a parameter setting module, a simulation calculation module, a virtual reality visualization module and a result storage and analysis module;
the parameter setting module is used for setting main scale parameters of the ship, the maneuvering sea test type and the maneuvering sea test parameters;
the simulation calculation module is used for carrying out real-time virtual simulation on motions and tracks in the ship maneuvering sea test process based on object ship and sea test parameters set by a user, professional knowledge of the simulation calculation module and related knowledge set up by a virtual sea test platform;
the virtual reality visualization module is used for visually displaying and rendering the ship motion and track in real time with immersion sense;
the result storage and analysis module is used for storing and calling the manipulable sea test virtual simulation result and performing manipulability balancing based on the related specification.
Furthermore, the integration and release of the sub-modules are completed in the Unity 3D, and a user can select different release platforms, namely a PC end, a VR end and a Web end according to own requirements.
Further, the parameter setting method comprises the following steps:
inputting main scale parameters of the target ship by user definition, or selecting a default S175 container ship and a KVCC ultra-large tanker; selecting a virtual sea test type, including a rotation test, a Z-shaped manipulation test and an emergency stop test; the sea test parameters are input, including simulation time step, test duration, steering speed, maximum steering angle, executing steering angle, steering changing heading angle and the like.
Further, the main scale parameters of the ship include:
parameters of the ship: the length between ship vertical lines, the width, the first draft, the last draft, the square coefficient, the diamond coefficient and the water discharge; propeller parameters: propeller diameter, propeller open water curve coefficient, propeller pitch; rudder parameters: rudder height, rudder aspect ratio, rudder area.
Further, the marine test types of vessel manipulability include:
a slewing test, a scram test and a Z-shaped manipulation test.
Further, the marine test parameters of vessel maneuvering include:
simulation duration, time step, steering speed, maximum steering angle, propeller rotation speed, stable negative propeller rotation speed, scram deceleration time, steering angle execution and steering angle change.
Further, the specialized knowledge of the ship simulation calculation module and the related knowledge of the virtual sea test platform construction comprise:
a ship operability separation type mathematical prediction model, a ship operability hydrodynamic force empirical formula prediction method, a propeller rudder interference coefficient empirical formula, a propeller thrust calculation method and a rudder force calculation model;
the real-time virtual simulation needs to calculate the ship maneuvering motion, and a mathematical equation based on the calculation is a first term of 'ship maneuvering separation type mathematical prediction model'. The model relates to calculation of interference items among ship physical force, propeller force and rudder force and a propeller rudder, and the calculation methods respectively correspond to a second item, a fourth item, a fifth item and a third item, namely a ship maneuvering hydrodynamic force empirical formula forecasting method, a propeller thrust calculation method, a rudder force calculation model and a propeller rudder interference coefficient empirical formula. During calculation, the program calculates the rudder force of the propeller by calling the input ship parameters and the test parameters, then substitutes the ship rudder force into a ship operability separation type mathematical model, and solves the calculation to obtain the ship motion, wherein the motion is the input parameters required by real-time display.
The related knowledge utilized by the virtual reality visualization module and the result storage and analysis module is as follows: and (3) carrying out ship entity modeling and rendering in a virtual reality environment, creating the virtual reality environment, carrying out real-time rendering, and transferring, storing and calling data.
On the other hand, in order to achieve the above purpose, the present invention provides a method for implementing virtual sea try simulation for ship operability, comprising the steps of:
selecting a main scale parameter of the ship;
setting a ship operability sea test type and test parameters;
based on ship and test parameters, expertise of a simulation calculation module and related knowledge of a virtual sea test platform, real-time virtual simulation display of ship maneuvering sea test movement and track is performed;
and saving and calling the result information of analysis simulation.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The invention provides a virtual sea test simulation platform oriented to ship operability, which is characterized by comprising a parameter setting module, a simulation calculation module, a virtual reality visualization module and a result storage and analysis module.
