CN106054664A - OGRE-based ship diesel engine virtual reality simulation system - Google Patents

Abstract

The invention discloses an OGRE-based ship diesel engine virtual reality simulation system which includes an integrated control unit which simulates all operations in a ship integrated control chamber, an analogue simulation processing unit which is provided with a ship propelling apparatus analogue simulation module therein and a dynamic display unit which displays an output result of the analogue simulation processing unit. The integrated control unit issues control parameters of a ship. The analogue simulation processing unit, based on the control parameters and initial working parameters of a ship diesel host invoked from a database unit, inputs an internally-built ship host analogue model, and obtains the working state of the current ship host and displays the working state on the dynamic display unit. The system enables operation workers to virtually operate and control the ship diesel host to perform starting, stopping and accelerating/decelerating, etc, real-time displays working characteristic curve of the ship diesel host, and achieves the purpose of simulating ship driving and operating in an engine room.

Description

Ship diesel virtual reality analogue system based on OGRE

Technical field

The present invention relates to a kind of ship diesel virtual reality analogue system based on OGRE.Relate to Patent classificating number G01 Measure；Test G01M machine or the quiet or dynamically balanced test of structure member；Structure member not to be covered or set in other classifications The test G01M15/04 engine testing of standby test G01M15/00 electromotor, such as, piston engine diagnostic test.

Background technology

Along with the development of computer hardware, three dimensional graphics and virtual reality technology, the 3D vision world true to nature is just Progressively entering into the life of people, the fantasy boundary that it presents to people, cause the extensive concern of people, set up three Dimensional view system also carries out promoting and develop the popular domain having become as current techniques.

The display system of the present invention uses the equipment framework three-dimensional display system of low side and distributive image process and mathematics Physical model calculating system, the OGRE graphics engine utilizing transplantability stronger overcomes tradition OPENGL and Direct3D exploitation The shortcoming that cycle length, difficulty are big, solves the commercial engine development costs such as use OpenGVS, Vega too high, it is necessary to high-end Run on physical platform, the problem being unfavorable for product promotion, there is higher practical value.

The ship diesel virtual reality analogue system that the present invention builds, it is therefore an objective to build Marine Diesel Engine and control emulation Platform, can laboratory environment checking boat diesel engine model correctness, as ships diesel powerplant control, Ship course and promoting mainly into the ingredient jointly controlled；With comprehensive bridge IBS (Integrated Bridge System) even Connect, ships complex automatic system；Main engine remote control part as novel Subsystem in Marine Engine Simulator.

Summary of the invention

The present invention is directed to the proposition of problem above, and a kind of based on OGRE the ship diesel virtual reality developed emulates System, including:

The integrating control unit of simulation boats and ships integrating control indoor all operations, this unit also includes showing marine main engine work The instrument of condition；

The Database Unit of the initialization parameter of storage vessel and Marine Diesel Engine；

Inside is provided with the analogue simulation processing unit of marine propulsion emulation module and shows at described analogue simulation The dynamic display unit of reason unit output result；

During work, being assigned the control parameter of boats and ships by described integrating control unit, described analogue simulation processes single Unit, according to described controls parameter and the initialization parameter of Marine Diesel Engine transferred from described Database Unit, inputs The marine main engine phantom of internal build, draws the duty of current marine main engine and in described dynamic display unit Display, completes the virtual display emulation of boats and ships and Marine Diesel Engine；

Described marine propulsion emulation module internals has hull-diesel engine-propeller dynamic mathematical models, should Model includes be mutually related boats and ships differential equation of motion and the diesel engine speed differential equation；

Boats and ships differential equation of motion is:

$(m_{ship}+m_w)\frac{{\mathrm{dV}}_s}{d_t}=T_{prop}-R_{ship}$

Wherein, m_shipFor boats and ships quality, m_wIt is hull added mass of entrained water, V_sIt is ship's speed, T_propIt is effectively pushing away of propeller Power, R_shipFor Ship Resistance；

The differential equation of diesel engine speed is that the differential equation of diesel engine speed is:

$\frac{\mathrm{\π}}{30}I\frac{dn}{d_t}=M_{shaft}-M_{prop}-M_{fric}$

Wherein, I is rotary inertia, M_shaftIt is the output torque of diesel engine, M_propFor load torque, M_fricDiesel engine with The torque that axle system loses because of mechanical friction.

