基于a&ω六自由度运动模型的船舶运动参数发生器

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

Abstract

Abstract:

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

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

CLC Number:

U691

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

Figures/Tables 8

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References 30

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

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

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

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

Ship motion parameter generator based on linear acceleration and angular velocity six degree of freedom motion model

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