Parameter setting module: the method is used for setting the main scale parameters, the maneuvering characteristics, the type and the parameters of the maneuvering characteristics of the ship. The ship main scale parameter setting comprises the steps of setting ship parameters: the length between ship vertical lines, the width, the first draft, the last draft, the square coefficient, the diamond coefficient and the water discharge; setting propeller parameters: propeller diameter, propeller open water curve coefficient, propeller pitch; setting rudder parameters: rudder height, rudder aspect ratio, rudder area; or selecting a computing object vessel from the platform default S175 container vessel or KVLCC ultra-large tanker paradigm. Marine vessel handling test types include: a slewing test, a scram test and a Z-shaped manipulation test. The marine test parameters of vessel maneuvering include: simulation duration, time step, steering speed, maximum steering angle, propeller rotation speed, stable negative propeller rotation speed, scram deceleration time, steering angle execution and steering angle change.
The simulation calculation module is used for carrying out real-time virtual simulation on motions and tracks in the ship maneuvering sea test process based on object ship and sea test parameters set by a user, professional knowledge of the maneuvering simulation calculation module and related knowledge established by a virtual sea test platform.
The virtual reality visualization module is used for visually displaying and rendering the ship motion and track in real time with immersion.
The result storage and analysis module is used for storing and calling the manipulable sea test virtual simulation result and performing manipulability balancing based on the related specification.
The knowledge involved in the simulation calculation module includes: and constructing related knowledge by using the professional knowledge of the manipulability simulation calculation module and the virtual sea test platform.
Specifically, the vessel maneuvering calculation is performed.
In still water, the ship usually only considers the motion of three degrees of freedom of a horizontal plane, namely the motion of three degrees of freedom of a longitudinal direction, a transverse direction and a turning direction, and according to a separated maneuvering mathematical model (Manoeuvring Mathematical Group, MMG), a ship maneuvering motion calculation equation can be obtained as follows:
wherein m and I zz Respectively the mass and the bow moment of inertia, m of the ship x 、m y And J zz The ship longitudinal additional mass, transverse additional mass and yaw additional moment of inertia are respectively given, and subscripts H, P, R represent the ship body force, the propeller force and the rudder, respectivelyThe force r is the ship turning angular velocity, and u is the longitudinal velocity in the ship coordinate system. The additional mass force estimation formula is based on a meta-benign graph regression formula:
wherein m is the mass of the ship, m x For adding longitudinal mass to ship, m y For transverse additional mass, J zz Adding moment of inertia for bow b The square coefficient of the ship is d is the draft of the ship, B is the ship type width, and L is the ship length.
According to the fourth-order Dragon-Gregory tower method, the speed of the ship steering motion can be obtained through solving, and finally, the real-time position parameters are obtained through integration.
And (5) calculating hydrodynamic force of ship operability.
The hull maneuvering hydrodynamic force empirical formula forecasting method comprises the following steps:
wherein X 'is' H 、Y′ H 、N' H Is the dimensionless ship physical strength coefficient, X H Is the longitudinal force of the ship body, Y H Is the transverse force of the ship body, N H The ship head turning moment is the ship body turning moment, ρ is the water density, L is the ship length, d is the ship draft, and U is the ship closing speed; the expression can be as follows:
wherein u ' is the longitudinal speed of the ship under the ship along with the ship, v ' is the transverse speed of the ship along with the ship, and X ' vr Is the hydrodynamic coefficient of the operability of the dimensionless ship body, r' 2 For dimensionless change of angular velocity, X' H 、Y′ H 、N' H 、X′ vv 、X′ uu 、X′ vvvv 、Y′、Y′ v|v| 、Y′ vvr 、Y′ vrr 、Y′ r|r| 、N′ v 、N′ r 、N′ v|v| 、N′ vrr 、N′ r|r| Are the hydrodynamic coefficients of the steerability of the dimensionless ship body.
In the formula, the coefficient is marked with a prime mark to indicate that the coefficient is a dimensionless value, and the dimensionless hydrodynamic coefficient can be calculated based on an empirical formula, as follows:
where τ' = (d) A -d F )/d m ，λ＝2d m /L，d m Is the average of the draft of the vessel head and tail, τ' is (da-df)/dm, where da is the draft of the vessel tail and df is the draft of the vessel head.