As preferred embodiment, effective push T of described propeller for vessels_propWith load torque M_propFor:

$T_{prop}=-\frac{{\mathrm{\πK}}_1}{8}(1-t)C_T^{*}\mathrm{\ρ}\{V_a^2+{\left(k\mathrm{\π}nD\right)}^2\}{D}^2$

$M_{prop}=-\frac{{\mathrm{\πK}}_2}{8}{C}_Q^{*}\mathrm{\ρ}\{V_a^2+{\left(k\mathrm{\π}nD\right)}^2\}{D}^3$

$C_T^{*}=\frac{1}{100}\left\{\underset{k=0}{\overset{30}{\Σ}}\right\{A\left(k\right)\cos \left(k\mathrm{\β}\right)+B\left(k\right)\sin \left(k\mathrm{\β}\right)\}$

$C_Q^{*}=-\frac{1}{1000}\left\{\underset{k=0}{\overset{30}{\Σ}}\right\{A\left(k\right)\cos \left(k\mathrm{\β}\right)+B\left(k\right)sin\left(k\mathrm{\β}\right)\}$

Wherein, ρ is density of sea water, and t is thrust deduction coefficient, V_aBeing that propeller enters speed, n is engine speed, k, K₁And K₂All For the coefficient changed with navigation condition change.

As preferred embodiment, also there is inside described analogue simulation processing unit diesel engine Quasi steady state simulation mould Block, this inside modules is built with diesel engine quasi steady state model, model at least include diesel engine indicated horsepower calculate function:

P_m(t)=k₂η_t(λ)m(t)

Wherein, k₂It is constant, η_t(λ) it is the thermal efficiency；λ is air oil mass ratio；

$\mathrm{\λ}=k_{\mathrm{\λ}}\frac{P_{s}n}{Y_d{n}_d}$

The thermal efficiency is:

${\mathrm{\η}}_t={\mathrm{\η}}_{t1}\tanh \left(\frac{\mathrm{\λ}-{\mathrm{\λ}}_0}{c_0}\right)+{\mathrm{\η}}_{t0}$

Wherein, k_λIt is constant, Y_dAnd n_dIt is fuel-oil rack scale Y, the rotating speed n output through delay link respectively.

Further, by the delay of firing of cylinder

${\mathrm{\τ}}_d=\frac{2\mathrm{\π}}{n_{cyl}n}$

Diesel engine indicated horsepower described in substitution calculates function, is revised as by function:

P_m(t)=k_pmη(λ)Y(t-τ_d)n(t-τ_d)

Wherein, k_pmFor constant, n_cylFor number of cylinders.

Further, described diesel engine quasi steady state model also includes scavenging efficiency function；

R_sIt is scavenging air ratio, refers to that scavenging air enters the quality of cylinder and the ratio of the air quality being actually needed, table Reaching formula is:

$R_s=k_s\frac{{\stackrel{\·}{m}}_a}{{\mathrm{n\ρ}}_s}$

Wherein, k_sIt is constant,It is air mass flow, ρ_sIt is scavenging air density；R_sIt is scavenging air ratio, refers to that scavenging is empty Gas enters the quality of cylinder and the ratio of the air quality being actually needed；

For two stroke diesel engine, air mass flow can be write as

$m_a=A_{eff}{\mathrm{\ρ}}_s\sqrt{2(P_s-P_{exhr})/{\mathrm{\ρ}}_s}$

Wherein, A_effIt is the effective area of scavenging port, P_exhrIt is pressure at expulsion, ρ_s=constant (P_s/T_s), T_sThink It it is constant；

Further, described pressure at expulsion P_exhrCalculate by arranging low pass filter；

$\left\{\begin{array}{c}\stackrel{\·}{x}=(1/(s_{ft}\·{\mathrm{\τ}}_{sc}\left)\right)(-x+P_{exhr})\\ x=P_{exhrd}\end{array}\right.$

Wherein, x is intermediate variable, s_ftIt is coefficient, P_exhrdIt it is the pressure at expulsion through low pass filter.

As preferred embodiment, described Database Unit uses ADO database technology, by the biography in analogue system Defeated variable puts together unified management；

As preferred embodiment, described dynamic display unit single document based on MFC programming regards class and switches Technology；When described program is run, actual only operation one regards class.

By using technique scheme, a kind of ship diesel virtual reality based on OGRE disclosed by the invention emulates System, it is possible to make operator's virtual manipulation ship's main diesel engine carry out starting, stop and acceleration and deceleration operating etc., show ship in real time The characteristic working curve of oceangoing ship main diesel engine, reaches drive simulating boats and ships and handles the purpose of boats and ships in cabin.System is designed Modularized design, integrated level is high, favorable expandability, as long as setting up corresponding domain model, function is revised a little, can be applicable to other main The exploitation operation of machine simulator.

Accompanying drawing explanation

For clearer explanation embodiments of the invention or the technical scheme of prior art, below will be to embodiment or existing The accompanying drawing used required in having technology to describe does one and introduces simply, it should be apparent that, the accompanying drawing in describing below is only Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used To obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the system module figure of the present invention

Detailed description of the invention

For making the purpose of embodiments of the invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is carried out the most complete description:

As shown in Figure 1: a kind of ship diesel virtual reality analogue system based on OGRE, specifically include that

The integrating control unit of simulation boats and ships integrating control indoor all operations, in the present embodiment, contains boats and ships and drives Sail the whole operation input button and equipment in cabin and turbine operation cabin, can drive simulating personnel and turbine operation people completely Member to boats and ships and all operations of diesel main engine, such as main engine starting, commutation, rotating speed restriction, load limit, safeguard protection etc. Function.On hardware, the control station in spot ship can be used completely, increase sense of reality.

Meanwhile, it is additionally provided with the important parameter dial gauges such as main engine revolution speedometer, main engine power table, starting air pressure table, permissible Real time inspection diesel main engine operating mode, manually setting and amendment parameter, complete to control position and change, commutate, revise warning bound Deng manual operation.

System also includes Database Unit, can store different model diesel main engine and boats and ships and boats and ships primary drive The running parameter of parts, it is simple to real-time calling.As preferred embodiment, use ADO (ActiveX Data Objects) database programming.ADO is the new interface of database application exploitation, sets up the high level data on OLE DB Storehouse access technique.In stadafx.h file, quote ADO with #import statement, use in MFC:: CoInitialize (NULL) COM is initialized, call _ ConnectionPtr, _ RecordsetPtr and _ tri-pointers of CommandPtr carry out data Storehouse operates.

As the analogue simulation processing unit of the core of analogue system, this unit is internally integrated multiple virtual calculating mould Block, the computation model of the most corresponding boats and ships main frame in other words of each module.

And dynamic display unit, this dynamic display unit single document based on MFC programming regards class handoff technique；Institute When the program stated is run, actual only one of which regards class, and internal memory is taken by reduction interface of can trying one's best in an efficient way, and it is right to reduce The requirement of machine configuration, with cost-effective, increases economic efficiency.

In the present embodiment, the inside of described analogue simulation processing unit is mainly built with:

Propulsion plant mathematical model (airscrew thrust and torque calculation and the hull one diesel engine one dynamic mathematical modulo of propeller Type) and the quasi steady model of simulation boat diesel engine operating mode, as preferred embodiment, boats and ships can be separately positioned on and push away Enter in device simulation module and diesel engine Quasi steady state simulation module.

The mathematical model of marine propulsion

In the present invention, marine propulsion mathematical model module uses quasi-steady state modeling method to be to test based on systematic steady state The kinematic nonlinearity mathematical model that data are set up.Application the method modeling has taken into account the real-time of computational accuracy and emulation.