A propeller thrust calculation method.
The calculation method of the propeller thrust is mastered,
wherein t is p For thrust deration, n, D P Respectively the rotating speed and the diameter of the propeller, T is the thrust of the propeller, ρ is the water density,for propeller diameter, K T (J p ) Is a thrust coefficient;
wherein t is p For thrust deration, it can be estimated according to the hank's equation: for single-oar standard type commercial ship (C) B ＝0.54～0.84)，t p ＝0.50C p -0.12。n、D P The rotating speed and the diameter of the propeller are respectively; thrust coefficientWherein K is T (J p ) For thrust coefficient, J p For the coefficient of speed, J 0 、J 1 、J 2 、J p 、/>The fitting coefficients of the open water curves of the propellers are respectively; wherein the coefficient of approach J p ＝(1-w p )u/(n·D p ) Wherein w is p U is the longitudinal speed in the ship-following coordinate system, n is the rotating speed of the propeller and D is the accompanying flow fraction p Is the diameter of the propeller, where: accompanying flow fraction at the paddle faceDrift angle beta at the surface of the paddle p ＝β-x′ p r′(x′ p ≈-0.5)。J 0 、J 1 、J 2 Obtained by a propeller open water test.
Rudder force calculating method.
And (5) grasping a conventional rudder force calculation method. For the rudder force calculation formula in the transverse direction, the longitudinal direction and the turning direction when the horizontal plane three-degree-of-freedom motion is considered, the rudder force calculation formula is as follows:
wherein X is R ，Y R ，N R Longitudinal force, transverse force and turning moment coefficient of rudder, t R For drag derating coefficient, alpha R Correction factor, x, for steering induced hull transverse force H F for steering-induced distance from the center of action of the transverse forces of the hull to the center of gravity of the vessel N The sin delta is a sine rudder angle, and cos delta is a cosine rudder angle;
in the delta, delta is rudder angle, rudder resistance derating coefficient t R Can pass throughSolving, or generally taking t R 0.29; correction factor for steering induced transverse forces in the hull>Steering induced distance x from the center of application of lateral forces to the center of gravity of the vessel H Is not affected by ship shape basically, and x is preferably selected H ＝-L(0.4+0.1C b ). Wherein L is the captain, C b Is a square coefficient of the ship.
Positive pressure F perpendicular to rudder blade plane N The method can be written as follows:
wherein f α Is the slope of rudder lift coefficient when attack angle alpha=0, ρ is water density, a R For the rudder area,for rudder flow velocity sin alpha R Is the effective angle of attack of the sinusoidal inflow rudder.
In the method, in the process of the invention,the slope of the rudder lift coefficient at the attack angle alpha=0 is estimated by a rattan well formula in ship operability research when the rudder is assumed to be a flat plate: f (f) α =6.13 λ/(2.25+λ) (rudder aspect ratio λ=0.5 to 3.0).
And building and rendering a ship body three-dimensional model in a virtual reality environment.
The method for building the ship body three-dimensional model in the Unity 3D environment comprises a UI user section building method and a ship control motion control implementation method.
Examples: taking the hydrostatic rotary motion of the S175 container ship as an example, the modules and the implementation method of the invention are tested.
1. The default S175 container ship is selected as the ship to be calculated, the main scale parameter is built in the platform, no input is needed, the length between the vertical lines is 175 m, the model width is 25.4 m, the head and tail draft is 9.5 m, and the water discharge is 2415 tons, as shown in fig. 1. The type of the selective maneuvering sea test is a rotary test, and the test parameters are as follows: the simulation duration was 500 seconds, the time step was 0.1 seconds, the steering speed was 2.5 degrees per second, and the maximum steering angle was 35 degrees, as shown in fig. 2.
2. After the setting is completed, clicking test loading, carrying out simulation calculation by the platform, and storing the result. The calculation result realizes the three-dimensional display of the real-time result of the maneuvering sea test by a virtual reality technology and a ship body three-dimensional solid modeling and real-time rendering technology, as shown in fig. 3.