As the key foundation of analogue simulation, marine propulsion is integrated with hull one diesel engine one propeller dynamic Mathematical model:

Due to boats and ships motion interrelated with main frame propulsion plant, set in the present invention boats and ships differential equation of motion as:

$(m_{ship}+m_w)\frac{{\mathrm{dV}}_s}{d_t}=T_{prop}-R_{ship}$

Wherein, m_shipFor boats and ships quality, m_wIt is hull added mass of entrained water, V_sIt is ship's speed, T_propIt is effectively pushing away of propeller Power, R_shipFor Ship Resistance.

Ideally, diesel engine is rigidly connected with propeller, it is considered to mechanical friction, according to reaching blue Pell-equation, diesel oil The differential equation of machine rotating speed is that the differential equation of diesel engine speed is:

$\frac{\mathrm{\π}}{30}I\frac{dn}{d_t}=M_{shaft}-M_{prop}-M_{fric}$

Wherein, I is rotary inertia, M_shaftIt is the output torque of diesel engine, M_propFor load torque, M_fricDiesel engine with The torque that axle system loses because of mechanical friction.

The thrust of propeller and torque calculation use regression Calculation method, thrust coefficientAnd moment coefficientRepresent For:

$C_T^{*}=\frac{1}{100}\left\{\underset{k=0}{\overset{30}{\Σ}}\right\{A\left(k\right)\cos \left(k\mathrm{\β}\right)+B\left(k\right)sin\left(k\mathrm{\β}\right)\}$

$C_Q^{*}=-\frac{1}{1000}\left\{\underset{k=0}{\overset{30}{\Σ}}\right\{A\left(k\right)\cos \left(k\mathrm{\β}\right)+B\left(k\right)sin\left(k\mathrm{\β}\right)\}$

Then boats and ships effective push T_propWith load torque M_propIt is expressed as:

$T_{prop}=-\frac{{\mathrm{\πK}}_1}{8}(1-t)C_T^{*}\mathrm{\ρ}\{V_a^2+{\left(k\mathrm{\π}nD\right)}^2\}{D}^2$

$M_{prop}=-\frac{{\mathrm{\πK}}_2}{8}{C}_Q^{*}\mathrm{\ρ}\{V_a^2+{\left(k\mathrm{\π}nD\right)}^2\}{D}^3$

Wherein, ρ is density of sea water, and t is thrust deduction coefficient, V_aBeing that propeller enters speed, n is engine speed, k, K₁And K₂All It it is the coefficient changed with navigation condition change.Above method describe the dynamic characteristic of propeller, meet the need of analogue system Want.

Further, the quasi steady model of described diesel engine mainly includes following several analogue simulation function.

The analog function of cylinder of diesel engine, the main indicated horsepower calculating cylinder of diesel engine.

First, it is considered to the air oil mass ratio of cylinder of diesel engine, equation below can be used to be indicated:

$\mathrm{\λ}=k_{\mathrm{\λ}}\frac{P_{s}n}{Y_d{n}_d}$

The relation of the diesel engine thermal efficiency and Air/Fuel Ratio can be simplified to

${\mathrm{\η}}_t={\mathrm{\η}}_{t1}\tanh \left(\frac{\mathrm{\λ}-{\mathrm{\λ}}_0}{c_0}\right)+{\mathrm{\η}}_{t0}$

Wherein, k_λIt is constant, Y_dAnd n_dIt is fuel-oil rack scale Y, the rotating speed n output through delay link respectively.

The indicated horsepower of diesel engine, is reduced to the thermal efficiency of diesel engine and the function of average consumprion in the present invention.

P_m(t)=k₂η_t(λ)m(t)

Wherein, k₂It is constant, η_t(λ) being the thermal efficiency, λ is air oil mass ratio.

Ignition average retardation in view of cylinderAbove formula can be write as

P_m(t)=k_pmη(λ)Y(t-τ_d)n(t-τ_d)

Wherein, k_pmFor constant, n_cylFor number of cylinders

As another important component part of the quasi steady model of diesel engine, also it is built with simulation two-stroke diesel The function of machine scavenging air box, this function finally exports scavenging efficiency:

Scavenging pressure is relevant with the power of diesel engine, can become functional generator by test data fitting

$P_s=f\left(P_e\right)=a_0+a_1{P}_e+a_2{P}_e^2+a_3{P}_e^3$

Wherein, a₀、a₁、a₂And a₃It is to obtain according to diesel engine bench test data fitting

In general scavenging efficiency model can use parameter R_sDescribe, R_sIt is scavenging air ratio, refers to that scavenging air enters The ratio of the quality of cylinder and the air quality being actually needed, expression formula is:

$R_s=k_s\frac{{\stackrel{\·}{m}}_a}{{\mathrm{n\ρ}}_s}$

Wherein, k_sIt is constant,It is air mass flow, ρ_sIt is scavenging air density

For two stroke diesel engine, air mass flow can be write as

$m_a=A_{eff}{\mathrm{\ρ}}_s\sqrt{2(P_s-P_{exhr})/{\mathrm{\ρ}}_s}$

Wherein, A_effIt is the effective area of scavenging port, P_exhrIt is pressure at expulsion, ρ_s=constant (P_s/T_s), T_sThink It it is constant.

Obtain according to formula

$R_s=(k_{rs}/n)\sqrt{1-(P_{exhr}/P_s)}$

Wherein, k_rsIt it is constant.

Thus finally giving scavenging efficiency is:

e_s=1-e^-Rs

Also include simulate Diesel Engine Exhaust Pipe function:

In the calculating of exhaustor, add a low pass filter

$\left\{\begin{array}{c}\stackrel{\·}{x}=(1/(s_{ft}\·{\mathrm{\τ}}_{sc}\left)\right)(-x+P_{exhr})\\ x=P_{exhrd}\end{array}\right.$

Wherein, x is intermediate variable, s_ftIt is coefficient, P_exhrdIt it is the pressure at expulsion through low pass filter.

As preferred embodiment, described analogue simulation processing unit can use such a way to carry out concrete reality Existing.

3 d modeling software 3DS MAX is utilized to build NABCO M-800 III type main frame according to the overall dimensions of actual object Remote control system three-dimensional visualization physical model and model of place, pressed the 3-D geometric model of foundation by plug-in unit OgreMax Classification carries out derivation process, exports as the file of .mesh form, and OGRE is as virtual reality engine instrument, at Visual in selection Programming is realized by calling OGRE module and three-dimensional scene models data on Studio 2010 platform.OGRE initializes MRoot, and construct a plugin information plugins.cfg, interface configuration information ogre.cfg when starting and the ginseng of l.log type Number, work includes: creates object, create scene manager, loading scenario resources information, video camera and frame audiomonitor etc..OGRE Real scene partitioning is abstract different spaces by rendering engine, and there is a SceneNode object in each space, and leads to Cross respective SceneNode object to manage.Be used for moving, rotated, the spatial displacements such as scaling, situation elements Entity (entity), Light (light), Camera (video camera) etc. are articulated in above.Utilize under Visual Studio 2010 environment Direct3D and OpenGL function library provide 3 D rendering function and window management function, create model demonstration window and Lattice simplified window.

Proof procedure is as follows: set up the mathematical model of the large-sized low-speed two stroke diesel engine of MAN B&W 10L90MC, diesel oil Machine parameter is shown in Table 1.The stand examination of quiet rum under 110.8%, 75.4% and 50.5% load respectively by this model diesel engine Test data and emulation data compare, the results are shown in Table 2.By contrast, emulation data are the most identical with bench test data, Big error is less than 12%, and the modeling method demonstrating the present invention is genuine and believable.

Table 1

Table 2

The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, Any those familiar with the art in the technical scope that the invention discloses, according to technical scheme and Inventive concept equivalent or change in addition, all should contain within protection scope of the present invention.