3. Through PC end, web end or VR end equipment, the user realizes having the intuitionistic cognitive understanding of immersive sense to ship motion and real-time position state in the marine test process of ship operability, has better assurance to ship operability.
4. The simulation result is stored in the set path, and the simulation forecast result can be called to be checked for further analysis and processing, as shown in fig. 4. For the maneuvering sea test result, the post-processing of the result can be performed based on the IMO related ship maneuvering balance standard, so as to evaluate the maneuvering performance of the object ship, as shown in fig. 5.
The invention also provides a method for realizing the virtual sea test simulation oriented to ship operability, which comprises the following steps: parameter setting, simulation calculation, virtual reality visualization, result storage and analysis.
Further, the test procedure mainly comprises the following steps:
selecting a ship type, and carrying out ship modeling and loading;
setting main scale parameters of the ship;
setting propeller parameters;
setting rudder parameters;
selecting a ship maneuvering sea test type;
setting a ship operability sea test parameter;
performing manipulation sea test simulation calculation;
real-time rendering and interactive display of the maneuvering sea test;
generating and storing a simulation calculation result;
calling and analyzing a simulation calculation result;
and analyzing the operability of the ship and generating a test report.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but various modifications and improvements made by those skilled in the art to which the present invention pertains are made without departing from the spirit of the present invention, and all modifications and improvements fall within the scope of the present invention as defined in the appended claims.

Claims (10)

1. The utility model provides a virtual sea examination simulation platform towards ship operability which characterized in that includes:
the system comprises a parameter setting module, a simulation calculation module, a virtual reality visualization module and a result storage and analysis module;
the parameter setting module is used for setting ship parameters;
the simulation calculation module is used for carrying out real-time virtual simulation on the motion and the track in the ship maneuvering sea test process based on the ship parameters, the professional knowledge of the simulation calculation module and the related knowledge established by the virtual sea test platform, so as to obtain a ship motion result;
the virtual reality visualization module is used for visually displaying and rendering the motion and the track of the ship in real time according to the ship motion result;
the result storage and analysis module is used for storing and calling the ship movement result and performing maneuvering balance based on related specifications;
the parameter setting module is connected with the simulation calculation module, and the simulation calculation module is respectively connected with the virtual reality visualization module and the result storage and analysis module.
2. The virtual sea try simulation platform of claim 1, wherein the parameter setting module comprises:
the device comprises a scale parameter setting unit, a test type and parameter selection unit;
the scale parameter setting unit is used for self-defining setting main scale parameters of the ship or selecting a container ship and an oversized tanker of a default model;
the test type and parameter selection unit is used for selecting a virtual sea test type and formulating sea test parameters;
the scale parameter setting unit and the test type and parameter selection unit are connected with the simulation calculation module;
wherein the virtual sea test type includes: a slewing test, a Z-shaped manipulation test and a scram test; the sea test parameters include: simulation time step, test duration, steering speed, maximum steering angle, executing steering angle and steering head angle.
3. The virtual sea try simulation platform for ship operability according to claim 1, wherein the simulation calculation module expertise and the virtual sea try platform building related knowledge comprise:
a ship operability separation type mathematical prediction model, a ship operability hydrodynamic force empirical formula prediction method, a propeller rudder interference coefficient empirical formula, a propeller thrust calculation method and a rudder force calculation model.
4. A virtual sea try simulation platform for ship operability according to claim 3, wherein the ship operability separation mathematical prediction model is:
wherein m and I zz Respectively the mass and the bow moment of inertia, m of the ship x 、m y And J zz Respectively, a ship longitudinal additional mass, a ship transverse additional mass and a ship bow additional moment of inertia, and subscripts H, P, R respectivelyRepresenting the ship physical strength, the propeller force and the rudder force, wherein r is the ship turning head angular speed, u is the longitudinal speed under a ship coordinate system, and v is the transverse speed;
the additional mass estimation is based on a meta-well map regression formula:
wherein m is the mass of the ship, m x For adding longitudinal mass to ship, m y For transverse additional mass, J zz Adding moment of inertia for bow b The square coefficient of the ship is d is the draft of the ship, B is the ship type width, and L is the ship length.
5. The virtual sea test simulation platform for ship operability according to claim 4, wherein,
the hull maneuverability hydrodynamic force empirical formula forecasting method comprises the following steps:
wherein X 'is' H 、Y H '、N' H Is the dimensionless ship physical strength coefficient, X H Is the longitudinal force of the ship body, Y H Is the transverse force of the ship body, N H The ship head turning moment is the ship body turning moment, ρ is the water density, L is the ship length, d is the ship draft, and U is the ship closing speed;
X' H 、Y H '、N' H the expression can be as follows:
wherein u ' is the longitudinal speed of the ship under the ship along with the ship, v ' is the transverse speed of the ship along with the ship, and X ' vr Is the hydrodynamic coefficient of the operability of the dimensionless ship body, r' 2 For dimensionless change of angular velocity, X' H 、Y H '、N' H 、X′ vv 、X′ uu 、X′ vvvv 、Y′、Y′ v|v| 、Y′ vvr 、Y′ vrr 、Y′ r|r| 、N′ v 、N′ r 、N′ v|v| 、N′ vrr 、N′ r|r| Are the hydrodynamic coefficients of the steerability of the dimensionless ship body.
6. The virtual sea try simulation platform for ship operability according to claim 3, wherein the propeller thrust calculation method is as follows:
wherein X is p Is the thrust of the propeller, t p For thrust deration, n, D P Respectively the rotating speed and the diameter of the propeller, T is the thrust of the propeller, ρ is the water density,for propeller diameter, K T (J p ) Is a thrust coefficient;
wherein K is T (J p ) For thrust coefficient, J p For the coefficient of speed, J 0 、J 1 、J 2 、J p 、The fitting coefficients of the open water curves of the propellers are respectively;
J p ＝(1-w p )u/(n·D p )
wherein w is p U is the longitudinal speed in the ship-following coordinate system, n is the rotating speed of the propeller and D is the accompanying flow fraction p Is the diameter of the propeller.
7. A virtual sea try simulation platform for ship steering according to claim 3, wherein the rudder force calculation model is:
wherein X is R ，Y R ，N R Longitudinal force, transverse force and turning moment coefficient of rudder, t R For drag derating coefficient, alpha R Correction factor, x, for steering induced hull transverse force H F for steering-induced distance from the center of action of the transverse forces of the hull to the center of gravity of the vessel N The sin delta is a sine rudder angle, and cos delta is a cosine rudder angle;
x H ＝-L(0.4+0.1C b )
wherein L is the captain, C b Is a square coefficient of the ship.
8. The virtual sea test simulation platform for ship maneuverability of claim 7, wherein a positive pressure F perpendicular to the rudder blade plane N The method can be written as follows:
wherein f α Is the slope of rudder lift coefficient when attack angle alpha=0, ρ is water density, a R For the rudder area,for rudder flow velocity sin alpha R Is the effective angle of attack of the sinusoidal inflow rudder.
9. The method for realizing the virtual sea try simulation platform facing ship operability applied to any one of claims 1-8, comprising the following steps:
setting ship parameters, and based on the ship parameters, the expertise of a simulation calculation module and the related knowledge of the virtual sea test platform construction, performing real-time virtual simulation on the motion and the track in the process of the ship maneuvering sea test to obtain a ship motion result;
and visually displaying and rendering the motion and track of the ship through the ship motion result, storing and calling the ship motion result, and performing maneuvering balance by combining related specifications.
10. The method of claim 9, wherein setting the vessel parameters comprises:
the main scale parameters of the ship are set in a self-defined mode, or a container ship and an ultra-large tanker of a default model are selected, a virtual sea test type is selected, and sea test parameters are formulated;
wherein the virtual sea test type includes: a slewing test, a Z-shaped manipulation test and a scram test; the sea test parameters include: simulation time step, test duration, steering speed, maximum steering angle, executing steering angle and steering head angle.
CN202310685762.9A 2023-06-09 2023-06-09 Virtual sea test simulation platform oriented to ship operability and implementation method Pending CN116720363A (en)

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