Claims (8)

1. a ship diesel virtual reality analogue system based on OGRE, it is characterised in that including:

The integrating control unit of simulation boats and ships integrating control indoor all operations, this unit also includes showing marine main engine operating mode Instrument；

The Database Unit of the initialization parameter of storage vessel and Marine Diesel Engine；

Inside is provided with the analogue simulation processing unit of marine propulsion emulation module and shows that described analogue simulation processes list The dynamic display unit of unit's output result；

During work, assigned the control parameter of boats and ships, described analogue simulation processing unit root by described integrating control unit According to described control parameter and the initialization parameter of Marine Diesel Engine transferred from described Database Unit, input is internal The marine main engine phantom built, draws the duty of current marine main engine and shows in described dynamic display unit Show, complete the virtual display emulation of boats and ships and Marine Diesel Engine；

Described marine propulsion emulation module internals has hull-diesel engine-propeller dynamic mathematical models, this model Including boats and ships differential equation of motion and the diesel engine speed differential equation of being mutually related；

Boats and ships differential equation of motion is:

Wherein, m_shipFor boats and ships quality, m_wIt is hull added mass of entrained water, V_sIt is ship's speed, T_propIt is the effective push of propeller, R_ship For Ship Resistance；

The differential equation of diesel engine speed is that the differential equation of diesel engine speed is:

Wherein, I is rotary inertia, M_shaftIt is the output torque of diesel engine, M_propFor load torque, M_fricIt is diesel engine and axle system The torque lost because of mechanical friction.

Ship diesel virtual reality analogue system based on OGRE the most according to claim 1, is further characterized in that: institute Effective push T of the propeller for vessels stated_propWith load torque M_propFor:

Wherein, ρ is density of sea water, and t is thrust deduction coefficient, V_aBeing that propeller enters speed, n is engine speed, k, K₁And K₂Be with The coefficient that navigation condition changes and changes.

Ship diesel virtual reality analogue system based on OGRE the most according to claim 1, is further characterized in that institute Also having diesel engine Quasi steady state simulation module inside the analogue simulation processing unit stated, it is accurate steady that this inside modules is built with diesel engine States model, model at least include diesel engine indicated horsepower calculate function:

P_m(t)=k₂η_t(λ)m(t)

Wherein, k₂It is constant, η_t(λ) it is the thermal efficiency；λ is air oil mass ratio；

The thermal efficiency is:

Wherein, k_λIt is constant, Y_dAnd n_dIt is fuel-oil rack scale Y, the rotating speed n output through delay link respectively.

Ship diesel virtual reality analogue system based on OGRE the most according to claim 3, is further characterized in that: will The delay of firing of cylinder

Diesel engine indicated horsepower described in substitution calculates function, is revised as by function:

P_m(t)=k_pmη(λ)Y(t-τ_d)n(t-τ_d)

Wherein, k_pmFor constant, n_cylFor number of cylinders, n is diesel engine speed.

Ship diesel virtual reality analogue system based on OGRE the most according to claim 3, is further characterized in that bavin Oil machine quasi steady state model also includes scavenging efficiency function；

R_sIt is scavenging air ratio, refers to that scavenging air enters the quality of cylinder and the ratio of the air quality being actually needed, expression formula For:

Wherein, k_sIt is constant,It is air mass flow, ρ_sIt is scavenging air density；R_sIt is scavenging air ratio, refers to that scavenging air enters The ratio of the quality entering cylinder and the air quality being actually needed；

For two stroke diesel engine, air mass flow can be write as

Wherein, A_effIt is the effective area of scavenging port, P_exhrIt is pressure at expulsion, ρ_s=cons tan t (P_s/T_s), T_sIt is considered Constant.

Ship diesel virtual reality analogue system based on OGRE the most according to claim 5, is further characterized in that institute Pressure at expulsion P stated_exhrCalculate by arranging low pass filter；

Wherein, x is intermediate variable, s_ftIt is coefficient, P_exhrdIt it is the pressure at expulsion through low pass filter.

Ship diesel virtual reality analogue system based on OGRE the most according to claim 1, is further characterized in that: institute The Database Unit stated uses ADO database technology, and the transmission variables in analogue system is put together unified management.

Ship diesel virtual reality analogue system based on OGRE the most according to claim 1, is further characterized in that: institute The dynamic display unit stated single document based on MFC programming regards class handoff technique；When described program is run, actual only fortune Row one regards class.